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

Abstract

The application belongs to the field of vascular intervention surgery, and relates to an interventional robot sheath abnormal state early warning method, device, equipment and storage medium. The method comprises the following steps: identifying whether the current detection category of the system is sheath in-place detection or sheath state detection; if it is sheath in-place detection, judging whether the interventional robot is in a surgery process state or in a position adjustment state; if it is the surgery process state, identifying the voltage characteristic of the switch level signal, and generating corresponding sheath in-place judgment information according to the identification result to give a reminder; if it is the position adjustment state, identifying the voltage characteristic of the switch level signal, and generating corresponding adjustment state information according to the identification result to give a reminder; and if it is sheath state detection, judging the sheath deformation according to the voltage value of the real-time voltage information and a preset deformation threshold, and generating corresponding sheath deformation state information according to the judgment result to give a reminder. The application can effectively realize risk early warning and adjustment when the interventional robot is running.

Description

TECHNICAL FIELD

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

[0002] Vascular interventional surgery is a treatment method for treating intravascular pathogen of a patient by means of surgical equipment. When treatment is performed, an operator in a compartment needs to control the surgical equipment to enter the intravascular pathogen for treatment.

[0003] During the operation of the interventional surgery robot, the connection state between the sheath used for puncture and the driving mechanism needs to be monitored in real time to ensure the safety and reliability of the operation. However, the operation environment is complex, and there are various electromagnetic interference sources such as high-frequency electrotome, nuclear magnetic resonance and other equipment. These interference sources will have a serious impact on the connection state monitoring system, resulting in distorted and inaccurate monitoring data, and even false positives or false negatives. At the same time, the connection structure between the sheath and the driving mechanism is complex, and there are multiple connection points and transmission components. How to achieve reliable connection state monitoring in a complex structure is also a big problem. For example, the following problems may occur due to accidental operation in actual application:

[0004] (1) The vascular sheath and the robot may fall off during the operation, and the operation cannot continue, but the doctor 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 due to the patient's movement, or the sheath connector is bent, resulting in increased resistance to catheter delivery. If the delivery continues, the catheter will be damaged, affecting the normal operation;

[0006] (3) After the operation, the sheath and the robot are not separated according to the normal process, and the drive is moved, causing the sheath to be accidentally pulled out of the body, causing bleeding and causing harm to the patient;

[0007] Therefore, it is urgent to design a safety state detection device for the sheath connector of the interventional robot to determine whether the sheath is detached, whether the sheath connector is bent or twisted, etc. In addition, the interventional surgery robot requires high operation precision and good stability. The connection state monitoring system needs to be synchronized in real time with the robot control system, and the robot motion parameters need to be adjusted in time according to the monitoring data, which puts higher requirements on the real-time performance and reliability of the monitoring system. SUMMARY

[0008] The present application aims to provide an interventional robot sheath abnormal state early warning method and device, computer equipment and a storage medium to solve the problem of ineffective abnormal state monitoring and risk early warning during the operation of the interventional robot.

[0009] To solve the above technical problems, the embodiment of the present application provides an interventional robot sheath abnormal state early warning method, which adopts the technical scheme as follows:

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

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

[0012] If the interventional robot is in the surgical process state, obtain a switching level signal from a first monitoring device, identify the voltage characteristic of the switching level signal, generate corresponding sheath in-place judgment information according to the identification result, and send the information to a preset display interface for prompting;

[0013] If the interventional robot is in the position adjustment state, obtain a switching level signal from a first monitoring device, identify the voltage characteristic of the switching level signal, generate corresponding adjustment state information according to the identification result, and send the information to the preset display interface for prompting;

[0014] If the current detection category of the system is the sheath state detection, obtain a real-time voltage signal from a second monitoring device, perform sheath deformation judgment according to the voltage value of the real-time voltage signal and a preset deformation threshold, generate corresponding sheath deformation state information according to the judgment result, and send the information to the preset display interface for prompting.

[0015] Further, the step of identifying the voltage characteristic of the switching level signal and generating corresponding sheath in-place judgment information according to the identification result and sending the information to a preset display interface for prompting specifically includes:

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

[0017] If the switching level signal is the high level, generate sheath shedding alarm information and send the information to the preset display interface for alarm prompting;

[0018] If the switching level signal is the low level, generate sheath in-place state information and send the information to the preset display interface for display prompting.

