Vascular interventional robot for transcatheter cardiac radiofrequency ablation

Abstract

This invention provides a vascular interventional robot for transcatheter radiofrequency ablation of the heart, relating to the field of cardiac radiofrequency ablation technology. The vascular interventional robot is configured to acquire historical ablation navigation path planning data and collect real-time ablation vessel data for navigation path planning, forming real-time ablation navigation path data; collect real-time mapping data for abnormal location identification; collect real-time ablation monitoring data and perform real-time monitoring analysis based on process control, forming real-time ablation monitoring results information; and acquire postoperative electrocardiogram data for matching and comparative analysis, forming postoperative test results data. This vascular interventional robot provides a reasonable and easily implemented method for path planning, ensuring smooth and efficient implementation of catheter path navigation in the early stages.

Description

Technical Field

[0001] This invention relates to the field of cardiac radiofrequency ablation technology, and more specifically, to a vascular interventional robot for transcatheter cardiac radiofrequency ablation. Background Technology

[0002] Cardiac radiofrequency ablation is an interventional treatment for tachyarrhythmias. This method involves inserting a very thin catheter into a blood vessel through the neck or groin to reach the affected area in the heart, where radiofrequency current is released to eliminate the "lesion" in one procedure. This non-surgical, minimally invasive method has a very high success rate and has become the preferred method for radically treating tachyarrhythmias.

[0003] With the development of medical technology, surgical robots that assist in radiofrequency ablation have gradually emerged. Stable operation and control can effectively ensure the accuracy of treatment and reduce surgical risks. Currently, most surgical robots mainly guide the entire process of mapping and ablation during surgery. However, the assistance and control for initial path planning and catheter insertion into the cardiac lesion area is not yet mature. Although there are technologies that use AI for path planning, the methods are complex and require a large amount of historical data for intelligent learning support, resulting in low implementation rates for certain medical procedures.

[0004] Therefore, designing a vascular interventional robot for transcatheter radiofrequency ablation of the heart, providing a reasonable and easy-to-implement approach for path planning, and ensuring the smooth and efficient implementation of catheter path navigation in the early stages, is an urgent problem to be solved. Summary of the Invention

[0005] The purpose of this invention is to provide a vascular interventional robot for transcatheter radiofrequency ablation of the heart. By calibrating vascular paths using limited historical navigation planning data and combining this with the real-time vascular status of the surgical subject, a reasonable route plan is developed, forming an effective navigation path plan tailored to the individual patient. This approach avoids the need for extensive path planning data; the use of historical data primarily defines a reference vascular vessel for path selection, as the selected vascular paths in historical data offer a degree of safety and predictability, similar to a physician's experience in finding suitable vascular paths. Furthermore, by leveraging influence data to analyze and assess the patient's vascular status, the selected path is personalized, avoiding the situation where a uniform path plan fails to address the varying vascular conditions of different patients, further reducing the risk of path navigation planning. Of course, the robot also utilizes different functional units to perform mapping, real-time monitoring of the treatment process, and post-treatment analysis, providing comprehensive auxiliary guidance for the interventional procedure.

[0006] In a first aspect, the present invention provides a vascular interventional robot for transcatheter radiofrequency ablation of the heart, configured to: acquire historical ablation navigation path planning data and collect real-time ablation vascular data of the subject for navigation path planning to form real-time ablation navigation path data; collect real-time mapping data of the subject for abnormal location calibration; collect real-time ablation monitoring data and perform real-time monitoring analysis based on process control to form real-time ablation monitoring result information; acquire postoperative electrocardiogram data, perform matching comparison analysis to form postoperative test result data.

[0007] In this invention, the vascular interventional robot calibrates vascular paths using limited historical navigation planning data, and then combines this with the real-time vascular status of the surgical subject to perform reasonable route planning, forming an effective navigation path plan tailored to the individual patient. This approach, on the one hand, does not necessarily require acquiring a large amount of path planning data for path planning; the use of historical data primarily defines a reference vascular vessel for path selection, as the vascular paths selected in historical data have a certain degree of safety and predictability, similar to a doctor's experience in finding suitable vascular paths. On the other hand, it utilizes influence data to perform targeted analysis and judgment of the patient's vascular status, ensuring that the selected path has a personalized setting. This avoids the situation where a uniform path plan fails to address the different vascular conditions of different patients, further reducing the risk of path navigation planning. Of course, the robot also uses different functional units to complete mapping, real-time monitoring of the treatment process, and post-treatment analysis, providing comprehensive auxiliary guidance for the interventional surgery.

[0008] One possible approach involves acquiring historical ablation navigation path planning data and collecting real-time ablation vessel data for the target to perform navigation path planning, thereby forming real-time ablation navigation path data. This includes: extracting all historical single-operation paths from the historical ablation navigation path planning data to form a set of historical single-operation planned paths; extracting the real-time ablation vessel location information from the target's real-time ablation vessel data and, in conjunction with the set of historical single-operation planned paths, calibrating all historical single-operation paths on the target's real-time ablation vessel location information to form a historical ablation planning path network; acquiring real-time vessel status data for all vessel paths in the target's real-time ablation vessel location information and performing a feasibility analysis based on ablation navigation to form real-time feasible vessel navigation data; and combining the historical ablation planning path network data and the target's real-time feasible vessel navigation data to perform path planning analysis and form real-time ablation navigation path data.

