A force feedback interactive system for interventional surgery based on virtual simulation

Abstract

The present invention relates to the technical field of interventional surgery force analysis, and specifically to an interventional surgery force feedback interaction system based on virtual simulation. The present invention obtains the rotational interference possibility based on the synchronous changes of the axial push-pull force and the circumferential rotation force at each moment and the next moment, as well as the change amplitude of the axial push-pull force at each moment; obtains the final interference rotation force based on the proportion of the circumferential rotation force at each moment and the circumferential rotation force at the previous moment and the estimated interference force determined by the rotational interference possibility; obtains the axial interference vector based on the interference angle at each moment and the final interference rotation force, and uses it to perform real-time compensation for virtual simulation interventional surgery. The present invention improves the accuracy of the interference amount caused by the circumferential rotation force on the axial push-pull force, ensuring that the force feedback during the surgical operation is more realistic and stable.

Description

Technical Field

[0001] The present invention relates to the technical field of interventional surgery force analysis, and in particular to an interventional surgery force feedback interactive system based on virtual simulation. Background Art

[0002] During interventional surgery, the physician's precise control of the guidewire and catheter is crucial for successful surgery. However, existing clinical procedures rely heavily on the physician's accumulated experience, requiring repeated trial and error to achieve instrument positioning. This prolongs surgery time, increases the patient's risk of postoperative complications, and exposes the physician to excessive radiation. Virtual interventional surgery systems can effectively improve physician proficiency and shorten surgery times through preoperative simulation training, thereby mitigating these risks.

[0003] In a virtual simulation system with electromagnetic force feedback, users interact with simulated surgical instruments, such as guidewires and catheters, through virtual blood vessels, providing real-time mechanical feedback during the operation, simulating the tactile feel of real surgery. The system typically uses a coil array topology to generate two types of feedback forces: axial push-pull feedback forces on the catheter and circumferential rotational feedback forces during guidewire twisting. When generating both axial push-pull forces and circumferential rotational forces, the electromagnetic field of the rotational force introduces an axial force component, potentially distorting the axial push-pull force feedback and reducing the simulation realism of the virtual training system.

[0004] Existing methods determine the interference effect of circumferential rotational torque on axial push-pull force through the system's unique electromagnetic coupling coefficient. However, in actual surgery, when the vascular path is complex, the change in catheter curvature changes the electromagnetic field distribution. At the same time, the long-term operation of the coil causes fluctuations in the magnetic field strength, making the interference effect of the circumferential rotational torque on the axial push-pull force determined based on the fixed electromagnetic coupling coefficient inaccurate, resulting in compensation errors, thereby reducing the authenticity of virtual simulation interventional surgery. Summary of the Invention

[0005] In order to solve the technical problem of inaccurate interference effects of circumferential rotation torque on axial push and pull forces determined based on a fixed electromagnetic coupling coefficient, the present invention aims to provide an interventional surgery force feedback interactive system based on virtual simulation. The technical solutions adopted are as follows:

[0006] The present invention proposes a force feedback interactive system for interventional surgery based on virtual simulation, the system comprising:

[0007] The data acquisition module is used to obtain the axial push and pull force, circumferential rotation force and interference angle at each moment during the virtual interventional surgery in real time;

[0008] The interference possibility analysis module is used to obtain the rotation interference possibility at each moment based on the synchronous changes of the axial push-pull force and the circumferential rotation force at each moment and the change amplitude of the axial push-pull force at each moment;

[0009] A rotation interference analysis module is used to obtain the final interference rotation force at each moment based on the ratio of the circumferential rotation force at each moment to the circumferential rotation force at the previous moment and the estimated interference force determined by the rotation interference possibility;

[0010] The force compensation module is used to obtain the axial interference vector at each moment according to the interference angle and the final interference rotational force at each moment; and perform real-time compensation for the virtual simulation interventional surgery based on the axial interference vector.

[0011] Furthermore, obtaining the rotation interference possibility at each moment includes:

[0012] The absolute value of the difference between the axial push-pull force at each moment and the next moment and the ratio of the axial push-pull force at each moment are taken as the push-pull change degree at each moment;

[0013] Obtain the degree of change at each moment based on the synchronous changes in the axial push-pull force and the circumferential rotation force at each moment and the next moment;

[0014] The rotation interference possibility at each moment is obtained according to the push-pull change degree and the change consistency.

