Interventional instrument control method and computer equipment

Abstract

The invention belongs to the field of interventional robots, and particularly relates to an interventional instrument control method and computer equipment, and the method comprises the steps: obtaining the position information and / or state information of the head end of an interventional instrument; according to the position information and / or the state information, obtaining a suggested delivery speed of the interventional instrument; comparing the current delivery speed of the interventional instrument with the suggested delivery speed to obtain a comparison result; and executing corresponding operation according to the comparison result. By acquiring the head end position and state information of the interventional instrument and comparing the head end position and state information with the suggested delivery speed to execute corresponding operation, intelligent control over the delivery speed of the interventional instrument can be achieved, the accuracy and safety of an interventional operation are improved, risks such as vascular injury caused by improper manual speed control of a doctor are avoided, and the safety of the interventional operation is improved. Meanwhile, the operation of repeatedly adjusting the speed by a doctor is reduced, the operation efficiency is improved, and the operation process is optimized.

Description

Technical Field

[0001] The present invention relates to the field of interventional robots, and in particular to a control method and computer equipment for an interventional instrument. Background Art

[0002] In vascular interventional surgery, with the development of interventional robotic technology, although the convenience of surgical operations has been improved to a certain extent, there are still many problems that need to be solved.

[0003] Currently, different vascular sites and different states of interventional instruments in interventional surgery have diverse requirements for instrument delivery speed. However, when doctors use existing interventional robots to deliver interventional instruments, they face the dilemma of frequently modifying the instrument delivery speed. This process relies heavily on the doctor's memory, which significantly increases his memory burden. Once the doctor forgets to switch the speed, the operation is very likely to face unexpected risks, posing a threat to the patient's safety.

[0004] Especially when doctors operate interventional robots to deliver interventional instruments into complex areas such as diseased or tortuous blood vessels, in order to ensure the safety of the operation, the speed of instrument delivery should be reduced to prevent damage to fragile blood vessels due to excessive speed. However, in actual operations, doctors are often accustomed to using a faster speed to deliver instruments in the initial stage of the operation. When the interventional instrument enters the above-mentioned special vascular area, due to operating habits and tension during the operation, doctors are likely to neglect and forget to reduce the speed of instrument delivery. This mistake is very likely to cause serious consequences, such as dangerous situations such as ruptured blood vessels and bleeding, which directly affect the success or failure of the operation and the life and health of the patient.

[0005] In addition, during the delivery of the guidewire within the blood vessel, the guidewire will accumulate force due to the tortuosity of the blood vessel itself and the friction between the guidewire and the blood vessel wall. However, the existing interventional robot systems generally lack an effective mechanism to deal with the accumulation of guidewire force. When the guidewire accumulates force to a certain extent, if the doctor fails to detect and recognize in time that the guidewire is already in a serious state of accumulation and still delivers the guidewire forward at a relatively fast speed, the pressure on the blood vessel wall will increase sharply, which may eventually lead to catastrophic situations such as blood vessel rupture, causing irreparable harm to the patient.

[0006] In summary, the shortcomings of existing interventional robots in speed control urgently require a more intelligent and reliable speed control auxiliary method to improve the safety and effectiveness of vascular interventional surgery. Summary of the invention

[0007] The main purpose of the present invention is to provide a control method and computer device for an interventional instrument, aiming to solve the technical problem that the delivery speed of existing interventional instruments in different situations completely relies on manual adjustment by doctors based on memory, and the delivery intelligence and reliability of interventional instruments are low.

[0008] In order to achieve the above object, the present invention provides a control method for an interventional device, comprising:

[0009] Acquiring position information and / or status information of the interventional instrument tip;

[0010] acquiring a suggested delivery speed of the interventional device according to the position information and / or the state information;

[0011] comparing the current delivery speed of the interventional device with the recommended delivery speed to obtain a comparison result;

[0012] According to the comparison result, a corresponding operation is performed.

[0013] Further, performing corresponding operations according to the comparison result includes:

[0014] Based on the comparison result, the delivery speed of the interventional device is adjusted.

[0015] Further, adjusting the delivery speed of the interventional device according to the comparison result includes:

[0016] When the current delivery speed is less than or greater than the recommended delivery speed, adjusting the delivery speed of the interventional device to the recommended delivery speed;

[0017] When the current delivery speed is equal to the recommended delivery speed, the delivery speed of the interventional device is maintained.

[0018] Further, when the current delivery speed is less than or greater than the recommended delivery speed, adjusting the delivery speed of the interventional device to the recommended delivery speed includes:

[0019] When the current delivery speed is less than the recommended delivery speed, an acceleration prompt is issued, the interventional instrument is controlled to accelerate to the recommended delivery speed, and the delivery speed of the interventional instrument is displayed;

[0020] When the current delivery speed is greater than the recommended delivery speed, an overspeed reminder and a deceleration reminder are issued, the interventional instrument is controlled to decelerate to the recommended delivery speed, and the delivery speed of the interventional instrument is displayed.