[0009] In this invention, when planning real-time ablation navigation paths, two aspects need to be considered. Firstly, regarding the human body, which blood vessels can generally be used for path planning? This is usually based on the surgeon's experience and judgment during surgery. This application, however, can reasonably define this range by combining limited historical navigation planning data. It should be noted that the more historical data used, the clearer the defined range. However, for specific radiofrequency ablation surgeries, the available historical data, especially in medical institutions where data is limited, is limited. Furthermore, most path planning is often based on selection and adaptive adjustments of major blood vessels. Therefore, analyzing the clarity of the range definition for large datasets can control the data volume, reasonably determining the range of usable blood vessel paths while avoiding wasted resources from ineffective analysis of large datasets. Secondly, the condition of blood vessels varies for different patients, especially regarding blockage and tortuosity. Therefore, specific considerations are needed. A reasonable analysis that considers both aspects ensures that the resulting navigation planning path is adaptable and safe.

[0010] One possible implementation involves acquiring real-time vascular status data for all vascular paths within the real-time ablation vascular location information of the object, based on the object's real-time ablation vascular data, and performing a feasibility analysis based on ablation navigation to form real-time feasible vascular navigation data for the object. This includes: performing calcification analysis based on image data based on the real-time vascular status data of all vascular paths to form feasibility analysis results for real-time vascular calcification navigation; performing tortuosity analysis based on image data based on the real-time vascular status data of all vascular paths to form feasibility analysis results for real-time vascular tortuosity navigation; and combining the feasibility analysis results for real-time vascular calcification navigation and the feasibility analysis results for real-time tortuosity navigation to form real-time feasible vascular navigation data for the object.

[0011] In this invention, for blood vessels to ensure smooth catheter passage, they must possess a certain degree of flexibility and patency. However, due to various physical conditions such as high blood lipids and high blood pressure, calcification of blood vessels can increase their rigidity, hindering catheter passage. Therefore, a feasibility analysis of calcification for navigation is necessary. Furthermore, the shape of blood vessels varies among different individuals, especially the degree of tortuosity, which affects catheter passage. Therefore, analyzing the tortuosity of blood vessels is also essential. By analyzing calcification and tortuosity, suitable vascular paths for navigation planning can be identified, providing fundamental parameters for subsequent navigation path planning.

[0012] As one possible implementation, based on real-time vascular status data of all vascular pathways, calcification analysis based on image data is performed to form feasibility analysis results for real-time vascular calcification navigation. This includes: extracting vascular image data from the real-time vascular status data of all vascular pathways to form real-time ablation vascular network image data; setting calcification image parameter thresholds, and calibrating the locations where calcification image parameter values ​​exceed the thresholds in the real-time ablation vascular image data to form initial feasibility analysis results for vascular calcification navigation; and extending the path feasibility calibration of the initial feasibility analysis results for vascular calcification navigation in the following manner: [The text abruptly ends here, likely due to an incomplete sentence or missing information.] If two unconnected adjacent regions have calcification image parameter values ​​exceeding the calcification image parameter threshold, and there are no other vascular connection points between the adjacent regions in the real-time ablation vascular network image data, then the adjacent regions and the area between them are marked as non-navigation segments. For regions on the vascular path whose calcification image parameter values ​​exceed the calcification image parameter threshold, if there are connection points with other vascular channels, then the area between the connection point and the next connection point on the other vessel is marked as a non-navigation segment. All non-navigation segments are marked in the real-time ablation vascular image data to form the feasibility analysis results data for real-time vascular calcification navigation.

[0013] In this invention, the current approach to vascular calcification analysis is based on image data, including CT (computed tomography) and MRI (magnetic resonance imaging) data. Each has its own applicability, advantages, and disadvantages, and these should be considered together during analysis. Calcification image parameter values ​​can be simple CT values, multi-parameter composite values ​​from other CT images, or comprehensive evaluation values ​​combining CT and MRI. Correspondingly, the calcification image parameter thresholds are numerical data that match the calcification image parameter values. These thresholds can be set based on the actual vascular performance requirements of navigation or based on big data analysis for navigation path planning. Of course, the location of calcification varies depending on the vascular system; some are just a small segment, while others are the entire vascular system. However, since the continuity of the system is necessary for path planning, continuity analysis is required after identifying the calcified area to exclude isolated vascular segments that cannot be included in the path planning. This significantly reduces the amount of data required for subsequent analysis.

[0014] As one possible approach, combining the feasibility analysis results of real-time vascular calcification navigation and real-time vascular tortuosity navigation, real-time feasible vascular navigation data for the target is formed. This includes: extracting all unmarked vascular paths from the real-time ablation vascular imaging data that are not allowed to be navigated based on the feasibility analysis results of real-time vascular calcification navigation, forming uncalcified feasible navigation path data; establishing a tortuosity analysis coordinate system and mapping all vascular paths in the uncalcified feasible navigation path data onto the tortuosity analysis coordinate system, forming uncalcified feasible vascular path coordinate data; extracting the vascular diameter axis from the uncalcified feasible vascular path coordinate data, forming uncalcified feasible vascular axis coordinate data; and performing a curvature-based navigation feasibility analysis based on the uncalcified feasible vascular axis coordinate data to form real-time feasible vascular navigation data for the target.

[0015] In this invention, the analysis of vascular tortuosity is mainly to determine whether there are significant tortuosity changes in the vascular pipeline. Significant tortuosity changes refer to tortuous sections that are not conducive to catheter passage. The analysis in this application mainly involves converting the vascular position data into coordinates and then performing curvature analysis to make a judgment. This can achieve accurate determination of the tortuosity at any position.