[0019] Further, the step of identifying the voltage characteristic of the switching level signal and generating corresponding adjustment state information according to the identification result and sending the information to the preset display interface for prompting specifically includes:

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

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

[0022] If the switch level signal is the low level, robot non-adjustable information is generated and sent to the preset display interface for alarm reminding.

[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 the sheath deformation state information to the preset display interface for reminding, specifically includes:

[0024] judging 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 abnormal information is generated and sent to the preset display interface for alarm reminding;

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

[0027] Further, after the step of if the current detection category of the system is the sheath state detection, a real-time voltage signal is obtained from a second monitoring device, and the sheath deformation is judged 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 reminding, the following steps are further included:

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

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

[0030] the driving mechanism adjustment parameter is sent to the driving mechanism for driving adjustment control.

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

[0032] a sheath, a mounting clamping groove, a catheter, a sheath connecting piece, a driving mechanism, a first monitoring device and a second monitoring device;

[0033] The sheath is connected with the mounting clamping groove, the catheter passes through the driving mechanism and is arranged in the sheath, the sheath connecting piece is installed between the mounting clamping groove and the driving mechanism, the first monitoring device is installed in the mounting clamping groove, and the second monitoring device is arranged on the sheath connecting piece.

[0034] Further, the driving mechanism is provided with a driver end card slot, one end of the sheath connecting piece is provided with a plug-in end for inserting into the driver end card slot for fixation, the plug-in end is provided with a spring ejector pin, the driver end card slot is provided with a pin female socket, and the spring ejector pin and the pin female socket are connected and fixed.

[0035] Further, the intervention robot sheath abnormal state early warning device further comprises a third monitoring device, which 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 technical scheme as follows:

[0037] A computer device comprises a memory and a processor, the memory stores a computer program, and the processor implements the steps of the intervention robot sheath abnormal state early warning method 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 technical scheme as follows:

[0039] A computer readable storage medium stores a computer program, and the computer program is executed by a processor to implement the steps of the intervention robot sheath abnormal state early warning method.

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

[0041] The 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 is judged 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 switching level signal is acquired from a first monitoring device, and the voltage characteristic of the switching 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 prompting; if the interventional robot is in the position adjustment state, a switching level signal is acquired from a first monitoring device, and the voltage characteristic of the switching level signal is identified, and corresponding adjustment state information is generated according to the identification result and sent to the preset display interface for prompting; if the current detection category of the system is the sheath state detection, a real-time voltage signal is acquired from a 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 prompting. Thus, effective abnormal state monitoring and early warning during the operation of the interventional robot can be realized to ensure the safety and effectiveness of the operation process of the interventional robot. By setting the interventional robot sheath abnormal state early warning device including a sheath, a mounting slot, a catheter, a sheath connecting piece, a driving mechanism, a first monitoring device and a second monitoring device, the corresponding switching level signal and real-time voltage signal can be acquired in real time through the first monitoring device and the second monitoring device, so as to realize effective abnormal state monitoring and risk early warning during the operation of the interventional robot. BRIEF DESCRIPTION OF DRAWINGS

[0042] In order to more clearly illustrate the schemes in the application, the drawings needed in the description of the embodiments of the application will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0043] Figure 1 Flow chart of an embodiment of the interventional robot sheath abnormal state early warning method according to the application;

[0044] Figure 2 is Figure 1 Flow chart of a specific embodiment of step S30 in the method;

[0045] Figure 3 is Figure 1 Flow chart of a specific embodiment of step S40 in the method;

[0046] Figure 4 is Figure 1 Flow chart of a specific embodiment of step S50 in the method;

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

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

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

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

[0051] Legend: Sheath 1, mounting card slot 2, catheter 3, sheath connector 4, driving mechanism 5, first monitoring device 6, second monitoring device 7, third monitoring device 8, plug-in end 41, driver end card slot 51, spring ejector pin 411, ejector pin female seat 511. DETAILED DESCRIPTION

[0052] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs; the terminology used in the specification herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application; the description and claims of the present application as well as the above abstract are not intended to be technically limiting of the application. The terms "including" and "comprising" and any variations thereof herein are intended to cover both open and closed ended systems. The terms "first", "second" and "third" and any variations thereof are used to distinguish different objects, not to describe a particular order.

[0053] Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are they necessarily mutually exclusive of one another. It is expressly understood that the embodiments described herein are merely examples from a much larger number of embodiments that can be claimed.

