An interventional surgical robotic system for percutaneous atrial septal defect closure

Abstract

The application provides an interventional operation robot system for transcutaneous atrial septal defect occlusion, and relates to the technical field of atrial septal defect occlusion interventional operation. The interventional operation robot system is configured to: acquire historical occluder selection data, perform correspondence analysis based on balloon expansion diameter measurement data, and form occluder selection feature data; acquire balloon expansion diameter real-time measurement data, and perform extraction analysis of effective expansion diameter measurement data to form real-time expansion diameter measurement data; perform occluder selection analysis according to the real-time expansion diameter measurement data and the occluder selection feature data, and determine a target occluder; acquire real-time shunt image data, perform shunt effect analysis, and form occlusion effect analysis result data. The interventional operation robot system improves the success rate of the operation by reasonably selecting the occluder through the operation robot, and effectively guarantees and realizes the further operation effect of the interventional operation.

Description

Technical Field

[0001] This invention relates to the field of interventional surgery for closure of atrial septal defects, and more specifically, to a robotic system for percutaneous closure of atrial septal defects. Background Technology

[0002] Atrial septal defect (ASD) is a common congenital heart defect that occurs when the primitive atrial septum develops abnormally during embryonic development, leaving a gap between the left and right atria. Most ASDs can be effectively treated by timely interventional surgery to close the defect.

[0003] For interventional surgery of atrial septal defects, the main method is to use an occluder to seal the defect. The selection of the occluder is a crucial factor in achieving effective closure. While the integration of surgical robots can significantly improve the efficiency and outcome of interventional procedures, there is still no effective method for confirming the selection and installation effectiveness of occluders using surgical robots. This means that occluder selection still requires manual intervention, and although robots provide assistance during surgery, they cannot fundamentally change the success rate of the procedure.

[0004] Therefore, designing a percutaneous robotic system for closure of atrial septal defects to effectively guarantee and achieve better surgical results is an urgent problem to be solved. Summary of the Invention

[0005] The purpose of this invention is to provide a robotic system for percutaneous atrial septal defect closure. By acquiring historical surgical data from the robot, a characteristic relationship information between the balloon extension diameter and the selection of the occluder is established. Based on this, the occluder is selected and confirmed using the selected characteristic relationship information according to the measured balloon extension diameter. Simultaneously, real-time shunt imaging data is acquired after occluder installation to confirm the occluder's closure effect in real time. This eliminates the surgeon's reliance on experience for occluder selection, significantly improving the efficiency and matching of occluder selection. Furthermore, real-time confirmation of the selected occluder's installation effect allows for timely adjustments to any installation deviations, improving the success rate and efficiency of the procedure and effectively reducing the probability of secondary surgeries.

[0006] In a first aspect, the present invention provides an interventional surgical robot system for percutaneous closure of atrial septal defects, configured to: acquire historical occluder selection data, perform correspondence analysis based on balloon extension diameter measurement data to form occluder selection feature data; acquire real-time balloon extension diameter measurement data, and extract and analyze effective extension diameter measurement data to form real-time extension diameter measurement data; perform occluder selection analysis based on real-time extension diameter measurement data and occluder selection feature data to determine the target occluder; acquire real-time shunt image data, perform shunt effect analysis, and form occlusion effect analysis result data.

[0007] In this invention, the system establishes a characteristic relationship between balloon extension diameter and occluder selection by acquiring historical surgical data from the robot. Based on this, the system confirms the selection of the occluder using the selected characteristic relationship information according to the measured balloon extension diameter. Simultaneously, real-time shunt imaging data is acquired after occluder installation to confirm the occlusion effect in real time. This eliminates the surgeon's reliance on experience for occluder selection, significantly improving the efficiency and matching of occluder selection. Furthermore, real-time confirmation of the selected occluder's installation effect allows for timely adjustments to any installation deviations, improving surgical success rate and efficiency, and effectively reducing the probability of secondary surgeries.

[0008] One possible approach is to acquire historical occluder selection data and perform a correspondence analysis based on balloon extension diameter measurements to form occluder selection feature data. This includes: determining the balloon extension diameter value and the corresponding occluder occlusion diameter obtained in each surgery based on the historical occluder selection data, forming a single-surgery occlusion selection data set; and arranging all single-surgery selection data sets in ascending order based on the balloon extension diameter values ​​to form an occlusion selection order dataset. Where n represents the sequential number of the different single-blocking selection data groups arranged in order; according to the blocking selection order dataset Stability analysis based on selection bias is performed to generate plug selection characteristic data.

[0009] In this invention, extracting occluder selection feature relationship information based on balloon extension diameter measurement data from historical occluder selection data requires consideration of two aspects. Firstly, the size of the atrial septal defect varies among different patients, resulting in different occluder sizes selected for the corresponding balloon extension diameter measurements in historical data. However, to form clear and accurate occluder selection feature relationship information, reasonable organization and analysis of historical data are necessary. Here, multiple different selection data groups of extracted balloon extension diameter measurements and corresponding occluder occlusion diameters are arranged sequentially according to the balloon extension diameter measurement data to ensure the orderliness and ease of obtaining the data analysis's regularity. Secondly, it is understandable that for some individuals with special conditions, there may be occluder selection characteristics that differ from the large dataset, such as porous defects. Therefore, some data in the extracted historical data may not conform to the general trend of the large dataset. Here, reasonable deviation analysis is performed to remove the influence of this part of the historical data on the extraction of feature information from the large dataset.