[0016] As one possible implementation, based on the coordinate data of uncalcified feasible blood vessel axes, a curvature-based navigation feasibility analysis is performed to form real-time feasible blood vessel navigation data for the object. This includes: performing navigation feasibility analysis on the coordinate data of uncalcified feasible blood vessel axes in the following ways: obtaining the curvature of the blood vessel axes in the coordinate data of uncalcified feasible blood vessel axes to form uncalcified feasible blood vessel curvature data; setting a minimum tortuosity assessment length L0, and extracting the curvature data corresponding to blood vessel axis segments with length values ​​of the minimum tortuosity assessment length L0 sequentially along the blood vessel axis starting from any point in the coordinate data of uncalcified feasible blood vessel axes to form the corresponding extracted segment curvature data; traversing all blood vessel axes in the coordinate data of uncalcified feasible blood vessel axes to form the extracted segment curvature dataset A. n Where n represents the number of the different extracted curvature data segments; for the extracted curvature dataset A n Different curvature data segments were extracted to obtain the corresponding maximum curvature values. and minimum curvature value Determine the mean rate of change of curvature P n ,in, The average rate of change of curvature P corresponding to curvature data of different extracted segments n If P n If P ≤ P0, the vascular path corresponding to the extracted vascular axis segment is marked as a feasible tortuous navigation segment, where P0 represents the average curvature judgment threshold; if P nIf P > P0, the vascular path corresponding to the extracted vascular axis segment is marked as an infeasible tortuous navigation segment; all vascular path segments marked as feasible tortuous navigation segments are collected to form feasible navigation vascular paths; path connectivity analysis is performed on feasible navigation vascular paths to form real-time feasible vascular navigation data for the object.

[0017] In this invention, the tortuosity of catheter passage is not caused by excessive curvature at a single point, but rather by significant changes in curvature along a certain route segment. Therefore, the analysis uses vessel segments as the unit of analysis to determine the reasonableness of tortuosity. The minimum tortuosity assessment length can be set based on actual conditions or determined through large-scale data analysis of the overall vessel curvature. The extracted vessel segments are determined by analyzing the average rate of change of curvature, and the given average curvature judgment threshold can be set according to actual conditions.

[0018] As one possible implementation, path connectivity analysis is performed on feasible navigation vascular paths to form real-time feasible vascular navigation data for the object. This includes performing path connectivity analysis on feasible navigation vascular paths in the following manner: if both ends of an interconnected vascular path segment are disconnected, the corresponding vascular path is marked as a disconnected path; if one end of an interconnected vascular path segment is disconnected, the path from the disconnected end to the nearest connected fulcrum is marked as a disconnected path; and vascular segments marked as disconnected paths are filtered out from the feasible navigation vascular paths to form real-time feasible vascular navigation data for the object.

[0019] In this invention, similar to calcification analysis, ensuring the continuity of the vascular path after tortuosity analysis is crucial for facilitating subsequent path planning analysis. Therefore, connectivity analysis primarily determines whether vascular segments with suitable tortuosity are isolated segments or broken ends. Of course, before performing connectivity analysis, the starting and ending positions need to be calibrated to avoid filtering out segments that would prevent path planning from being completed.

[0020] As one possible approach, combining historical ablation planning path network data and real-time feasible vascular navigation data of the target object, path planning analysis is performed to form real-time ablation navigation path data. This includes: identifying vascular segments in the real-time feasible vascular navigation data of the target object that were previously used as planned paths based on historical ablation planning path network data, and marking feasible paths; based on the marked feasible paths, determining all feasible navigation paths S with the navigation start point and navigation end point as planning targets. k Where k represents the number of the different feasible navigation paths determined; for different feasible navigation paths S k Path length comparison analysis is performed to generate real-time ablation navigation path data.

[0021] In this invention, the pipeline path selected after analyzing the calcification and tortuosity of the vascular tubing is the usable navigation path. The path has multiple options for different objects and actual surgical situations, so all the available paths can be reasonably selected to ensure the variability of matching the actual surgical situation.

[0022] As one possible implementation, different navigation feasible paths S k Path length comparison analysis is performed to generate real-time ablation navigation path data, including: different navigation feasible paths S k Obtain the total path length for each corresponding path. The total number of path pivots Q k Based on the total number of path pivots, different navigational feasible paths S k Sort the paths in ascending order to form the first path selection sorting information; based on the first path selection sorting information, extract the top M feasible navigation paths S. k And based on the corresponding total path length The data is sorted from smallest to largest to form real-time ablation navigation path data.

[0023] In this invention, path selection needs to consider two aspects: firstly, the path length. An excessively long path not only increases the risk of the navigation process but also increases the workload and pressure. Secondly, selecting too many fulcrums along the path complicates the navigation process, similarly increasing the surgical risk, workload, and pressure. Therefore, by statistically analyzing the total path length and the number of fulcrums, viable path selection options can be rationally chosen, improving the rationality of the path planning reference data. The quantity M can be set according to the actual situation.

[0024] One possible approach is to collect real-time ablation monitoring data and perform real-time monitoring analysis based on process control to generate real-time ablation monitoring results, including: extracting different real-time ablation monitoring parameter values ​​based on the real-time ablation monitoring data. Setting threshold values ​​for different real-time ablation monitoring parameters And based on real-time ablation monitoring parameter values Perform the following real-time monitoring and analysis: If any real-time ablation monitoring parameter value exists... satisfy This generates ablation cessation information; if all real-time ablation monitoring parameter values

[0025] satisfy This creates continuous ablation information.

