An interventional surgical robotic system for percutaneous patent foramen ovale closure

Abstract

The application provides an interventional operation robot system for transcutaneous patent foramen ovale occlusion, and relates to the technical field of patent foramen ovale occlusion interventional operation. The interventional operation robot system is configured to acquire heart image data and occluder structure data, perform occlusion positioning and shunt analysis, determine occlusion installation position area and unoccluded shunt data; acquire real-time placement position information of the occluder, and perform real-time occlusion positioning analysis in combination with the occlusion installation position area to form real-time positioning occlusion result information; based on the real-time positioning occlusion result information, acquire real-time shunt data of the occlusion area, and perform occlusion effect analysis in combination with the unoccluded shunt data to form occlusion effect analysis result information. The interventional operation robot system realizes real-time monitoring of the overall effect of the occluder from installation to post-installation through collection and analysis of real-time installation data of the occluder, further improves the success rate of the operation, and increases the efficiency of the entire clinical operation.

Description

Technical Field

[0001] This invention relates to the field of interventional surgery technology for patent foramen ovale closure, and more specifically, to an interventional surgical robot system for percutaneous patent foramen ovale closure. Background Technology

[0002] Patent foramen ovale (PFO) closure is typically performed percutaneously, where a catheter is used to deliver the occluder to the foramen ovale in the heart. Given the high precision required for cardiac contraction, this procedure demands a high level of skill from the surgeon, and uncertainties can often affect the outcome. Currently, robotic-assisted procedures are becoming available. Robot-assisted closure offers more precise control, reduces human error, and improves the success rate.

[0003] Currently, robots used in interventional procedures to assist in patent foramen ovale (PFO) closure primarily provide real-time imaging during the procedure and, under controller control, perform stable and accurate occluder placement. However, they do not provide real-time assessment of the suitability of the occluder after placement; confirmation is mostly based on postoperative shunt effects, which prevents immediate correction and judgment of placement accuracy.

[0004] Therefore, designing a percutaneous robotic system for patent foramen ovale closure to further improve the success rate of the procedure and increase the efficiency of the entire clinical operation is an urgent problem to be solved. Summary of the Invention

[0005] The purpose of this invention is to provide a percutaneous interventional surgical robot system for patent foramen ovale closure. By acquiring cardiac imaging data of the target heart, a corresponding dynamic model is established, enabling reasonable fitting analysis of the occluder installation. This determines the theoretically optimal installation position for complete closure, providing a reasonable and accurate standard for real-time analysis of the occluder installation. Furthermore, after confirming the occluder installation position, corresponding shunt data is acquired in real-time to assess the occlusion effect. This allows for a comprehensive evaluation of the installation effect, considering both the structural aspects and post-installation application, resulting in a more thorough analysis. Moreover, because real-time data analysis is performed during the surgery, adjustments can be made promptly to address any improper installation, avoiding the need for a second surgery. This improves overall surgical efficiency and increases the success rate.

[0006] In a first aspect, the present invention provides an interventional surgical robot system for percutaneous patent foramen ovale closure, configured to: acquire cardiac imaging data and occluder structural data; perform occlusion positioning and shunt analysis to determine the occlusion installation location area and unclosed shunt data; acquire real-time placement information of the occluder and perform real-time occlusion positioning analysis in conjunction with the occlusion installation location area to form real-time positioning and occlusion result information; and based on the real-time positioning and occlusion result information, acquire real-time shunt data of the occlusion area and perform occlusion effect analysis in conjunction with the unclosed shunt data to form occlusion effect analysis result information.

[0007] In this invention, the interventional surgical robot system establishes a corresponding dynamic model by acquiring cardiac imaging data of the target heart, thereby enabling reasonable fitting analysis of the occluder installation and determining the theoretically optimal installation position for complete occlusion. This provides a reasonable and accurate judgment standard for real-time analysis of the occluder installation status. Furthermore, after confirming the occluder installation position, corresponding shunt data is acquired in real time to assess the occlusion effect. On one hand, the system comprehensively evaluates the installation effect from both structural and post-installation application perspectives, making the occluder installation analysis more comprehensive. On the other hand, because real-time data analysis is performed during the surgery, adjustments can be made promptly to address any improper installation of the occluder, avoiding the need for a second surgery. This improves overall surgical efficiency and further increases the success rate of the procedure.

[0008] One possible approach involves acquiring cardiac imaging data and occluder structural data, performing occlusion localization and shunt analysis to determine the occlusion installation location area and unclosed shunt data. This includes: calibrating the foramen ovale based on cardiac imaging data to determine its location area; performing installation localization analysis based on cardiac imaging data, combined with the foramen ovale location area information and occluder structural data, to determine the occlusion installation location area; and performing time-parameter-based shunt characteristic analysis based on cardiac imaging data to generate unclosed shunt data.

[0009] In this invention, to confirm the effectiveness of occluder placement during patent foramen ovale (PFO) surgery, it is necessary to analyze and judge the rationality of the occluder's placement and the blood shunting after placement. The standard for these analyses is to have corresponding comparative data for reference. Therefore, before confirming the occluder's placement effectiveness, it is necessary to obtain the occluder's placement location and extract data on blood shunting through the PFO to form accurate and reasonable comparative data. Here, the comparative data on the occluder's placement location is determined by analyzing and judging the location of cardiac imaging data and the structural data of the appropriate occluder to be used. The comparative data on the occlusion effect is determined by extracting and analyzing data on the impact of blood shunting before PFO closure.

[0010] One possible approach is to calibrate the foramen ovale (FOB) based on cardiac imaging data to determine its location region. This includes: establishing a dynamic model of the target heart within the analysis period based on cardiac imaging data; determining the positional change information of the FOB center based on the dynamic model; extracting the FOB location information based on the positional change information as follows: extracting m center points at arbitrary intervals from the positional change information; determining the FOB range corresponding to each center point based on the dynamic model; obtaining the FOB range with the largest diameter among the m center points and calibrating it as the effective FOB diameter; and determining the FOB location region information based on the effective FOB diameter and the positional change information.

