Interventional robot sheath abnormal state early warning method, device and equipment and storage medium

Abstract

The invention belongs to the field of vascular interventional operations, and relates to an interventional robot sheath abnormal state early warning method, device and equipment and a storage medium, and the method comprises the steps: recognizing whether the current detection type of a system is sheath in-place detection or sheath state detection; if the sheath is detected in place, judging whether the interventional robot is in an operation process state or a position adjusting state; if the state is the operation process state, the voltage characteristic of a switch level signal is recognized, and corresponding sheath in-place judgment information is generated according to the recognition result for reminding; if the state is the position adjustment state, identifying the voltage characteristic of the switch level signal, and generating corresponding adjustment state information according to an identification result for reminding; if sheath state detection is carried out, sheath deformation judgment is carried out according to the voltage value of the real-time voltage information and a preset deformation threshold value, and corresponding sheath deformation state information is generated according to a judgment result for reminding. According to the invention, effective risk early warning and adjustment can be carried out during operation of the interventional robot.

Description

Technical Field

[0001] The present application relates to the technical field of vascular interventional surgery, and in particular to a method, device, computer equipment and storage medium for early warning of abnormal state of an interventional robot sheath. Background Art

[0002] Vascular interventional surgery is a treatment method that uses surgical instruments to treat the patient's intravascular disease. During the treatment, the operator needs to control the surgical instruments in a compartment to enter the disease source in the blood vessel for treatment.

[0003] During the operation, the interventional surgical robot needs to monitor the connection status between the sheath used for puncture and the drive mechanism in real time to ensure the safety and reliability of the surgical operation. However, the surgical environment is complex, and there are various electromagnetic interference sources, such as high-frequency electric knives, nuclear magnetic resonance equipment, etc. These interference sources will have a serious impact on the connection status monitoring system, resulting in distortion and inaccuracy of monitoring data, and even false alarms or omissions. At the same time, the connection structure between the sheath and the drive mechanism is complex, with multiple connection points and transmission components. How to achieve reliable connection status monitoring in a complex structure is also a major problem. For example, the following problems may arise due to unexpected operations during actual application:

[0004] (1) The connection between the vascular sheath and the robot may fall off during the operation, and the operation cannot continue, but the doctor operating in the compartment cannot see it;

[0005] (2) During the operation, the angle between the vascular sheath and the patient's body is too large or the sheath connector is bent due to the movement of the patient, which increases the resistance to catheter delivery. If delivery continues, the catheter will be broken, affecting the normal operation;

[0006] (3) After the operation, the sheath was not separated from the robot according to the normal process, and the drive was moved, causing the sheath to be accidentally pulled out of the human body, causing blood spurting and causing harm to the patient;

[0007] Therefore, it is urgent to design a safety status detection device for the sheath connector of the interventional robot to determine whether the sheath is detached, whether the sheath connector itself is bent or twisted, etc. In addition, the operation accuracy and stability of the interventional surgical robot are high, and the connection status monitoring system needs to be synchronized with the robot control system in real time, and the robot motion parameters need to be adjusted in time according to the monitoring data, which puts higher requirements on the real-time and reliability of the monitoring system. Summary of the invention

[0008] The purpose of the present application is to propose a method, device, computer equipment and storage medium for warning of abnormal state of the sheath of an interventional robot, so as to solve the problem that effective abnormal state monitoring and risk warning cannot be performed during the operation of the interventional robot.

[0009] In order to solve the above technical problems, the present application embodiment provides an abnormal state warning method of an interventional robot sheath, which adopts the following technical solution:

[0010] Identify whether the current detection category of the system is sheath in place detection or sheath status detection;

[0011] If the current detection category of the system is the sheath in place detection, determining whether the interventional robot is in a surgical process state or in a position adjustment state;

[0012] If the interventional robot is in the surgical process state, a switch level signal is obtained from the first monitoring device, and a voltage characteristic of the switch level signal is identified, and corresponding sheath in place judgment information is generated according to the identification result and sent to a preset display interface for reminder;

[0013] If the interventional robot is in the position adjustment state, a switch level signal is obtained from the first monitoring device, and a voltage characteristic of the switch level signal is identified, and corresponding adjustment state information is generated according to the identification result and sent to the preset display interface for reminder;

[0014] If the current detection category of the system is the sheath state detection, a real-time voltage signal is obtained from the second monitoring device, and the sheath deformation is judged based on the voltage value of the real-time voltage signal and a preset deformation threshold value, and the corresponding sheath deformation state information is generated based on the judgment result and sent to the preset display interface for reminder.

[0015] Furthermore, the step of identifying the voltage characteristics of the switch level signal, generating corresponding sheath in place judgment information according to the identification result and sending it to a preset display interface for reminder specifically includes:

[0016] Identify whether the switch level signal is a high level or a low level;

[0017] If the switch level signal is the high level, a sheath falling alarm message is generated and sent to the preset display interface for alarm reminder;

[0018] If the switch level signal is the low level, sheath in place status information is generated and sent to the preset display interface for display reminder.

[0019] Furthermore, the step of identifying the voltage characteristic of the switch level signal and generating corresponding adjustment status information according to the identification result and sending it to the preset display interface for reminder specifically includes:

[0020] Identify whether the switch level signal is a high level or a low level;

[0021] If the switch level signal is the high level, then the robot adjustable information is generated and sent to the preset display interface for display reminder;

[0022] If the switch level signal is the low level, the robot cannot be adjusted information is generated and sent to the preset display interface for alarm reminder.