[0026] In this invention, another important role of the auxiliary robot is to monitor the treatment process. Radiofrequency ablation uses the release of electrical energy to destroy cells in abnormal areas. Therefore, it is necessary to avoid tissue carbonization, excessive tissue edema, etc. So it is necessary to monitor parameters such as power, temperature, and impedance during the treatment process. It is understood that any abnormality of any parameter may have a significant impact on the surgical outcome. Therefore, it is necessary to ensure the stability of parameters during the treatment process.

[0027] The beneficial effects of the vascular interventional robot for transcatheter cardiac radiofrequency ablation provided by this invention are as follows:

[0028] This vascular interventional robot calibrates vascular paths using limited historical navigation planning data, and then combines this with the real-time vascular status of the surgical subject to create a reasonable route plan, forming an effective navigation path plan tailored to the individual patient. This approach avoids the need for extensive path planning data; the use of historical data primarily defines a reference vascular vessel for path selection, as the selected vascular paths in historical data offer a degree of safety and predictability, similar to a surgeon's experience in finding suitable vascular paths. Furthermore, it leverages influence data to perform targeted analysis and judgment of the patient's vascular status, ensuring a personalized path selection and avoiding the inability of a uniform path plan to accommodate varying vascular conditions in different patients, thus further reducing the risk of path navigation planning. Of course, the robot also utilizes different functional units to perform mapping, real-time monitoring of the treatment process, and post-treatment analysis, providing comprehensive auxiliary guidance for the interventional surgery. Attached Figure Description

[0029] 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.

[0030] Figure 1 This is a diagram illustrating the operational steps of a vascular interventional robot for transcatheter radiofrequency ablation of the heart, as provided in an embodiment of the present invention.

[0031] Figure 2 This is a schematic diagram of the vascular interventional robot for transcatheter radiofrequency ablation of the heart provided in an embodiment of the present invention. Detailed Implementation

[0032] The technical solutions of the present invention will now be described with reference to the accompanying drawings in the embodiments of the present invention.

[0033] Cardiac radiofrequency ablation is an interventional treatment for tachyarrhythmias. This method involves inserting a very thin catheter into a blood vessel through the neck or groin to reach the affected area in the heart, where radiofrequency current is released to eliminate the "lesion" in one procedure. This non-surgical, minimally invasive method has a very high success rate and has become the preferred method for radically treating tachyarrhythmias.

[0034] With the development of medical technology, surgical robots that assist in radiofrequency ablation have gradually emerged. Stable operation and control can effectively ensure the accuracy of treatment and reduce surgical risks. Currently, most surgical robots mainly guide the entire process of mapping and ablation during surgery. However, the assistance and control for initial path planning and catheter insertion into the cardiac lesion area is not yet mature. Although there are technologies that use AI for path planning, the methods are complex and require a large amount of historical data for intelligent learning support, resulting in low implementation rates for certain medical procedures.

[0035] refer to Figures 1-2 This invention provides a vascular interventional robot for transcatheter radiofrequency ablation of the heart. This robot calibrates vascular paths using limited historical navigation planning data and then combines this with the real-time vascular condition of the surgical subject to perform reasonable route planning, forming an effective navigation path plan tailored to the individual patient. This approach avoids the need for extensive path planning data; the use of historical data primarily defines a reference vascular path for selection, as the selected paths in historical data offer a degree of safety and predictability, similar to a physician's experience in finding suitable vascular paths. Furthermore, it leverages influence data to perform targeted analysis of the patient's vascular condition, ensuring a personalized path selection and preventing uniform path planning from failing to address the varying vascular conditions of different patients, thus further reducing the risk of path navigation planning. The robot also utilizes different functional units to perform mapping, real-time monitoring of the treatment process, and post-treatment analysis, providing comprehensive auxiliary guidance for the interventional procedure.

[0036] The vascular interventional robot used for transcatheter cardiac radiofrequency ablation is specifically configured as follows:

[0037] S1: Obtain historical ablation navigation path planning data and collect real-time ablation vessel data of the target to plan the navigation path and form real-time ablation navigation path data.

[0038] The process involves acquiring historical ablation navigation path planning data and collecting real-time ablation vessel data for the target to plan navigation paths, forming real-time ablation navigation path data. This includes: extracting all historical single-operation paths from the historical ablation navigation path planning data to form a set of historical single-operation planned paths; extracting the real-time ablation vessel location information from the target's real-time ablation vessel data and, in conjunction with the set of historical single-operation planned paths, calibrating all historical single-operation paths on the target's real-time ablation vessel location information to form a historical ablation planning path network; acquiring real-time vessel status data for all vessel paths in the target's real-time ablation vessel location information and performing a feasibility analysis based on ablation navigation to form real-time feasible vessel navigation data; and combining the historical ablation planning path network data and the target's real-time feasible vessel navigation data to perform path planning analysis and form real-time ablation navigation path data.

[0039] When planning real-time ablation navigation paths, two aspects need to be considered. First, from the perspective of the human body, which blood vessels can be used for path planning in general? This is usually based on the surgeon's experience and judgment during the operation. This application, however, can reasonably define this range by combining limited historical navigation planning data. It should be noted that the more historical data used, the clearer the defined range. However, for specific radiofrequency ablation surgeries, the available historical data, especially in the case of limited data in medical institutions, is limited. Furthermore, most path planning is often based on the selection and adaptive adjustment of major blood vessels. Therefore, analyzing the clarity of the range definition for large datasets can control the data volume, reasonably determining the range of usable blood vessel paths, and avoiding the waste of resources caused by ineffective analysis of large datasets. Second, the condition of blood vessels varies for different patients, especially the degree of blockage and tortuosity. Therefore, specific considerations are needed. A reasonable analysis that considers both aspects ensures that the resulting navigation planning path is adaptable and safe.