[0011] In this invention, by acquiring imaging data of the heart, a data model of the heart can be established, which serves as a prerequisite data condition for determining the location analysis of the occluder installation position. Due to the dynamic activity of the heart, the data model to be established includes modeling the dynamic structure of the heart using imaging data. Because the heart's contraction involves periodic movements, a dynamic model is needed to ensure the accurate determination of the foramen ovale location and the occluder installation position. The model also includes characteristic parameters such as the heart's muscle contractility, adhesion and fit of the contact area with the occluder, etc., to ensure the rational selection of the occluder and the structural sealing and matching of the simulated installation using the model. The analysis duration needs to ensure at least one reasonable cardiac contraction cycle, which can be the duration of a single cardiac contraction. If the heart's contraction on the affected body also exhibits individual positional fluctuations, then the periodicity of these positional fluctuations must also be included. That is, during the heart's contraction, it affects the deformation of surrounding tissues; if this deformation is periodic or has a limited range, then this periodicity and limited range must be included. For the foramen ovale, considering the actual muscle movement, it may not be a perfectly circular opening. To ensure effective occlusion of the foramen ovale by the occluder, it is necessary to obtain data on the maximum possible opening position. Therefore, during the extraction of opening position data, dynamic model data is used to extract the maximum opening diameter at any dynamic time point for comparative analysis to determine the possible maximum opening diameter information. This information, combined with the center point of the foramen ovale during dynamic movement, forms the maximum possible position range of the foramen ovale in each dynamic state, providing accurate and reasonable data for subsequent analysis. It should be noted that, on the one hand, the calibration of the foramen ovale can be identified using feature extraction from big data, or it can be determined through intelligent learning. On the other hand, the number of center points and the interval between their extraction can be determined according to the actual situation, as long as they reasonably cover the range of center point changes throughout the entire analysis period.

[0012] As one possible approach, based on cardiac imaging data, combined with information on the location of the foramen ovale and the occluder structure data, an installation positioning analysis is performed to determine the occlusion installation location area. This includes: determining the corresponding occluder based on the effective foramen ovale diameter and obtaining the occluder structure data; calibrating the foramen center overlap area based on the occluder structure data; and combining the occluder structure data, foramen ovale location information, and center position change information to perform the following installation location analysis: defining the position of each center point based on the center position change information to ensure that the center point is located within the foramen center overlap area of ​​the occluder; adjusting the position of the center points located within the foramen center overlap area to ensure that the occluder achieves complete contact with the edge of the foramen ovale throughout the entire foramen ovale change area, forming the occluder installation position corresponding to the center point; and extracting the occluder installation positions corresponding to all center points in the center position change information to form the occluder installation location area.

[0013] In this invention, after determining the positional changes of the orifice oval throughout the analysis period, since the absolute size of the orifice oval varies among different individuals, obtaining reasonable and accurate occluder installation position data requires first selecting an appropriately sized occluder based on the orifice oval location information. Then, the structural data of the occluder is extracted and simulated on a dynamic model to determine its positional changes throughout the analysis period, thus forming occluder installation position area data. Of course, during the simulation assembly, it is understood that the occluder has a certain degree of adjustability both radially along the orifice oval and perpendicularly to it. Therefore, by combining this adjustment range, the center of the orifice oval is limited, thereby determining the reasonable installation position range of the occluder.

[0014] As one possible approach, time-parameter-based shunt characteristic analysis is performed on cardiac imaging data to generate unclosed shunt data. This includes: defining the shunt influence area based on a cardiac dynamic model; and extracting the unclosed shunt velocity at the boundary of the shunt influence area within the analysis time period based on cardiac imaging data. ,in, This represents the model curve function representing the boundary of the shunt influence region of the patent foramen ovale during the analysis period. The analysis duration is indicated; based on cardiac imaging data, the direction of the patent foramen ovale shunt at the boundary of the affected area within the analysis duration is extracted. Combined with the unclosed shunt velocity and unclosed shunt direction This results in unclosed, diverted data.

[0015] In this invention, the main function of the occluder is to seal the foramen ovale, preventing blood from the left and right ventricles from shunting through it. If the occluder is not installed correctly or the foramen ovale is not closed, there may be residual or complete shunting of blood near the foramen ovale. Therefore, obtaining blood shunting data under conditions of patent foramen ovale closure can serve as a reference for judging whether the occluder is installed correctly and effectively. Of course, considering that the occluder will occupy space near the foramen ovale after installation, and the space it occupies cannot be used to obtain shunting data after installation, the definition of the shunting influence area of ​​patent foramen ovale closure can be relatively expanded to ensure that data can be obtained in the boundary area both when the foramen ovale is not closed and after the occluder is installed. The size and location of the shunting influence area of ​​patent foramen ovale closure can be determined according to actual needs, or it can be determined by big data-based analysis of the shunting influence boundary area. The shunt data to be extracted includes shunt velocity and shunt direction information. It is understood that if the occluder is installed properly and achieves the suffocation effect, then the blood in the left and right ventricles will not be shunt through the foramen ovale, thus there will be no shunt velocity and no impact on the direction of blood flow in the ventricles. Therefore, both shunt velocity and shunt direction need to be obtained comprehensively for subsequent analysis and judgment to ensure the comprehensive and effective implementation of the occluder installation.

[0016] One possible implementation involves acquiring the real-time placement location information of the occluder and performing real-time occlusion positioning analysis in conjunction with the occlusion installation location area to generate real-time positioning and occlusion result information. This includes: determining the real-time installation location of the occluder at each time point during the real-time monitoring period based on the real-time placement location information of the occluder; mapping the real-time monitoring period and the analysis period to determine the mutually mapped real-time installation locations of the occluders and the occluder installation locations within the occluder installation location area; and performing real-time occlusion positioning analysis based on location overlap based on all mutually mapped real-time installation locations and occluder installation locations to generate real-time positioning and occlusion result information.

