An interventional medical catheter push force testing method and apparatus

Abstract

This invention relates to a method and device for testing the pushing force of interventional medical catheters, belonging to the field of medical device testing technology. It includes: collecting catheter testing requirements; determining catheter requirement parameters, test installation information, and pushing control information based on the catheter testing requirements; selecting multiple test catheters and corresponding test force sensors according to the catheter requirement parameters; installing the test catheters and test force sensors according to the test installation information; controlling a preset roller clamping device to push the catheter using the pushing control information, and collecting catheter testing data; generating and outputting test display data based on the catheter testing data. This invention has the advantage of facilitating accurate testing when multiple catheters are used simultaneously.

Description

Technical Field

[0001] This invention relates to the field of medical device testing technology, and in particular to a method and device for testing the pushing force of interventional medical catheters. Background Technology

[0002] Medical device testing is a systematic inspection, testing, and evaluation activity conducted on the quality, safety, effectiveness, reliability, and compliance of medical devices throughout their entire lifecycle, from research and development and production to market launch and post-use, in accordance with national regulations, standards, and technical requirements.

[0003] Current interventional medical catheter delivery force testing equipment is mainly used to test and record the performance characteristics of interventional medical devices such as balloon catheters, guidewires, and stent delivery systems. It evaluates performance by simulating the tracking force and delivery efficiency of the product in the human vascular environment. The delivery force testing equipment includes a testing unit, integrated sensors, a roller clamping device, and a water bath circulation temperature control system. The water bath circulation temperature control system maintains the temperature of the testing area at body temperature. The roller clamping device then holds the catheter for delivery, and the integrated sensors monitor the delivery force during the process, thus obtaining test data on the driving force.

[0004] Since current clinical applications generally require the simultaneous use of multiple catheters, and current push force testing equipment only has one integrated sensor, it can only test a single catheter and cannot take into account the interaction force between catheters, making it inconvenient to accurately test when multiple catheters are used at the same time. Summary of the Invention

[0005] To facilitate accurate testing when multiple catheters are used simultaneously, this invention provides a method and device for testing the pushing force of interventional medical catheters.

[0006] In a first aspect, the present invention provides a method for testing the pushing force of interventional medical catheters, employing the following technical solution:

[0007] A method for testing the pushing force of an interventional medical catheter includes:

[0008] S1: Requirements for collecting catheter test data;

[0009] S2: Determine the catheter requirement parameters, test installation information, and push control information based on the catheter testing requirements;

[0010] S3: Select multiple test catheters and corresponding test force sensors according to the catheter requirement parameters;

[0011] S4: Install the test conduit and test force sensor according to the test installation information;

[0012] S5: Push the test catheter using the push control information and collect catheter detection data;

[0013] S6: Generate test display data based on the catheter detection data, and output the test display data.

[0014] By adopting the above technical solution, the following steps are performed sequentially: collecting catheter testing requirements, determining catheter requirement parameters based on these requirements, testing installation information, and push control information. Multiple test catheters and their corresponding test force sensors are selected based on the catheter requirement parameters. The test catheters and test force sensors are then installed based on the test installation information. Finally, the push control information is used to push the catheters and collect catheter test data to analyze, generate test display data, and output it. This completes the push force test of multiple interventional medical catheters, facilitating accurate testing when multiple catheters are used simultaneously.

[0015] Optionally, the method for determining the catheter requirement parameters, the test installation information, and the push control information includes:

[0016] S21: Retrieve the test application scenario and test time point according to the catheter test requirements;

[0017] S22: Determine the required catheter type, catheter size, and test location based on the test application scenario;

[0018] S23: Determine the required pushing force and conduit installation method based on the test requirements;

[0019] S24: Generate installation requirements information by combining the catheter installation method, the type of catheter required, and the required size of the catheter;

[0020] S25: Generate time control information based on the test time point and the required push force at the location;

[0021] S26: Combine the catheter requirement type with the catheter requirement size to obtain the catheter requirement parameters, and use the requirement installation information as the test installation information and the time control information as the push control information.

[0022] By adopting the above technical solution, the methods for determining catheter requirement parameters, test installation information, and push control information were clarified, transforming catheter test requirements into specific operable parameters such as catheter requirement types and dimensions. By retrieving test application scenarios and combining multiple factors to generate relevant information, the requirement installation information and time control information are highly matched with the actual scenario, providing a precise basis for subsequent catheter selection, installation, and push control, thus enhancing the pertinence and operability of the test plan.

[0023] Optionally, the method for generating the installation requirements information includes:

[0024] S241: When the catheter installation method is a preset concentric nested installation method, the relative position of the type is determined according to the type of catheter required;

[0025] S242: Determine the relative position sorting value based on the relative position of the categories;

[0026] S243: Sort the required catheter dimensions from smallest to largest according to the above requirements, and use the sorting result as the size sorting value;

[0027] S244: Determine the size installation information based on the size sorting value;

[0028] S245: When the size sorting value is consistent with the relative position sorting value, the size installation information is used as the required installation information.

[0029] By adopting the above technical solution, a correlation and matching mechanism between catheter requirement types and catheter size requirements was established for concentric nested installation. By determining the relative position and ranking value of the types, when the size ranking value matches the relative position ranking value, the size installation information is used as the requirement installation information. This ensures that the positional arrangement of multiple concentric nested catheters conforms to clinical logic, and that the stability of the nested structure is guaranteed by the catheter size requirements, thereby improving the rationality of multi-catheter nesting testing.