[0040] Based on the real-time ablation vessel data of the target, real-time vessel status data of all vessel paths in the real-time ablation vessel location information of the target are obtained, and a feasibility analysis based on ablation navigation is performed to form real-time feasible vessel navigation data for the target. This includes: performing calcification analysis based on image data based on the real-time vessel status data of all vessel paths to form feasibility analysis results for real-time calcification navigation; performing tortuosity analysis based on image data based on the real-time vessel status data of all vessel paths to form feasibility analysis results for real-time tortuosity navigation; and combining the feasibility analysis results for real-time calcification navigation and real-time tortuosity navigation to form real-time feasible vessel navigation data for the target.

[0041] For blood vessels to pass smoothly, they must possess a certain degree of flexibility and patency. However, due to various physical conditions such as high blood lipids and high blood pressure, calcification can occur in different individuals, increasing their rigidity and making catheter passage impossible. Therefore, a feasibility analysis for calcification-related navigation is necessary. Furthermore, the shape of blood vessels varies from person to person, especially the degree of tortuosity, which can affect catheter passage. Therefore, analyzing the tortuosity of blood vessels is also essential. By analyzing calcification and tortuosity, suitable vascular routes for navigation planning can be identified, providing basic parameters for subsequent navigation path planning.

[0042] Based on real-time vascular status data from all vascular pathways, calcification analysis based on image data is performed to generate feasibility analysis results for real-time vascular calcification navigation. This includes: extracting vascular image data from the real-time vascular status data of all vascular pathways to form real-time ablation vascular network image data; setting calcification image parameter thresholds and calibrating the locations where calcification image parameter values ​​exceed the thresholds in the real-time ablation vascular image data to form initial feasibility analysis results for vascular calcification navigation; and extending the feasibility of the initial vascular calcification navigation feasibility analysis results by extending the path feasibility calibration of the calibrated calcification images along the vascular pathways. For two unconnected adjacent regions whose parameter values ​​exceed the threshold of calcification image parameters, if there are no other vascular connection points between the adjacent regions in the real-time ablation vascular network image data, then the adjacent regions and the region between the adjacent regions are marked as navigation-disallowed segments. For regions on the vascular path whose calcification image parameter values ​​exceed the threshold of calcification image parameters, if there are connection points with other vascular channels, then the region between the connection point and the next connection point on the other vessel is marked as a navigation-disallowed segment. All navigation-disallowed segments are marked in the real-time ablation vascular image data to form the feasibility analysis results data for real-time vascular calcification navigation.

[0043] For vascular calcification analysis, the current approach is based on imaging data, including CT (computed tomography) and MRI (magnetic resonance imaging) data. Each has its own applicability, advantages, and disadvantages, and these should be considered together during analysis. Calcification imaging parameter values ​​can be simple CT values, multi-parameter composite values ​​from other CT images, or comprehensive evaluation values ​​combining CT and MRI. Corresponding calcification imaging parameter thresholds are numerical data that match the calcification imaging parameter values. These thresholds can be set based on the actual vascular performance requirements of navigation or based on big data analysis for navigation path planning. Of course, the location of calcification varies depending on the vascular system; sometimes it's just a small segment, and sometimes it's the entire vascular network. However, since the continuity of the network is necessary for path planning, continuity analysis is required after identifying the calcified area to exclude isolated vascular segments that cannot be included in the path planning. This significantly reduces the amount of data required for subsequent analysis.

[0044] Combining the feasibility analysis results of real-time vascular calcification navigation and real-time vascular tortuosity navigation, real-time feasible vascular navigation data for the target is formed. This includes: extracting all unmarked vascular paths from the real-time ablation vascular imaging data that are not allowed to be navigated based on the feasibility analysis results of real-time vascular calcification navigation, forming uncalcified feasible navigation path data; establishing a tortuosity analysis coordinate system and mapping all vascular paths in the uncalcified feasible navigation path data onto the tortuosity analysis coordinate system, forming uncalcified feasible vascular path coordinate data; extracting the vascular diameter axis from the uncalcified feasible vascular path coordinate data, forming uncalcified feasible vascular axis coordinate data; and performing a curvature-based navigation feasibility analysis based on the uncalcified feasible vascular axis coordinate data to form real-time feasible vascular navigation data for the target.

[0045] The analysis of vascular tortuosity mainly determines whether there are significant tortuosity changes in the vascular pipeline. Significant tortuosity changes refer to tortuous sections that are not conducive to catheter passage. The analysis in this application mainly involves coordinate-based analysis of the vascular position data to determine the tortuosity, thus enabling accurate determination of the tortuosity at any location.

[0046] Based on the coordinate data of uncalcified feasible blood vessel axes, a curvature-based navigation feasibility analysis is performed to generate real-time feasible blood vessel navigation data for the target. This includes: performing navigation feasibility analysis on the coordinate data of uncalcified feasible blood vessel axes in the following ways: obtaining the curvature of the blood vessel axes in the coordinate data of uncalcified feasible blood vessel axes to form uncalcified feasible blood vessel curvature data; setting a minimum tortuosity assessment length L0, and extracting the curvature data corresponding to blood vessel axis segments with length values ​​of the minimum tortuosity assessment length L0 sequentially along the blood vessel axis starting from any point in the coordinate data of uncalcified feasible blood vessel axes to form the corresponding extracted segment curvature data; traversing all blood vessel axes in the coordinate data of uncalcified feasible blood vessel axes to form the extracted segment curvature dataset A. n Where n represents the number of the different extracted curvature data segments; for the extracted curvature dataset A n Different curvature data segments were extracted to obtain the corresponding maximum curvature values. and minimum curvature value Determine the mean rate of change of curvature P n ,in, The average rate of change of curvature P corresponding to curvature data of different extracted segments n If P n If P ≤ P0, the vascular path corresponding to the extracted vascular axis segment is marked as a feasible tortuous navigation segment, where P0 represents the average curvature judgment threshold; if P n If P > P0, the vascular path corresponding to the extracted vascular axis segment is marked as an infeasible tortuous navigation segment; all vascular path segments marked as feasible tortuous navigation segments are collected to form feasible navigation vascular paths; path connectivity analysis is performed on feasible navigation vascular paths to form real-time feasible vascular navigation data for the object.

