Control method and system for interventional instrument of interventional surgical robot and medium

Abstract

The invention belongs to the field of medical robot control, and discloses a control method and system for an interventional instrument of an interventional surgical robot and a medium, and the method comprises the steps: obtaining a blood vessel image containing blood vessel condition information based on blood vessel image information obtained in advance; obtaining a real-time visual image containing the blood vessel condition information based on the visual image obtained in real time and the blood vessel image containing the blood vessel condition information; acquiring head end position information of the slender medical instrument; acquiring the blood vessel condition of the head end position of the slender medical device through the real-time visual image containing the blood vessel condition information and the head end position information; and executing corresponding speed control operation based on the condition of the blood vessel where the head end position of the slender medical instrument is located. By means of the control method, the interventional operation robot can control the speed of the slender medical instrument by recognizing the condition of the blood vessel where the head end position where the slender medical instrument is delivered is located, and the operation safety is improved.

Description

Technical Field

[0001] The present invention relates to the field of medical robot control technology, and in particular to a control method, system and medium for an interventional surgical robot interventional instrument. Background Art

[0002] For different vascular conditions, due to the different positions and thicknesses of the blood vessels, the degree of danger and difficulty of operating the interventional instruments of the interventional surgical robot in the blood vessels are different. Taking the blood vessel type as an example, for example, when the vascular condition is a high-position blood vessel with certain risks, if the high-position blood vessel is a specific cerebral artery, and the interventional instrument enters the cerebral artery, there may be safety risks if the speed is too fast. However, the current interventional surgical robot does not have the function of automatically analyzing and identifying the type of blood vessel within which the current interventional instrument (such as a guide wire or catheter, etc.) is delivered, nor does it have an early warning function. It is impossible to control the speed of the interventional instrument of the interventional surgical robot accordingly, nor can it control the robot to make an emergency stop accordingly.

[0003] Currently, all judgments on vascular type, location, and risk during surgical operations require the doctor's subjective experience to observe the images under DSA angiography. If there are no angiography images, the doctor can only observe and judge based on the knowledge of the universal three-dimensional human vascular model based on human anatomy. This is not very intelligent and poses potential safety risks. Summary of the Invention

[0004] The present invention provides a control method, system and medium for an interventional surgical robot interventional instrument, aiming to solve the problem that when operating the interventional surgical robot's interventional instrument, the speed of the interventional instrument cannot be controlled according to the different blood vessel conditions information where the interventional instrument is located, thereby posing a safety hazard.

[0005] To achieve the above-mentioned object, the present invention provides, in a first aspect, a method for controlling an interventional instrument of an interventional surgical robot. The interventional surgical robot includes a master control device and a slave drive device communicatively connected to the master control device. The master control device is used to control the movement of an elongated medical instrument on the slave drive device. The control method includes:

[0006] acquiring a blood vessel image including blood vessel condition information based on pre-acquired blood vessel image information;

[0007] Obtaining a real-time visualized image containing the vascular condition information based on the visualized image acquired in real time and the vascular image containing the vascular condition information;

[0008] Obtaining position information of the tip of the slender medical device by identifying the tip of the slender medical device in the visualization image;

[0009] Acquiring the blood vessel condition at the tip of the elongated medical device through the real-time visual image containing the blood vessel condition information and the tip position information;

[0010] A corresponding speed control operation is performed based on the condition of the blood vessel where the tip end of the elongated medical device is located.

[0011] Furthermore, the vascular condition is the vascular type;

[0012] The performing of a corresponding speed control operation based on the blood vessel condition where the head end of the elongated medical device is located specifically includes:

[0013] If the blood vessel type is a non-risk blood vessel, the elongated medical device is controlled to move according to a preset speed pattern corresponding to the non-risk blood vessel.

[0014] Furthermore, the vascular condition is the vascular type;

[0015] The performing of a corresponding speed control operation based on the blood vessel condition where the head end of the elongated medical device is located specifically includes:

[0016] If the blood vessel type is a risky blood vessel, obtaining a current delivery speed of the elongated medical device;

[0017] If the current delivery speed is greater than a preset maximum speed limit corresponding to the type of blood vessel where the tip of the elongated medical device is located, adjusting the current delivery speed of the elongated medical device to be no greater than the preset maximum speed limit;

[0018] If the current delivery speed is less than or equal to the preset maximum speed limit, the current delivery speed of the elongated medical device is maintained.