[0023] Further, the step of judging the sheath deformation according to the voltage value of the real-time voltage signal and the preset deformation threshold, and generating corresponding sheath deformation state information according to the judgment result and sending it to the preset display interface for reminder specifically includes:

[0024] Determining whether the voltage value of the real-time voltage signal is greater than the preset deformation threshold;

[0025] If the voltage value of the real-time voltage signal is greater than the preset deformation threshold, sheath deformation abnormality information is generated and sent to the preset display interface for alarm reminder;

[0026] If the voltage value of the real-time voltage signal is less than or equal to the preset deformation threshold, normal sheath deformation information is generated and sent to the preset display interface for display reminder.

[0027] Furthermore, after the step of obtaining a real-time voltage signal from a second monitoring device if the current detection category of the system is the sheath state detection, and performing a sheath deformation judgment according to the voltage value of the real-time voltage signal and a preset deformation threshold, and generating corresponding sheath deformation state information according to the judgment result and sending it to the preset display interface for reminder, the following steps are also included:

[0028] Acquire a driving vibration signal from a third monitoring device;

[0029] Inputting the real-time voltage signal and the driving vibration signal into a pre-trained adjustment parameter calculation model to obtain a driving mechanism adjustment parameter;

[0030] The drive mechanism adjustment parameters are sent to the drive mechanism for drive adjustment control.

[0031] In order to solve the above technical problems, the embodiment of the present application further provides an interventional robot sheath abnormal state warning device, comprising:

[0032] A sheath, a mounting slot, a catheter, a sheath connector, a drive mechanism, a first monitoring device, and a second monitoring device;

[0033] The sheath is connected to the mounting slot, the catheter passes through the driving mechanism and is inserted into the sheath, the sheath connector is installed between the mounting slot and the driving mechanism, the first monitoring device is installed in the mounting slot, and the second monitoring device is arranged on the sheath connector.

[0034] Furthermore, the driving mechanism is provided with a driver end slot, one end of the sheath connector is provided with a plug-in end for inserting into the driver end slot for fixation, the plug-in end is provided with a spring ejector pin, the driver end slot is provided with an ejector pin female seat, and the spring ejector pin and the ejector pin female seat are connected and fixed.

[0035] Furthermore, the interventional robot sheath abnormal state warning device also includes: a third monitoring device, and the third monitoring device is installed on the driving mechanism.

[0036] In order to solve the above technical problems, the embodiment of the present application further provides a computer device, which adopts the following technical solution:

[0037] A computer device comprises a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the above-mentioned method for warning abnormal state of interventional robot sheath when executing the computer program.

[0038] In order to solve the above technical problems, the embodiment of the present application further provides a computer-readable storage medium, which adopts the following technical solution:

[0039] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the above-mentioned interventional robot sheath abnormal state warning method.

[0040] Compared with the prior art, the embodiments of the present application have the following beneficial effects:

[0041] The present application identifies whether the current detection category of the system is sheath in-place detection or sheath state detection; if the current detection category of the system is the sheath in-place detection, it determines whether the interventional robot is in the surgical process state or in the position adjustment state; if the interventional robot is in the surgical process state, it obtains a switch level signal from the first monitoring device, identifies the voltage characteristics of the switch level signal, generates corresponding sheath in-place judgment information according to the recognition result and sends it to the preset display interface for reminder; if the interventional robot is in the position adjustment state, it obtains a switch level signal from the first monitoring device, identifies the voltage characteristics of the switch level signal, generates corresponding adjustment state information according to the recognition result and sends it to the preset display interface for reminder; if the current detection category of the system is the sheath state detection, it obtains a real-time voltage signal from the second monitoring device, and judges the sheath deformation according to the voltage value of the real-time voltage signal and the preset deformation threshold, generates corresponding sheath deformation state information according to the judgment result and sends it to the preset display interface for reminder. Thus, effective abnormal state monitoring and early warning are effectively realized during the operation of the interventional robot to ensure the safety and effectiveness of the operation process of the interventional robot. By setting up an interventional robot sheath abnormal state warning device including a sheath, a mounting slot, a catheter, a sheath connector, a driving mechanism, a first monitoring device, and a second monitoring device, the corresponding switch level signal and the real-time voltage signal can be effectively acquired in real time through the first monitoring device and the second monitoring device, so as to realize effective abnormal state monitoring and risk warning during the operation of the interventional robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the scheme in the present application, a brief introduction is given below to the drawings required for use in the description of the embodiments of the present application. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0043] Figure 1 A flowchart of an embodiment of an abnormal state warning method for an interventional robot sheath according to the present application;

[0044] Figure 2 yes Figure 1 A flowchart of a specific implementation of step S30;

[0045] Figure 3 yes Figure 1 A flowchart of a specific implementation of step S40;

[0046] Figure 4 yes Figure 1 A flowchart of a specific implementation of step S50;

[0047] Figure 5 is a schematic cross-sectional structure diagram of an abnormal state warning device for an interventional robot sheath according to an embodiment of the present application;

[0048] Figure 6 is a circuit structure diagram of an abnormal state warning circuit of an embodiment of the present application;

[0049] Figure 7 is a schematic diagram of the installation positions of the first monitoring device and the second monitoring device in an embodiment of the present application;

[0050] Figure 8 It is a structural diagram of an embodiment of a computer device according to the present application.

[0051] Explanation of the reference numerals: sheath 1, mounting slot 2, catheter 3, sheath connector 4, drive mechanism 5, first monitoring device 6, second monitoring device 7, third monitoring device 8, plug-in terminal 41, driver terminal slot 51, spring ejector pin 411, ejector pin socket 511. DETAILED DESCRIPTION

[0052] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by technicians in the technical field of the present application; the terms used in the specification of the application herein are only for the purpose of describing specific embodiments and are not intended to limit the present application; the terms "including" and "having" and any variations thereof in the specification and claims of the present application and the above-mentioned drawings are intended to cover non-exclusive inclusions. The terms "first", "second", etc. in the specification and claims of the present application or the above-mentioned drawings are used to distinguish different objects, not to describe a specific order.