[0010] As one possible implementation, based on the blocking selection order dataset Stability analysis based on selection bias is performed to generate blocker selection feature data, including: a dataset of blocking selection order. For each single-shot occlusion selection data set, determine the single-shot occlusion selection deviation between the occluder occlusion diameter and the balloon extension diameter. Select deviation amount based on all single blocking operations. Stability analysis was performed using the following method: Deviation was selected based on a single blocking operation. Size, deletion blocking selection order dataset The first m larger single-shot blocking selection deviations The corresponding single-time blocking selection data sets form the initial blocking selection dataset. Select dataset from initial blocking Initially, select the initial blocking dataset. In each of the single-blocking selection data groups, the largest single-blocking selection deviation is deleted one by one. Subsequent fitting analysis yields the corresponding processed continuous selection relation function. Where i represents the number of times the deletion process is performed sequentially, and i≥0, and the successive selection relation function after adjacent processing is determined. cumulative difference ,in, ,in, This indicates the continuous selection of relational functions after processing. The minimum value of the balloon extension diameter obtained. This indicates the continuous selection of relational functions after processing. The maximum value of the obtained balloon extension diameter; when the cumulative difference satisfy: If ≤α, then the newly formed processed relation function will be continuously selected. The characteristic function for selecting the occluder is determined, where α represents the threshold for determining relationship stability.

[0011] In this invention, for the sorted occluder selection order dataset obtained based on historical selection data, considering that some historical data may exhibit different data change trends than the large dataset, a screening process using deviation is employed. It is understood that the occluder's occlusion diameter is typically larger than the balloon extension diameter. Therefore, the difference between the balloon extension diameter and the occluder's occlusion diameter in the data set is usually relatively stable and limited to a reasonable range. During the screening process, to ensure that the selected relationship function obtained from the analysis does not differ too much from the selected relationship function formed by subsequent screening, thus reducing analysis efficiency, when obtaining the initial processed selection relationship function, a subset of data sets with larger discrepancies is preferentially removed. The determination of m can be based on actual conditions and can be determined through large-scale analysis targeting the average deviation. It should be noted that if the remaining data sets after screening are all data sets formed under non-special circumstances when selecting occluders, then under large datasets, no matter how many data sets are screened out, the difference between the balloon extension diameter measurement and the occluder's sealing diameter will be relatively stable and limited to a reasonable range under normal circumstances. This will also limit the difference between the different selection relationship functions formed after fitting to a reasonable range. By using the relationship stability judgment threshold for analysis, we can ensure that the accurate selection relationship function is determined efficiently and quickly. Here, the relationship stability judgment threshold can be determined according to the actual situation, or it can be determined based on the large-scale analysis of the difference between the balloon extension diameter measurement and the occluder's sealing diameter.

[0012] One possible approach is to acquire real-time balloon extension diameter measurement data and extract and analyze the effective extension diameter measurement data to form real-time extension diameter measurement data. This includes: extracting real-time compression diameters at multiple radial positions within the compression ring region based on the real-time balloon extension diameter measurement data; performing defect type analysis based on deviation fluctuations based on different real-time compression diameters to form defect type analysis result data; and forming real-time extension diameter measurement data based on the defect type analysis result data and the real-time compression diameter.

[0013] In this invention, once the selection relationship function is determined, it can be applied to the rational selection of occluders in actual interventional surgeries. Real-time selection of the occluder using the selection relationship function first requires obtaining real-time measurement data of the balloon extension diameter, and then making a corresponding selection based on this data. Here, considering the cardiac motion characteristics and muscle irregularities under actual conditions, the real-time measurement data of the balloon extension diameter needs to be rationally analyzed and processed to obtain effective measurement data. For measuring the balloon extension diameter at the defect orifice, the effective measurement location is the compressed waist segment formed by the slight compression of the balloon upon contact with the defect orifice wall after inflatation. An arbitrary cross-sectional annular surface is obtained on this waist segment to form a compression ring region. An angular coordinate system with the center of the ring as the origin is then established to obtain the compression diameter at multiple locations, thereby determining the effective balloon extension diameter measurement data. It should be noted that, due to the motion characteristics of the heart, the balloon extension diameter measurement data extracted at different motion times in the acquired compression ring region will fluctuate to some extent. Therefore, it is possible to obtain all continuous change data of the heart in the defect orifice region within a complete motion cycle, and then take the data at the moment of maximum orifice diameter as a reference for balloon inflation. However, it is necessary to observe whether there is excessive compression of the myocardium at other time points after inflation, or select the data at the moment of medium orifice diameter as reference data for balloon inflation. The accuracy of the balloon extension diameter measurement data obtained through such data analysis and processing can be further improved.

[0014] As one possible implementation, based on real-time measurement data of balloon extension diameter, the real-time compression diameter at multiple radial positions within the compression ring region is extracted, including: extracting the real-time compression diameter of the compression ring region in the following manner: establishing a real-time angular coordinate system with the center of the compression ring region as the origin; setting the extraction angular interval, and extracting the real-time compression diameter corresponding to different positions on the boundary of the compression ring region sequentially from zero degrees in the real-time angular coordinate system with the extraction angular interval as the step size.

[0015] In this invention, data extraction in multiple radial directions within the compression ring region serves two purposes: firstly, it allows for the selection of the optimal diameter based on multiple data points, ensuring a more rational selection of the subsequent plugging device; secondly, it provides data reference for the analysis and judgment of defect hole types during subsequent deviation fluctuation analysis. The selection of the extraction angle interval can be determined based on actual conditions, as long as it completely covers the dimensional variation characteristics of the defect hole throughout the entire circumferential direction.