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

[0055] Reference Figure 1 , shows a flowchart of one embodiment of an intervention robot sheath abnormal state early warning method according to the present application. The intervention robot sheath abnormal state early warning method comprises the following steps:

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

[0057] In the embodiment, the sheath in position detection is performed during the operation process and the machine position adjustment process, and the sheath state detection is performed during the operation process. The sheath in position detection is used to detect whether the sheath in the machine is at a preset connection position, which refers to the position where the sheath and the mounting slot are connected and fixed. The sheath in position detection is used to detect whether the sheath is fixed in the mounting slot. The sheath state detection refers to detecting whether the sheath connector currently deforms. When the sheath connector is extruded or stretched by external force and deforms, the sheath state detection detects the change to form the state detection of the sheath connector.

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

[0059] In the embodiment, the operation process state refers to the state of the machine working in the interventional operation, and the position adjustment state refers to the state of the machine pausing the operation and adjusting the position of the machine mechanical arm. In the embodiment, the machine mechanical arm is connected with a driver, and the position of the driver and the device connected therewith is adjusted by adjusting the position of the machine mechanical arm.

[0060] Step S30, if the interventional robot is in the operation process state, obtaining a switch level signal from a first monitoring device, identifying the voltage characteristic of the switch level signal, and generating corresponding sheath in position judgment information according to the identification result and sending the sheath in position judgment information to a preset display interface for prompting;

[0061] In the embodiment, the first monitoring device is installed at the position where the sheath and the mounting slot are connected. When the sheath is installed in the mounting slot, the sheath presses on the first monitoring device, so that the state of the first monitoring device changes to output a corresponding switch level signal. The voltage characteristic of the switch level signal corresponds to a high level and a low level. In the embodiment, the corresponding sheath in position judgment information is generated according to the case that the switch level signal belongs to the high level and the low level, and the sheath in position judgment information is displayed on the preset display interface for prompting. The preset display interface refers to the display interface of the system, which can be the display interface of the control terminal connected with the machine. The first monitoring device can be determined through a monitoring object list, which refers to the information list of the device objects that need to be monitored and is pre-stored in the interventional robot. The monitoring object list records a plurality of current monitoring object numbers or names, which can be queried and extracted from the database through a query field. The corresponding first monitoring device is determined from the monitoring object list through a first monitoring object identifier.

[0062] In step S40, if the interventional robot is in the position adjustment state, a switch level signal is acquired from the first monitoring device, voltage characteristics of the switch level signal are identified, and corresponding adjustment state information is generated according to the identification result and sent to the preset display interface for prompting.

[0063] In this embodiment, the voltage characteristics of the switch level signal correspond to high level and low level, and corresponding adjustment state information is generated according to whether the switch level signal belongs to high level or low level, and the adjustment state information is displayed on the preset display interface for prompting. The preset display interface refers to the display interface of the system, and can be the display interface of the control terminal connected to the machine.

[0064] In step S50, if the current detection category of the system is the sheath state detection, a real-time voltage signal is acquired 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 prompting.

[0065] In this embodiment, the real-time voltage signal refers to the voltage signal output at the current time when the resistance value of the second monitoring device changes due to external force. The real-time voltage signal changes in real time with the change of 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, the 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 bearing value. According to the judgment result, corresponding sheath deformation state information is generated, and the sheath deformation state information is displayed on the preset display interface for prompting. The second monitoring device can be determined by a monitoring object list, which refers to a pre-stored information list of device objects to be monitored in the interventional robot. The monitoring object list records a plurality of object numbers or names of the current monitoring, and the monitoring object list can be queried and extracted from the database by checking the query field. The corresponding second monitoring device is determined from the monitoring object list by the second monitoring object identifier.

[0066] The 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 is judged whether the interventional robot is in a surgical process state or a position adjustment state; if the interventional robot is in the surgical process state, a switching level signal is acquired from a first monitoring device, and the voltage characteristic of the switching 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 prompting; if the interventional robot is in the position adjustment state, a switching level signal is acquired from a first monitoring device, and the voltage characteristic of the switching level signal is identified, and corresponding adjustment state information is generated according to the identification result and sent to the preset display interface for prompting; if the current detection category of the system is the sheath state detection, a real-time voltage signal is acquired from a 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 prompting. Thus, effective abnormal state monitoring and early warning can be realized during the operation of the interventional robot, so as to ensure the safety and effectiveness of the operation process of the interventional robot.

[0067] With reference to the foregoing description of the method of the application, the method of the application can be implemented by means of a computer program product, which comprises computer program code means adapted to perform the steps of the method of the application when said program is run on a computer. Figure 2 With reference to the foregoing description of the method of the application, the method of the application can be implemented by means of a computer program product, which comprises computer program code means adapted to perform the steps of the method of the application when said program is run on a computer.