[0053] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0054] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings.

[0055] refer to Figure 1 , shows a flow chart of an embodiment of an abnormal state warning method for an interventional robot sheath according to the present application. The abnormal state warning method for an interventional robot sheath comprises the following steps:

[0056] Step S10, identifying whether the current detection category of the system is sheath in place detection or sheath status detection;

[0057] In this embodiment, the sheath in-place detection is performed during the operation and during the machine position adjustment process, and the sheath state detection is performed during the operation. The sheath in-place detection is used to detect whether the sheath in the machine is in the preset connection position. The preset connection position refers to the position where the sheath and the mounting slot are connected and fixed. The sheath in-place detection is used to detect whether the sheath is installed and fixed in the mounting slot. The sheath state detection refers to the detection of whether the sheath connector is currently deformed. When the sheath connector is squeezed or stretched by external force and deformed, the sheath state detection will detect this change to form a state detection of the sheath connector.

[0058] Step S20, if the current detection category of the system is the sheath in place detection, determining whether the interventional robot is in a surgical process state or in a position adjustment state;

[0059] In this embodiment, the surgical process state refers to the state in which the machine is working during the interventional surgery, and the position adjustment state refers to the state in which the machine pauses the surgery and performs the movement and adjustment of the position of the machine's robotic arm. In this embodiment, the machine's robotic arm is connected to the driver, and the position of the driver and the devices connected to it are adjusted by adjusting the position of the machine's robotic arm.

[0060] Step S30, if the interventional robot is in the surgical process state, a switch level signal is obtained from the first monitoring device, and a voltage characteristic of the switch level signal is identified, and corresponding sheath in place judgment information is generated according to the identification result and sent to a preset display interface for reminder;

[0061] In this embodiment, the first monitoring device is installed at a position where the sheath and the installation slot are connected. When the sheath is installed in the installation slot, the sheath presses on the first monitoring device, causing the state of the first monitoring device to change, so as to output a corresponding switch level signal. The voltage characteristics of the switch level signal correspond to high level and low level. In this embodiment, the corresponding sheath in place judgment information is generated according to the situation that the switch level signal belongs to high level and low level respectively, and then the sheath in place judgment information is used to display a reminder on the preset display interface. The preset display interface refers to the display interface of the system, which can be the display interface of the control terminal connected to the machine. The first monitoring device can be determined by the monitoring object list, which refers to the information list of the device objects to be monitored pre-stored in the interventional robot. The monitoring object list records multiple currently monitored object numbers or names, and the monitoring object list can be queried and extracted from the database by viewing the query field. The corresponding first monitoring device is then determined from the monitoring object list by the first monitoring object identifier.

[0062] Step S40, if the interventional robot is in the position adjustment state, obtaining a switch level signal from the first monitoring device, identifying the voltage characteristic of the switch level signal, generating corresponding adjustment state information according to the identification result and sending it to the preset display interface for reminder;

[0063] In this embodiment, the voltage characteristics of the switch level signal correspond to high level and low level, and the corresponding adjustment state information is generated according to the situation that the switch level signal belongs to high level and low level respectively, and then the adjustment state information is used to display a reminder on the preset display interface. The preset display interface refers to the display interface of the system, which can be the display interface of the control terminal connected to the machine.

[0064] Step S50: If the current detection category of the system is the sheath state detection, a real-time voltage signal is obtained from the second monitoring device, and the sheath deformation is judged based on the voltage value of the real-time voltage signal and a preset deformation threshold value. The corresponding sheath deformation state information is generated based on the judgment result and sent to the preset display interface for reminder.

[0065] In this embodiment, the real-time voltage signal refers to the voltage signal output at the current moment when the resistance value of the second monitoring device changes when it is subjected to an external force. Among them, the real-time voltage signal changes in real time with the change in the resistance of the second monitoring device, and is used to monitor the dynamic response of the second monitoring device. Since the voltage value of the real-time voltage signal is proportional to the deformation degree of the second monitoring device, a preset deformation threshold representing the deformation degree of the second monitoring device is set to judge whether the deformation degree of the second monitoring device reaches the preset deformation tolerance value. Then, the corresponding sheath deformation state information is generated according to the judgment result, and the sheath deformation state information is used to display a reminder on the preset display interface. The second monitoring device can be determined by the monitoring object list, which refers to the information list of the device objects to be monitored pre-stored in the interventional robot. The monitoring object list records multiple currently monitored object numbers or names, and the monitoring object list can be queried and extracted from the database by viewing the query field. The corresponding second monitoring device is then determined from the monitoring object list by the second monitoring object identifier.

[0066] The present application identifies whether the current detection category of the system is sheath in-place detection or sheath state detection; if the current detection category of the system is the sheath in-place detection, it determines whether the interventional robot is in the surgical process state or in the position adjustment state; if the interventional robot is in the surgical process state, it obtains a switch level signal from the first monitoring device, identifies the voltage characteristics of the switch level signal, generates corresponding sheath in-place judgment information according to the recognition result and sends it to the preset display interface for reminder; if the interventional robot is in the position adjustment state, it obtains a switch level signal from the first monitoring device, identifies the voltage characteristics of the switch level signal, generates corresponding adjustment state information according to the recognition result and sends it to the preset display interface for reminder; if the current detection category of the system is the sheath state detection, it obtains a real-time voltage signal from the second monitoring device, and judges the sheath deformation according to the voltage value of the real-time voltage signal and the preset deformation threshold, generates corresponding sheath deformation state information according to the judgment result and sends it to the preset display interface for reminder. Thus, effective abnormal state monitoring and early warning are effectively realized during the operation of the interventional robot to ensure the safety and effectiveness of the operation process of the interventional robot.