[0016] As one possible implementation, defect type analysis based on deviation fluctuation is performed according to different real-time compression diameters to generate defect type analysis result data, including: performing function fitting based on position coordinates according to the real-time compression diameter at different positions to generate the corresponding real-time position diameter variation function of the compression ring. , This represents the angle value in the real-time angular coordinate system; the function for determining the real-time position diameter change of the pressure ring is also determined. Maximum diameter difference across the entire circumference Set a threshold for judging porous defects. ,like ≤ Then, the single-hole defect is calibrated for the real-time defect; if > Then, the porous defect is calibrated for the real-time defect.

[0017] In this invention, the defect pore type analysis based on the fluctuation of deviation is mainly used to exclude abnormal conditions such as multi-pore defects that are not applicable to the occluder selection function, thus avoiding incorrect occluder selection for these abnormal conditions. It is understood that there are relatively clear quantitative indicators for the types of single-pore defects in medicine; however, different doctors have different choices and understandings of these quantitative values. Here, the threshold for judging multi-pore defects can be set to a small, conservative value to ensure that the identified single-pore defects are fully applicable to the occluder selection function.

[0018] As one possible implementation, based on the defect type analysis results and combined with the real-time compression diameter, real-time extension diameter measurement data is generated. This includes: if the real-time defect is identified as a single-hole defect, then the real-time position diameter change function of the pressure ring is used. The minimum value in the value is determined as the real-time extension diameter measurement value of the real-time defect; if the real-time defect is calibrated as a porous defect, the real-time extension diameter measurement value is not obtained, and defect inapplicability information is generated.

[0019] In this invention, balloon extension diameter measurement data is determined based on the results of fluctuation analysis. Measurement data is only output when the defective hole is determined to be a single hole. This can avoid other misjudgments and incorrect analyses caused by doctors based on the output measurement data in actual situations without knowing whether it is a single-hole defect.

[0020] As one possible implementation, occluder selection analysis is performed based on real-time extension diameter measurement data and occluder selection feature data to determine the target occluder, including: determining the corresponding target occluder based on real-time extension diameter measurement values ​​and in combination with occluder selection feature functions.

[0021] In this invention, once the defective orifice is determined to be a single orifice, a suitable occluder can be selected using the occluder selection function. It should be noted that, on the one hand, the occluder determined by the occluder selection function is usually larger than the defective orifice. Therefore, when selecting the occluder using balloon extension diameter measurement data, the minimum value of the real-time position diameter change function of the compression ring is used as the effective value for selecting the occluder to avoid excessive compression of the myocardium by the occluder, leading to congestion or damage. On the other hand, considering that the size types of occluders are not continuous, after determining the most suitable occluder size based on the selection function, it is necessary to consider the product series type of the occluder for selection. This can be achieved by storing the available occluder types in the robot's storage unit for efficient and rapid selection.

[0022] One possible approach is to acquire real-time diversion image data, analyze the diversion effect, and generate plugging effect analysis results, including: based on the real-time diversion image data, acquiring the diversion change at the edge position where the target plugger contacts the defect orifice. Where β represents the angular parameter of the edge angular coordinate system established on the plane formed by the contact edge of the plug and the defect orifice; the amount of flow diversion based on the edge position. An analysis of the flow diversion effect along the axis of the plug is conducted to generate plugging effect analysis data.

[0023] In this invention, considering the potential for deviations during actual installation, it is necessary to monitor and analyze the occlusion effect of the occluder after installation to avoid secondary surgery and improve the success rate of the procedure. Monitoring the occlusion effect primarily involves acquiring shunting data at the contact point between the occluder and the edge of the defect orifice. The occluder's influence on shunting mainly lies in the shunting velocity and direction. The shunting direction needs to be determined before it can be ascertained whether the shunting velocity is also affected in that direction. It can be understood that after the occluder is installed, blood will not move along the central axis of the defect orifice; therefore, the analysis of the shunting effect also focuses on this direction. This is achieved by establishing a corresponding edge angle coordinate system to obtain the corresponding shunting data.

[0024] As one possible implementation, the amount of flow diversion at the edge location is considered. An analysis of the shunting effect along the axis of the plug is conducted to generate plugging effect analysis data, including: changes in shunting at the edge positions. The diversion value along the axis of the plug is decomposed and extracted to form the diversion value at the location of the plugging influence direction. Based on the direction of the blockade's impact at each location point, the flow diversion value is determined. The following analysis of the impact of traffic diversion methods is conducted: If all locations are... =0, then information indicating excellent blocking effect is generated; if there are at all location points The position ≠ 0, and If the maximum continuous length of a position ≠ 0 does not exceed the diversion influence length threshold, then the blocking effect is considered normal; if there are [conditions] at all positions... The position ≠ 0, and If the maximum continuous length of a position ≠0 exceeds the threshold for the length of the diversion effect, then an abnormal blocking effect is generated.

[0025] In this invention, the occlusion effect of the occluder is determined by analyzing shunting data along the occluder's axis. It can be understood that if the shunting velocity along the occluder's axis is zero, the occluder's occlusion effect is good. Even if there is a small velocity, the shunting location will not form a large area; that is, the continuous length of the edge where the shunting velocity occurs does not exceed a reasonable limit, which can also be considered a normal occlusion effect. The shunting influence length threshold can be set according to the actual situation, or it can be determined based on the edge length analysis of the continuous impact on the condition caused by incorrect occluder installation.