[0068] Step S301: identifying whether the switching level signal is high or low.

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

[0070] Step S302: if the switching level signal is high, generating sheath falling-off alarm information and sending it to the preset display interface for alarm and prompting.

[0071] In the embodiment, the sheath shedding alarm information includes a preset alarm field, which can be set as a text field for describing the state of the sheath shedding, for example, "Please note! The sheath of the current machine has been shed", and the alarm field can be adjusted according to actual conditions. When the sheath shedding alarm information is generated, the sheath shedding alarm information can be sent to the preset display interface through a preset information sending path and displayed and reminded on the preset display interface.

[0072] In step S303, if the switch level signal is the low level, the sheath in position state information is generated and sent to the preset display interface for display and reminding.

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

[0074] The embodiment identifies whether the switch level signal is a high level or a low level, generates the sheath shedding alarm information and sends it to the preset display interface for alarm reminding if the switch level signal is the high level, and generates the sheath in position state information and sends it to the preset display interface for display reminding if the switch level signal is the low level. Thus, the corresponding sheath shedding alarm information and sheath in position state information can be generated and displayed and reminded according to the high level or low level of the switch level signal when the machine is in the surgical process state.

[0075] With reference to Figure 3 , a flow chart of one specific embodiment of step S40 is shown, including the following steps:

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

[0077] In the embodiment, the level represents the logarithm of the ratio of the voltage of a certain point in the circuit to a certain reference voltage, and the switch level signal can be identified 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.

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

[0079] In this embodiment, the robot's adjustable information includes a preset display field. This display field can be set as a text field describing the robot's movable and adjustable state, such as "The sheath has been disengaged, and the robot can be moved." This display field can be adjusted according to the actual situation. After the robot's adjustable information is generated, it can be sent to a preset display interface through a preset information sending path, and a reminder will be displayed on the preset display interface.

[0080] S403, if the switch level signal is low, then generate robot unadjustable information and send it to the preset display interface for alarm reminder.

[0081] In this embodiment, the robot's unadjustable information includes a preset alarm field. This alarm field can be set as a text field describing a state in which the robot cannot be moved or adjusted, for example, "The sheath is not disengaged, and the robot cannot be moved." This alarm field can be adjusted according to the actual situation. After the robot's unadjustable information is generated, it can be sent to a preset display interface through a preset information sending path, and a reminder will be 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, it generates robot adjustability information and sends it to the preset display interface for display reminder; if the switch level signal is low, it generates robot non-adjustability information and sends it to the preset display interface for alarm reminder. This effectively achieves the generation and display of corresponding robot adjustability and non-adjustability information based on the high or low level of the switch level signal when the machine is in position adjustment mode.

[0083] Continue to refer to Figure 4 The flowchart of a specific embodiment of step S50 is shown, which includes the following steps:

[0084] Step S501: Determine whether the voltage value of the real-time voltage signal is greater than the preset deformation threshold.

[0085] In this embodiment, after acquiring the real-time voltage signal, a low-pass filter can be used to preprocess the signal to obtain a standard and valid real-time voltage signal. The voltage value of the real-time voltage signal is proportional to the deformation degree of the second monitoring device. By acquiring the voltage value of the real-time voltage signal, it can be effectively determined whether the deformation degree of the second monitoring device has reached the level requiring an alarm. The preset deformation threshold is a voltage threshold corresponding to the voltage value of the real-time voltage signal, and this threshold is used for comparison and judgment. Specifically, this voltage threshold can be preset according to actual conditions and is not limited here.

[0086] If the voltage value of the real-time voltage signal is greater than the preset deformation threshold value, generating a sheath deformation abnormal information and sending the sheath deformation abnormal information to the preset display interface for alarm reminding.

[0087] In the embodiment, the sheath deformation abnormal information includes a preset alarm field, which can be set as a text field for describing the state of abnormal deformation of the sheath connector, for example, “Please note! The current sheath connector deformation is serious”, and the alarm field can be adjusted according to the actual situation. When the sheath deformation abnormal information is generated, the sheath deformation abnormal information can be sent to the preset display interface through the preset information sending path, and displayed and reminded on the preset display interface.

[0088] If the voltage value of the real-time voltage signal is less than or equal to the preset deformation threshold value, generating a sheath deformation normal information and sending the sheath deformation normal information to the preset display interface for display reminding.