[0017] In this invention, the proper installation of the occluder is a prerequisite for determining whether the occluder has effectively blocked the orifice. Therefore, the judgment of the occluder's installation effect begins with the judgment of its installation position. Only after the installation position is determined to be reasonable based on the analysis of the provided reference comparison data can the diversion effect be further judged. The two analysis judgments have a progressive hierarchy, which can further improve the confirmation of the occluder's installation effect and increase the accuracy and rationality of the analysis. Of course, the structural conditions near the orifice will change to some extent after the occluder is installed, but this will not cause significant distortion of the provided reference comparison data. Therefore, after installation, real-time installation position data of the occluder can be obtained in real time for a monitoring period equivalent to the analysis period. This data can then be matched and mapped with the installation position data obtained during the analysis period to achieve a reasonable analysis and comparison of the installation effect.

[0018] As one possible implementation, based on the real-time installation locations and blocker installation positions of all mutually mapped blocker locations, a real-time blocker location analysis based on location overlap is performed to generate real-time location blocker result information. This includes: based on the real-time installation locations and blocker installation positions of all mutually mapped blocker locations, the real-time blocker location analysis is performed in the following manner: a point blocker overlap threshold and a total overlap blocker threshold are set. If the overlap of each mutually mapped real-time installation location and blocker installation position reaches the point blocker overlap threshold, and the overlap at all locations reaches the threshold, the real-time blocker location analysis is performed in the following manner. If the sum of the overlap rates reaches the total overlap threshold, then the blocker installation is considered compliant. If the overlap rate between the real-time installation positions and the blocker installation positions of all mutually mapped blockers fails to reach the point-to-point overlap threshold, then the blocker installation is considered non-compliant, and the real-time installation positions of the blockers that fail to reach the point-to-point overlap threshold are calibrated. If the overlap rate between the real-time installation positions and the blocker installation positions of each mutually mapped blocker reaches the point-to-point overlap threshold, but the sum of the overlap rates at all positions fails to reach the total overlap threshold, then the blocker installation is considered non-compliant.

[0019] In this invention, the comparison and judgment of the rationality of the occluder installation location mainly considers two aspects. Firstly, it assesses the degree of overlap between the real-time installation location of each occluder and the occluder installation location mapped over time. Considering the slight distortion of model data caused by the installation of the occluder and actual installation errors, the two mapped data will not completely overlap; a certain degree of overlap is sufficient to determine whether the installation is reasonable. Secondly, it considers the dynamic interrelationship between installation locations at different time points. Therefore, the degree of overlap over the entire time dimension also needs to be judged to avoid the impact of dynamic changes on the occluder installation effect. The point occlusion overlap threshold and the total overlap occlusion threshold can be set according to the actual situation or determined by combining big data analysis of model changes before and after installation.

[0020] As one possible implementation, based on real-time location-based blocking results, real-time diversion data of the blocked area is obtained, and combined with unclosed diversion data, the blocking effect is analyzed to form blocking effect analysis results. These results include: when the real-time location-based blocking results indicate that the blocking installation meets the standards, the blocking diversion flow velocity at the boundary of the open orifice ovale diversion influence area is obtained during the real-time monitoring period. A flow velocity-based analysis of the plugging effect is conducted to generate results on the influence of plugging flow velocity. The model curve function represents the boundary of the shunt influence area of ​​patent foramen ovale during the real-time monitoring period. Indicates the real-time monitoring duration; obtains the blocking and diversion direction at the boundary of the patent foramen ovale shunt influence area during the real-time monitoring duration. A direction-based blocking effect analysis is conducted to generate the blocking direction influence results; combined with the blocking flow velocity influence results and the blocking direction influence results, the blocking effect analysis results information is generated.

[0021] In this invention, if the analysis and judgment of the installation location of the plug indicates that the installation is reasonable, the plugging effect produced by the plug can be further compared and analyzed. Similarly, the flow velocity and direction data of the shunting flow at the boundary of the unclosed orifice of Oval after the plug is installed are obtained during real-time monitoring. This data is used for comparison with the shunting data before plugging, allowing for a reasonable analysis and judgment of the plugging effect. Likewise, the obtained shunting data corresponds to the shunting data obtained during the analysis period in the time dimension to ensure reasonable comparability of the analysis and comparison in the time dimension, thus ensuring the correctness and rationality of the analysis and comparison.

[0022] As one possible approach, a flow velocity-based closure effect analysis is performed to generate results on the impact of closure flow velocity, including: obtaining the flow velocity of the unclosed branch. In conjunction with the blocking and diversion flow velocity If satisfied This generates information indicating that the blocked flow velocity meets the standard. This represents the minimum value taken in the first direction at the boundary of the shunt influence area of ​​patent foramen ovale within the real-time monitoring period. This represents the maximum value taken in the first direction at the boundary of the shunt effect area of ​​patent foramen ovale within the real-time monitoring period. This indicates the threshold for analyzing the blocking effect of the diversion flow velocity; if it is not satisfied... If the flow velocity fails to meet the blocking standard, then information about the blocking effect is generated; a direction-based blocking effect analysis is performed to generate the blocking direction impact results, including: obtaining the direction of the unclosed diversion. In conjunction with the direction of blocking and diversion If satisfied Where b represents the threshold for analyzing the blocking effect in the diversion direction, then the blocking direction compliance information is generated; if it does not meet the requirements... If this occurs, information indicating that the blocking direction has not met the standards will be generated.