[0026] The beneficial effects of the percutaneous atrial septal defect closure interventional surgical robot system provided by this invention are as follows:

[0027] This interventional surgical robot system establishes a characteristic relationship between balloon extension diameter and occluder selection by acquiring historical surgical data from the robot. Based on this, the system confirms the selection of the occluder using the measured balloon extension diameter and the characteristic relationship information. Simultaneously, real-time shunt imaging data is acquired after occluder installation to confirm the occluder's occlusion effect. This eliminates the surgeon's reliance on experience for occluder selection, significantly improving the efficiency and matching of occluder selection. Furthermore, real-time confirmation of the selected occluder's installation effect allows for timely adjustments to any installation deviations, improving surgical success rate and efficiency, and effectively reducing the probability of secondary surgeries. Attached Figure Description

[0028] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments of the present invention will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This is a diagram illustrating the operational steps of the percutaneous atrial septal defect closure interventional surgical robot system provided in this embodiment of the invention.

[0030] Figure 2 This is a schematic diagram of the percutaneous atrial septal defect closure interventional surgical robot system provided in an embodiment of the present invention. Detailed Implementation

[0031] The technical solutions of the present invention will now be described with reference to the accompanying drawings in the embodiments of the present invention.

[0032] Atrial septal defect (ASD) is a common congenital heart defect that occurs when the primitive atrial septum develops abnormally during embryonic development, leaving a gap between the left and right atria. Most ASDs can be effectively treated by timely interventional surgery to close the defect.

[0033] For interventional surgery of atrial septal defects, the main method is to use an occluder to seal the defect. The selection of the occluder is a crucial factor in achieving effective closure. While the integration of surgical robots can significantly improve the efficiency and outcome of interventional procedures, there is still no effective method for confirming the selection and installation effectiveness of occluders using surgical robots. This means that occluder selection still requires manual intervention, and although robots provide assistance during surgery, they cannot fundamentally change the success rate of the procedure.

[0034] refer to Figures 1-2 This invention provides a robotic system for percutaneous atrial septal defect closure. This system establishes a characteristic relationship between balloon extension diameter and occluder selection by acquiring historical surgical data from the robot. Based on this, the system selects and confirms the occluder using the measured balloon extension diameter and the characteristic relationship information. Simultaneously, real-time shunt imaging data is acquired after occluder installation to confirm the occluder's closure effect. This eliminates the surgeon's reliance on experience for occluder selection, significantly improving the efficiency and matching of occluder selection. Furthermore, real-time confirmation of the selected occluder's installation effect allows for timely adjustments to any installation deviations, improving surgical success rate and efficiency, and effectively reducing the probability of secondary surgeries.

[0035] The specific configuration of the percutaneous atrial septal defect closure interventional surgical robot system is as follows:

[0036] S1: Obtain historical occluder selection data, perform correspondence analysis based on balloon extension diameter measurement data, and form occluder selection feature data.

[0037] Historical occluder selection data was acquired, and a correspondence analysis based on balloon extension diameter measurements was performed to generate occluder selection feature data. This included: determining the balloon extension diameter value and corresponding occluder occlusion diameter obtained in each procedure based on historical occluder selection data, forming a single-procedure occlusion selection data set; and arranging all single-procedure occlusion selection data sets in ascending order based on the balloon extension diameter value, forming an occlusion selection order dataset. Where n represents the sequential number of the different single-blocking selection data groups arranged in order; according to the blocking selection order dataset Stability analysis based on selection bias is performed to generate plug selection characteristic data.

[0038] Extracting occluder selection feature relationships based on balloon extension diameter measurements from historical occluder selection data requires consideration of two aspects. Firstly, the size of the atrial septal defect varies among different patients, resulting in different occluder sizes selected for the corresponding balloon extension diameter measurements in historical data. However, to establish clear and accurate occluder selection feature relationships, the historical data needs proper organization and analysis. Here, multiple sets of extracted balloon extension diameter measurements and corresponding occluder occlusion diameters are arranged sequentially according to the balloon extension diameter measurement data to ensure the orderliness and accessibility of the data analysis. Secondly, it is understandable that for some individuals with unique conditions, occluder selection may deviate from the characteristics of the large dataset, such as porous defects. Therefore, some historical data may not conform to the general trends of the large dataset. Here, reasonable deviation analysis is performed to remove the influence of this historical data on the extraction of feature information from the large dataset.

[0039] Dataset based on blocking selection order Stability analysis based on selection bias is performed to generate blocker selection feature data, including: a dataset of blocking selection order. For each single-shot occlusion selection data set, determine the single-shot occlusion selection deviation between the occluder occlusion diameter and the balloon extension diameter. Select deviation amount based on all single blocking operations. Stability analysis was performed using the following method: Deviation was selected based on a single blocking operation. Size, deletion blocking selection order dataset The first m larger single-shot blocking selection deviations The corresponding single-time blocking selection data sets form the initial blocking selection dataset. Select dataset from initial blocking Initially, select the initial blocking dataset. In each of the single-blocking selection data groups, the largest single-blocking selection deviation is deleted one by one. Subsequent fitting analysis yields the corresponding processed continuous selection relation function. Where i represents the number of times the deletion process is performed sequentially, and i≥0, and the successive selection relation function after adjacent processing is determined. cumulative difference ,in, ,in, This indicates the continuous selection of relational functions after processing. The minimum value of the balloon extension diameter obtained. This indicates the continuous selection of relational functions after processing. The maximum value of the obtained balloon extension diameter; when the cumulative difference satisfy: If ≤α, then the newly formed processed relation function will be continuously selected. The characteristic function for selecting the occluder is determined, where α represents the threshold for determining relationship stability.