[0089] In the embodiment, the sheath deformation normal information includes a preset display field, which can be set as a text field for describing the state of normal deformation of the sheath connector, for example, “The current sheath connector is normal”, and the display field can be adjusted according to the actual situation. When the sheath deformation normal information is generated, the sheath deformation normal information can be sent to the preset display interface through the preset information sending path, and displayed and reminded on the preset display interface.

[0090] The embodiment judges whether the voltage value of the real-time voltage signal is greater than the preset deformation threshold value; if the voltage value of the real-time voltage signal is greater than the preset deformation threshold value, generating a sheath deformation abnormal information and sending the sheath deformation abnormal information to the preset display interface for alarm reminding; if the voltage value of the real-time voltage signal is less than or equal to the preset deformation threshold value, generating a sheath deformation normal information and sending the sheath deformation normal information to the preset display interface for display reminding. Thus, when the current detection category of the system is the sheath state detection, the corresponding sheath deformation abnormal information and sheath deformation normal information can be generated and displayed and reminded according to the voltage of the real-time voltage signal.

[0091] In an optional embodiment of the embodiment, after the sheath deformation state information corresponding to the judgment result is generated and sent to the preset display interface for reminding, the method further includes the following steps:

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

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

[0094] The real-time voltage signal and the driving vibration signal are input into a pre-trained adjustment parameter calculation model to obtain a driving mechanism adjustment parameter.

[0095] In this embodiment, time-domain analysis is performed on the real-time voltage signal and the driving vibration signal to obtain signal statistical characteristics, including mean, variance, standard deviation, maximum and minimum values, peak-to-peak value (the difference between the maximum and minimum values ​​of the signal), and root mean square value. Frequency-domain analysis is performed on the real-time voltage signal and the driving vibration signal to obtain signal spectral characteristics, including frequency distribution, peak frequency, bandwidth, power spectral density, and spectral shape. The signal statistical characteristics and signal spectral characteristics are combined in a certain order according to a preset feature vector dimension to construct a multi-dimensional feature vector. This multi-dimensional feature vector is then input into a pre-trained adjustment parameter calculation model to obtain the adjustment parameters of the driving mechanism. The adjustment parameters of the drive mechanism can be achieved using a Support Vector Machine (SVM) model. The training steps for an SVM model include: collecting a sample dataset containing multi-dimensional feature vectors and corresponding drive mechanism adjustment parameters; standardizing or normalizing the feature vectors to eliminate dimensional differences between different features; setting the SVM kernel function, which determines the distribution of data in high-dimensional space and the shape of the classification boundary (common kernel functions include linear kernels, polynomial kernels, radial basis function (RBF) kernels, and sigmoid kernels); and setting the hyperparameters of the SVM model, such as the regularization parameter C and kernel function parameters (e.g., RBF). The process involves: 1) Preprocessing the sample dataset, dividing it into training and test sets; 2) Training the SVM model using the training set data to obtain the classifier; 3) Using cross-validation methods (such as k-fold cross-validation) to evaluate the model's generalization ability and determine the optimal hyperparameter combination; 4) Evaluating the model's performance on the test set, with common evaluation metrics including accuracy, precision, recall, F1 score, ROC curve, and AUC value; 5) Optimizing the model based on the evaluation results, including adjusting hyperparameters, changing the kernel function, or improving the feature extraction method.

[0096] The adjustment parameters of the drive mechanism 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 running speed control parameters and running acceleration control parameters. The running speed and acceleration of the drive mechanism are adjusted by the running speed control parameters and running acceleration control parameters to effectively realize the drive adjustment control of the drive mechanism.

[0098] This embodiment acquires the drive vibration signal from a third monitoring device; inputs the real-time voltage signal and the drive vibration signal into a pre-trained adjustment parameter calculation model to obtain the drive mechanism adjustment parameters; and sends the drive mechanism adjustment parameters to the drive mechanism for drive adjustment control. This effectively achieves corresponding adjustment control of the drive mechanism based on the current deformation of the sheath connector and the drive mechanism's driving status, thereby effectively reducing the deformation rate of the sheath connector.

[0099] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed 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 above-mentioned embodiment methods. The storage medium can be a non-volatile storage medium such as a magnetic disc, an optical disc, a read-only memory (ROM), or a random access memory (RAM).

[0100] It should be understood that although each step in the flowchart of the accompanying drawings is shown in sequence according to the direction of the arrow, these steps are not necessarily executed in sequence according to the direction of the arrow. Unless otherwise specified herein, the execution of these steps is not strictly limited in sequence, and they can be executed in other sequences. Moreover, at least part of the steps in the flowchart of the accompanying drawings can include multiple sub-steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution sequence is not necessarily sequential, but can be executed alternately or alternately with at least part of other steps or sub-steps or stages of other steps.