[0023] In this invention, complete occlusion of the foramen ovale by the occluder is the most effective method. However, due to the dynamic characteristics of the heart, the occlusion status of the foramen ovale will vary to some extent with the dynamic changes of the heart. Therefore, partial shunting may occur under certain dynamic conditions. However, the magnitude of this shunting can be determined by limiting the cumulative magnitude during analysis and judgment, ensuring that the analysis and judgment conditions are adaptable to the actual situation and the judgment is reasonable. Of course, this cumulative magnitude is calculated over the entire boundary region and the entire time dimension, so it needs to be obtained by integration over the time dimension and the boundary curve. The threshold for occlusion effect analysis can be determined based on the actual situation, or it can be determined by combining big data analysis of the maximum allowable cumulative shunting.

[0024] As one possible implementation method, the blocking effect analysis results are formed by combining the blocking flow velocity and blocking direction effects. These results include: if the blocking flow velocity effect result is that the blocking flow velocity meets the standard, and the blocking direction effect result is that the blocking direction meets the standard, then the blocking installation is considered normal; if the blocking flow velocity effect result is that the blocking flow velocity does not meet the standard, and the blocking direction effect result is that the blocking direction meets the standard, then the blocking installation is considered abnormal; if the blocking flow velocity effect result is that the blocking flow velocity meets the standard, and the blocking direction effect result is that the blocking direction does not meet the standard, then the blocking installation is considered abnormal.

[0025] In this invention, the occlusion effect of the occluder is judged only when both the flow velocity and the direction of the diversion meet the criteria. If either aspect of the diversion fails to meet the criteria, the occluder is considered to be improperly installed. The installation position can be adjusted based on the feedback, ensuring real-time adjustment of the occluder's installation position during surgery, thereby improving the success rate of installation and work efficiency, and avoiding secondary surgeries.

[0026] The beneficial effects of the percutaneous patent foramen ovale closure interventional surgical robot system provided by this invention are as follows:

[0027] This interventional surgical robot system acquires cardiac imaging data of the target heart to establish a corresponding dynamic model, enabling reasonable fitting analysis of the occluder installation. It determines the theoretically optimal installation position for complete occlusion, providing a reasonable and accurate standard for real-time analysis of the occluder installation. Furthermore, after confirming the occluder installation position, it acquires corresponding shunt data in real time to assess the occluder's occlusion effect. This allows for a comprehensive evaluation of the installation effect, considering both the structural aspects and post-installation application, resulting in a more thorough analysis. Moreover, because real-time data analysis occurs during the surgery, it allows for timely adjustments to address any improper installation, avoiding the need for secondary surgeries. This improves overall surgical efficiency and increases the success rate. 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 patent foramen ovale closure interventional surgical robot system provided in this embodiment of the invention.

[0030] Figure 2 This is a schematic diagram of the percutaneous patent foramen ovale 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] Patent foramen ovale (PFO) closure is typically performed percutaneously, where a catheter is used to deliver the occluder to the foramen ovale in the heart. Given the high precision required for cardiac contraction, this procedure demands a high level of skill from the surgeon, and uncertainties can often affect the outcome. Currently, robotic-assisted procedures are becoming available. Robot-assisted closure offers more precise control, reduces human error, and improves the success rate.

[0033] Currently, robots used in interventional procedures to assist in patent foramen ovale (PFO) closure primarily provide real-time imaging during the procedure and, under controller control, perform stable and accurate occluder placement. However, they do not provide real-time assessment of the suitability of the occluder after placement; confirmation is mostly based on postoperative shunt effects, which prevents immediate correction and judgment of placement accuracy.

[0034] refer to Figures 1-2 This invention provides a percutaneous interventional surgical robot system for patent foramen ovale closure. This system acquires cardiac imaging data of the target heart to establish a corresponding dynamic model, enabling reasonable fitting analysis of the occluder installation. It determines the theoretically optimal installation position for complete closure, providing a reasonable and accurate standard for real-time analysis of the occluder installation. Furthermore, after confirming the occluder installation position, it acquires corresponding shunt data in real time to assess the occlusion effect. This allows for a comprehensive evaluation of the installation effect, considering both the structural aspects and post-installation application, resulting in a more thorough analysis. Moreover, because real-time data analysis is performed during the procedure, adjustments can be made promptly to address any improper installation, avoiding the need for a second surgery. This improves overall surgical efficiency and increases the success rate.

[0035] The specific configuration of the interventional robotic system for percutaneous patent foramen ovale closure is as follows:

[0036] S1: Acquire cardiac imaging data and occluder structural data, perform occlusion localization and shunt analysis, and determine the occlusion installation location area and unclosed shunt data.

[0037] Acquire cardiac imaging data and occluder structural data, perform occlusion localization and shunt analysis to determine the occlusion installation location area and unclosed shunt data, including: calibrating the foramen ovale based on cardiac imaging data to determine the foramen ovale location area; performing installation localization analysis based on cardiac imaging data, combined with the foramen ovale location area information and occluder structural data, to determine the occlusion installation location area; and performing time-parameter-based shunt characteristic analysis based on cardiac imaging data to generate unclosed shunt data.

[0038] To confirm the effectiveness of occluder placement during patent foramen ovale (PFO) surgery, it is necessary to analyze the rationality of the occluder's placement and the subsequent blood shunting. The standard for these analyses is the availability of corresponding comparative data. Therefore, before confirming the occluder's effectiveness, it is essential to obtain the occluder's placement location and extract data on blood shunting through the PFO to form accurate and reasonable comparative data. Here, the comparative data for the occluder's placement location is determined through location analysis of cardiac imaging data and the structural data of the appropriate occluder to be used. The comparative data for the occluder's closure effectiveness is determined by extracting and analyzing data on the impact of blood shunting before PFO closure.