[0021] Further, performing corresponding operations according to the comparison result includes:

[0022] According to the comparison result, corresponding prompt information is generated.

[0023] Furthermore, generating corresponding prompt information according to the comparison result includes:

[0024] When the current delivery speed is less than or equal to the recommended delivery speed, displaying the delivery speed of the interventional device;

[0025] If the current delivery speed is greater than the recommended delivery speed, an overspeed reminder message is issued.

[0026] Furthermore, after generating corresponding prompt information according to the comparison result, the method further comprises:

[0027] A control instruction initiated by an operator is obtained, and a delivery speed of the interventional instrument is adjusted according to the control instruction.

[0028] Furthermore, the obtaining of the position information and / or state information of the interventional instrument tip includes:

[0029] Acquiring image information of the environment in which the interventional device is located;

[0030] The position information and / or the status information of the interventional instrument tip is parsed based on the image information.

[0031] Further, the parsing the position information and / or the state information of the interventional instrument tip based on the image information includes:

[0032] Analyzing the force storage status of the interventional instrument tip based on the image information to obtain the status information of the interventional instrument tip; and / or,

[0033] Based on the image information, the distance between the interventional instrument tip and a preset instrument or human body part, as well as the human blood vessel part where the interventional instrument tip is located are analyzed to obtain the position information of the interventional instrument tip.

[0034] The present invention also provides a computer device, comprising a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of any one of the above-mentioned methods for controlling an interventional instrument when executing the computer program.

[0035] The beneficial effects of the present application are as follows: by acquiring the position information and / or status information of the interventional instrument head end and comparing it with the recommended delivery speed to perform corresponding operations, the delivery speed of the interventional instrument can be intelligently controlled, thereby improving the accuracy and safety of interventional surgery and avoiding risks caused by improper manual speed control by doctors, such as vascular damage; at the same time, doctors do not need to spend energy memorizing the delivery speeds of interventional instruments in different situations, thereby reducing the doctor's memory burden, and the doctor can retain more energy to complete other controls of the interventional instrument, further improving the safety of interventional surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 A schematic diagram of a flow chart of a control method of an interventional device according to an embodiment of the present application;

[0037] Figure 2 This is a flow chart of a control method of an interventional device in an active auxiliary control mode according to an embodiment of the present application;

[0038] Figure 3 This is a flow chart of a control method of an interventional device in an intelligent speed limit assistance mode according to an embodiment of the present application;

[0039] Figure 4 A schematic block diagram of the structure of a computer device according to an embodiment of the present application.

[0040] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0041] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0042] Reference Figure 1 , the present application embodiment provides a control method for an interventional device, comprising:

[0043] S1. Acquiring position information and / or status information of the interventional instrument tip;

[0044] S2. acquiring a recommended delivery speed of the interventional device according to the position information and / or the state information;

[0045] S3, comparing the current delivery speed of the interventional device with the recommended delivery speed to obtain a comparison result;

[0046] S4. Execute corresponding operations according to the comparison result.

[0047] As in the above step S1, "interventional instruments" refer to various instruments used in vascular interventional surgery, such as guidewires, catheters, intermediate catheters, microcatheters, quick-release instruments, etc. "Position information" refers to the distance between the tip of the interventional instrument in the blood vessel and the preset instrument or human body part, as well as information such as the location of the human blood vessel where the tip of the interventional instrument is located. For example, the distance of the position of the interventional instrument tip relative to the location of the lesion, the distance of the position of the interventional instrument tip relative to the location of the target blood vessel, the distance of the position of the interventional instrument tip relative to the location of other instrument tips, etc.; and information about the location of the interventional instrument tip in human blood vessels such as the common carotid artery, abdominal aorta or tortuous blood vessels, etc. "Status information" includes information such as the power storage status of the interventional instrument tip.

[0048] As in step S2 above, the position and status information of the interventional instrument tip can be obtained by analyzing DSA (Digital Subtraction Angiography) images through an image processing system. It can also be obtained through analysis of other alternative images, such as three-dimensional reconstruction images, multimodal fusion images, intraoperative visual navigation and other images.