[0101] Further reference is made to Figure 5 In order to further solve the above technical problems, the present application also provides an interventional robot sheath abnormal state early warning device for realizing the interventional robot sheath abnormal state early warning method as described above. The interventional robot sheath abnormal state early warning device of the embodiment comprises:

[0102] a sheath 1, a mounting clamping groove 2, a catheter 3, a sheath connecting piece 4, a driving mechanism 5, a first monitoring device 6, and a second monitoring device 7;

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

[0104] The embodiment sets the interventional robot sheath abnormal state early warning device comprising a sheath 1, a mounting clamping groove 2, a catheter 3, a sheath connecting piece 4, a driving mechanism 5, a first monitoring device 6, and a second monitoring device 7, thereby effectively acquiring corresponding switch level signals and real-time voltage signals through the first monitoring device 6 and the second monitoring device 7 in real time, so as to effectively monitor the abnormal state and give a risk warning when the interventional robot is running, and ensure the safety and effectiveness of the running process of the interventional robot.

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

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

[0107] In this embodiment, referring to Figure 6 It is shown that the abnormal state early warning circuit of the interventional robot sheath abnormal state early warning device further comprises a master 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 pin A1, a pin female 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 is connected in parallel to the ground, and the other end of the first monitoring device K and the second monitoring device S is connected to the spring ejector pin A1. The pin female socket A2 is connected in parallel to the first filter F1 and the second filter F2. The first filter F1 and the second filter F2 are connected to the master controller Q. The first resistor R1 and the second resistor R2 are connected in parallel between the first filter F1 and the pin female socket A2, and between the second filter F2 and the pin female socket A2, respectively. The first resistor R1 and the second resistor R2 are connected to the power supply V. One end of the pin female socket A2 is connected to the ground.

[0108] In this embodiment, referring to Figure 7 It is shown that the first monitoring device 6 adopts a micro key switch. When the sheath 1 is installed in the installation card slot 2, the sheath 1 will press the micro key switch to make the micro key switch closed and conductive, so that the circuit becomes low level. When the sheath 1 is separated from the installation card slot 2, the micro key switch will be disconnected and popped up, so that the circuit becomes high level.

[0109] In the present embodiment, the second monitoring device 7 is a thin-film resistance strain gauge, which is fixed in place in contact with the sheath connector 4. The working principle of the thin-film resistance strain gauge is based on the strain effect of resistance materials. When subjected to external forces, the shape and size of the strain gauge will change slightly, which will cause a change in its resistance value. Specifically, when the strain gauge and the sheath connector 4 are synchronously stretched or compressed, the conductive material inside will deform, causing the resistance value to increase or decrease. The thin-film resistance strain gauge can be measured by an external circuit to obtain the corresponding device connection state signal. The resistance of the thin-film resistance strain gauge in the initial state is R, and the greater the deformation, the greater the resistance R, which is similar to a linear change. By applying an excitation voltage Vp to the thin-film resistance strain gauge, in combination with the resistance R1, the change in the thin-film resistance can be converted into a voltage signal, and then the real-time voltage signal V1 is obtained by filtering out interference noise. The relationship is: where R1 is a fixed resistance, Vp is the excitation voltage, V1 is the real-time voltage, and R is the real-time resistance of the thin-film resistance strain gauge. As can be seen from the formula, R increases, and V1 also increases. By collecting the change in the V1 signal, the deformation of the thin-film resistance strain gauge, i.e. the current state of the sheath, can be known.

[0110] Further, the intervention robot sheath abnormal state early warning device further comprises a third monitoring device 8 installed on the driving mechanism 5.

[0111] In the present embodiment, the third monitoring device 8 is an acoustic sensor installed on the driving mechanism 5. The working principle of the acoustic sensor is mainly based on the interaction of sound waves with matter. When sound waves act on the sensor, they will cause the vibration or deformation of some elements 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 by the acoustic sensor. In the present 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 process, 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. For details, please refer to Figure 8 , Figure 8 The present embodiment is a basic structure block diagram of the computer device.