[0039] The foramen ovale (FOD) is calibrated based on cardiac imaging data to determine its location region. This includes: establishing a dynamic cardiac model of the target heart within the analysis period based on the cardiac imaging data; determining the changes in the center position of the FOD based on the dynamic cardiac model; extracting the FOD location information based on the center position changes using the following methods: extracting m center points at arbitrary intervals from the center position changes; determining the FOD range corresponding to each center point based on the dynamic cardiac model; obtaining the FOD range with the largest diameter among the m center points and calibrating it as the effective FOD diameter; and determining the FOD location region based on the effective FOD diameter and the center position changes.

[0040] By acquiring imaging data of the heart, a data model of the heart can be established, serving as a prerequisite for the location analysis of the occluder placement. Due to the dynamic activity of the heart, the data model to be established includes modeling the dynamic structure of the heart using imaging data. Because cardiac contraction involves periodic movements, a dynamic model is needed to ensure accurate determination of the foramen ovale location and the occluder placement. The model also includes characteristic parameters such as the heart's muscle contractility, adhesion and fit of the contact area with the occluder, etc., to ensure the rational selection of the occluder and the structural sealing and matching of the simulated installation using the model. The analysis duration needs to ensure at least one reasonable cardiac contraction cycle. This cycle can be the duration of a single cardiac contraction. If the heart's contraction on the affected body also exhibits individual positional fluctuations, then the periodicity of these positional fluctuations must also be included. That is, during cardiac contraction, the surrounding tissues are affected by deformation; if this deformation is periodic or has a limited range, then this periodicity and limited range must be included. For the foramen ovale, considering the actual muscle movement, it may not be a perfectly circular opening. To ensure effective occlusion of the foramen ovale by the occluder, it is necessary to obtain data on the maximum possible opening position. Therefore, during the extraction of opening position data, dynamic model data is used to extract the maximum opening diameter at any dynamic time point for comparative analysis to determine the possible maximum opening diameter information. This information, combined with the center point of the foramen ovale during dynamic movement, forms the maximum possible position range of the foramen ovale in each dynamic state, providing accurate and reasonable data for subsequent analysis. It should be noted that, on the one hand, the calibration of the foramen ovale can be identified using feature extraction from big data, or it can be determined through intelligent learning. On the other hand, the number of center points and the interval between their extraction can be determined according to the actual situation, as long as they reasonably cover the range of center point changes throughout the entire analysis period.

[0041] Based on cardiac imaging data, combined with information on the location of the foramen ovale and the structural data of the occluder, an installation positioning analysis was performed to determine the occlusion installation location area. This included: determining the corresponding occluder based on the effective foramen ovale diameter and obtaining the occluder's structural data; calibrating the coincidence area of ​​the foramen center based on the occluder's structural data; and combining the occluder's structural data, foramen ovale location information, and center position change information to perform the following installation location analysis: limiting the position of each center point based on the center position change information to ensure that the center point is located within the coincidence area of ​​the occluder's foramen center; adjusting the position of the center points located within the coincidence area to ensure that the occluder achieves complete contact with the edge of the foramen ovale throughout the entire foramen ovale variation area, forming the occluder installation position corresponding to the center point; and extracting the occluder installation positions corresponding to all center points in the center position change information to form the occluder installation location area.

[0042] After determining the positional changes of the foramen ovale throughout the analysis period, and considering the differences in the absolute size of the foramen ovale among different individuals, obtaining reasonable and accurate occluder installation location data requires first selecting an appropriately sized occluder based on the locational region information of the foramen ovale. Then, the structural data of the occluder is extracted and simulated on a dynamic model to determine its positional changes throughout the analysis period, thus forming the occluder installation location region data. During the simulation assembly, it is understood that the occluder has a certain degree of adjustability both radially and perpendicularly to the foramen ovale. Therefore, by considering this range of installation adjustment, the center of the foramen ovale is limited, thereby determining the reasonable range of occluder installation location.

[0043] Based on cardiac imaging data, a time-parameter-based shunt characteristic analysis was performed to generate unclosed shunt data, including: delineating the shunt influence area of ​​patent foramen ovale (PFO) using a cardiac dynamic model; and extracting the shunt velocity at the boundary of the PFO influence area within the analysis time period based on cardiac imaging data. ,in, This represents the model curve function representing the boundary of the shunt influence region of the patent foramen ovale during the analysis period. The analysis duration is indicated; based on cardiac imaging data, the direction of the patent foramen ovale shunt at the boundary of the affected area within the analysis duration is extracted. Combined with the unclosed shunt velocity and unclosed shunt direction This results in unclosed, diverted data.

[0044] The primary function of an occluder is to seal the foramen ovale, preventing blood from shunting between the left and right ventricles. If the occluder is not installed correctly or the foramen ovale remains open, residual or complete shunting may occur near the foramen ovale. Therefore, obtaining blood shunting data under conditions of foramen ovale closure can serve as a reference for determining whether the occluder is installed correctly and effectively. However, considering that the occluder will occupy space near the foramen ovale, making it difficult to obtain shunting data, the definition of the shunting influence area for foramen ovale closure can be relatively expanded to ensure data acquisition in the boundary region both before and after foramen ovale closure. The size and location of the shunting influence area for foramen ovale closure can be determined based on actual needs or through large-scale data analysis of the shunting influence boundary region. The shunt data to be extracted includes shunt velocity and shunt direction information. It is understood that if the occluder is installed properly and achieves the suffocation effect, then the blood in the left and right ventricles will not be shunt through the foramen ovale, thus there will be no shunt velocity and no impact on the direction of blood flow in the ventricles. Therefore, both shunt velocity and shunt direction need to be obtained comprehensively for subsequent analysis and judgment to ensure the comprehensive and effective implementation of the occluder installation.

[0045] S2: Obtain the real-time placement location information of the plug and perform real-time plugging location analysis in combination with the plugging installation location area to form real-time positioning and plugging result information.