[0067] Continue to refer Figure 2 , shows a flowchart of a specific embodiment of step S30, comprising the following steps:

[0068] Step S301, identifying whether the switch level signal is a high level or a low level;

[0069] In this embodiment, after obtaining the switch level signal, the switch level signal can be filtered and preprocessed by the mean filtering method to obtain a standard and effective switch level signal. When the sheath is installed in the installation slot, the sheath will press on the first monitoring device, so that the first monitoring device will output a low-level switch level signal; when the sheath falls off from the installation slot, the first monitoring device will recover from the pressed state to the unpressed state, and the first monitoring device will output a high-level switch level signal. The level represents the logarithm of the ratio of the voltage at a certain point in the circuit to a certain reference voltage. The switch level signal can be judged as a high level or a low level by identifying the output logic level. For example, when the logic level of the switch level signal is 1, the switch level signal is a high level, and when the logic level of the switch level signal is 0, the switch level signal is a low level.

[0070] Step S302, if the switch level signal is the high level, generating a sheath falling alarm message and sending it to the preset display interface for alarm reminder;

[0071] In this embodiment, the sheath-off alarm information includes a preset alarm field, which can be set to a text field for describing the state that the sheath has been detached, for example, "Please note! The sheath of the current machine has been detached", and the alarm field can be adjusted according to the actual situation. After the sheath-off alarm information is generated, the sheath-off alarm information can be sent to the preset display interface through the preset information sending path, and a reminder is displayed on the preset display interface.

[0072] Step S303: if the switch level signal is the low level, sheath in-place status information is generated and sent to the preset display interface for display reminder.

[0073] In this embodiment, the sheath in-place status information includes a preset display field, which can be set as a text field for describing the state of the sheath at the preset position, for example, "the sheath of the current machine is in place", and the display field can be adjusted according to actual conditions. After the sheath in-place status information is generated, the sheath in-place status information can be sent to a preset display interface through a preset information sending path, and a reminder is displayed on the preset display interface.

[0074] This embodiment identifies whether the switch level signal is high or low; if the switch level signal is high, a sheath-off alarm message is generated and sent to the preset display interface for alarm reminder; if the switch level signal is low, a sheath-in-place status message is generated and sent to the preset display interface for display reminder. This effectively realizes that when the machine is in the state of the surgical process, the corresponding sheath-off alarm message and sheath-in-place status message are generated according to the high or low level of the switch level signal for display reminder.

[0075] Continue to refer Figure 3 , shows a flowchart of a specific embodiment of step S40, comprising the following steps:

[0076] S401, identifying whether the switch level signal is a high level or a low level;

[0077] In this embodiment, the level represents the logarithm of the ratio of the voltage at a certain point in the circuit to a certain reference voltage. The switch level signal can be judged as a high level or a low level by identifying the logic level of the output. For example, when the logic level of the switch level signal is 1, the switch level signal is a high level, and when the logic level of the switch level signal is 0, the switch level signal is a low level.

[0078] S402, if the switch level signal is the high level, generating robot adjustable information and sending it to the preset display interface for display reminder;

[0079] In this embodiment, the robot adjustable information includes a preset display field, which can be set as a text field for describing that the machine is in a state where it can be moved and adjusted, for example, "the current sheath has been detached, and the machine can be moved", and the display field can be adjusted according to actual conditions. After the robot adjustable information is generated, the robot adjustable information can be sent to the preset display interface through the preset information sending path, and a reminder is displayed on the preset display interface.

[0080] S403: If the switch level signal is the low level, a robot cannot be adjusted message is generated and sent to the preset display interface for alarm reminder.

[0081] In this embodiment, the robot unadjustable information includes a preset alarm field, which can be set as a text field for describing that the machine is in a state where it cannot be moved and adjusted, for example, "the current sheath is not detached, and the machine cannot be moved", and the alarm field can be adjusted according to actual conditions. After the robot unadjustable information is generated, the robot unadjustable information can be sent to a preset display interface through a preset information sending path, and a reminder is displayed on the preset display interface.

[0082] This embodiment identifies whether the switch level signal is high or low; if the switch level signal is high, the robot adjustable information is generated and sent to the preset display interface for display reminder; if the switch level signal is low, the robot unadjustable information is generated and sent to the preset display interface for alarm reminder. This effectively realizes that when the machine is in the position adjustment state, the corresponding robot adjustable information and robot unadjustable information are generated according to the high level or low level of the switch level signal for display reminder.

[0083] Continue to refer Figure 4 , shows a flowchart of a specific embodiment of step S50, comprising the following steps:

[0084] Step S501, determining whether the voltage value of the real-time voltage signal is greater than the preset deformation threshold;

[0085] In this embodiment, after the real-time voltage signal is obtained, the real-time voltage signal can be filtered and preprocessed by a low-pass filtering method to obtain a standard and effective real-time voltage signal. The voltage value of the real-time voltage signal is proportional to the degree of deformation of the second monitoring device. By obtaining the voltage value of the real-time voltage signal, it is effectively determined whether the degree of deformation of the second monitoring device has reached the level that requires an alarm. Among them, the preset deformation threshold is the voltage threshold corresponding to the voltage value of the real-time voltage signal, and the comparison and judgment are performed by this voltage threshold; specifically, the voltage threshold can be pre-set according to the actual situation, and is not limited here.