[0019] Furthermore, the vascular condition is the vascular type;

[0020] The performing of a corresponding speed control operation based on the blood vessel condition where the head end of the elongated medical device is located specifically includes:

[0021] If the blood vessel is a blocked blood vessel or a narrowed blood vessel, the elongated medical device is controlled to stop moving.

[0022] Furthermore, the performing of corresponding speed control operations based on the blood vessel condition where the head end of the elongated medical device is located specifically includes:

[0023] The slender medical device is controlled to move at a preset speed based on the condition of the blood vessel where the head end of the slender medical device is located, and corresponding prompt information is generated.

[0024] Furthermore, the acquiring of the vascular image including the vascular condition information based on the pre-acquired vascular image information specifically includes:

[0025] Acquiring a CTA image, and performing three-dimensional reconstruction based on the CTA image to obtain a CTA three-dimensional image;

[0026] The CTA three-dimensional image is input into a pre-trained 3D segmentation and naming model, and a CTA image containing vascular condition information is output.

[0027] Furthermore, obtaining a real-time visualized image containing vascular condition information based on the visualized image acquired in real time and the vascular image containing vascular condition information specifically includes:

[0028] The real-time acquired DSA image and the CTA image containing the vascular condition information are spatially registered to obtain a real-time DSA image containing the vascular condition information.

[0029] Furthermore, the obtaining of the position information of the tip of the slender medical device by identifying the tip position of the slender medical device in the visualized image specifically includes:

[0030] The position information of the head end of the slender medical device is obtained by identifying the identification information of the head end position of the slender medical device in the visualization image.

[0031] A second aspect of the present invention provides a control system for an interventional surgical robot and an interventional instrument. The interventional surgical robot includes a master control device and a slave drive device communicatively connected to the master control device. The master control device is used to control the movement of an elongated medical instrument on the slave drive device. The control system includes:

[0032] A first image acquisition module is used to acquire a blood vessel image containing blood vessel condition information based on pre-acquired blood vessel image information;

[0033] a second image acquisition module, configured to obtain a real-time visual image containing the vascular condition information based on the visual image acquired in real time and the vascular image containing the vascular condition information;

[0034] a head end position information acquisition module, configured to obtain the head end position information of the slender medical device by identifying the head end position of the slender medical device in the visual image;

[0035] a blood vessel condition acquisition module, configured to acquire the blood vessel condition of the tip of the elongated medical device through the real-time visual image containing the blood vessel condition information and the tip position information;

[0036] The control module is used to perform corresponding speed control operations based on the blood vessel condition where the head end of the slender medical device is located.

[0037] A third aspect of the present invention provides a computer-readable storage medium, which stores computer instructions for causing a computer to execute the above-mentioned control method for the interventional surgical robot interventional instrument.

[0038] The present invention provides a control method, system, and medium for an interventional surgical robot and an interventional instrument, which are configured to obtain a real-time visual image containing vascular condition information; obtain the position information of the head end of the slender medical instrument; obtain the vascular condition of the head end of the slender medical instrument through the real-time visual image containing vascular condition information and the head end position information; and perform corresponding speed control operations based on the vascular condition of the head end of the slender medical instrument. This control method allows the interventional surgical robot to control the speed of the slender medical instrument by identifying the vascular condition of the head end of the slender medical instrument. When the slender medical instrument is delivered to a risky vascular condition, the interventional instrument can be actively speed-limited, thereby avoiding safety hazards of the surgery and improving the safety of the surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 This is a flow chart of a method for controlling an interventional surgical robot interventional instrument according to an embodiment of the present invention;

[0040] Figure 2 The figure is a module diagram of a control system of an interventional surgical robot interventional instrument according to an embodiment of the present invention.

[0041] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0043] It will be understood by those skilled in the art that, unless expressly stated otherwise, the singular forms "a", "an", "above", and "the" used herein may also include the plural forms. It should be further understood that the term "comprising" used in the specification of the present invention refers to the presence of features, integers, steps, operations, elements, modules, modules and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, modules, modules, components and / or groups thereof. It should be understood that when we refer to an element as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element, or there may be intermediate elements. In addition, "connected" or "coupled" as used herein may include wireless connections or wireless couplings. The term "and / or" used herein includes all or any module and all combinations of one or more associated listed items.