[0113] The computer device 9 comprises a memory 91, a processor 92, and a network interface 93 which are connected to each other through a system bus. It should be noted that only the computer device 9 with components 91-93 is shown in the figure, but it should be understood that all the shown components are not required to be implemented, and more or fewer components can be alternatively implemented. Among them, those skilled in the art can understand that the computer device herein is a device capable of automatically performing numerical calculation 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 (ASICs), field-programmable gate arrays (FPGAs), digital signal processors (DSPs), embedded devices, etc.

[0114] The computer device can be a desktop computer, a notebook computer, a palm computer, a cloud server, and the like. The computer device can interact with the user through a keyboard, a mouse, a remote controller, a touchpad, a voice control device, and the like.

[0115] The memory 91 at least includes one type of readable storage medium, including a flash memory, a hard disk, a multimedia card, a card-type memory (e.g., an SD or DX memory, etc.), a random access memory (RAM), a static random access memory (SRAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a programmable read-only memory (PROM), a magnetic memory, a magnetic disk, an 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 a 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, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the computer device 9. Of course, the memory 91 can also include both the internal storage unit and the external storage device of the computer device 9. In the present embodiment, the memory 91 is generally used to store an operating system and various application software installed on the computer device 9, such as program codes of the intervention robot sheath abnormal state early warning method, etc. In addition, the memory 91 can also be used to temporarily store various data that have been output or will be output.

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

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

[0118] The present 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 intervention robot sheath abnormal state early warning method. If the current detection category of the system is the sheath in-place detection, it is determined whether the intervention robot is in a surgical process state or a position adjustment state. If the intervention robot is in the surgical process state, a switching level signal is obtained from a first monitoring device, and the voltage characteristics of the switching level signal are identified. Corresponding sheath in-place judgment information is generated according to the identification result and sent to a preset display interface for prompting. If the intervention robot is in the position adjustment state, a switching level signal is obtained from a first monitoring device, and the voltage characteristics of the switching level signal are identified. Corresponding adjustment state information is generated according to the identification result and sent to the preset display interface for prompting. If the current detection category of the system is the sheath state detection, a real-time voltage signal is obtained from a second monitoring device, and sheath deformation is judged according to the voltage value of the real-time voltage signal and a preset deformation threshold. Corresponding sheath deformation state information is generated according to the judgment result and sent to the preset display interface for prompting. Thus, effective abnormal state monitoring and early warning can be achieved during the operation of the intervention robot, so as to ensure the safety and effectiveness of the operation process of the intervention robot.

[0119] The present application also provides another embodiment, i.e., a computer readable storage medium storing an intervention robot sheath abnormal state early warning program. The intervention robot sheath abnormal state early warning program can be executed by at least one processor to enable the at least one processor to perform the steps of the intervention robot sheath abnormal state early warning method as described above.

[0120] The embodiment can identify whether the current detection category of the system is sheath in-place detection or sheath state detection, and if the current detection category of the system is the sheath in-place detection, determine whether the interventional robot is in a surgical process state or a position adjustment state, if the interventional robot is in the surgical process state, acquire a switching level signal from a first monitoring device, identify voltage characteristics of the switching level signal, generate corresponding sheath in-place judgment information according to the identification result, and send the sheath in-place judgment information to a preset display interface for prompting, if the interventional robot is in the position adjustment state, acquire a switching level signal from a first monitoring device, identify voltage characteristics of the switching level signal, and generate corresponding adjustment state information according to the identification result, and send the adjustment state information to the preset display interface for prompting, if the current detection category of the system is the sheath state detection, acquire a real-time voltage signal from a second monitoring device, perform sheath deformation judgment according to a voltage value of the real-time voltage signal and a preset deformation threshold, generate corresponding sheath deformation state information according to the judgment result, and send the sheath deformation state information to the preset display interface for prompting. Thus, effective abnormal state monitoring and early warning can be realized during operation of the interventional robot, so as to ensure safety and effectiveness of the operation process of the interventional robot.

[0121] From the above description of the embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment method can be realized by means of software and a general hardware platform, of course, it can also be realized by hardware, but in many cases, the former is a better embodiment. Based on such understanding, the technical solutions of the present application 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 plurality of instructions for making a terminal device (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) execute the methods described in the embodiments of the present application.

[0122] Obviously, the above-described embodiments are only some of the embodiments of the present application, rather than all the embodiments, and the preferred embodiments of the present application are given in the drawings, but do not limit the patent scope of the present application. The present application can be realized in many different forms, and contrary to the above-described embodiments, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art can modify the technical solutions recorded in the foregoing specific embodiments, or make equivalent replacements to some technical features. Any equivalent structure made by using the contents of the specification and drawings, directly or indirectly applied to other related technical fields, is also within the scope of the patent protection of the present application.