[0047] Of course, for the smoothness of catheter passage, tortuosity is not caused by excessive curvature at a single point, but rather by significant changes in curvature along a certain route segment. Therefore, the analysis uses vessel segments as the unit of analysis to determine the reasonableness of tortuosity. Here, the minimum tortuosity assessment length can be set according to actual conditions or determined based on big data analysis of the overall tortuosity of the vessel. The extracted vessel segments are determined by the average rate of change of curvature, and the given average curvature judgment threshold can be set according to actual conditions.

[0048] Path connectivity analysis is performed on feasible navigation vascular paths to generate real-time feasible vascular navigation data for the object. This includes: performing path connectivity analysis on feasible navigation vascular paths in the following ways: if both ends of an interconnected vascular path segment are disconnected, the corresponding vascular path is marked as a disconnected path; if one end of an interconnected vascular path segment is disconnected, the path from the disconnected end to the nearest connected fulcrum is marked as a disconnected path; vascular segments marked as disconnected paths are removed from the feasible navigation vascular paths to generate real-time feasible vascular navigation data for the object.

[0049] Similar to calcification analysis, ensuring the continuity of the vascular path is crucial after tortuosity analysis to facilitate subsequent path planning. Therefore, connectivity analysis primarily determines whether vascular segments with suitable tortuosity are isolated segments or broken ends. Of course, before performing connectivity analysis, the starting and ending positions need to be calibrated to avoid filtering out segments that would prevent path planning from being completed.

[0050] By combining historical ablation planning path network data and real-time feasible vascular navigation data of the target, path planning analysis is performed to form real-time ablation navigation path data. This includes: identifying vascular segments in the real-time feasible vascular navigation data of the target that were previously used as planned paths based on historical ablation planning path network data, and marking feasible paths; based on the marked feasible paths, determining all feasible navigation paths S with navigation start point and navigation end point as planning targets. k Where k represents the number of the different feasible navigation paths determined; for different feasible navigation paths S k Path length comparison analysis is performed to generate real-time ablation navigation path data.

[0051] The selected vascular pathways after calcification and tortuosity analysis are the usable navigation paths. The paths are multi-selectable for different subjects and actual surgical situations, so all available paths can be selected reasonably to ensure the variability of matching the actual surgical situation.

[0052] For different navigation feasible paths S k Path length comparison analysis is performed to generate real-time ablation navigation path data, including: different navigation feasible paths S k Obtain the total path length for each corresponding path. The total number of path pivots Q k Based on the total number of path pivots, different navigational feasible paths S k Sort the paths in ascending order to form the first path selection sorting information; based on the first path selection sorting information, extract the top M feasible navigation paths S. k And based on the corresponding total path length The data is sorted from smallest to largest to form real-time ablation navigation path data.

[0053] Path selection also needs to consider two aspects: firstly, the path length. An excessively long path not only increases the risk of navigation but also increases the workload and pressure. Secondly, choosing a path with too many pivot points increases the complexity of the navigation process, similarly increasing the risk, workload, and pressure of the operation. Therefore, by statistically analyzing the total path length and the number of pivot points, we can reasonably filter out viable path options and improve the rationality of the path planning reference data. The quantity M can be set according to the actual situation.

[0054] S2: Collect real-time measurement data of the object and calibrate abnormal locations.

[0055] The purpose of mapping is to determine the location of abnormalities, thereby providing locational data for subsequent targeted treatment. Mapping methods include electroanatomical mapping, activation mapping, voltage mapping, impedance mapping, and others, and are relatively mature auxiliary surgical techniques.

[0056] S3: Collect real-time ablation monitoring data and perform real-time monitoring and analysis based on process control to generate real-time ablation monitoring results information.

[0057] Real-time ablation monitoring data is collected and analyzed based on process control to generate real-time ablation monitoring results, including: extracting different real-time ablation monitoring parameter values ​​based on the real-time ablation monitoring data. Setting threshold values ​​for different real-time ablation monitoring parameters And based on real-time ablation monitoring parameter values Perform the following real-time monitoring and analysis: If any real-time ablation monitoring parameter value exists... satisfy This generates ablation cessation information; if all real-time ablation monitoring parameter values satisfy This creates continuous ablation information.

[0058] Another important role of vascular interventional robots is to monitor the treatment process. Radiofrequency ablation uses the release of electrical energy to destroy cells in abnormal areas. Therefore, it is necessary to avoid tissue carbonization, excessive tissue edema, etc. So it is necessary to monitor parameters such as power, temperature, and impedance during the treatment process. It is understandable that any abnormality of any parameter may have a significant impact on the surgical outcome. Therefore, it is necessary to ensure the stability of parameters during the treatment process.

[0059] S4: Obtain postoperative electrocardiogram data, perform matching comparison analysis, and generate postoperative test results data.