[0046] The system acquires real-time placement location information of the occluder and performs real-time occlusion positioning analysis in conjunction with the occlusion installation location area to generate real-time positioning and occlusion result information. This includes: determining the real-time installation location of the occluder at each time point during the real-time monitoring period based on the real-time placement location information; mapping the real-time monitoring period and the analysis period to determine the mutually mapped real-time installation locations of the occluders and the occluder installation locations within the occluder installation location area; and performing real-time occlusion positioning analysis based on location overlap based on all mutually mapped real-time installation locations and occluder installation locations to generate real-time positioning and occlusion result information.

[0047] The proper installation of the occluder is a prerequisite for determining whether it has effectively blocked the orifice oval. Therefore, judging the installation effect of the occluder begins with judging the installation location. Only after the installation location is confirmed to be reasonable based on the analysis of the provided reference comparison data can the diversion effect be further judged. The two analysis judgments are progressive and hierarchical, which can further improve the confirmation of the occluder installation effect and increase the accuracy and rationality of the analysis. Of course, the structural conditions near the orifice oval will change to some extent after the occluder is installed, but it will not cause significant distortion of the provided reference comparison data. Therefore, after installation, real-time installation location data of the occluder can be obtained for a real-time monitoring period equivalent to the analysis period. This data can then be matched and mapped with the installation location data obtained during the analysis period to achieve a reasonable comparison and analysis of the installation effect.

[0048] Based on the real-time installation locations of all mutually mapped occluders and their corresponding occluder installation locations, a real-time occlusion location analysis based on location overlap is performed to generate real-time location occlusion results. This includes: Real-time occlusion location analysis is performed in the following manner based on the real-time installation locations of all mutually mapped occluders and their corresponding occluder installation locations: A point-based occlusion overlap threshold and a total overlap occlusion threshold are set. If the overlap of each mutually mapped real-time occluder installation location and its corresponding occluder installation location reaches the point-based occlusion overlap threshold, and the total overlap across all locations reaches... If the total overlap threshold is reached, then the occlusion installation meets the standard. If the overlap between the real-time installation positions and the occluder installation positions of all mutually mapped occluders fails to meet the point-to-point occlusion overlap threshold, then the occlusion installation fails to meet the standard, and the real-time installation positions of the occluders that fail to meet the point-to-point occlusion overlap threshold are calibrated. If the overlap between the real-time installation positions and the occluder installation positions of each mutually mapped occluder meets the point-to-point occlusion overlap threshold, but the sum of the overlap at all positions does not reach the total overlap threshold, then the occlusion installation fails to meet the standard.

[0049] The evaluation of the rationality of the occluder installation location mainly considers two aspects. Firstly, it assesses the degree of overlap between the real-time installation location and the occluder's actual installation location over time. This is because the installation of the occluder causes some distortion in the model data and actual installation errors; the two mapped data points will not completely overlap, but a certain degree of overlap is sufficient to determine whether the installation is reasonable. Secondly, it considers the dynamic interrelationship between installation locations at different time points. Therefore, the degree of overlap over the entire time dimension also needs to be assessed to avoid the impact of dynamic changes on the occluder installation effect. The point-based occlusion overlap threshold and the total overlap threshold can be set according to the actual situation or determined by analyzing the model changes before and after installation using big data.

[0050] S3: Based on real-time location blocking results information, obtain real-time diversion data of the blocked area, and combine it with unblocked diversion data to analyze the blocking effect and form blocking effect analysis results information.

[0051] Based on real-time location-based closure results, real-time diversion data of the closure area is obtained, and the closure effect is analyzed in conjunction with the unclosed diversion data to form closure effect analysis results. These results include: when the real-time location-based closure results indicate that the closure installation meets the standards, the closure diversion flow velocity at the boundary of the closure diversion area affected by the patent orifice ovale is obtained during the real-time monitoring period. A flow velocity-based analysis of the plugging effect is conducted to generate results on the influence of plugging flow velocity. The model curve function represents the boundary of the shunt influence area of ​​patent foramen ovale during the real-time monitoring period. Indicates the real-time monitoring duration; obtains the blocking and diversion direction at the boundary of the patent foramen ovale shunt influence area during the real-time monitoring duration. A direction-based blocking effect analysis is conducted to generate the blocking direction influence results; combined with the blocking flow velocity influence results and the blocking direction influence results, the blocking effect analysis results information is generated.

[0052] If the analysis of the occluder's installation location indicates that the installation is reasonable, further comparative analysis and judgment of the occluder's sealing effect can be conducted. Similarly, data on the diversion velocity and direction at the boundary of the unclosed orifice ovale shunting influence area after occluder installation are acquired during real-time monitoring. This data is used for comparative analysis with the diversion data before occlusion, allowing for a reasonable analysis and judgment of the occluder's sealing effect. Likewise, the acquired diversion data corresponds to the diversion data acquired during the analysis period to ensure reasonable comparability in the time dimension, thus ensuring the correctness and rationality of the analysis and comparison.

[0053] A flow velocity-based closure effect analysis is performed to generate the closure flow velocity impact results, including: obtaining the flow velocity of the unclosed branch. In conjunction with the blocking and diversion flow velocity If satisfied This generates information indicating that the blocked flow velocity meets the standard. This represents the minimum value taken in the first direction at the boundary of the shunt influence area of ​​patent foramen ovale within the real-time monitoring period. This represents the maximum value taken in the first direction at the boundary of the shunt effect area of ​​patent foramen ovale within the real-time monitoring period. This indicates the threshold for analyzing the blocking effect of the diversion flow velocity; if it is not satisfied... If the flow velocity fails to meet the blocking standard, then information about the blocking effect is generated; a direction-based blocking effect analysis is performed to generate the blocking direction impact results, including: obtaining the direction of the unclosed diversion. In conjunction with the direction of blocking and diversion If satisfied Where b represents the threshold for analyzing the blocking effect in the diversion direction, then the blocking direction compliance information is generated; if it does not meet the requirements... If this occurs, information indicating that the blocking direction has not met the standards will be generated.