[0044] It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by those skilled in the art in the art to which the present invention belongs. It should also be understood that terms such as those defined in common dictionaries should be understood to have meanings consistent with their meanings in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless specifically defined as herein.

[0045] Specifically, the embodiment of the present invention provides a control method for an interventional surgical robot interventional instrument, as shown in the attached Figure 1 As shown, the interventional surgical robot includes a master-end control device and a slave-end drive device communicatively connected to the master-end control device, the master-end control device is used to control the movement of the slender medical device on the slave-end drive device, and the control method includes:

[0046] S1, acquiring a vascular image including vascular condition information based on pre-acquired vascular image information;

[0047] S2, obtaining a real-time visualized image containing the vascular condition information based on the visualized image acquired in real time and the vascular image containing the vascular condition information;

[0048] S3, obtaining the position information of the tip end of the slender medical device by identifying the tip end position of the slender medical device in the visualized image;

[0049] S4, obtaining the blood vessel condition at the tip end of the elongated medical device through the real-time visual image containing the blood vessel condition information and the tip end position information;

[0050] S5, performing corresponding speed control operations based on the condition of the blood vessel where the head end of the slender medical device is located.

[0051] Embodiments of the present invention provide a method for controlling an interventional instrument on an interventional surgical robot. This method performs speed control based on the vascular conditions of the tip of the elongated medical instrument. This allows the interventional surgical robot to control the speed of the elongated medical instrument by identifying the different vascular conditions in which the tip of the elongated medical instrument is delivered. When the elongated medical instrument is delivered to a risky vascular condition, the robot can proactively limit the speed of the interventional instrument, thereby avoiding potential safety hazards and improving surgical safety.

[0052] The following is a detailed description of a method for controlling an interventional surgical robot interventional instrument provided by an embodiment of the present invention.

[0053] In step S1 , a blood vessel image including blood vessel condition information is acquired based on blood vessel image information acquired in advance.

[0054] Specifically, a CTA (Computed Tomography Angiography) image is acquired, and a three-dimensional reconstruction is performed based on the CTA image to obtain a CTA three-dimensional image; the CTA three-dimensional image is input into a pre-trained 3D segmentation naming model, and a CTA image containing vascular condition information is output.

[0055] It should be noted that CTA three-dimensional images are obtained by rapid scanning with multi-slice spiral CT after intravenous injection of iodine-containing contrast agent, and three-dimensional stereoscopic images of blood vessels are generated through three-dimensional reconstruction technology. Usually, the patient's CTA three-dimensional image is obtained before an interventional surgery. After obtaining the patient's CTA three-dimensional image, it needs to be segmented and named to obtain a naming result. Specifically, the CTA three-dimensional image is first segmented using a pre-trained 3D segmentation and naming model to separate the target vascular tree, and then the vascular tree is structured and reconstructed to generate the vascular centerline. Finally, a naming rule is designed based on anatomical knowledge, and all centerlines in the vascular centerline extraction result are named to complete the naming of the CTA three-dimensional image. For example, the coronary artery is divided into LCA (left coronary artery), RCA (right coronary artery), etc. In an embodiment of the present invention, the vascular condition refers to the vascular type. Among the human blood vessels, some are at certain risk. The human blood vessel types can be pre-classified into risk vessels and non-risk vessels based on whether there is a certain risk. Among them, some are pre-set as risk vessels, such as small blood vessels, high-position blood vessels, etc.; some are pre-set as non-risk vessels, such as large blood vessels, ordinary blood vessels, etc. Different treatment plans will correspond to different vascular classifications.

[0056] Among them, the small blood vessels include: left anterior descending artery, left circumflex artery, conus arteriosus, right marginal branch, sinoatrial node branch, atrioventricular node branch, posterior interventricular branch (posterior descending branch), etc.

[0057] High blood vessels include: internal carotid artery, anterior cerebral artery, middle cerebral artery, superior cerebral vein, superior sagittal sinus, middle cerebral vein, sphenoparietal sinus, transverse sinus, cavernous sinus, etc.