[0060] After treatment, electrocardiogram (ECG) data needs to be acquired and compared with standard ECG data to confirm the effectiveness of the surgical treatment.

[0061] This application also provides the specific system configuration of the vascular interventional robot. It includes a data acquisition unit for acquiring historical ablation navigation path planning data, real-time object mapping data, real-time ablation monitoring data, and postoperative electrocardiogram (ECG) data; a planning and analysis unit for performing path planning analysis on the historical ablation navigation path planning data and real-time object mapping data acquired by the data acquisition unit to form real-time ablation navigation path data; a mapping and analysis unit for calibrating abnormal locations based on the real-time object mapping data acquired by the data acquisition unit; a real-time monitoring unit for performing real-time monitoring and analysis on the real-time ablation monitoring data acquired by the data acquisition unit to form real-time ablation monitoring result information; and a verification and analysis unit for performing matching analysis on the postoperative ECG data acquired by the data acquisition unit to form postoperative test result data.

[0062] In summary, the beneficial effects of the vascular interventional robot for transcatheter cardiac radiofrequency ablation provided by the embodiments of the present invention are as follows:

[0063] This robot calibrates vascular pathways using limited historical navigation planning data and then combines this with the real-time vascular status of the surgical subject to plan a reasonable route, forming an effective navigation path plan tailored to the individual patient. This approach avoids the need for extensive path planning data; the use of historical data primarily defines a reference vascular pathway for path selection, as the chosen pathways in historical data offer a degree of safety and predictability, similar to a surgeon's experience in identifying suitable pathways. Furthermore, it leverages influence data to analyze the patient's vascular status, ensuring a personalized path selection and preventing uniform path planning from failing to address the varying vascular conditions of different patients, thus further reducing the risk of path navigation planning. Of course, the robot also utilizes different functional units to perform mapping, real-time monitoring of the treatment process, and post-treatment analysis, providing comprehensive auxiliary guidance for interventional surgery.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] "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.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] 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.

[0072] 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).

[0073] 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, in the form of 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.

[0074] 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.

[0075] 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 single or multiple 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 single or multiple.

[0076] 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.

[0077] 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.

[0078] 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.

[0079] 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.

[0080] 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.

[0081] 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.

[0082] 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.

[0083] 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. A vascular interventional robot for transcatheter radiofrequency ablation of the heart, characterized in that, Configured as: Historical ablation navigation path planning data is acquired, and real-time ablation vessel data of the target is collected for navigation path planning to form real-time ablation navigation path data; Collect real-time measurement data of the target and identify abnormal locations; Collect real-time ablation monitoring data and perform real-time monitoring analysis based on process control to generate real-time ablation monitoring results information; Postoperative electrocardiogram data were acquired, matched comparative analysis was performed, and postoperative test results data were generated. The process of acquiring historical ablation navigation path planning data and collecting real-time ablation vessel data of the target for navigation path planning to form real-time ablation navigation path data includes: Based on the historical ablation navigation path planning data, all historical paths of single surgeries are extracted to form a set of historical planning paths for single surgeries. Based on the real-time ablation vessel data of the object, extract the real-time ablation vessel location information of the object, and combine it with the single surgery history planning path set to mark all the single surgery history paths on the real-time ablation vessel location information of the object to form historical ablation planning path network data. Based on the real-time ablation vessel data of the object, the real-time status data of all vessel paths in the real-time ablation vessel location information of the object are obtained, and a feasibility analysis based on ablation navigation is performed to form real-time feasible vessel navigation data of the object. By combining the historical ablation planning path network data and the real-time feasible vascular navigation data of the object, path planning analysis is performed to form the real-time ablation navigation path data; The step involves obtaining real-time vascular status data for all vascular paths in the real-time ablation vascular location information of the object based on the object's real-time ablation vascular data, and performing a feasibility analysis based on ablation navigation to form real-time feasible vascular navigation data for the object, including: Based on the real-time vascular status data of all vascular pathways, calcification analysis based on image data is performed to generate feasibility analysis results for real-time vascular calcification navigation. Based on the real-time status data of all vascular pathways, a tortuosity analysis based on image data is performed to generate feasibility analysis results for real-time vascular tortuosity navigation. By combining the feasibility analysis results of real-time vascular calcification navigation and the feasibility analysis results of real-time vascular tortuosity navigation, real-time feasible vascular navigation data for the object is formed.

2. The vascular interventional robot for transcatheter cardiac radiofrequency ablation according to claim 1, characterized in that, The step involves performing calcification analysis based on image data using real-time vascular status data from all vascular pathways to generate feasibility analysis results for real-time vascular calcification navigation, including: Based on the real-time vascular status data of all vascular pathways, the vascular image data is extracted to form real-time ablation vascular image data. Set a threshold for calcification imaging parameters, and then mark the locations where the calcification imaging parameter values ​​in the real-time ablation vascular imaging data exceed the threshold for calcification imaging parameters, thereby forming initial vascular calcification navigation feasibility analysis results data; The initial vascular calcification navigation feasibility analysis results data are used to extend and calibrate the path feasibility in the following manner: For two unconnected adjacent regions on the vascular path whose calcification image parameter values ​​exceed the calcification image parameter threshold, if there are no other vascular connection points between the adjacent regions in the real-time ablation vascular image data, then the adjacent regions and the region between the adjacent regions are marked as navigation segments that are not allowed. For regions on the vascular path where the calcification image parameter values ​​exceed the calcification image parameter threshold, if there are connection points with other vascular routes, the region between the connection point and the next connection point on the other vessel is marked as a navigation-disallowed segment. All the disallowed navigation segments are marked in the real-time ablation vascular imaging data to form the feasibility analysis results data of the real-time vascular calcification navigation.