[0049] As in step S3 above, the “current delivery speed” is the delivery speed of the interventional device at the current time, which can be obtained based on the data fed back from the end of the interventional robot, or it can be obtained by analyzing the DSA image (or other alternative images) through the image processing system. The “recommended delivery speed” is a suitable delivery speed recommended based on the position information and / or status information of the head end of the interventional device mentioned above, combined with factors such as surgical safety and efficiency. It can be a pre-set empirical value for different situations, or it can be a delivery speed automatically generated by the interventional robot after analyzing the current intervention environment based on the DSA image by the image processing system. For example, in a guidewire interventional surgery, the guidewire has its own developing segment. After the image processing system obtains an X-ray transmission image containing the guidewire, blood vessels, lesions, etc., it analyzes the distance between the guidewire tip and the catheter tip, the direction of the guidewire in the blood vessel, and whether there is contrast agent retention and other status information. Based on this information, when the guidewire tip is 10 cm away from the catheter tip in the catheter, the recommended delivery speed V is set. MAX =20mm / s; when the guide wire tip is 10cm away from the lesion, set the recommended delivery speed V MAX =10mm / s; When the guidewire is in the abdominal aorta, set the recommended delivery speed V MAX =30mm / s; When the guidewire is in the aorta, set the recommended delivery speed V MAX =10mm / s; When the guidewire is in a tortuous vessel, set the recommended delivery speed V MAX=5mm / s; When the guidewire is in a serious state of accumulation (such as the guidewire passing through the blood vessel slows down, the direction is abnormal, contrast agent retention and other imaging features appear), the recommended delivery speed is V MAX =0mm / s.

[0050] As in step S4 above, the current delivery speed is compared with the recommended delivery speed. If the current delivery speed is less than the recommended delivery speed, such as when the guidewire tip is 10 cm away from the catheter tip, the current guidewire delivery speed is 15 mm / s, and the recommended delivery speed is 20 mm / s, the system will automatically accelerate the guidewire delivery until it reaches the recommended delivery speed of 20 mm / s; if the current delivery speed is greater than the recommended delivery speed, such as the current guidewire delivery speed is 25 mm / s, the system will automatically decelerate until it reaches 20 mm / s. At the same time, during the whole process, corresponding operations are performed according to the comparison results, such as giving doctors prompts when accelerating or decelerating, so that doctors can understand the speed adjustment of the device.

[0051] In this embodiment, by acquiring the position and status information of the interventional instrument head end and comparing it with the recommended delivery speed to perform corresponding operations, the intelligent control of the interventional instrument delivery speed can be achieved. This improves the accuracy and safety of interventional surgery and avoids risks caused by improper manual speed control by doctors, such as vascular damage. At the same time, doctors do not need to spend energy memorizing the delivery speed of interventional instruments in different situations, which reduces the doctor's memory burden. Doctors can have more energy to complete other controls of interventional instruments, further improving the safety of interventional surgery.

[0052] In one embodiment, the step S4 of performing corresponding operations according to the comparison result includes:

[0053] S41. Adjusting the delivery speed of the interventional device according to the comparison result.

[0054] The above-mentioned “adjustment” refers to changing the delivery speed of the device to make it more in line with the surgical requirements based on the result of comparing the current delivery speed of the interventional device with the recommended delivery speed. In the specific operation, taking the guidewire as an example, when the guidewire tip is 10 cm away from the catheter tip in the catheter, the recommended delivery speed V MAX =20mm / s. If the current guidewire delivery speed is 10mm / s, the image processing system analyzes that the guidewire speed is lower than the recommended delivery speed, and sends a signal to the master end, which then sends a control instruction to the slave end, and the slave end controls the guidewire to automatically accelerate. During the acceleration process, the system continuously monitors the speed, and when it reaches 20mm / s, it stops accelerating and prompts the doctor that the acceleration is complete. If the current guidewire delivery speed is 30mm / s, the system determines that it is overspeeding, and automatically starts the deceleration program to reduce the guidewire speed to 20mm / s.

[0055] In this embodiment, the method of adjusting the delivery speed of the interventional instrument according to the comparison result is of great significance in interventional surgery. It can optimize the guidewire delivery speed according to the surgical environment and instrument status in real time, effectively reducing the doctor's operating burden. The doctor does not need to frequently adjust the speed manually, reducing the risk of improper speed due to human negligence, thereby ensuring the safety and smooth progress of the surgery, improving the automation and intelligence of the interventional surgery robot, and improving the overall surgical quality.