[0086] Step S502, if the voltage value of the real-time voltage signal is greater than the preset deformation threshold, generating sheath deformation abnormality information and sending it to the preset display interface for alarm reminder;

[0087] In this embodiment, the sheath deformation abnormality information includes a preset alarm field, which can be set to a text field for describing the abnormal state of the sheath connector deformation, for example, "Please note! The current sheath connector is severely deformed", and the alarm field can be adjusted according to the actual situation. After the sheath deformation abnormality information is generated, the sheath deformation abnormality information can be sent to the preset display interface through the preset information sending path, and a reminder is displayed on the preset display interface.

[0088] Step S503: if the voltage value of the real-time voltage signal is less than or equal to the preset deformation threshold, normal sheath deformation information is generated and sent to the preset display interface for display reminder.

[0089] In this embodiment, the normal sheath deformation information includes a preset display field, which can be set as a text field for describing the normal state of the sheath connector, for example, "the current sheath connector has no abnormality", and the display field can be adjusted according to actual conditions. After the normal sheath deformation information is generated, the normal sheath deformation information can be sent to a preset display interface through a preset information sending path, and a reminder is displayed on the preset display interface.

[0090] This embodiment determines whether the voltage value of the real-time voltage signal is greater than the preset deformation threshold; if the voltage value of the real-time voltage signal is greater than the preset deformation threshold, sheath deformation abnormality information is generated and sent to the preset display interface for alarm reminder; if the voltage value of the real-time voltage signal is less than or equal to the preset deformation threshold, sheath deformation normality information is generated and sent to the preset display interface for display reminder. This effectively realizes that when the current detection category of the system is sheath state detection, the corresponding sheath deformation abnormality information and sheath deformation normal information are generated according to the voltage condition of the real-time voltage signal for display reminder.

[0091] In an optional embodiment of this embodiment, if the current detection category of the system is the sheath state detection, a real-time voltage signal is obtained from the second monitoring device, and sheath deformation is judged according to the voltage value of the real-time voltage signal and a preset deformation threshold, and corresponding sheath deformation state information is generated according to the judgment result and sent to the preset display interface for reminder, the following steps are also included:

[0092] Acquire a driving vibration signal from a third monitoring device;

[0093] In this embodiment, whether the driving mechanism is in a working state can be effectively detected by reading the mechanism operation parameters of the driving mechanism. When the read mechanism operation parameters are null values, it indicates that the driving mechanism is not in a working state. When the read mechanism operation parameters are not null values, it indicates that the driving mechanism is in a working state. When the driving mechanism is in a working state, the collected working sound signal can be extracted from the system database according to the current timestamp and the second device identifier corresponding to the third monitoring device. At the same time, the working sound signal can be obtained at a predetermined time interval to detect the driving mechanism. The predetermined time interval is initially set to 3s and can be adjusted accordingly according to the actual situation. Then, the working sound signal is band-pass filtered by setting the filter frequency band corresponding to the band-pass filter to realize filtering processing, so as to effectively remove the noise of the working sound signal and obtain an effective driving vibration signal.

[0094] Inputting the real-time voltage signal and the driving vibration signal into a pre-trained adjustment parameter calculation model to obtain a driving mechanism adjustment parameter;

[0095] In this embodiment, the real-time voltage signal and the driving vibration signal are analyzed in the time domain to obtain signal statistical characteristics, including mean, variance, standard deviation, maximum and minimum values, peak-to-peak value (difference between the maximum and minimum values ​​of the signal), root mean square value, etc. The real-time voltage signal and the driving vibration signal are analyzed in the frequency domain to obtain signal spectrum characteristics, including frequency distribution, peak frequency, bandwidth, power spectrum density, spectrum shape, etc. The signal statistical characteristics and signal spectrum characteristics are combined in a certain order according to the preset feature vector dimension to construct a multi-dimensional feature vector. The multi-dimensional feature vector is then input into the pre-trained adjustment parameter calculation model to obtain the drive mechanism adjustment parameter. The drive mechanism adjustment parameters can adopt a support vector machine model. The training steps of the support vector machine model include: collecting a sample data set containing multi-dimensional feature vectors and corresponding drive mechanism adjustment parameters, standardizing or normalizing the feature vectors to eliminate the dimensional differences between different features; setting the kernel function of the SVM, which determines the distribution of data in high-dimensional space and the shape of the classification boundary (commonly used kernel functions include linear kernel, polynomial kernel, radial basis function (RBF) kernel and Sigmoid kernel, etc.); setting the hyperparameters of the SVM model, such as the regularization parameter C and the kernel function parameters (such as RBF kernel function); F kernel gamma parameter); preprocess the sample data set and divide the preprocessed sample data set into a training set and a test set; use the training set data to train the SVM model to obtain a classifier; use cross-validation methods (such as k-fold cross-validation) to evaluate the generalization ability of the model and determine the optimal hyperparameter combination; evaluate the performance of the model on the test set, and commonly used evaluation indicators include accuracy, precision, recall, F1 score, ROC curve and AUC value; tune the model according to the evaluation results, including adjusting hyperparameters, changing kernel functions or improving feature extraction methods.

[0096] The drive mechanism adjustment parameters are sent to the drive mechanism for drive adjustment control.

[0097] In this embodiment, the drive mechanism adjustment parameters are control parameters used to adjust the drive mechanism. The drive mechanism adjustment parameters mainly include operating speed control parameters and operating acceleration control parameters. The operating speed and acceleration of the drive mechanism are adjusted by the operating speed control parameters and operating acceleration control parameters to effectively realize the drive adjustment control of the drive mechanism.