[0040] For the sorted occluder selection order dataset obtained based on historical selection data, considering that some historical data may exhibit different data trends than the larger dataset, a screening process using deviation is employed. It is understood that the occluder's occluding diameter is typically larger than the balloon's extension diameter; therefore, the difference between the balloon's extension diameter and the occluder's occluding diameter in the dataset is usually relatively stable and within a reasonable range. During the screening process, to ensure that the selected relationship function obtained from the analysis does not differ too much from the selected relationship function formed by subsequent screening, thus reducing analysis efficiency, when obtaining the initial processed selection relationship function, a subset of data with larger deviation values ​​is preferentially removed. The determination of 'm' can be based on actual conditions and can be determined through large-scale analysis targeting the average deviation. It should be noted that if the remaining data sets after screening are all data sets formed under non-special circumstances when selecting occluders, then under large datasets, no matter how many data sets are screened out, the difference between the balloon extension diameter measurement and the occluder's sealing diameter will normally be relatively stable and limited to a reasonable range. This will also limit the difference between the different selection relationship functions formed after fitting to a reasonable range. By using the relationship stability judgment threshold for analysis, we can ensure that the accurate selection relationship function is determined efficiently and quickly. Here, the relationship stability judgment threshold can be determined according to the actual situation, or it can be determined based on the large dataset analysis of the difference between the balloon extension diameter measurement and the occluder's sealing diameter.

[0041] S2: Acquire real-time measurement data of balloon extension diameter, and extract and analyze the effective measurement data of extension diameter to form real-time extension diameter measurement data.

[0042] Real-time balloon extension diameter measurement data is acquired, and effective extension diameter measurement data is extracted and analyzed to form real-time extension diameter measurement data. This includes: extracting real-time compression diameters at multiple radial positions within the compression ring region based on the real-time balloon extension diameter measurement data; performing defect type analysis based on deviation fluctuations based on different real-time compression diameters to form defect type analysis result data; and forming real-time extension diameter measurement data based on the defect type analysis result data and the real-time compression diameter.

[0043] Once the selection relationship function is determined, it can be applied to the appropriate selection of occluders in actual interventional surgeries. Real-time selection of occluders using the selection relationship function first requires obtaining real-time measurement data of the balloon extension diameter, and then making the selection based on this data. Here, considering the cardiac motion characteristics and muscle irregularities under actual conditions, the real-time measurement data of the balloon extension diameter needs to be reasonably analyzed and processed to obtain effective measurement data. For measuring the balloon extension diameter at the defect orifice, the effective measurement location is the compressed waist segment formed by the slight compression of the balloon upon contact with the defect orifice wall after inflatation. An arbitrary cross-sectional annular surface is obtained on this waist segment to form a compression ring region. An angular coordinate system with the center of the ring as the origin is then established to obtain the compression diameter at multiple locations, thereby determining the effective balloon extension diameter measurement data. It should be noted that, due to the motion characteristics of the heart, the balloon extension diameter measurement data extracted at different motion times in the acquired compression ring region will fluctuate to some extent. Therefore, it is possible to obtain all continuous change data of the heart in the defect orifice region within a complete motion cycle, and then take the data at the moment of maximum orifice diameter as a reference for balloon inflation. However, it is necessary to observe whether there is excessive compression of the myocardium at other time points after inflation, or select the data at the moment of medium orifice diameter as reference data for balloon inflation. The accuracy of the balloon extension diameter measurement data obtained through such data analysis and processing can be further improved.

[0044] Based on real-time measurement data of balloon extension diameter, the real-time compression diameter at multiple radial positions within the compression ring region is extracted, including: extracting the real-time compression diameter of the compression ring region in the following manner: establishing a real-time angular coordinate system with the center of the compression ring region as the origin; setting the extraction angle interval, and extracting the real-time compression diameter corresponding to different positions on the boundary of the compression ring region sequentially from zero degrees in the real-time angular coordinate system with the extraction angle interval as the step size.

[0045] Extracting data in multiple radial directions within the compression ring region serves two purposes: firstly, it allows for the selection of the optimal diameter based on multiple data points, ensuring a more reasonable choice of plugger; secondly, it provides data reference for analyzing and determining the type of defect during subsequent deviation fluctuation analysis. The selection of the extraction angle interval can be determined based on the actual situation, as long as it completely covers the dimensional variation characteristics of the defect hole throughout the entire circumferential direction.

[0046] Based on different real-time compression diameters, defect type analysis based on deviation fluctuations is performed to generate defect type analysis results data, including: based on the real-time compression diameter at different positions, a function fitting based on position coordinates is performed to generate the corresponding real-time position diameter variation function of the compression ring. , This represents the angle value in the real-time angular coordinate system; the function for determining the real-time position diameter change of the pressure ring is also determined. Maximum diameter difference across the entire circumference Set a threshold for judging porous defects. ,like ≤ Then, the single-hole defect is calibrated for the real-time defect; if > Then, the porous defect is calibrated for the real-time defect.

[0047] The defect pore type analysis based on the fluctuation of deviation mainly excludes abnormal conditions such as multi-pore defects that are not applicable to the occluder selection function, thus avoiding incorrect occluder selection for these abnormal conditions. It is understood that there are relatively clear quantitative indicators for the types of single-pore defects in medicine; however, different doctors have different choices and understandings of these quantitative values. Here, the threshold for judging multi-pore defects can be set to a small, conservative value to ensure that the identified single-pore defects are fully applicable to the occluder selection function.

[0048] Based on the defect type analysis results and combined with the real-time compression diameter, real-time extension diameter measurement data is generated, including: if the real-time defect is identified as a single-hole defect, then the real-time position diameter change function of the pressure ring is calculated. The minimum value in the value is determined as the real-time extension diameter measurement value of the real-time defect; if the real-time defect is calibrated as a porous defect, the real-time extension diameter measurement value is not obtained, and defect inapplicability information is generated.