Claims

1. An interventional robotic sheath abnormal state early warning method, characterized in that, The method comprises the following steps: identifying whether the current detection category of the system is a sheath in-position detection or a sheath state detection; if the current detection category of the system is the sheath in-position 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, acquiring a switching level signal from a first monitoring device, identifying the voltage characteristic of the switching level signal, generating corresponding sheath in-position judgment information according to the identification result, and sending the information to a preset display interface for prompting; if the interventional robot is in the position adjustment state, acquiring a switching level signal from a first monitoring device, identifying the voltage characteristic of the switching level signal, generating corresponding adjustment state information according to the identification result, and sending the information to the preset display interface for prompting; if the current detection category of the system is the sheath state detection, acquiring a real-time voltage signal from a second monitoring device, performing 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 the information to the preset display interface for prompting.

2. The interventional robotic sheath anomaly condition alerting method of claim 1, wherein, The step of identifying the voltage characteristic of the switching level signal and generating corresponding sheath in-position judgment information according to the identification result and sending the information to a preset display interface for prompting specifically comprises: identifying whether the switching level signal is a high level or a low level; if the switching level signal is the high level, generating sheath shedding alarm information and sending the information to the preset display interface for alarm prompting; if the switching level signal is the low level, generating sheath in-position state information and sending the information to the preset display interface for display prompting.

3. The interventional robotic sheath anomaly condition alerting method of claim 1, wherein, The step of identifying the voltage characteristic of the switching level signal and generating corresponding adjustment state information according to the identification result and sending the information to the preset display interface for prompting specifically comprises: identifying whether the switching level signal is a high level or a low level; if the switching level signal is the high level, generating robot adjustable information and sending the information to the preset display interface for display prompting; if the switching level signal is the low level, generating robot non-adjustable information and sending the information to the preset display interface for alarm prompting.

4. The interventional robotic sheath anomaly condition alerting method of claim 1, wherein, The step of performing 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 the information to the preset display interface for prompting specifically comprises: 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, generating sheath deformation abnormal information and sending the information to the preset display interface for alarm prompting; if the voltage value of the real-time voltage signal is less than or equal to the preset deformation threshold, generating sheath deformation normal information and sending the information to the preset display interface for display prompting.

5. The interventional robotic sheath anomaly condition alerting method of claim 1, wherein, After the step of, if the current detected category of the system is the sheath state detection, obtaining a real-time voltage signal from a second monitoring device, and performing 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 a judgment result and sending the sheath deformation state information to the preset display interface for prompting, the method further includes the following steps: obtaining 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; sending the driving mechanism adjustment parameter to the driving mechanism for driving adjustment control.

6. An interventional robot sheath abnormal state early warning device for implementing the steps of the interventional robot sheath abnormal state early warning method according to any one of claims 1 to 5, characterized in that, The intervention robot sheath abnormal state early warning device includes a sheath, a mounting clamping groove, a catheter, a sheath connecting piece, a driving mechanism, a first monitoring device, and a second monitoring device. The sheath is connected to the mounting clamping groove, the catheter passes through the driving mechanism and is arranged in the sheath, the sheath connecting piece is installed between the mounting clamping groove and the driving mechanism, the first monitoring device is installed in the mounting clamping groove, and the second monitoring device is arranged on the sheath connecting piece.

7. The interventional robotic sheath abnormal condition early warning device of claim 6, wherein, The driving mechanism is provided with a driver end clamping groove, one end of the sheath connecting piece is provided with a plug-in end for inserting into the driver end clamping groove for fixation, the plug-in end is provided with a spring ejector pin, the driver end clamping groove is provided with a pin female socket, and the spring ejector pin and the pin female socket are connected and fixed.

8. The interventional robotic sheath abnormal condition alerting apparatus of claim 6, wherein, The intervention robot sheath abnormal state early warning device further includes a third monitoring device installed on the driving mechanism.

9. A computer device, comprising: The intervention robot sheath abnormal state early warning device further includes a third monitoring device installed on the driving mechanism.

10. A computer-readable storage medium, characterized in that, The intervention robot sheath abnormal state early warning device further includes a third monitoring device installed on the driving mechanism. The intervention robot sheath abnormal state early warning device further includes a third monitoring device installed on the driving mechanism. The computer readable storage medium stores computer readable instructions, and the computer readable instructions are executed by the processor to realize the steps of the intervention robot sheath abnormal state early warning method in any one of claims 1 to 5.

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