[0098] This embodiment obtains a driving vibration signal from a third monitoring device; inputs the real-time voltage signal and the driving vibration signal into a pre-trained adjustment parameter calculation model to obtain a driving mechanism adjustment parameter; and sends the driving mechanism adjustment parameter to the driving mechanism for driving adjustment control. This effectively implements corresponding adjustment control of the driving mechanism according to the current deformation of the sheath connector and the driving condition of the driving mechanism, so as to effectively reduce the deformation change speed of the sheath connector.

[0099] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, the aforementioned storage medium can be a non-volatile storage medium such as a disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).

[0100] It should be understood that, although the steps in the flowchart of the accompanying drawings are displayed in sequence as indicated by the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least a part of the steps in the flowchart of the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a part of the sub-steps or stages of other steps.

[0101] Further references Figure 5 In order to further solve the above technical problems, the present application also provides an interventional robot sheath abnormal state warning device, which is used to implement the above-mentioned interventional robot sheath abnormal state warning method. The interventional robot sheath abnormal state warning device described in this embodiment includes:

[0102] Sheath 1, mounting slot 2, catheter 3, sheath connector 4, drive mechanism 5, first monitoring device 6 and second monitoring device 7;

[0103] The sheath 1 is connected to the mounting slot 2, the catheter 3 passes through the driving mechanism 5 and is inserted into the sheath 1, the sheath connector 4 is installed between the mounting slot 2 and the driving mechanism 5, the first monitoring device 6 is installed in the mounting slot 2, and the second monitoring device 7 is arranged on the sheath connector 4.

[0104] In this embodiment, an interventional robot sheath abnormal state warning device is provided, which includes a sheath 1, a mounting slot 2, a catheter 3, a sheath connector 4, a driving mechanism 5, a first monitoring device 6, and a second monitoring device 7, so as to effectively obtain corresponding switch level signals and real-time voltage signals in real time through the first monitoring device 6 and the second monitoring device 7, so as to realize effective abnormal state monitoring and risk warning during the operation of the interventional robot, thereby ensuring the safety and effectiveness of the operation process of the interventional robot.

[0105] Furthermore, the driving mechanism 5 is provided with a driver end slot 51, and one end of the sheath connector 4 is provided with a plug-in end 41 for inserting into the driver end slot 51 for fixation, and the plug-in end 41 is provided with a spring ejector pin 411, and an ejector pin female seat 511 is provided in the driver end slot 51, and the spring ejector pin 411 and the ejector pin female seat 511 are connected and fixed.

[0106] In this embodiment, a driver end slot 51 and a plug end 41 are respectively provided on the driving mechanism 5 and the sheath connector 4, so that the driving mechanism 5 and the sheath connector 4 can be effectively connected to avoid the sheath connector 4 falling off from the driving mechanism 5 during the operation of the machine.

[0107] In this embodiment, reference Figure 6 As shown, the corresponding interventional robot sheath abnormal state warning device is also provided with an abnormal state warning circuit, which includes a main controller Q, a first filter F1, a second filter F2, a first resistor R1, a second resistor R2, a power supply V, a spring ejector A1, an ejector socket A2, a first monitoring device K, and a second monitoring device S; one end of the first monitoring device K and the second monitoring device S are connected to the ground in parallel, and the other ends are connected to the spring ejector A1, the ejector socket A2 is connected in parallel with the first filter F1 and the second filter F2, the first filter F1 and the second filter F2 are connected to the main controller Q, the first resistor R1 and the second resistor R2 are respectively connected in parallel between the first filter F1 and the ejector socket A2, and between the second filter F2 and the ejector socket A2, the first resistor R1 and the second resistor R2 are connected to the power supply V, and one end of the ejector socket A2 is grounded.

[0108] In this embodiment, reference Figure 7 As shown, the first monitoring device 6 adopts a micro-button switch. When the sheath 1 is installed in the installation slot 2, the sheath 1 will press the micro-button switch, so that the micro-button switch is closed and turned on, thereby changing the circuit to a low level; when the sheath 1 is removed from the installation slot 2, the micro-button switch will be disconnected and popped up, thereby changing the circuit to a high level.

[0109] In the present embodiment, the second monitoring device 7 is a thin film resistor strain gauge, and the thin film resistor strain gauge and the sheath connector 4 are fitted and fixed. The working principle of the thin film resistor strain gauge is based on the strain effect of the resistor material. When subjected to external force, the shape and size of the strain gauge will change slightly, and this change will cause its resistance value to change. Specifically, when the strain gauge and the sheath connector 4 are stretched or compressed simultaneously, the conductive material inside them will deform, causing the resistance value to increase or decrease. The thin film resistor strain gauge can be measured by an external circuit to obtain the corresponding device connection status signal. The resistance of the thin film resistor strain gauge in the initial state is R. As the deformation increases, the resistance R increases, which is similar to a linear change. By applying an excitation voltage Vp to the thin film resistor strain gauge, combined with the resistor R1, the change in thin film resistance can be converted into a voltage signal, and then the interference noise is eliminated by filtering to obtain the real-time voltage signal V1. The relationship is: Among them, R1 is a fixed resistance, Vp is the excitation voltage, V1 is the real-time voltage, and R is the real-time resistance value of the thin film resistance strain gauge. From the formula, it can be seen that as R increases, V1 will also increase. By collecting the change in the V1 signal, the deformation of the thin film resistance strain gauge, that is, the current state of the sheath, can be known.

[0110] Furthermore, the interventional robot sheath abnormal state warning device also includes: a third monitoring device 8 , and the third monitoring device 8 is installed on the driving mechanism 5 .