[0056] In this embodiment, the step of adjusting the delivery speed of the interventional instrument according to the comparison result is mainly aimed at the following two application scenarios. The first application scenario is: the interventional robot is in active auxiliary control mode, which refers to the mode in which the interventional surgical robot automatically controls the delivery of the interventional instrument, that is, after the operator starts the active auxiliary control mode, the interventional robot will automatically generate control instructions to control the automatic delivery of the interventional instrument without the participation of the doctor; the second application scenario is: the interventional robot is in manual control mode and the uniform delivery is triggered, that is, the delivery of the interventional instrument is based on the operator's operation of the operating lever at the master end. In the manual control mode, if the operator triggers the command of automatically controlling the uniform delivery of the interventional instrument during the operation of the operating lever, the slave end will deliver the interventional instrument at the preset uniform speed. Regardless of the above-mentioned active auxiliary control mode, or the scenario where the interventional robot is in manual control mode and uniform speed delivery is triggered, the interventional robot is initially in a state of automatically controlling the delivery of the interventional instrument. Therefore, it is necessary to adjust the delivery speed of the interventional instrument according to the above-mentioned comparison result to prevent the interventional instrument head from failing to deliver at the recommended speed under special position information and / or state information. If the delivery speed is too fast, it may cause surgical risks, and if the delivery speed is too slow, it will affect the surgical efficiency, etc. Therefore, in a specific embodiment, the above-mentioned step S41 of adjusting the delivery speed of the interventional instrument according to the comparison result includes: determining whether the interventional robot is in active auxiliary control mode or the interventional robot is in manual control mode and uniform speed delivery is triggered. If so, the delivery speed of the interventional instrument is adjusted according to the comparison result; if not, the delivery speed of the interventional instrument is not adjusted according to the comparison result.

[0057] Furthermore, the step S41 of adjusting the delivery speed of the interventional device according to the comparison result comprises:

[0058] S411, when the current delivery speed is less than or greater than the recommended delivery speed, adjusting the delivery speed of the interventional device to the recommended delivery speed;

[0059] S412: When the current delivery speed is equal to the recommended delivery speed, maintaining the delivery speed of the interventional device.

[0060] As in the above steps S411 and S412, "adjust" means changing the current delivery speed to make it consistent with the recommended delivery speed, and "maintain" means not changing the speed when the current delivery speed is the same as the recommended delivery speed. Taking the guidewire intervention surgery scenario as an example, suppose that at a certain moment, the image processing system analyzes that the guidewire tip is 10 cm away from the catheter tip. At this time, the recommended delivery speed V MAX =20mm / s. If the current guidewire delivery speed is 15mm / s, since 15mm / s is less than 20mm / s, the system will automatically control the guidewire delivery from the end to gradually increase the speed to 20mm / s. If the current guidewire delivery speed is 25mm / s, since 25mm / s is greater than 20mm / s, the system will automatically start the deceleration program until the speed drops to 20mm / s. When the guidewire speed is exactly 20mm / s, the system maintains the speed unchanged and continues to monitor the guidewire status and position information so that the speed can be adjusted in time when the situation changes later.

[0061] In this embodiment, it is ensured that the delivery speed of the interventional device during the operation is always consistent with the recommended delivery speed determined according to its position and state. This ensures the standardization and safety of the surgical operation, avoids damage to the blood vessels due to too fast or too slow speed, and makes the advancement of the device in the blood vessel more stable and accurate. Through this precise speed control, the predictability of the operation is improved, the surgical risks that may be caused by speed fluctuations are reduced, the operation process of the interventional operation is further optimized, and the quality of the operation is improved.

[0062] Furthermore, the step S411 of adjusting the delivery speed of the interventional device to the recommended delivery speed when the current delivery speed is less than or greater than the recommended delivery speed includes:

[0063] S4111, when the current delivery speed is less than the recommended delivery speed, issuing an acceleration prompt, controlling the interventional instrument to accelerate to the recommended delivery speed, and displaying the delivery speed of the interventional instrument;

[0064] S4112. When the current delivery speed is greater than the recommended delivery speed, an overspeed reminder and a deceleration reminder are issued, the interventional instrument is controlled to decelerate to the recommended delivery speed, and the delivery speed of the interventional instrument is displayed.

[0065] The above-mentioned "acceleration reminder" and "deceleration reminder" refer to the corresponding text or symbol prompts given on the display screen of the main end. Compared with the "overspeed reminder", they are weak reminders, that is, without this weak reminder, it will not affect the safe progress of the interventional surgery. The weak reminder is mainly to remind the doctor whether the current interventional device is accelerating or decelerating. The above-mentioned "overspeed reminder" is a strong reminder compared to the "acceleration reminder" and "deceleration reminder", that is, it can be a flashing reminder of text or symbols, sound / light reminder, vibration reminder, etc., to increase the probability of being noticed by the doctor. Because when the current delivery speed of the interventional device is greater than the recommended delivery speed, if the delivery speed of the interventional device cannot be slowed down in time, it will increase the risk of the interventional surgery. Therefore, the doctor must be informed of the situation so that manual intervention can be carried out in advance before the danger occurs, such as triggering an emergency stop command. When the current delivery speed is less than the recommended delivery speed, the reason why the corresponding strong reminder is not set is because the current delivery speed is less than the recommended delivery speed and will not affect the safety of the operation.