[0058] The large blood vessels include the aorta and its branches, such as the ascending aorta, aortic arch, thoracic aorta, abdominal aorta, etc.

[0059] Common blood vessels include: femoral artery and vein, radial artery, subclavian artery and vein, carotid artery, aorta, celiac artery, mesenteric artery, renal artery, iliac artery, venous system, etc.

[0060] In step S2, a real-time visualized image containing the vascular condition information is obtained based on the visualized image acquired in real time and the vascular image containing the vascular condition information.

[0061] Specifically, a real-time DSA (Digital Subtraction Angiography) image and the CTA image containing the vascular condition information are spatially registered to obtain a real-time DSA image containing the vascular condition information.

[0062] Specifically, the basic principle of DSA is to capture dynamic, continuous images of the target area using X-rays, then utilize digital subtraction technology to remove the bone and soft tissue background, retaining only the planar projection image of the blood vessels. During interventional surgery, patients require real-time DSA imaging, which is crucial for ensuring surgical accuracy, safety, and success.

[0063] Specifically, this spatial registration approach combines the advantages of two imaging modalities. CTA provides high-resolution, three-dimensional vascular anatomy with vascular information, but lacks real-time performance. DSA can display dynamic blood flow in real time, but typically provides two-dimensional projection images with limited spatial information and lacks vascular information. By spatially registering the segmented and named CTA images containing vascular information with the real-time DSA angiography images, the vascular distribution on the CTA image can be viewed on the DSA.

[0064] Specifically, the technical process of spatial registration mainly includes data preprocessing, feature matching, spatial transformation calculation, and real-time visualization. First, data preprocessing is performed by denoising and enhancing the real-time intraoperative DSA data. Image noise is removed and vascular contrast is enhanced using filtering algorithms (such as Gaussian filtering). Sequence extraction is then performed, selecting clear vascular imaging frames from the dynamic DSA sequence as the registration reference. Next, feature matching is performed to extract and match common features between the two modalities (such as anatomical landmarks, vascular contours, or centerlines). For example, the 3D centerline of the CTA image is aligned with the 2D centerline projection of the DSA image. Specifically, registration points are identified on the centerlines of the real-time DSA and CTA images. The DSA and CTA image centerlines are then registered based on the identified registration points. Then, spatial transformation calculation is performed, using an optimization algorithm to calculate geometric transformation parameters. These registration parameters are updated frame by frame in the real-time DSA sequence. Finally, the registered CTA vascular contours are overlaid on the real-time DSA image and displayed simultaneously. This registration algorithm of the patient's preoperative CTA image and DSA can synchronize the vascular parameters in the CTA image with the real-time DSA image.

[0065] In step S3, the position information of the head end of the slender medical device is obtained by identifying the position of the head end of the slender medical device in the visualization image.

[0066] Specifically, the position information of the head end of the slender medical device is obtained by identifying the identification information of the head end position of the slender medical device in the visualization image.

[0067] Specifically, by setting a positioning mark (visual marker) at the tip of the slender medical device, the system can identify and extract the visual marker at the tip of the slender medical device through image processing technology, and obtain the position information of the tip of the slender medical device by identifying the visual marker. For example, a positioning mark can be set at the tip of a guidewire or catheter, and the position information of the tip of the guidewire or catheter controlled by a robot can be obtained by identifying the visual marker.

[0068] In step S4, the blood vessel condition at the tip end of the elongated medical device is obtained through the real-time visual image containing the blood vessel condition information and the tip end position information.

[0069] Specifically, the acquired tip position information of a slender medical device such as a guidewire or catheter and the real-time visual image containing the vascular condition information are combined to determine the vascular condition information of the tip of the guidewire or catheter. For example, it is determined that the tip of the guidewire or catheter is located on a risky blood vessel, such as a high-position blood vessel such as the internal carotid artery or the anterior cerebral artery.

[0070] In step S5, a corresponding speed control operation is performed based on the condition of the blood vessel where the tip of the elongated medical device is located.

[0071] In the embodiment of the present invention, the vascular condition is the vascular type.

[0072] Specifically, if the blood vessel type is a non-risk blood vessel, the elongated medical device is controlled to move according to a preset speed pattern corresponding to the non-risk blood vessel.