[0111] In this embodiment, the third monitoring device 8 is an acoustic sensor installed on the above-mentioned drive mechanism 5. The working principle of the acoustic sensor is mainly based on the interaction between sound waves and matter. When the sound wave acts on the sensor, it will cause vibration or deformation of certain components inside the sensor, and this mechanical movement is then converted into an electrical signal. The driving vibration signal is effectively obtained from the driving mechanism 5 through the acoustic sensor. In this embodiment, the third monitoring device 8 is installed on the driving mechanism 5 to effectively obtain the driving vibration signal of the driving mechanism 5 during the operation, so as to facilitate the adjustment of the driving mechanism adjustment parameters of the driving mechanism 5 according to the driving vibration signal.

[0112] To solve the above technical problems, the present application also provides a computer device. Figure 8 , Figure 8 This is a basic structural block diagram of the computer device in this embodiment.

[0113] The computer device 9 includes a memory 91, a processor 92, and a network interface 93 that are interconnected and communicated through a system bus. It should be noted that the figure only shows a computer device 9 with components 91-93, but it should be understood that it is not required to implement all the components shown, and more or fewer components can be implemented instead. Among them, those skilled in the art can understand that the computer device here is a device that can automatically perform numerical calculations and / or information processing according to pre-set or stored instructions, and its hardware includes but is not limited to microprocessors, application specific integrated circuits (Application Specific Integrated Circuit, ASIC), programmable gate arrays (Field-Programmable Gate Array, FPGA), digital processors (Digital Signal Processor, DSP), embedded devices, etc.

[0114] The computer device may be a computing device such as a desktop computer, a notebook, a PDA, a cloud server, etc. The computer device may interact with a user through a keyboard, a mouse, a remote controller, a touch pad, or a voice control device.

[0115] The memory 91 includes at least one type of readable storage medium, and the readable storage medium includes flash memory, hard disk, multimedia card, card-type memory (for example, SD or DX memory, etc.), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, disk, optical disk, etc. In some embodiments, the memory 91 can be an internal storage unit of the computer device 9, such as a hard disk or memory of the computer device 9. In other embodiments, the memory 91 can also be an external storage device of the computer device 9, such as a plug-in hard disk equipped on the computer device 9, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (FlashCard), etc. Of course, the memory 91 can also include both the internal storage unit of the computer device 9 and its external storage device. In this embodiment, the memory 91 is generally used to store the operating system and various application software installed on the computer device 9, such as the program code of the abnormal state warning method of the interventional robot sheath, etc. In addition, the memory 91 can also be used to temporarily store various types of data that have been output or are to be output.

[0116] The processor 92 may be a central processing unit (CPU), a controller, a microcontroller, a microprocessor, or other data processing chip in some embodiments. The processor 92 is generally used to control the overall operation of the computer device 9. In this embodiment, the processor 92 is used to run the program code or process data stored in the memory 91, such as running the program code of the abnormal state warning method of the interventional robot sheath.

[0117] The network interface 93 may include a wireless network interface or a wired network interface. The network interface 93 is generally used to establish a communication connection between the computer device 9 and other electronic devices.

[0118] This embodiment can identify whether the current detection category of the system is sheath in-place detection or sheath state detection by setting a computer device corresponding to the abnormal state warning method of the interventional robot sheath; if the current detection category of the system is the sheath in-place detection, it is determined whether the interventional robot is in the surgical process state or in the position adjustment state; if the interventional robot is in the surgical process state, a switch level signal is obtained from the first monitoring device, and the voltage characteristics of the switch level signal are identified, and corresponding sheath in-place judgment information is generated according to the recognition result and sent to the preset display interface for reminder; if the interventional robot is in the position adjustment state, a switch level signal is obtained from the first monitoring device, and the voltage characteristics of the switch level signal are identified, and corresponding adjustment state information is generated according to the recognition result and sent to the preset display interface for reminder; if the current detection category of the system is the sheath state detection, a real-time voltage signal is obtained from the second monitoring device, and sheath deformation judgment is performed according to the voltage value of the real-time voltage signal and the preset deformation threshold, and corresponding sheath deformation state information is generated according to the judgment result and sent to the preset display interface for reminder. Thereby, effective abnormal state monitoring and early warning are effectively realized during the operation of the interventional robot to ensure the safety and effectiveness of the operation process of the interventional robot.

[0119] The present application also provides another embodiment, namely, providing a computer-readable storage medium, wherein the computer-readable storage medium stores an interventional robot sheath abnormal state warning program, and the interventional robot sheath abnormal state warning program can be executed by at least one processor to enable the at least one processor to perform the steps of the interventional robot sheath abnormal state warning method as described above.

[0120] This embodiment can identify whether the current detection category of the system is sheath in-place detection or sheath status detection by setting a computer-readable storage medium corresponding to the abnormal state warning method of the interventional robot sheath; if the current detection category of the system is the sheath in-place detection, it is determined whether the interventional robot is in the surgical process state or in the position adjustment state; if the interventional robot is in the surgical process state, a switch level signal is obtained from the first monitoring device, and the voltage characteristic of the switch level signal is identified, and corresponding sheath in-place judgment information is generated according to the identification result and sent to the preset display interface for reminder; if the interventional robot is in the position adjustment state, a switch level signal is obtained from the first monitoring device, and the voltage characteristic of the switch level signal is identified, and corresponding adjustment status information is generated according to the identification result and sent to the preset display interface for reminder; if the current detection category of the system is the sheath status detection, a real-time voltage signal is obtained from the second monitoring device, and sheath deformation is judged according to the voltage value of the real-time voltage signal and the preset deformation threshold, and corresponding sheath deformation status information is generated according to the judgment result and sent to the preset display interface for reminder. This can effectively realize abnormal state monitoring and early warning during the operation of the interventional robot, so as to ensure the safety and effectiveness of the operation process of the interventional robot.