[0015] Furthermore, obtaining the change compliance at each moment includes:

[0016] Determine whether the normalized result of the absolute value of the difference between the axial push-pull force at each moment and the next moment is less than the preset change threshold. If so, perform negative correlation and normalization on the absolute value of the difference between the axial push-pull force at each moment and the next moment to obtain the change compliance at each moment; otherwise, perform negative correlation and normalization on the absolute value of the difference between the circumferential rotation force at each moment and the next moment to obtain the change compliance at each moment.

[0017] Furthermore, obtaining the final interfering rotational force at each moment includes:

[0018] The product of the circumferential rotation force at the previous moment and the rotation interference possibility is used as the estimated interference force at each moment;

[0019] The ratio of the estimated interference force to the circumferential rotation force at the previous moment of each moment is calculated, and the product of the ratio and the circumferential rotation force at each moment is used as the final interference rotation force at each moment.

[0020] Furthermore, the method for obtaining the interference angle includes:

[0021] The axial push-pull force vector and the circumferential rotation force vector at each moment are obtained, and the angle between the two vectors at the same moment is taken as the interference angle at each moment.

[0022] Furthermore, obtaining the axial interference vector at each moment includes:

[0023] The product of the sine value of the difference between the interference angle and 90 degrees at each moment and the sign of the circumferential rotation force vector is used as the sign of the interference direction at each moment;

[0024] The final interference rotational force is weighted using the absolute value of the cosine value of the interference angle at each moment, and the product of the weighted result and the sign of the interference direction is used as the axial interference vector at each moment. Furthermore, the real-time compensation of the virtual simulated interventional surgery based on the axial interference vector includes:

[0025] Obtaining the original working current and coil force constant of the coil in the electromagnetic force system for virtual interventional surgery;

[0026] The inverse of the ratio of the axial interference vector to the coil force constant at each moment is used as the input of the PID controller, and the compensation current at each moment is obtained through the PID algorithm; the sum of the compensation current and the original working current is used as the final coil current at each moment; and the coil operates with the final coil current at each moment.

[0027] Furthermore, the push-pull change degree is positively correlated with the rotation interference possibility, and the change compliance is negatively correlated with the rotation interference possibility.

[0028] Furthermore, the preset change threshold is 0.2.

[0029] Furthermore, the axial push-pull force is equal to the magnitude of the axial push-pull force vector, and the circumferential rotational force vector is equal to the magnitude of the circumferential rotational force.

[0030] The present invention has the following beneficial effects:

[0031] In an embodiment of the present invention, due to the physical properties of the operation and anatomical limitations, the axial push-pull force and the circumferential rotational force usually do not change at the same time. According to the synchronous changes of the axial push-pull force and the circumferential rotational force at each moment and the next moment, as well as the change amplitude of the axial push-pull force, the interference of the circumferential rotational force on the axial push-pull force at each moment is analyzed, and the possibility of rotational interference is obtained to ensure that the system can provide correct force feedback in actual operation and avoid misoperation and unnecessary shock. Considering that the interventional surgical operation is continuous, an interference rotational force estimation method based on time recursion can be adopted. According to the synchronous changes of the circumferential rotational force at each moment and its The ratio of the circumferential rotational force at the previous moment and the estimated interference force determined by the possibility of rotational interference in the circumferential rotational force is used to obtain the final interference rotational force at each moment, avoiding complex real-time calculations and ensuring the accuracy and smoothness of force feedback during the operation; according to the interference angle at each moment and the final interference rotational force, the accurate interference effect of the final interference rotational force in the axial direction is determined, and the axial interference vector is used to perform real-time compensation for the virtual simulation interventional surgery, eliminating the force feedback error caused by the change of the circumferential rotational force, ensuring that the force feedback during the surgical operation is more realistic and stable, and at the same time enhancing the actual operation experience of medical staff in training. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions and advantages of the embodiments of the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0033] Figure 1 A system structure diagram of a force feedback interactive system for interventional surgery based on virtual simulation provided by one embodiment of the present invention;

[0034] Figure 2 A structural diagram of a rotation interference possibility provided by one embodiment of the present invention;

[0035] Figure 3 A schematic diagram of a computer device for a force feedback interactive device for virtual simulated interventional surgery provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0036] To further illustrate the technical means and effectiveness of the present invention to achieve its intended purpose, the following, in conjunction with the accompanying drawings and preferred embodiments, describes in detail the specific implementation, structure, features, and effectiveness of a force feedback interactive system for interventional surgery based on virtual simulation proposed by the present invention. In the following description, different references to "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. Furthermore, specific features, structures, or characteristics of one or more embodiments may be combined in any suitable manner.