[0054] Complete occlusion of the foramen ovale using an occluder is the most effective method. However, due to the dynamic nature of the heart, the occlusion status of the foramen ovale can vary to some extent with changes in the heart's dynamic state. Therefore, partial shunting may occur under certain dynamic conditions. However, the magnitude of this shunting can be determined by limiting the cumulative magnitude during analysis and judgment, ensuring the adaptability of the analysis and judgment conditions to the actual situation and the rationality of the judgment. This cumulative magnitude is calculated over the entire boundary region and the entire time dimension, so integration is required on the time dimension and the boundary curve. The threshold for occlusion effectiveness analysis can be determined based on actual conditions or by combining big data analysis of the maximum allowable cumulative shunting.

[0055] Combining the results of the impact of the blocking flow velocity and the impact of the blocking direction, the blocking effect analysis results are generated, including: if the result of the impact of the blocking flow velocity is that the blocking flow velocity meets the standard, and the result of the impact of the blocking direction is that the blocking direction meets the standard, then the blocking installation is considered normal; if the result of the impact of the blocking flow velocity is that the blocking flow velocity does not meet the standard, and the result of the impact of the blocking direction is that the blocking direction meets the standard, then the blocking installation is considered abnormal; if the result of the impact of the blocking flow velocity is that the blocking flow velocity meets the standard, and the result of the impact of the blocking direction is that the blocking direction does not meet the standard, then the blocking installation is considered abnormal.

[0056] In the analysis and judgment of the occlusion effect of the occluder, the occluder can only be considered to have achieved the occlusion effect if both the flow velocity and the direction of the diversion meet the judgment criteria. If either aspect of the diversion fails to meet the criteria, it is considered that the occluder is improperly installed. The installation position can be adjusted according to the feedback effect. Real-time adjustment of the installation position of the occluder during the operation can improve the installation success rate and work efficiency, and avoid secondary operations.

[0057] This application also provides the specific composition of an interventional surgical robot system. The interventional surgical robot system includes an image data acquisition unit for acquiring cardiac image data; a data analysis unit for analyzing and processing the image data acquired by the data acquisition unit to generate data on the occlusion placement location area and unclosed shunt, as well as real-time placement location information and real-time shunt data, and to achieve real-time occlusion positioning analysis to generate real-time positioning occlusion result information and occlusion effect analysis to generate occlusion effect analysis result information; and a database unit for storing structural data of different occluders to provide occluder structural data for the data analysis unit.

[0058] In summary, the beneficial effects of the percutaneous patent foramen ovale closure interventional surgical robot system provided by the embodiments of the present invention are as follows:

[0059] This interventional surgical robot system acquires cardiac imaging data of the target heart to establish a corresponding dynamic model, enabling it to perform reasonable fitting analysis on the installation of the occluder. It determines the theoretically optimal installation position for complete occlusion, providing a reasonable and accurate standard for real-time analysis of the occluder's installation status. Furthermore, after confirming the occluder's installation position, it acquires corresponding shunt data in real time to assess the occlusion effect. This allows for a comprehensive evaluation of the installation effect from both structural and post-installation perspectives, resulting in a more thorough analysis. Moreover, because real-time data analysis is performed during the surgery, it allows for timely adjustments to address any improper installation, avoiding the need for a second surgery. This improves overall surgical efficiency and increases the success rate.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] "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.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] 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.

[0068] 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).

[0069] 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.

[0070] 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.

[0071] 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.

[0072] 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.

[0073] 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.

[0074] 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.

[0075] 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.

[0076] 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.

[0077] 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.

[0078] 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.

[0079] 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 patent foramen ovale closure, characterized in that, Configured as: Acquire cardiac imaging data and occluder structural data, perform occlusion localization and shunt analysis, and determine the occlusion installation location area and unclosed shunt data; The real-time placement location information of the plug is obtained, and real-time plugging and positioning analysis is performed in combination with the plugging installation location area to form real-time positioning and plugging result information; Based on the real-time location blocking results, real-time diversion data of the blocked area is obtained, and the blocking effect is analyzed in combination with the unblocked diversion data to form blocking effect analysis results. The acquisition of cardiac imaging data and occluder structural data, followed by occlusion localization and shunt analysis to determine the occlusion installation location area and unsealed shunt data, includes: Based on the cardiac imaging data, the foramen ovale was calibrated to determine its location region. Based on the cardiac imaging data, a dynamic model of the target heart is established within the analysis period. The information on the change in the center position of the foramen ovale was determined based on the cardiac dynamic model. Based on the change in the center position, the position information of the ovoid aperture is extracted in the following manner: Extract m center points at arbitrary intervals from the information on the change in the center position; Based on the cardiac dynamic model, the range of the foramen ovale corresponding to each center point is determined; Obtain the range of the oval aperture with the largest diameter among the m center points, and mark it as the effective oval aperture diameter; Based on the effective diameter of the foramen ovale and the information on the change in the center position, the location region information of the foramen ovale is determined; Based on the cardiac imaging data, combined with the location information of the foramen ovale and the structural data of the occluder, an installation positioning analysis is performed to determine the occlusion installation location area; The corresponding occluder is determined based on the effective ovoid aperture diameter, and the occluder structure data is obtained. Based on the structure data of the plug, the overlapping area of ​​the hole center is calibrated; Based on the occluder structure data, the oval aperture location area information, and the center position change information, the following installation position analysis is performed: Based on the information on the change in the center position, the position of each center point is defined to ensure that the center point is located within the overlapping area of ​​the hole center of the plugging device; The position of the center point located within the overlapping area of ​​the orifice is adjusted so that the plug can achieve complete contact with the edge of the orifice throughout the entire variation range of the orifice, thus forming the installation position of the plug corresponding to the center point. Extract the occluder installation positions corresponding to all the center points in the information on the change of the center position to form the occluder installation position region; Based on the cardiac imaging data, a time-parameter-based shunt feature analysis is performed to generate the unclosed shunt data.