[0073] If the blood vessel type is a risky blood vessel, the current delivery speed of the slender medical device is obtained; if the current delivery speed is greater than the preset maximum limit speed corresponding to the blood vessel type where the head end of the slender medical device is located, the system adjusts the current delivery speed of the slender medical device to no greater than the preset maximum limit speed; if the current delivery speed is less than or equal to the preset maximum limit speed, the current delivery speed of the slender medical device is maintained.

[0074] If the blood vessel is a blocked blood vessel or a narrowed blood vessel, the elongated medical device is controlled to stop moving.

[0075] In another embodiment of the present invention, performing a corresponding speed control operation based on the condition of the blood vessel in which the tip of the elongated medical device is located specifically includes: controlling the movement of the elongated medical device at a preset speed based on the condition of the blood vessel in which the tip of the elongated medical device is located, and generating corresponding prompt information. In this embodiment of the present invention, the blood vessel condition is a blood vessel type.

[0076] More specifically, if the blood vessel type is a non-risk blood vessel, the slender medical device is controlled to move according to a preset speed mode corresponding to the non-risk blood vessel, and corresponding blood vessel type information and corresponding speed mode information are generated and displayed on the operation interface of the main end control device.

[0077] For example, if the vessel type is a large vessel among the non-risk vessels, high-speed motion is automatically switched; if the vessel type is a common vessel among the non-risk vessels, medium-speed motion is automatically switched. For example, if the vessel where the tip of the elongated medical device is located is the aorta, since the aorta is a large vessel, high-speed motion is used, and the high-speed motion status and vessel type information of the non-risk vessel are displayed on the operation interface of the master-end control device. If the vessel where the tip of the elongated medical device is located is the carotid artery, since the aorta is a common vessel, medium-speed motion is automatically switched, and the medium-speed motion status and vessel type information of the non-risk vessel are displayed on the operation interface of the master-end control device. It should be noted that the information displayed on the operation interface of the master-end control device is not limited to the information mentioned above. In fact, all real-time machine and image change signals, such as machine motion speed parameters, motion status, approaching bifurcations, super-selected vessel names, etc., can be displayed. The location of the vessel to be operated on can also be displayed, and these are not listed here.

[0078] If the blood vessel type is a risky blood vessel, a prompt message of the risky blood vessel is generated and displayed on the operation interface of the main-end control device; the current delivery speed of the slender medical device is obtained. If the current delivery speed is greater than the preset maximum limit speed corresponding to the blood vessel type where the head end of the slender medical device is located, the machine issues a deceleration prompt, and the system automatically adjusts the current delivery speed of the slender medical device to no more than the preset maximum limit speed, and displays the adjusted current delivery speed of the slender medical device; if the current delivery speed is less than or equal to the preset maximum limit speed, the current delivery speed of the slender medical device is maintained, and the current delivery speed of the slender medical device is displayed.

[0079] Specifically, if the blood vessel type is a high-positioned vessel among risk vessels, speed control is required. For example, if the tip of the slender medical device enters the middle cerebral artery, because the middle cerebral artery is a high-positioned vessel, a risk vessel prompt will be generated and displayed on the operating interface of the main-end control device, and speed control is required. If the speed is within the preset reasonable speed range when entering the middle cerebral artery, the original speed can be maintained and the current delivery speed of the slender medical device will be displayed. If the speed exceeds the preset maximum speed limit when entering the middle cerebral artery, a deceleration prompt will be issued, and the speed must be reduced to no more than the preset maximum speed limit, and the adjusted delivery speed will be displayed. In practice, a reasonable speed value can be set according to specific circumstances, and specific reasonable speed values are not listed or limited here.

[0080] If the blood vessel type is a blocked blood vessel or a stenotic blood vessel, the slender medical device is controlled to stop moving, and corresponding blood vessel type information and emergency stop information are generated and displayed on the operation interface of the main end control device.

[0081] For example, when the machine is automatically advancing, if it encounters a blocked blood vessel or a narrowed blood vessel, it will control the slender medical device such as the catheter or guidewire to stop moving, and the information of the blocked blood vessel or the narrowed blood vessel and the emergency stop information will be displayed on the operation interface of the main control device.