[0037] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

[0038] The following describes in detail a specific scheme of an interventional surgery force feedback interactive system based on virtual simulation provided by the present invention with reference to the accompanying drawings.

[0039] Example 1:

[0040] See also Figure 1 , which shows a system block diagram of an interventional surgery force feedback interaction system based on virtual simulation provided by an embodiment of the present invention. The system includes: a data acquisition module 110, a possible interference analysis module 120, a rotation interference analysis module 130, and a force compensation module 140.

[0041] The data acquisition module 110 is used to obtain the push-pull force, rotational force and interference angle at each moment during the virtual simulation interventional surgery operation.

[0042] In a virtual interventional surgery simulation system with electromagnetic force feedback, trainees manipulate the force feedback handle to simulate real-world guidewire and catheter manipulation. Interactive actions include: axial push-pull force manipulation refers to applying push and pull along the handle's long axis, and circumferential rotation manipulation refers to clockwise or counterclockwise rotation around the handle's long axis. The system uses an integrated six-dimensional force sensor to detect the axial push-pull force and circumferential rotation force at every moment during the interventional surgery in real time. It also synchronously outputs the axial rotation force vector and the circumferential push-pull force vector, calculating the angle between the rotation force vector and the push-pull force vector at each moment as the interference angle. The axial push-pull force is equal to the magnitude of the circumferential push-pull force vector, and the circumferential rotation force vector is equal to the magnitude of the circumferential rotation force.

[0043] It should be noted that the circumferential rotation force vector and the axial push-pull force vector are both in a right-handed coordinate system with the rotation center of the force feedback handle as the origin and the long axis of the catheter as the Z axis; the positive direction of the Z axis is the direction in which the catheter is pushed into the patient's body, that is, the direction of the force when the operator applies thrust to the handle, and the positive direction of the circumferential rotation torque is counterclockwise.

[0044] In one implementation of the embodiment of the present invention, the data acquisition frequency of the sensor is set to 500 Hz.

[0045] The interference possibility analysis module 120 is used to obtain the rotation interference possibility at each moment based on the synchronous changes of the axial push-pull force and the circumferential rotation force at each moment and the change amplitude of the axial push-pull force at each moment.

[0046] Because the feedback response of virtual interventional surgery systems is often continuous and dependent on the mechanical state at the previous moment, the greater the interference of the circumferential rotational force on the axial push-pull force at a certain moment, the greater the feedback change at the next moment, manifesting as a sharp fluctuation in the axial push-pull force. The difference in axial push-pull force at each moment reflects the magnitude of the axial push-pull force change at each moment. A large difference in axial push-pull force indicates that the circumferential rotational force at each moment is significantly interfering with the axial push-pull force.

[0047] Interventional surgery often requires delicate manipulation, and the trainee's manipulation force should be relatively steady to avoid unnecessary damage to the tissue. However, when vascular bleeding or other abnormal conditions occur, the operator may need to quickly adjust the catheter or guidewire, but due to the physical properties of the operation and anatomical limitations, the axial push-pull force and the circumferential rotational force usually do not change at the same time. The changes in the axial push-pull force and the circumferential rotational force must follow the "alternating stability" principle to avoid operational feedback distortion and the risk of loss of control. The above principle is: when the axial push-pull force needs to change significantly, the circumferential rotational force must remain stable; when the circumferential rotational force needs to change significantly, the axial push-pull force must remain stable. Therefore, based on the synchronous changes in the axial push-pull force and the circumferential rotational force at each moment and the next moment, analyze whether the changes in the axial push-pull force at each moment are consistent with the force feedback of interventional surgery.

[0048] During interventional procedures, the interference of circumferential rotational force on axial push and pull forces can cause system overreaction or instability. Only when the change in axial push and pull forces does it not conform to the force feedback requirements of interventional procedures does the change in circumferential rotational force on axial push and pull forces constitute true interference. This ensures that the system can provide correct force feedback during real-world procedures, avoiding misoperation and unnecessary oscillation. Therefore, it is necessary to comprehensively consider the above two factors, analyze the interference of circumferential rotational force on axial push and pull forces at each moment, and determine the probability of rotational interference.