[0121] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0122] Obviously, the embodiments described above are only some embodiments of the present application, rather than all embodiments. The preferred embodiments of the present application are given in the accompanying drawings, but they do not limit the patent scope of the present application. The present application can be implemented in many different forms. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present application more thorough and comprehensive. Although the present application is described in detail with reference to the aforementioned embodiments, for those skilled in the art, it is still possible to modify the technical solutions recorded in the aforementioned specific implementation methods, or to perform equivalent replacement of some of the technical features therein. Any equivalent structure made using the contents of the specification and drawings of this application, directly or indirectly used in other related technical fields, is similarly within the scope of patent protection of this application.

Claims

1. A method for early warning of abnormal state of an interventional robot sheath, characterized in that: The steps include: Identify whether the current detection category of the system is sheath in place detection or sheath status detection; If the current detection category of the system is the sheath in place detection, determining whether the interventional robot is in a surgical process state or in a position adjustment state; If the interventional robot is in the surgical process state, a switch level signal is obtained from the first monitoring device, and a voltage characteristic of the switch level signal is identified, and corresponding sheath in place judgment information is generated according to the identification result and sent to a preset display interface for reminder; If the interventional robot is in the position adjustment state, a switch level signal is obtained from the first monitoring device, and a voltage characteristic of the switch level signal is identified, and corresponding adjustment state information is generated according to the identification result and sent to the preset display interface for reminder; If the current detection category of the system is the sheath state detection, a real-time voltage signal is obtained from the second monitoring device, and the sheath deformation is judged based on the voltage value of the real-time voltage signal and a preset deformation threshold value, and the corresponding sheath deformation state information is generated based on the judgment result and sent to the preset display interface for reminder.

2. The method for early warning of abnormal state of interventional robot sheath according to claim 1, characterized in that: The step of identifying the voltage characteristics of the switch level signal and generating corresponding sheath in place judgment information according to the identification result and sending it to a preset display interface for reminder specifically includes: Identify whether the switch level signal is a high level or a low level; If the switch level signal is the high level, a sheath falling alarm message is generated and sent to the preset display interface for alarm reminder; If the switch level signal is the low level, sheath in place status information is generated and sent to the preset display interface for display reminder.

3. The method for early warning of abnormal state of interventional robot sheath according to claim 1, characterized in that: The step of identifying the voltage characteristic of the switch level signal and generating corresponding adjustment status information according to the identification result and sending it to the preset display interface for reminder specifically includes: Identify whether the switch level signal is a high level or a low level; If the switch level signal is the high level, then the robot adjustable information is generated and sent to the preset display interface for display reminder; If the switch level signal is the low level, the robot cannot be adjusted information is generated and sent to the preset display interface for alarm reminder.

4. The method for early warning of abnormal state of interventional robot sheath according to claim 1, characterized in that: The step of judging the sheath deformation according to the voltage value of the real-time voltage signal and the preset deformation threshold, and generating corresponding sheath deformation state information according to the judgment result and sending it to the preset display interface for reminder specifically includes: Determining whether the voltage value of the real-time voltage signal is greater than the preset deformation threshold; If the voltage value of the real-time voltage signal is greater than the preset deformation threshold, sheath deformation abnormality information is generated and sent to the preset display interface for alarm reminder; If the voltage value of the real-time voltage signal is less than or equal to the preset deformation threshold, normal sheath deformation information is generated and sent to the preset display interface for display reminder.

5. The method for early warning of abnormal state of interventional robot sheath according to claim 1, characterized in that: After the step of obtaining a real-time voltage signal from a second monitoring device if the current detection category of the system is the sheath state detection, and performing a sheath deformation judgment according to a voltage value of the real-time voltage signal and a preset deformation threshold, and generating corresponding sheath deformation state information according to the judgment result and sending it to the preset display interface for reminder, the method further includes the following steps: Acquire a driving vibration signal from a third monitoring device; Inputting the real-time voltage signal and the driving vibration signal into a pre-trained adjustment parameter calculation model to obtain a driving mechanism adjustment parameter; The drive mechanism adjustment parameters are sent to the drive mechanism for drive adjustment control.

6. An interventional robot sheath abnormal state warning device, used to implement the steps of the interventional robot sheath abnormal state warning method according to any one of claims 1 to 5, characterized in that: The interventional robot sheath abnormal state warning device comprises: a sheath, a mounting slot, a catheter, a sheath connector, a driving mechanism, a first monitoring device and a second monitoring device; The sheath is connected to the mounting slot, the catheter passes through the driving mechanism and is inserted into the sheath, the sheath connector is installed between the mounting slot and the driving mechanism, the first monitoring device is installed in the mounting slot, and the second monitoring device is arranged on the sheath connector.

7. The interventional robot sheath abnormal state warning device according to claim 6, characterized in that: The driving mechanism is provided with a driver end slot, one end of the sheath connector is provided with a plug-in end for inserting into the driver end slot for fixation, the plug-in end is provided with a spring ejector pin, the driver end slot is provided with an ejector pin female seat, and the spring ejector pin and the ejector pin female seat are connected and fixed.

8. The interventional robot sheath abnormal state warning device according to claim 6, characterized in that: The interventional robot sheath abnormal state warning device further includes: a third monitoring device, which is installed on the driving mechanism.

9. A computer device, characterized in that: The method comprises a memory and a processor, wherein the memory stores computer-readable instructions, and when the processor executes the computer-readable instructions, the steps of the abnormal state warning method of the interventional robot sheath are implemented as described in any one of claims 1 to 5.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the steps of the interventional robot sheath abnormal state warning method according to any one of claims 1 to 5 are implemented.

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