[0082] An embodiment of the present invention provides a control method for an interventional surgical robot interventional instrument. First, a CTA image is acquired and CTA vascular reconstruction is performed to obtain a CTA three-dimensional model. The vascular segmentation is named according to different vascular names in the anatomical structure, and the vascular classification of different blood vessels is pre-set. Then, the vascular type information of different blood vessels can be seen from the CTA three-dimensional model. Then, spatial alignment of the CTA three-dimensional model with the real-time acquired DSA is performed to obtain a real-time DSA image containing vascular type information. The position of the head end of a slender medical device such as a guidewire catheter is identified to obtain the position information of the head end of the guidewire catheter. The path is known. As long as the guidewire catheter is within the vascular type range according to the real-time DSA image, the speed of the guidewire catheter and other slender medical devices will be controlled and a corresponding prompt will be issued. When the guidewire catheter approaches a bifurcation, a prompt will also be issued; if there is an obstacle or danger ahead, it will stop automatically.

[0083] The embodiments provided by this invention can help doctors be more vigilant during surgery, take preventative measures, and avoid unexpected situations. They also enhance the intelligent controllability of interventional surgical robots, making interventional surgical robot operations clearer and more precise. This reduces the burden on doctors throughout the entire surgical process and optimizes the operation of interventional surgical robots.

[0084] The embodiment of the present invention also provides a control system for an interventional surgical robot interventional instrument, the interventional surgical robot includes a master end control device and a slave end drive device connected to the master end control device in communication, the master end control device is used to control the movement of the slender medical instrument on the slave end drive device, as shown in the attached Figure 2 As shown, the control system includes:

[0085] A first image acquisition module 10 is configured to acquire a vascular image including vascular condition information based on pre-acquired vascular image information;

[0086] A second image acquisition module 20 is configured to obtain a real-time visual image containing vascular condition information based on the visual image acquired in real time and the vascular image containing vascular condition information;

[0087] a head end position information acquisition module 30, configured to obtain the head end position information of the elongated medical device by identifying the head end position of the elongated medical device in the visual image;

[0088] A blood vessel condition acquisition module 40 is configured to acquire the blood vessel condition information of the tip of the elongated medical device through the real-time visual image containing the blood vessel condition information and the tip position information;

[0089] The control module 50 is configured to execute corresponding speed control operations based on information about the blood vessel where the head end of the elongated medical device is located.

[0090] Specifically, the control system of the embodiment of the present disclosure is used to execute the control method of the interventional surgical robot interventional instrument, and its implementation principle is similar to the above-mentioned method. The modules in the system of each embodiment disclosed in this application correspond to the actions performed by each step in the method of each embodiment. For the detailed functional description of the steps in the system, please refer to the description in the corresponding method shown in the previous text, and will not be repeated here.

[0091] An embodiment of the present invention also provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, a method for controlling an interventional surgical robot interventional instrument is implemented, comprising the steps of: acquiring a vascular image containing vascular condition information based on pre-acquired vascular image information; obtaining a real-time visual image containing vascular condition information based on a real-time acquired visual image and the vascular image containing vascular condition information; obtaining the head end position information of the slender medical instrument by identifying the head end position of the slender medical instrument in the visual image; acquiring the vascular condition of the head end of the slender medical instrument through the real-time visual image containing vascular condition information and the head end position information; and performing corresponding speed control operations based on the vascular condition of the head end of the slender medical instrument.

[0092] Those skilled in the art will understand that all or part of the processes in the above-mentioned embodiment methods can be implemented 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 many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct RAMbus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM).

[0093] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, apparatus, article, or method comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, apparatus, article, or method. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, apparatus, article, or method comprising the element.

[0094] 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 description 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 surgical robot instrument, wherein the interventional surgical robot comprises a master control device and a slave drive device communicatively connected to the master control device, wherein the master control device is used to control the movement of an elongated medical instrument on the slave drive device, characterized in that: The control method includes: acquiring a blood vessel image including blood vessel condition information based on pre-acquired blood vessel image information; Obtaining a real-time visualized image containing the vascular condition information based on the visualized image acquired in real time and the vascular image containing the vascular condition information; Obtaining position information of the tip of the slender medical device by identifying the tip of the slender medical device in the visualization image; Acquiring the blood vessel condition at the tip of the elongated medical device through the real-time visual image containing the blood vessel condition information and the tip position information; A corresponding speed control operation is performed based on the condition of the blood vessel where the tip end of the elongated medical device is located.