[0049] The rotation interference analysis module 130 is used to obtain the final interference rotation force at each moment according to the ratio of the circumferential rotation force at each moment to the circumferential rotation force at the previous moment and the estimated interference force determined by the rotation interference possibility.

[0050] The rotational force interference in the electromagnetic feedback system can be regarded as the direct influence of the circumferential rotational force on the axial push-pull force. It is the result of the hysteresis of the electromagnetic field. Its interference component needs to depend on the historical state. Based on the circumferential rotational force at the previous moment and the possibility of rotational interference at each moment, the interference amount of the rotational force on the push-pull force at each moment is roughly predicted to obtain the estimated interference force.

[0051] In a virtual simulation interventional surgery system with electromagnetic feedback, operations need to be responded to in milliseconds. If adjustments are made after real-time analysis of interference, force feedback jitter may occur due to calculation delays. Considering that when doctors operate guidewire catheters, the rotation and push-pull movements are usually continuous, and the mechanical states such as friction and deformation at adjacent moments change little, making the interference ratios at adjacent moments approximately the same, a method for estimating the interference rotation force based on time recursion is adopted, that is, the interference ratio at the previous moment is used to infer the interference amount at the current moment, converting the nonlinear problem into linear recursion, avoiding complex real-time calculations, and ensuring the accuracy and smoothness of force feedback during surgery. Therefore, according to the proportion of the estimated interference force in the circumferential rotation force at the previous moment, the final interference rotation force in the circumferential rotation force at each moment is analyzed, which solves the time-varying coupling problem of the rotational force and axial interference in the electromagnetic system, and can effectively avoid the interference force from being out of control due to changes in the rotational force amplitude.

[0052] The force compensation module 140 is used to obtain the axial interference vector at each moment according to the interference angle and the final interference rotational force at each moment; and perform real-time compensation for the virtual simulation interventional surgery based on the axial interference vector.

[0053] In electromagnetic force feedback systems, the interference effect of circumferential rotational force on axial push-pull force is essentially caused by the presence of non-orthogonal components between the rotational torque vector and the long axis of the catheter. When the direction of the rotational torque vector is not completely orthogonal to the direction of the axial push-pull force vector, the rotational torque decomposes into an axial interference component, and the rotational force interferes with the axial push-pull force. The angle between the rotational force vector and the push-pull force vector, i.e., the interference angle, determines the interference effect of the final interfering rotational force in the axial direction, resulting in the axial interference vector. Based on the axial interference vector, real-time compensation is performed for virtual simulated interventional surgery, namely, compensating for the axial interference vector generated by the circumferential rotational force on the axial push-pull force at each moment. This eliminates the force feedback error caused by changes in the circumferential rotational force, provides more accurate mechanical feedback for interventional surgery simulation, ensures more realistic and stable force feedback during surgical operations, and enhances the actual operation experience of medical staff during training, enabling better mastery of surgical techniques and improving surgical success rate and safety.

[0054] See also Figure 2 , which shows a structural diagram of a rotation interference possibility provided by an embodiment of the present invention. The system includes: a push-pull change analysis unit 121, a coincidence analysis unit 122, and an interference analysis unit 123.

[0055] The push-pull change analysis unit 121 is configured to take the absolute value of the difference between the axial push-pull force at each moment and the next moment and the ratio of the axial push-pull force at each moment as the push-pull change degree at each moment.

[0056] It should be noted that the relative rate of change concept is used to quantify the changes in axial push-pull force. The absolute value of the difference between the push-pull force at each moment and the next reflects the instantaneous change in the axial push-pull force at each moment. The axial push-pull force at each moment is used to normalize the changes at different magnitudes to avoid masking small changes. The greater the push-pull change, the greater the interference of the circumferential rotational force on the axial push-pull force at each moment.

[0057] The compliance analysis unit 122 is used to obtain the compliance of the change at each moment based on the synchronous changes of the axial push-pull force and the circumferential rotation force at each moment and the next moment.