2. The interventional robotic system for percutaneous patent foramen ovale closure according to claim 1, characterized in that The step of performing time-parameter-based shunt feature analysis based on the cardiac imaging data to form the unclosed shunt data includes: Based on the aforementioned cardiac dynamic model, the area affected by the patent foramen ovale shunt was calibrated. extracting, from the cardiac image data, a flow velocity in the shunt flow at the border of the shunt flow influence area of the patent foramen ovale within the analysis time length wherein represents a model curve function of the border of the shunt flow influence area of the patent foramen ovale within the analysis time length, represents the analysis time length; extracting, from the cardiac image data, a direction of the patent foramen ovale shunt over a boundary of an influence area of the patent foramen ovale shunt during the analysis time length ; combining the patent data with the patent data and the patent data , forming the patent data.

3. The percutaneous patent foramen ovale closure interventional surgical robot system according to claim 2, characterized in that, The process involves acquiring the real-time placement location information of the occluder and performing real-time occlusion positioning analysis in conjunction with the occlusion installation location area to generate real-time positioning and occlusion result information, including: Based on the real-time placement information of the occluder, the real-time installation position of the occluder at each time point during the real-time monitoring period is determined; The real-time monitoring duration and the analysis duration are mapped to time points to determine the real-time installation location of the occluder and the installation location of the occluder in the installation location area that are mutually mapped in location; Based on the real-time installation locations of all the plugs that are mapped to each other in terms of location, a real-time plugging and positioning analysis based on the degree of location overlap is performed to form the real-time positioning and plugging result information.

4. The interventional robotic system for percutaneous patent foramen ovale closure according to claim 3, characterized in that, The real-time occlusion and positioning analysis based on the location overlap is performed according to the real-time installation locations of all the occluders that are mutually mapped in location, to form the real-time positioning and occlusion result information, including: Based on the real-time installation locations of all the plugs that are mutually mapped in position and the installation locations of the plugs, the following real-time plugging location analysis is performed: Set a point-blocking overlap threshold and a total overlap blocking threshold. If the overlap between the real-time installation position of each mutually mapped blocker and the installation position of the blocker reaches the point-blocking overlap threshold, and the sum of the overlap at all positions reaches the total overlap blocking threshold, then blocker installation compliance information is generated. If, among all the mutually mapped real-time installation positions of the pluggers and the overlap of the plugger installation positions, a situation occurs where the overlap threshold of the point-to-point plugging is not met, then information indicating that the plugging installation has not met the standard is generated, and the real-time installation position of the plugger that has not met the overlap threshold of the point-to-point plugging is calibrated. If the overlap between the real-time installation position of each mutually mapped plug and the installation position of the plug reaches the point plug overlap threshold, but the sum of the overlap at all positions does not reach the total overlap plug threshold, then a plug installation failure information is generated.

5. The interventional robotic system for percutaneous patent foramen ovale closure according to claim 4, characterized in that, Based on the real-time location blocking result information, real-time diversion data of the blocked area is obtained, and the blocking effect is analyzed in combination with the unblocked diversion data to form blocking effect analysis result information, including: When the real-time positioning and sealing result information is the sealing installation compliance information, the sealing diversion flow velocity at the boundary of the patent foramen ovale diversion influence area during the real-time monitoring period is obtained. A flow velocity-based analysis of the plugging effect is conducted to generate results on the influence of plugging flow velocity. The model curve function represents the boundary of the shunt influence area of ​​the patent foramen ovale during the real-time monitoring period. This indicates the duration of the real-time monitoring; obtaining the direction of shunt closure on the border of the shunt closure influence area of the patent foramen ovale in the real-time monitoring duration , performing direction-based closure effect analysis to form a closure direction influence result; The blocking effect analysis results are formed by combining the results of the blocking flow velocity influence and the results of the blocking direction influence.

6. The interventional robotic system for percutaneous patent foramen ovale closure according to claim 5, characterized in that, The process involves analyzing the blocking effect based on flow velocity, resulting in the influence of the blocking flow velocity, including: Obtain the open-ended flow velocity And in combination with the blocked diversion flow velocity If satisfied This generates information indicating that the blocked flow velocity meets the standard. This represents the minimum value taken in the first direction at the boundary of the patent foramen ovale shunt influence area during the real-time monitoring period. This represents the maximum value taken in the first direction at the boundary of the patent foramen ovale shunt influence area during the real-time monitoring period. This indicates the threshold for analyzing the blocking effect of the diversion flow velocity; if not satisfied then forming a plugging flow rate substandard information; The analysis of the blocking effect based on direction, resulting in the influence of the blocking direction, includes: acquiring the un-closed shunt direction and combining the occlusion shunt direction if the following condition is met wherein b represents a shunt direction occlusion effect analysis threshold value, occlusion direction compliance information is formed; If not satisfied then form a blocking direction non-compliance information.

7. The interventional surgical robot system for percutaneous patent foramen ovale closure according to claim 6, characterized in that, The combination of the effects of the blocking flow velocity and the effects of the blocking direction forms the blocking effect analysis results, including: If the result of the impact of the sealing flow velocity is that the sealing flow velocity meets the standard, and the result of the impact of the sealing direction is that the sealing direction meets the standard, then the sealing installation is considered normal. If the result of the impact of the sealing flow velocity is that the sealing flow velocity does not meet the standard, and the result of the impact of the sealing direction is that the sealing direction meets the standard, then the information of abnormal sealing installation is generated. If the result of the impact of the sealing flow velocity is that the sealing flow velocity meets the standard, and the result of the impact of the sealing direction is that the sealing direction does not meet the standard, then the information of abnormal sealing installation is generated.

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