[0066] Reference Figure 2 In a specific implementation, before the step S1 of obtaining the position information and / or state information of the interventional instrument tip, the following steps are included:

[0067] S11. Receive an operator input command to execute an active auxiliary control mode.

[0068] The above-mentioned "operator" refers to the doctor who performs vascular interventional surgery. "Active assisted control mode" means that in this mode, the interventional surgical robot can automatically adjust the delivery speed of the interventional device according to the results of the image processing system analysis, without the need for the doctor to continue to manually control the speed. Before the operation begins, the doctor presses the active assisted control button on the master end. This operation is to input the command to the system to execute the active assisted control mode. For example, when using a guidewire for vascular intervention, the doctor presses the button, manually controls the main end operating lever or presses the guidewire automatic entry button. The master end sends the control instruction to the slave end, so that the guidewire begins to enter the blood vessel and automatically delivers. At the same time, the image processing system begins to acquire DSA images, analyzes and processes the images, and obtains the position information of the guidewire tip (such as the distance from the catheter tip) and status information (such as whether it is charged). Then, based on this information, the recommended delivery speed is obtained and compared with the current guidewire delivery speed, and the guidewire speed is automatically adjusted.

[0069] The step of receiving the command to execute the active auxiliary control mode is the starting link of the entire interventional device intelligent speed control process. Its significance lies in clearly entering the working mode of the system to automatically assist doctors in controlling the speed of the device, so that subsequent operations such as image processing, speed recommendations and automatic adjustments can be carried out in an orderly manner. The advantage of this mode is that it significantly reduces the memory burden and operation burden of doctors during the operation. Doctors do not need to pay attention to and adjust the speed of the device all the time, which improves the convenience and accuracy of surgical operations. At the same time, it enhances the intelligence of the interventional surgical robot, which helps to improve the success rate and safety of the operation.

[0070] In one embodiment, the step S4 of performing corresponding operations according to the comparison result includes:

[0071] S42: Generate corresponding prompt information according to the comparison result.

[0072] The above-mentioned “prompt information” refers to the text, sound or visual prompts that the system provides to the doctor based on the comparison results between the current delivery speed of the interventional device and the recommended delivery speed, so that the doctor can understand the speed of the device and make corresponding decisions.

[0073] In this embodiment, the step of generating corresponding prompt information according to the comparison result is mainly aimed at the following two application scenarios. The first application scenario is: the interventional robot is in the intelligent speed limit assistance mode, which is a working mode of the interventional surgical robot. In this mode, the system mainly assists the doctor to manually control the delivery speed of the interventional instrument by providing speed limit prompts and speeding reminder information to the doctor, instead of directly adjusting the speed automatically; the second application scenario is: the interventional robot is in the manual control mode and the uniform speed delivery is not triggered, that is, the delivery of the interventional instrument is based on the operator's operation of the operating lever at the main end, and the delivery speed of the interventional instrument is adjusted according to the operation of the operating lever. Whether it is the above-mentioned intelligent speed limit assistance mode or the scenario where the interventional robot is in the manual control mode and the uniform speed delivery is not triggered, the interventional robot is initially in a state where the doctor can intervene at any time to adjust the delivery speed of the interventional instrument. Therefore, there is no need to automatically adjust the delivery speed of the interventional instrument according to the above-mentioned comparison results, but the doctor manually adjusts it. Therefore, in a specific embodiment, the above-mentioned step S42 of generating corresponding prompt information according to the comparison result includes: determining whether the interventional robot is in intelligent speed limit assistance mode or the interventional robot is in manual control mode and uniform speed delivery is not triggered, and if so, generating corresponding prompt information according to the comparison result; if not, not generating corresponding prompt information according to the comparison result.

[0074] Correspondingly, after the step S42 of generating corresponding prompt information according to the comparison result, the method further includes: obtaining a control instruction initiated by an operator, and adjusting the delivery speed of the interventional device according to the control instruction.

[0075] In actual operation, taking guidewire intervention as an example, when the doctor presses the intelligent speed limit auxiliary button on the main end, the relevant program is started. The image processing system obtains the DSA image and analyzes the position and status information of the guidewire tip to obtain the recommended delivery speed. If the guidewire tip is 10 cm away from the catheter tip in the catheter, the recommended delivery speed V MAX =20mm / s. When the current guidewire delivery speed is less than or equal to 20mm / s, the main end will display the guidewire delivery speed on the operation interface, such as displaying "Current guidewire speed 18mm / s", so that the doctor can intuitively understand the speed. If the current guidewire delivery speed is greater than 20mm / s, for example, 25mm / s, the main end will issue an overspeed reminder message, such as a flashing red warning sign on the screen accompanied by a voice prompt "The guidewire is overspeeding, please reduce the speed", reminding the doctor that the guidewire delivery speed needs to be manually reduced. When the doctor adjusts the speed to 20mm / s or lower according to the prompt, the overspeed reminder disappears.