[0049] The balloon extension diameter measurement data is determined based on the results of the fluctuation analysis. Measurement data is only output when the defective hole is determined to be a single hole. This can avoid other misjudgments and incorrect analyses caused by doctors based on the output measurement data in actual situations without knowing whether it is a single hole defect.

[0050] S3: Based on real-time extension diameter measurement data and plug selection feature data, perform plug selection analysis to determine the target plug.

[0051] Based on real-time extension diameter measurement data and occluder selection feature data, occluder selection analysis is performed to determine the target occluder, including: determining the corresponding target occluder based on real-time extension diameter measurement values ​​and in combination with occluder selection feature functions.

[0052] Once the defect orifice is determined to be a single orifice, a suitable occluder can be selected using the occluder selection function. It's important to note that, firstly, the occluder determined by the selection function is usually larger than the defect orifice. Therefore, when selecting the occluder using balloon extension diameter measurement data, the minimum value of the real-time position diameter change function of the compression ring should be used as the effective value for selecting the occluder to avoid excessive compression of the myocardium, leading to congestion or myocardial damage. Secondly, considering that occluder sizes are not continuous, after determining the most suitable occluder size based on the selection function, it's necessary to consider the occluder product series for selection. This can be achieved by storing the available occluder types in the robot's storage unit for efficient and rapid selection.

[0053] S4: Acquire real-time diversion image data, analyze the diversion effect, and generate blocking effect analysis results data.

[0054] Acquire real-time diversion image data, perform diversion effect analysis, and generate plugging effect analysis results data, including: based on the real-time diversion image data, obtain the diversion change at the edge position where the target plugger contacts the defect orifice. Where β represents the angular parameter of the edge angular coordinate system established on the plane formed by the contact edge of the plug and the defect orifice; the amount of flow diversion based on the edge position. An analysis of the flow diversion effect along the axis of the plug is conducted to generate plugging effect analysis data.

[0055] After the occluder is installed, deviations may occur during actual installation. Therefore, it is necessary to monitor and analyze the occlusion effect of the occluder to avoid secondary surgery and improve the success rate of the procedure. Monitoring the occluder's occlusion effect mainly involves acquiring shunting data at the contact point between the occluder and the edge of the defect orifice. The occluder's influence on shunting is primarily in the shunting velocity and direction. The shunting direction needs to be determined before it can be determined whether the shunting velocity is also affected in that direction. It can be understood that after the occluder is installed, blood will not move along the central axis of the defect orifice; therefore, the analysis of the shunting effect is also in this direction. This is achieved by establishing a corresponding edge angle coordinate system to obtain the corresponding shunting data.

[0056] Based on the amount of flow diversion at the edge location An analysis of the shunting effect along the axis of the plug is conducted to generate plugging effect analysis data, including: changes in shunting at the edge positions. The diversion value along the axis of the plug is decomposed and extracted to form the diversion value at the location of the plugging influence direction. Based on the direction of the blockade's impact at each location point, the flow diversion value is determined. The following analysis of the impact of traffic diversion methods is conducted: If all locations are... =0, then information indicating excellent blocking effect is generated; if there are at all location points The position ≠ 0, and If the maximum continuous length of a position ≠ 0 does not exceed the diversion influence length threshold, then the blocking effect is considered normal; if there are [conditions] at all positions... The position ≠ 0, and If the maximum continuous length of a position ≠0 exceeds the threshold for the length of the diversion effect, then an abnormal blocking effect is generated.

[0057] The occlusion effect of the occluder is determined by analyzing shunting data along the occluder's axis. Generally, if the shunting velocity along the occluder's axis is zero, the occluder's occlusion effect is good. Even if there is a small velocity, the shunting location will not form a large area; that is, the continuous length of the shunting velocity edge does not exceed a reasonable limit, which can also be considered a normal occlusion effect. The threshold for the shunting influence length can be set according to the actual situation, or it can be determined based on the analysis of the edge length that causes a sustained impact on the condition due to incorrect occluder installation.

[0058] This application also provides the specific composition of an interventional surgical robot system. The interventional surgical robot system includes a data acquisition unit for acquiring historical occluder selection data, real-time balloon extension diameter measurement data, and real-time shunt imaging data; a feature extraction unit for performing a correspondence analysis based on the balloon extension diameter measurement data on the historical occluder selection data acquired by the data acquisition unit to form occluder selection feature data; and a real-time analysis unit for performing data extraction and analysis based on the real-time balloon extension diameter measurement data acquired by the data acquisition unit to obtain real-time extension diameter measurement data, and combining this with the occluder selection feature data formed by the feature extraction unit to perform occluder selection analysis to determine the target occluder, and combining this with the real-time shunt imaging data to perform effect analysis to form occlusion effect analysis result data.

[0059] In summary, the beneficial effects of the percutaneous atrial septal defect closure interventional surgical robot system provided by the embodiments of the present invention are as follows:

[0060] This interventional surgical robot system establishes a characteristic relationship between balloon extension diameter and occluder selection by acquiring historical surgical data from the robot. Based on this, the system confirms the selection of the occluder using the selected characteristic relationship information according to the measured balloon extension diameter. Simultaneously, real-time shunt imaging data is acquired after occluder installation to confirm the occluder's occlusion effect in real time. This eliminates the surgeon's reliance on experience for occluder selection, significantly improving the efficiency and matching of occluder selection. Furthermore, real-time confirmation of the selected occluder's installation effect allows for timely adjustments to any installation deviations, improving the success rate and efficiency of the procedure and effectively reducing the probability of secondary surgeries.