2. The method for controlling an interventional surgical robot interventional instrument according to claim 1, wherein: The blood vessel condition is a blood vessel type, and performing a corresponding speed control operation based on the blood vessel condition where the head end of the elongated medical device is located specifically includes: If the blood vessel type is a non-risk blood vessel, the elongated medical device is controlled to move according to a preset speed pattern corresponding to the non-risk blood vessel.

3. The method for controlling an interventional surgical robot interventional instrument according to claim 1, wherein: The blood vessel condition is a blood vessel type, and performing a corresponding speed control operation based on the blood vessel condition where the head end of the elongated medical device is located specifically includes: If the blood vessel type is a risky blood vessel, obtaining a current delivery speed of the elongated medical device; If the current delivery speed is greater than a preset maximum speed limit corresponding to the type of blood vessel where the tip of the elongated medical device is located, adjusting the current delivery speed of the elongated medical device to be no greater than the preset maximum speed limit; If the current delivery speed is less than or equal to the preset maximum speed limit, the current delivery speed of the elongated medical device is maintained.

4. The method for controlling an interventional surgical robot interventional instrument according to claim 1, wherein: The blood vessel condition is a blood vessel type, and performing a corresponding speed control operation based on the blood vessel condition where the head end of the elongated medical device is located specifically includes: If the blood vessel is a blocked blood vessel or a narrowed blood vessel, the elongated medical device is controlled to stop moving.

5. The method for controlling an interventional surgical robot interventional instrument according to claim 1, wherein: The performing of a corresponding speed control operation based on the blood vessel condition where the head end of the elongated medical device is located specifically includes: The slender medical device is controlled to move at a preset speed based on the condition of the blood vessel where the head end of the slender medical device is located, and corresponding prompt information is generated.

6. The method for controlling an interventional surgical robot instrument according to claim 1, wherein: The step of acquiring the vascular image including the vascular condition information based on the pre-acquired vascular image information specifically includes: Acquiring a CTA image, and performing three-dimensional reconstruction based on the CTA image to obtain a CTA three-dimensional image; The CTA three-dimensional image is input into a pre-trained 3D segmentation and naming model, and a CTA image containing vascular condition information is output.

7. The method for controlling an interventional surgical robot interventional instrument according to claim 6, wherein: The obtaining of a real-time visualized image containing vascular condition information based on the visualized image acquired in real time and the vascular image containing vascular condition information specifically includes: The real-time acquired DSA image and the CTA image containing the vascular condition information are spatially registered to obtain a real-time DSA image containing the vascular condition information.

8. The method for controlling an interventional surgical robot interventional instrument according to claim 1, wherein: The step of obtaining the position information of the tip of the slender medical device by identifying the tip position of the slender medical device in the visual image specifically includes: The position information of the head end of the slender medical device is obtained by identifying the identification information of the head end position of the slender medical device in the visualization image.

9. A control system for an interventional surgical robot and an interventional instrument, the interventional surgical robot comprising a master control device and a slave drive device communicatively connected to the master control device, the master control device being used to control the movement of an elongated medical instrument on the slave drive device, characterized in that: The control system includes: A first image acquisition module is used to acquire a blood vessel image containing blood vessel condition information based on pre-acquired blood vessel image information; a second image acquisition module, configured to obtain a real-time visual image containing the vascular condition information based on the visual image acquired in real time and the vascular image containing the vascular condition information; a head end position information acquisition module, configured to obtain the head end position information of the slender medical device by identifying the head end position of the slender medical device in the visual image; a blood vessel condition acquisition module, configured to acquire the blood vessel condition of the tip of the elongated medical device through the real-time visual image containing the blood vessel condition information and the tip position information; The control module is used to perform corresponding speed control operations based on the blood vessel condition where the head end of the slender medical device is located.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, which are used to enable a computer to execute the control method for the interventional surgical robot interventional instrument according to any one of claims 1 to 8.

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