[0076] Generating prompt information based on the comparison results plays an important auxiliary role in the interventional surgery process. It enables doctors to know whether the instrument delivery speed meets the requirements in a timely manner, and gives doctors enough information to manually control the speed without directly intervening in the speed adjustment of the instrument. The doctor (operator) initiates corresponding control instructions by controlling the operating lever on the main end according to the prompt information to control the delivery speed of the interventional instrument. This method not only ensures the doctor's dominance over the surgical operation, but also helps the doctor avoid inappropriate speed problems caused by negligence through prompt information, thereby improving the safety of the operation, optimizing the doctor's operating experience, and reducing the doctor's memory burden of speed monitoring during the operation.

[0077] Furthermore, the step S42 of generating corresponding prompt information according to the comparison result includes:

[0078] S421, when the current delivery speed is less than or equal to the recommended delivery speed, displaying the delivery speed of the interventional device;

[0079] S422: If the current delivery speed is greater than the recommended delivery speed, a speeding reminder message is issued.

[0080] As in the above steps S421 and S422, the above “display” refers to presenting the current delivery speed of the interventional device in the form of numbers, text, etc. on the screen of the main end, which is a weak reminder compared to the “overspeed reminder information”. The “overspeed reminder information” conveys to the doctor a warning that the device speed exceeds the recommended delivery speed through visual (such as screen flashing, color change) and auditory (such as alarm sound) means, which is a strong reminder compared to “display”.

[0081] Taking the guidewire intervention surgery scenario as an example, when the guidewire tip is at a certain position (such as 10 cm from the catheter tip), the image processing system analyzes and obtains the recommended delivery speed V MAX =20mm / s. If the current guidewire delivery speed is 18mm / s, the main end operation interface will clearly display "Current guidewire speed 18mm / s", allowing the doctor to grasp the guidewire advancement speed at any time. If the current guidewire delivery speed is 25mm / s, the system will immediately trigger the overspeed reminder mechanism, and the operation end screen may flash a red warning box, and at the same time issue a rapid alarm, prompting the doctor "The guidewire is overspeeding, please reduce the speed." The doctor manually adjusts the guidewire delivery speed according to the prompt information. When the speed drops to 20mm / s or lower, the overspeed reminder stops. In this embodiment, when the current delivery speed of the interventional device is less than or equal to the recommended delivery speed, the interventional device will not damage the blood vessel wall and other parts, so it is only necessary to display its delivery speed; when the current delivery speed of the interventional device is greater than the recommended delivery speed, the interventional device may damage the blood vessel wall and other parts, affecting the safety of the operation, so corresponding reminder information is required to facilitate the doctor to adjust the speed of the interventional device in time.

[0082] Displaying the current delivery speed helps doctors monitor the advancement of the guidewire in real time, allowing them to flexibly adjust operations according to the progress of the operation and the condition of the blood vessels. The overspeed reminder information can promptly alert doctors to abnormal speeds, avoid damage to blood vessels due to excessive speed, and effectively ensure surgical safety. This way of generating prompt information not only provides doctors with rich operation information, but also does not interfere with the doctor's dominant control of the operation, thereby optimizing the surgical operation experience and improving the safety and accuracy of the operation.

[0083] Reference Figure 3 In a specific embodiment, before the step S1 of obtaining the position information and / or state information of the interventional instrument tip, the following steps are included:

[0084] S12: receiving a command input by an operator to execute an intelligent speed limit assistance mode.

[0085] Before the operation, the doctor presses the intelligent speed limit assist button on the main end of the operating end. This operation sends a command to the system to execute the intelligent speed limit assist mode. For example, in a guidewire interventional surgery, after the doctor presses the button, he manually controls the main end operating lever to make the guidewire start to enter the catheter, and controls the guidewire to be delivered in the catheter. The image processing system immediately begins to acquire DSA images and analyze the position information of the guidewire tip (such as the relative position to the vascular lesion area) and status information (such as whether there is a tendency for the guidewire to accumulate force). Based on this information, the recommended delivery speed is determined, and then the current guidewire delivery speed is compared with the recommended delivery speed, and the corresponding prompt information is generated and fed back to the doctor.

[0086] Receiving the command to execute the intelligent speed limit assistance mode is the starting step of the entire intelligent speed limit assistance process. Its importance lies in determining that the system enters a specific assistance mode so that subsequent operations such as image acquisition, analysis, speed comparison, and prompt information generation can be carried out in an orderly manner. This mode provides doctors with a flexible speed control assistance method. While respecting the doctor's operational dominance, it effectively reduces the possibility of surgical risks caused by improper speed control, improves surgical safety, and helps doctors better focus on other key aspects of the surgical operation, optimizing the overall surgical process.