[0061] In the embodiments of this application, "instruction" can include direct and indirect instructions, as well as explicit and implicit instructions. The information indicated by a certain piece of information is called the information to be instructed. In the specific implementation process, there are many ways to instruct the information to be instructed, such as, but not limited to, directly instructing the information to be instructed, such as the information to be instructed itself or its index. It can also indirectly instruct the information to be instructed by instructing other information, where there is a relationship between the other information and the information to be instructed. It can also instruct only a part of the information to be instructed, while the other parts are known or pre-agreed upon. For example, the instruction of specific information can be achieved by using a pre-agreed (e.g., protocol-defined) arrangement of various pieces of information, thereby reducing instruction overhead to some extent. At the same time, common parts of various pieces of information can be identified and uniformly indicated to reduce the instruction overhead caused by individually indicating the same information.

[0062] Furthermore, the specific indication method can also be any existing indication method, such as, but not limited to, the above-mentioned indication methods and their various combinations. Specific details of various indication methods can be found in existing technologies, and will not be repeated here. As described above, for example, when multiple pieces of information of the same type need to be indicated, the indication methods for different pieces of information may differ. In the specific implementation process, the required indication method can be selected according to specific needs. This application embodiment does not limit the selected indication method; therefore, the indication methods involved in this application embodiment should be understood to cover various methods that enable the party to be indicated to obtain the information to be indicated.

[0063] It should be understood that the information to be indicated can be sent as a whole or divided into multiple sub-information messages sent separately, and the sending period and / or timing of these sub-information messages can be the same or different. The specific sending method is not limited in this application embodiment. The sending period and / or timing of these sub-information messages can be predefined, for example, according to a protocol, or configured by the sending device by sending configuration information to the receiving device.

[0064] "Predefined" or "pre-configured" can be achieved by pre-saving corresponding codes, tables, or other means that can be used to indicate relevant information in the device. This application does not limit the specific implementation method. "Saving" can refer to saving in one or more memories. These memories can be separate installations or integrated into the encoder, decoder, processor, or communication device. Alternatively, some memories can be separately installed, while others are integrated into the decoder, processor, or communication device. The type of memory can be any form of storage medium, and this application does not limit this.

[0065] The “protocol” mentioned in the embodiments of this application may refer to a protocol family in the field of communication, a standard protocol with a similar protocol family frame structure, or a related protocol applied to future communication systems. The embodiments of this application do not specifically limit this.

[0066] In the embodiments of this application, descriptions such as "when," "under the circumstances," "if," and "if" all refer to the device making corresponding processing under certain objective circumstances, and are not limited to a specific time. They do not require the device to make a judgment action during implementation, nor do they imply any other limitations.

[0067] In the description of the embodiments of this application, unless otherwise stated, " / " indicates that the objects before and after are in an "or" relationship. For example, A / B can represent A or B. "And / or" in the embodiments of this application is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, and B alone, where A and B can be singular or plural. Furthermore, in the description of the embodiments of this application, unless otherwise stated, "multiple" refers to two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple. Additionally, to facilitate a clear description of the technical solutions of the embodiments of this application, the terms "first" and "second" are used in the embodiments of this application to distinguish identical or similar items with essentially the same function and effect. Those skilled in the art will understand that the terms "first," "second," etc., do not limit the quantity or order of execution, and that "first," "second," etc., are not necessarily different. Furthermore, in the embodiments of this application, words such as "exemplary" or "for example" are used to indicate that something is being used as an example, illustration, or description. Any embodiment or design scheme described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design schemes. Specifically, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner for ease of understanding.

[0068] It should be understood that the processor in the embodiments of this application can be a central processing unit (CPU), or it can be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor, etc.

[0069] It should also be understood that the memory in the embodiments of this application can be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate synchronous DRAM (DDR SDRAM), enhanced synchronous DRAM (ESDRAM), synchronous linked DRAM (SLDRAM), and direct rambus RAM (DR RAM).

[0070] The above embodiments can be implemented, in whole or in part, by software, hardware (such as circuits), firmware, or any other combination thereof. When implemented using software, the above embodiments can be implemented, in whole or in part, as a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more sets of available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium. A semiconductor medium can be a solid-state drive.

[0071] It should be understood that the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. A and B can be singular or plural. Additionally, the character " / " in this article generally indicates an "or" relationship between the preceding and following related objects, but it can also represent an "and / or" relationship. Please refer to the context for a more accurate understanding.

[0072] In this application, "at least one" means one or more, and "more than one" means two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of a single item or a plurality of items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, and c can be a single item or multiple items.