3. The vascular interventional robot for transcatheter cardiac radiofrequency ablation according to claim 2, characterized in that, The process of combining the feasibility analysis results of real-time vascular calcification navigation and the feasibility analysis results of real-time vascular tortuosity navigation to form real-time feasible vascular navigation data for the object includes: Based on the feasibility analysis results of real-time vascular calcification navigation, all vascular paths that were not marked as not allowed navigation segments in the real-time ablation vascular image data are extracted to form uncalcified feasible navigation path data. A tortuous analysis coordinate system is established, and all vascular paths in the uncalcified feasible navigation path data are mapped into the tortuous analysis coordinate system to form uncalcified feasible vascular path coordinate data; The diameter axis of the uncalcified feasible blood vessel path coordinate data is extracted from the blood vessel pipeline to form the uncalcified feasible blood vessel axis coordinate data. Based on the coordinate data of the uncalcified feasible blood vessel axis, a curvature-based navigation feasibility analysis is performed to generate real-time feasible blood vessel navigation data for the object.

4. The vascular interventional robot for transcatheter cardiac radiofrequency ablation according to claim 3, characterized in that, The step of performing a curvature-based navigation feasibility analysis based on the coordinates of the uncalcified feasible blood vessel axis to form real-time feasible blood vessel navigation data for the object includes: The following navigation feasibility analysis was performed on the coordinate data of the uncalcified feasible blood vessel axis: Obtain the coordinate data of the uncalcified feasible blood vessel axis and the curvature of the blood vessel axis to form uncalcified feasible blood vessel curvature data; Set minimum tortuosity evaluation length Starting from any point in the coordinate data of the uncalcified feasible blood vessel axis, the length values ​​extracted sequentially along the blood vessel axis are the minimum tortuosity assessment length. The curvature data corresponding to the vascular axis segment is used to form the corresponding extracted segment curvature data; Traverse all vascular axes in the uncalcified feasible vascular axis coordinate data to form an extracted segment curvature dataset. Where n represents the number of the different extracted curvature data segments; For the extracted segment curvature dataset The curvature data of different segments are extracted to obtain the corresponding maximum curvature value. and minimum curvature value Determine the rate of change of the mean curvature ,in, ; The average rate of change of curvature corresponding to different extracted curvature data segments : like ≤ Then, the vascular path corresponding to the extracted vascular axis segment is marked as a feasible tortuous navigation segment. This represents the threshold for judging the average curvature. like > Then the vascular path corresponding to the extracted vascular axis segment will be marked as an infeasible tortuous navigation segment; All vascular path segments identified as feasible tortuous navigation segments are combined to form a feasible navigation vascular path; Path connectivity analysis is performed on the feasible navigation vascular path to generate real-time feasible vascular navigation data for the object.

5. The vascular interventional robot for transcatheter cardiac radiofrequency ablation according to claim 4, characterized in that, The step of performing path connectivity analysis on the feasible navigation vascular path to form real-time feasible vascular navigation data for the object includes: The feasible navigation vascular pathways were analyzed for path connectivity in the following manner: If both ends of an interconnected vascular path segment are disconnected, the corresponding vascular path is marked as a disconnected path. If an interconnected vascular pathway segment is broken at one end, the path from the broken end to the nearest connected fulcrum is marked as a disconnected path. The vessel segments marked as disconnected paths in the feasible navigation vessel paths are screened out to form the real-time feasible vessel navigation data of the object.

6. The vascular interventional robot for transcatheter cardiac radiofrequency ablation according to claim 5, characterized in that, The process of combining the historical ablation planning path network data and the real-time feasible vascular navigation data of the target object to perform path planning analysis and form the real-time ablation navigation path data includes: Based on the historical ablation planning path network data, the vascular segments that were previously used as planning paths in the real-time feasible vascular navigation data of the object are identified, and feasible paths are marked. Based on the identified feasible paths, and with the navigation start point and navigation end point as planning targets, all feasible navigation paths are determined. , where k represents the number of the different feasible navigation paths determined; For different navigational feasible paths A path length comparison analysis is performed to generate the real-time ablation navigation path data.

7. The vascular interventional robot for transcatheter cardiac radiofrequency ablation according to claim 6, characterized in that, The different navigation feasible paths Path length comparison analysis is performed to generate the real-time ablation navigation path data, including: For different navigation feasible paths Obtain the total path length for each corresponding path. and the total number of path pivots ; Based on the total number of path pivots, different navigation feasible paths are... Sort the data from smallest to largest to form the first path selection sorting information; Based on the first path selection sorting information, extract the top M feasible navigation paths. And according to the corresponding total path length The data is sorted from smallest to largest to form the real-time ablation navigation path data.

8. The vascular interventional robot for transcatheter cardiac radiofrequency ablation according to claim 7, characterized in that, The process involves collecting real-time ablation monitoring data and performing real-time monitoring analysis based on process control to generate real-time ablation monitoring results information, including: Based on the real-time ablation monitoring data, extract different real-time ablation monitoring parameter values. ; Setting threshold values ​​for different real-time ablation monitoring parameters And based on the real-time ablation monitoring parameter values The following real-time monitoring and analysis will be performed: If any of the aforementioned real-time ablation monitoring parameter values ​​exist satisfy ≥ This will generate a signal indicating that ablation has stopped; If all the aforementioned real-time ablation monitoring parameter values satisfy < This creates continuous ablation information.

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