[0087] In one embodiment, the step S2 of obtaining the position information and / or state information of the interventional instrument tip includes:

[0088] S21, obtaining image information of the environment in which the interventional device is located;

[0089] S22. Analyze the position information and / or the status information of the interventional instrument tip based on the image information.

[0090] As in the above steps S21 and S22, the image information of the environment in which the interventional device is located is generally image data collected by a specific imaging device during the operation, which can reflect the vascular structure, tissue morphology and lesion characteristics around the interventional device. Common sources of image information include DSA images, three-dimensional reconstruction images, multimodal fusion images, etc. These images can provide rich visual information to help doctors and surgical assistance systems understand the details of the surgical site.

[0091] Specifically, the step S22 of parsing the position information and / or state information of the interventional instrument tip based on the image information includes:

[0092] S221, analyzing the force storage status of the interventional instrument tip based on the image information to obtain status information of the interventional instrument tip; and / or,

[0093] S222. Analyze the distance between the interventional instrument tip and a preset instrument or human body part, and the human blood vessel part where the interventional instrument tip is located based on the image information to obtain the position information of the interventional instrument tip.

[0094] In this embodiment, with the help of image processing technology, algorithms and computer vision methods, the position distance and state feature information related to the interventional instrument tip are accurately identified, extracted and interpreted from the acquired complex image data. This process involves the analysis and processing of various pixels, gray values, shapes, textures and other information in the image to obtain clinically significant instrument tip information.

[0095] In actual surgical operation scenarios, for example, DSA images are used to obtain the position and status information of the tip of the interventional instrument. First, before the operation begins, ensure that the DSA device is in normal working condition and is correctly connected to the surgical assistance system. During the operation, DSA continuously collects X-ray transmission images of interventional instruments (such as guidewires), blood vessel walls, common carotid arteries, abdominal aorta, tortuous blood vessels, blood flow conditions, and possible diseased tissues according to predetermined parameter settings. These images are transmitted to the image processing system in real time in the form of digital signals.

[0096] After receiving the DSA image information, the image processing system uses the existing algorithm to perform multi-step processing on the image. For example, for the development section of the guidewire, the system accurately locates the pixel position of the guidewire tip by identifying specific grayscale values ​​or contrast features in the image. Then, according to the imaging parameters of the DSA device and the known spatial geometric relationship, the pixel position is converted into the actual physical position coordinates to determine the exact position of the guidewire tip in the blood vessel, such as calculating the distance between the guidewire tip and the catheter tip, the distance from the vascular branch point or the lesion site, and analyzing the human vascular location of the guidewire tip, such as the common carotid artery, abdominal aorta or tortuous blood vessels. At the same time, the system will also analyze the overall shape of the guidewire in the image, the distribution and flow of the contrast agent around the guidewire, and other features to determine the state information of the guidewire. When it is found that the advancement speed of the guidewire in the blood vessel is significantly slowed down, the contrast agent is retained or reversed at the front end of the guidewire, or the direction of the guidewire after entering the vein deviates abnormally from the normal vascular path, the system will determine that the guidewire is in a serious power accumulation state or other abnormal state. If three-dimensional reconstructed images or multimodal fusion images are used, the system can utilize the stereoscopic spatial information and multi-source data fusion advantages provided by these images to more comprehensively and accurately analyze the position of the instrument tip in three-dimensional space and its complex relationship with surrounding tissues, further enriching and refining the basis for judging the status of the instrument.

[0097] In this embodiment, by acquiring high-quality, multi-dimensional imaging information, key data support can be provided for subsequent surgical operations. Real-time, dynamic and accurate monitoring of interventional instruments in blood vessels is achieved. Based on accurate location information, the surgical assistance system can provide appropriate speed recommendations for instrument operations at different locations according to preset rules and algorithms. For example, it can automatically reduce the delivery speed when approaching the site of vascular lesions to avoid unnecessary damage to the diseased tissue; in areas where the blood vessels are relatively unobstructed, it is allowed to increase the speed appropriately to improve surgical efficiency. The precise analysis of instrument status information, especially the timely detection of abnormal states such as guidewire force accumulation, can effectively prevent serious complications such as vascular rupture caused by excessive force on the instrument.