[0073] It should be understood that in the various embodiments of this application, the order of the above-mentioned processes does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0074] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0075] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0076] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0077] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0078] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0079] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0080] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. An interventional robotic system for percutaneous atrial septal defect closure, characterized in that, Configured as: Historical occluder selection data is acquired, and a correspondence analysis based on balloon extension diameter measurement data is performed to form occluder selection feature data. Acquire real-time measurement data of balloon extension diameter, and extract and analyze the effective measurement data of extension diameter to form real-time extension diameter measurement data; Based on the real-time extension diameter measurement data and the occluder selection feature data, an occluder selection analysis is performed to determine the target occluder; Acquire real-time diversion image data, analyze the diversion effect, and generate blocking effect analysis data; The step of acquiring historical occluder selection data and performing a correspondence analysis based on balloon extension diameter measurement data to form occluder selection feature data includes: Based on the historical occluder selection data, the balloon extension diameter value and the corresponding occluder occlusion diameter obtained in each operation are determined to form a single occlusion selection data set. arranging all the single occlusion selection data sets in ascending order based on the balloon expansion diameter values to form an occlusion selection sequence data set wherein n represents the sequential number of different single occlusion selection data sets arranged in sequence. According to the occlusion selection sequence dataset Performing stability analysis based on selection bias, forming the occluder selection feature data; According to the occlusion selection sequence data set Performing stability analysis based on selection bias, forming the occluder selection feature data, including: for each of the single occlusion selection data sets in the occlusion selection sequence data set determining a single occlusion selection deviation between the occluder occlusion diameter and the balloon stretched diameter value ; According to all the single occlusion selection deviations The following stability analysis was performed: Based on the single-time blocking selection deviation amount The size of the dataset is used to delete the blocking selection order dataset. The first m larger deviations in the single-blocking selection The corresponding single-time blocking selection data sets form the initial blocking selection dataset. ; From the initial blocking selection dataset Begin with the initial blocking selection dataset. In each of the single-blocking selection data sets, the largest single-blocking selection deviation is deleted one by one. Subsequent fitting analysis yields the corresponding post-processed continuous selection relation function. Where i represents the number of sequential deletion operations, and i≥0, and the successive selection relationship function after the adjacent processing is determined. cumulative difference ,in, ,in, This indicates the continuous selection of relational functions after the processing. The minimum value of the balloon extension diameter obtained. This indicates the continuous selection of relational functions after the processing. The maximum value of the balloon extension diameter obtained; When the cumulative difference value satisfies: ≤ α, the newly formed post-treatment continuous selection relationship function is determined as the occluder selection characteristic function, where α represents a relationship stability judgment threshold.

2. The interventional robotic system for percutaneous atrial septal defect closure of claim 1, wherein, The process of acquiring real-time balloon extension diameter measurement data and extracting and analyzing effective extension diameter measurement data to form real-time extension diameter measurement data includes: Based on the real-time measurement data of the balloon extension diameter, the real-time compression diameter at multiple radial positions within the compression ring region is extracted. Based on the different real-time compression diameters, defect type analysis based on deviation fluctuations is performed to generate defect type analysis result data. The real-time extension diameter measurement data is formed by analyzing the defect type data and combining it with the real-time compression diameter.

3. The interventional robotic system for percutaneous atrial septal defect closure of claim 2, wherein, The step of extracting the real-time compression diameter at multiple radial positions within the compression ring region based on the real-time measurement data of the balloon extension diameter includes: The real-time compression diameter of the compression ring region is extracted in the following manner: A real-time angular coordinate system is established with the center of the compression ring region as the origin; Set the extraction angle interval, and extract the real-time compression diameter corresponding to different positions on the boundary of the compression ring region sequentially from zero degrees in the real-time angle coordinate system with the extraction angle interval as the step size.

4. The interventional robotic system for percutaneous atrial septal defect closure of claim 3, wherein, The defect type analysis based on deviation fluctuation is performed according to different real-time compression diameters to form defect type analysis result data, including: According to the real-time compression diameters on different positions, a function fitting based on position coordinates is performed to form a corresponding compression ring real-time position diameter change function , represents an angle value on the real-time angle coordinate system determining the real-time position diameter variation function of the compression ring maximum diameter difference at the entire circumferential position ; Setting a multi-hole defect judgment threshold , if ≤ , the real-time defect is marked as a single-hole defect; If > then the real-time defects are calibrated for the multi-hole defects.

5. The interventional robotic system for percutaneous atrial septal defect closure of claim 4, wherein, The step of analyzing the defect type data and combining it with the real-time compression diameter to form the real-time extension diameter measurement data includes: if the real-time defect is labeled as the single-hole defect, determining a minimum value of the compression ring real-time position diameter change function as the real-time stretch diameter measurement value of the real-time defect; If the real-time defect is identified as the porous defect, then the real-time extension diameter measurement value will not be obtained, and defect inapplicability information will be generated.

6. The interventional surgical robot system for percutaneous atrial septal defect closure according to claim 5, characterized in that, The step of performing occluder selection analysis based on the real-time extension diameter measurement data and the occluder selection feature data to determine the target occluder includes: The target occluder is determined based on the real-time extension diameter measurement and the occluder selection feature function.

7. The interventional robotic system for percutaneous atrial septal defect closure of claim 6, wherein, The process of acquiring real-time diversion image data, analyzing the diversion effect, and generating blocking effect analysis results data includes: According to the real-time shunt image data, an edge position shunt change amount of the target occluder and a defect hole contact edge is obtained wherein β represents an angle parameter of an edge angle coordinate system established on a plane formed by the occluder and the defect hole contact edge According to the edge position shunt change amount The shunt influence effect analysis along the occluder axis direction is performed to form the occlusion effect analysis result data.

8. The interventional robotic system for percutaneous atrial septal defect closure of claim 7, wherein, The shunt change amount according to the edge position The shunt influence effect analysis in the occluder axis direction is performed to form the occlusion effect analysis result data, including: The edge position flow distribution change amount The flow distribution value is decomposed and extracted in the direction of the occluder axis to form a flow distribution value in the direction of the occlusion influence ; According to the plugging influence direction position shunt value on each position point The shunt influence effect analysis is performed in the following manner: If all the position points are =0, the information of excellent blocking effect is formed; If all locations exist The position ≠ 0, and If the maximum continuous length of a position ≠ 0 does not exceed the threshold for the length of the diversion effect, then the blocking effect is considered normal. If there are positions where ≠ 0, and the maximum length of positions where ≠ 0 exceeds the shunt influence length threshold, occlusion effect abnormality information is generated.

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