[0058] Preferably, in some possible implementation methods of the embodiments of the present invention, the method for obtaining the change compliance includes: judging whether the normalized result of the absolute value of the difference between the axial push-pull force at each moment and the next moment is less than a preset change threshold; if so, performing negative correlation and normalization on the absolute value of the difference between the axial push-pull force at each moment and the next moment to obtain the change compliance at each moment; if not, performing negative correlation and normalization on the absolute value of the difference between the circumferential rotation force at each moment and the next moment to obtain the change compliance at each moment.

[0059] It should be noted that if the normalized result of the absolute value of the difference between the axial push-pull force at each moment and the next moment is less than the preset change threshold, it indicates that the axial push-pull force maintains a stable change. The smaller the difference between the axial push-pull force at each moment and the next moment, the more stable the axial push-pull force. Regardless of how the circumferential rotational force changes, it complies with the "alternating stability" principle. The more consistent the change in the axial push-pull force at each moment is with the interventional surgical force feedback, the greater the degree of conformity of the change. On the contrary, it indicates that the axial push-pull force changes significantly. At this time, the circumferential rotational force should maintain a stable change. The smaller the difference between the circumferential rotational force at each moment and the next moment is, the more consistent it is with the interventional surgical force feedback, and the greater the degree of conformity of the change. In an embodiment of the present invention, maximum and minimum normalization is used for normalization processing, and the data to be processed is taken as the base of an exponential function with a natural constant as the base to achieve negative correlation and normalization processing. Normalization methods such as the Norm function can also be selected, which are not limited here.

[0060] In one implementation of the embodiment of the present invention, the preset change threshold is set to 0.2.

[0061] In other embodiments of the present invention, the absolute value of the difference between the axial push-pull force and the absolute value of the difference between the circumferential rotational force at each moment and the next moment are normalized respectively to obtain the first value and the second value respectively; the absolute value of the difference between the first value and the second value is negatively correlated mapped to obtain the change conformity at each moment.

[0062] The interference analysis unit 123 is configured to obtain the rotation interference possibility at each moment according to the push-pull change degree and the change compliance.

[0063] If the push-pull change degree is larger and the change conformity is smaller, it indicates that the circumferential rotation force at each moment has a stronger interference on the axial push-pull force, and the interference is caused by the change of the axial push-pull force not conforming to the interventional surgical force feedback. The greater the possibility that the interference is the real interference caused by the circumferential rotation force on the axial push-pull force, the greater the rotation interference possibility. Therefore, the push-pull change degree is positively correlated with the rotation interference possibility, and the change conformity is negatively correlated with the rotation interference possibility. In an embodiment of the present invention, a negative correlation mapping is performed on the change conformity at each moment, and the product of the mapping result and the push-pull change degree is normalized to obtain the rotation interference possibility. It should be noted that the embodiment of the present invention uses maximum and minimum normalization for normalization, and uses the data to be processed as the base of an exponential function with a natural constant as the base to achieve negative correlation mapping. Other methods can also be selected and are not limited here.

[0064] Preferably, in some possible implementation methods of the embodiments of the present invention, the method for obtaining the final interference rotational force includes: taking the product of the circumferential rotational force at the previous moment of each moment and the degree of rotational interference possibility as the estimated interference force at each moment; calculating the ratio of the estimated interference force at the previous moment of each moment to the circumferential rotational force, and taking the product of the ratio and the circumferential rotational force at each moment as the final interference rotational force at each moment.

[0065] It should be noted that the estimated interference force provides the initial interference measurement at each moment, which depends on the data of the previous moment. If the rotational force changes suddenly, such as a collision of surgical instruments, the estimated interference force will deviate from the actual value, while keeping the interference ratio of adjacent moments constant. The analysis achieves stable transmission of interference through dynamic decoupling, and corrects the interference prediction at each moment by the ratio of the estimated interference force to the circumferential rotation force at the previous moment of each moment, and determines the final interference rotation force in the circumferential rotation force at each moment according to the proportion. The greater the final interference rotation force, the more serious the interference degree of the circumferential rotation force at each moment on the axial push-pull force. The final interference rotation force is analyzed from the second moment during the virtual simulation interventional surgery operation, and the estimated interference force at the second moment is the final interference rotation force.