[0098] The information acquisition method based on image analysis has greatly improved the accuracy and safety of interventional surgery. Doctors can operate the instruments more confidently and accurately based on the accurate information provided by the system, reducing operational errors caused by inaccurate judgment of the position and status of the instruments. At the same time, it also reduces the mental burden of doctors who need to pay attention to subtle changes in the instruments during the operation, allowing them to focus more on the formulation of surgical strategies and the control of the overall operation process. From the overall effect of the operation, it helps to shorten the operation time, reduce surgical risks, and improve the success rate of the operation, and promote vascular interventional surgery to develop in a more intelligent and refined direction, bringing better treatment effects and prognosis to patients.

[0099] Reference Figure 4 In an embodiment of the present application, a computer device is also provided, including a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the control method of the interventional device described in any of the above embodiments. The internal structure of the computer device can be as follows: Figure 4 As shown. The computer device includes a processor, a memory, a network interface and a database connected via a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store relevant data used in the control method of the interventional device of the present application. The network interface of the computer device is used to communicate with an external terminal through a network connection. The network interface can be a wired interface or a wireless interface.

[0100] Those skilled in the art will understand that Figure 4 The structure shown in is merely a block diagram of a portion of the structure related to the present application solution and does not constitute a limitation on the computer device to which the present application solution is applied.

[0101] The present application also provides a storage medium on which a computer program is stored, and when the computer program is executed by a processor, the steps of the control method of the interventional device described in any of the above embodiments are implemented. It can be understood that the computer-readable storage medium in this embodiment can be a volatile readable storage medium or a non-volatile readable storage medium.

[0102] Those of ordinary skill 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 non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media provided in this application and used in the embodiments may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0103] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, device, article or method including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, device, article or method. In the absence of further restrictions, an element defined by the sentence "includes a ..." does not exclude the presence of other identical elements in the process, device, article or method including the element.

[0104] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for controlling an interventional device, characterized in that: include: Acquiring position information and / or status information of the interventional instrument tip; acquiring a suggested delivery speed of the interventional device according to the position information and / or the state information; comparing the current delivery speed of the interventional device with the recommended delivery speed to obtain a comparison result; According to the comparison result, a corresponding operation is performed.

2. The control method of the interventional device according to claim 1, characterized in that: The performing corresponding operations according to the comparison result includes: Based on the comparison result, the delivery speed of the interventional device is adjusted.

3. The control method of the interventional device according to claim 2, characterized in that: The step of adjusting the delivery speed of the interventional device according to the comparison result comprises: When the current delivery speed is less than or greater than the recommended delivery speed, adjusting the delivery speed of the interventional device to the recommended delivery speed; When the current delivery speed is equal to the recommended delivery speed, the delivery speed of the interventional device is maintained.

4. The control method of the interventional device according to claim 3, characterized in that: When the current delivery speed is less than or greater than the recommended delivery speed, adjusting the delivery speed of the interventional device to the recommended delivery speed comprises: When the current delivery speed is less than the recommended delivery speed, an acceleration prompt is issued, the interventional instrument is controlled to accelerate to the recommended delivery speed, and the delivery speed of the interventional instrument is displayed; When the current delivery speed is greater than the recommended delivery speed, an overspeed reminder and a deceleration reminder are issued, the interventional instrument is controlled to decelerate to the recommended delivery speed, and the delivery speed of the interventional instrument is displayed.

5. The control method of the interventional device according to claim 1, characterized in that: The performing corresponding operations according to the comparison result includes: According to the comparison result, corresponding prompt information is generated.

6. The control method of the interventional device according to claim 5, characterized in that: Generating corresponding prompt information according to the comparison result includes: When the current delivery speed is less than or equal to the recommended delivery speed, displaying the delivery speed of the interventional device; When the current delivery speed is greater than the recommended delivery speed, an overspeed reminder message is issued.

7. The control method of the interventional device according to claim 5, characterized in that: After generating corresponding prompt information according to the comparison result, the method includes: A control instruction initiated by an operator is obtained, and a delivery speed of the interventional instrument is adjusted according to the control instruction.

8. The method for controlling an interventional device according to any one of claims 1 to 7, characterized in that: The obtaining of the position information and / or status information of the interventional instrument tip includes: Acquiring image information of the environment in which the interventional device is located; The position information and / or the status information of the interventional instrument tip is parsed based on the image information.

9. The control method of the interventional device according to claim 8, characterized in that: The step of parsing the position information and / or the state information of the interventional instrument tip based on the image information includes: Analyzing the force storage status of the interventional instrument tip based on the image information to obtain the status information of the interventional instrument tip; and / or, Based on the image information, the distance between the interventional instrument tip and a preset instrument or human body part, as well as the human blood vessel part where the interventional instrument tip is located, are analyzed to obtain the position information of the interventional instrument tip.

10. A computer device, characterized in that: The invention comprises a processor, a memory and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the control method of the interventional instrument according to any one of claims 1 to 9 when executing the computer program.

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