[0066] Preferably, in some possible implementation methods of the embodiments of the present invention, the method for obtaining the axial interference vector includes: taking the product of the sine value of the difference between the interference angle and 90 degrees at each moment and the sign of the circumferential rotation force vector as the interference direction sign at each moment; using the absolute value of the cosine value of the interference angle at each moment to weight the final interference rotation force, and taking the product of the weighted result and the interference direction sign as the axial interference vector at each moment.

[0067] It should be noted that when the rotational force vector is orthogonal to the circumferential push-pull force vector, that is, when the interference angle is equal to 90 degrees, the rotational torque will not decompose into an axial interference component. If the interference angle is closer to orthogonality, it indicates that the interference effect of the final interference rotation force in the axial direction will be greater; when the interference direction sign is +1, the interference enhances the axial thrust, and when the interference direction sign is -1, the interference weakens the axial thrust; the sign of the axial interference vector represents the direction, and the value represents the magnitude of the interference, which is a signed scalar.

[0068] Preferably, in some possible implementations of the present invention, the compensation method includes: obtaining the original operating current and coil force constant of the coil in the electromagnetic force system for performing virtual interventional surgery; using the inverse of the ratio of the axial interference vector to the coil force constant at each moment as the input of a PID controller, and obtaining the compensation current at each moment using a PID algorithm; using the sum of the compensation current and the original operating current as the final coil current at each moment; and the coil operating at the final coil current at each moment. The PID algorithm is well known to those skilled in the art and will not be described in detail here.

[0069] It should be noted that the coil force constant in an electromagnetic force system refers to the axial thrust or pull generated by a unit current in the electromagnetic coil. This can be obtained directly from the electromagnetic system's manual or through coil calibration experiments. The ratio of the axial interference vector at each moment to the coil force constant is used to convert the axial interference vector into an equivalent value in the current domain. Because the PID controller needs to compensate for the current, the inverse of the ratio is used as the PID controller's input to directly generate the required reverse compensation current. In the electromagnetic force system, the coil operates at the final coil current at each moment to offset the axial interference of the circumferential rotational force on the axial push and pull forces.

[0070] So far, the present invention is completed.

[0071] Example 2:

[0072] Figure 3 A schematic diagram of a computer device for a force feedback interactive device for a virtual simulated interventional surgery provided by an embodiment of the present invention. Figure 3As shown, the computer device includes: a memory 201, a processor 202, and a computer program 203 stored in the memory 201 and running on the processor 202, wherein when the processor 202 executes the computer program 203, the computer device can execute any one of the virtual simulation-based interventional surgery force feedback interaction systems introduced above.

[0073] In addition, an embodiment of the present application also protects a device, which may include a memory and a processor, wherein the memory stores executable program code, and the processor is used to call and execute the executable program code to execute an interventional surgery force feedback interaction system based on virtual simulation provided by an embodiment of the present application.

[0074] In this embodiment, the device can be divided into functional modules based on the above-described method examples. For example, each functional module can be mapped to a specific functional module, or two or more functions can be integrated into a single processing module. The integrated module can be implemented in hardware. It should be noted that the module division in this embodiment is illustrative and represents only a logical functional division. In actual implementation, other division methods may be used.

[0075] It should be understood that the device provided in this embodiment is used to execute the above-mentioned interventional surgery force feedback interactive system based on virtual simulation, and thus can achieve the same effect as the above-mentioned implementation method.

[0076] In the case of an integrated unit, the device may include a processing module and a storage module. When the device is applied to a device, the processing module may be used to control and manage the operation of the device. The storage module may be used to support the device in executing mutual program codes, etc.

[0077] The processing module may be a processor or controller that implements or executes the various exemplary logic blocks, modules, and circuits disclosed herein. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a digital signal processing (DSP) and a microprocessor, and the storage module may be a memory.

[0078] Example 3:

[0079] This embodiment also provides a computer-readable storage medium, which stores computer program code. When the computer program code runs on a computer, the computer executes the above-mentioned related method steps to implement an interventional surgery force feedback interaction system based on virtual simulation provided by the above embodiment.

[0080] Among them, the device and computer-readable storage medium provided in this embodiment are used to execute the corresponding system provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding system provided above, and will not be repeated here.

[0081] It should be noted that the order in which the embodiments of the present invention are described above is for illustrative purposes only and does not necessarily represent the superiority or inferiority of the embodiments. The processes depicted in the accompanying drawings do not necessarily require the specific order or sequential order shown to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0082] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments.

[0083] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A force feedback interactive system for interventional surgery based on virtual simulation, characterized in that: The system includes: The data acquisition module is used to obtain the axial push and pull force, circumferential rotation force and interference angle at each moment during the virtual interventional surgery in real time; The interference possibility analysis module is used to obtain the rotation interference possibility at each moment based on the synchronous changes of the axial push-pull force and the circumferential rotation force at each moment and the change amplitude of the axial push-pull force at each moment; A rotation interference analysis module is used to obtain the final interference rotation force at each moment based on the ratio of the circumferential rotation force at each moment to the circumferential rotation force at the previous moment and the estimated interference force determined by the rotation interference possibility; The force compensation module is used to obtain the axial interference vector at each moment according to the interference angle and the final interference rotational force at each moment; and perform real-time compensation for the virtual simulation interventional surgery based on the axial interference vector.

2. The force feedback interactive system for interventional surgery based on virtual simulation according to claim 1, characterized in that: The obtaining of the rotation interference possibility at each moment includes: The absolute value of the difference between the axial push-pull force at each moment and the next moment and the ratio of the axial push-pull force at each moment are taken as the push-pull change degree at each moment; Obtain the degree of change at each moment based on the synchronous changes in the axial push-pull force and the circumferential rotation force at each moment and the next moment; The rotation interference possibility at each moment is obtained according to the push-pull change degree and the change consistency.

3. The force feedback interactive system for interventional surgery based on virtual simulation according to claim 2, characterized in that: The obtaining of the change compliance at each moment includes: Determine whether the normalized result of the absolute value of the difference between the axial push-pull force at each moment and the next moment is less than the preset change threshold. If so, perform negative correlation and normalization on the absolute value of the difference between the axial push-pull force at each moment and the next moment to obtain the change compliance at each moment; otherwise, perform negative correlation and normalization on the absolute value of the difference between the circumferential rotation force at each moment and the next moment to obtain the change compliance at each moment.

4. The interventional surgery force feedback interactive system based on virtual simulation according to claim 1, characterized in that: The obtaining of the final interference rotation force at each moment includes: The product of the circumferential rotation force at the previous moment and the rotation interference possibility is used as the estimated interference force at each moment; The ratio of the estimated interference force to the circumferential rotation force at the previous moment of each moment is calculated, and the product of the ratio and the circumferential rotation force at each moment is used as the final interference rotation force at each moment.

5. The interventional surgery force feedback interactive system based on virtual simulation according to claim 1, characterized in that: The method for obtaining the interference angle includes: The axial push-pull force vector and the circumferential rotation force vector at each moment are obtained, and the angle between the two vectors at the same moment is taken as the interference angle at each moment.

6. The interventional surgery force feedback interactive system based on virtual simulation according to claim 5, characterized in that: The obtaining of the axial interference vector at each moment includes: The product of the sine value of the difference between the interference angle and 90 degrees at each moment and the sign of the circumferential rotation force vector is used as the sign of the interference direction at each moment; The final interference rotation force is weighted by using the absolute value of the cosine value of the interference angle at each moment, and the product of the weighted result and the sign of the interference direction is used as the axial interference vector at each moment.

7. The interventional surgery force feedback interactive system based on virtual simulation according to claim 1, characterized in that: The real-time compensation of the virtual simulated interventional surgery based on the axial interference vector comprises: Obtaining the original working current and coil force constant of the coil in the electromagnetic force system for virtual interventional surgery; The inverse of the ratio of the axial interference vector to the coil force constant at each moment is used as the input of the PID controller, and the compensation current at each moment is obtained through the PID algorithm; the sum of the compensation current and the original working current is used as the final coil current at each moment; and the coil operates with the final coil current at each moment.

8. The interventional surgery force feedback interactive system based on virtual simulation according to claim 2, characterized in that: The push-pull change degree is positively correlated with the rotation interference possibility, and the change compliance is negatively correlated with the rotation interference possibility.

9. The interventional surgery force feedback interactive system based on virtual simulation according to claim 3, characterized in that: The preset change threshold is 0.

2.

10. The interventional surgery force feedback interactive system based on virtual simulation according to claim 5, characterized in that: The axial push-pull force is equal to the magnitude of the axial push-pull force vector, and the circumferential rotation force vector is equal to the magnitude of the circumferential rotation force.

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