[0030] Optionally, the method for generating the installation requirements information further includes:

[0031] S2451: When the size sorting value is inconsistent with the relative position sorting value, the sorting deviation type is determined by combining the size sorting value and the relative position sorting value;

[0032] S2452: Retrieve the deviation type size and adjacent deviation types according to the sorting deviation type, and define the required size of the conduit corresponding to the adjacent deviation type as the adjacent size;

[0033] S2453: Determine the size deviation value based on the adjacent size and the size of the deviation type;

[0034] S2454: Determine the category deviation benchmark value by referring to the adjacent categories of the aforementioned deviation;

[0035] S2455: When all the dimensional deviation values ​​are less than the type deviation reference value, the relative installation information is determined based on the relative position sorting value, and the relative installation information is used as the required installation information.

[0036] By adopting the above technical solution, when the size sorting value and the relative position sorting value are inconsistent, quantitative indicators such as sorting deviation type and size deviation value are introduced. The installation information is determined by comparing the size deviation value with the type deviation benchmark value. When the size deviation value is small, the relative position sorting value is given priority to ensure that the installation layout meets the clinical operation requirements corresponding to the catheter type, solves the problem of sorting conflicts in nested multiple catheters, and ensures the authenticity of the test scenario.

[0037] Optionally, the method for generating the installation requirements information further includes:

[0038] S2456: When the size deviation value is not less than the type deviation reference value, retrieve the value of each deviation type according to the sorted deviation type;

[0039] S2457: Determine the number of selection values ​​based on the numerical values ​​of the aforementioned deviation types;

[0040] S2458: Select the size deviation value with reference to the number selection value, and use the remaining size deviation value as the remaining deviation value;

[0041] S2459: Determine the adjustment dimensions and installation information based on the selected deviation values;

[0042] S245A: Determine the remaining installation information based on the remaining deviation value, combine the size adjustment installation information, the remaining installation information, and the relative installation information to form the required installation information, and replace the required catheter size with the adjusted size.

[0043] By adopting the above technical solution, for cases where dimensional deviations are not uniformly less than the category deviation benchmark value, refined processing of sorting deviations is achieved by retrieving the numerical values ​​of each deviation category and dividing the selected deviation value into the remaining deviation value. Integrating dimensional adjustment and installation information to form required installation information and replacing the required conduit size ensures compliance with the conduit requirement category logic while rationally utilizing dimensional deviations, balancing testing accuracy and economy.

[0044] Optionally, the method for generating the installation requirements information further includes:

[0045] S2411: When the catheter installation method is not the preset concentric nested installation method, the type interval distance and the required adjacent types are determined according to the type of catheter required;

[0046] S2412: Determine the adjacent interval distance based on the distance between adjacent types and the type mentioned in the requirement;

[0047] S2413: Determine the size interval distance with reference to the required dimensions of the catheter;

[0048] S2414: Select an interval selection distance by combining the size interval distance and the adjacent interval distance;

[0049] S2415: Determine adjacent interval installation information based on the adjacent types of the demand and the selected interval distance, and use the adjacent interval installation information as the demand installation information.

[0050] By adopting the above technical solution, for non-concentric nested installation methods, a suitable interval is selected to generate installation requirements by combining the type-specific interval distance determined by the conduit requirements and the size interval distance determined by the conduit dimensions. This ensures reasonable conduit spacing during non-nested installations, avoids functional conflicts and installation interference, and expands the applicability of the testing method.

[0051] Optionally, after installing the test conduit and the test force sensor, the following may also be included:

[0052] S41: Collect the catheter spacing distance between each test catheter;

[0053] S42: Retrieve the installation interval distance based on the installation requirements;

[0054] S43: Determine the interval deviation value by matching the catheter interval distance with the installation interval distance;

[0055] S44: Determine the reference deviation value based on the described catheter installation method;

[0056] S45: When the catheter installation method is a preset concentric nested installation method, and the interval deviation value is greater than the method reference deviation value, the abnormal deviation value is determined by referring to the interval deviation value and the method reference deviation value.

[0057] S46: Determine abnormal position adjustment information based on the abnormal deviation value, and output the abnormal position adjustment information to adjust the position of the test catheter.

[0058] By adopting the above technical solution, after installation, the interval deviation of the concentric nested installation method is detected and adjusted by collecting the conduit interval distance and calculating the interval deviation value. When the deviation exceeds the limit, abnormal position adjustment information is output to correct the test conduit position, avoid the distortion of conduit test data caused by installation deviation, and ensure the accuracy of the test installation information.

[0059] Optionally, after outputting the abnormal position adjustment information to adjust the position of the test catheter, the method further includes:

[0060] S461: Vibration test conduits;

[0061] S462: Collect vibration detection information of the test tube and the sensor location of the test force sensor;

[0062] S463: Retrieve the vibration amplitude values ​​at each location based on the vibration detection information;

[0063] S464: Determine the amplitude change based on the vibration amplitude value;

[0064] S465: Determine the position change value by combining the sensor position point with the amplitude change;

[0065] S466: Determine the range of variation for the type of catheter required and the required catheter size;

[0066] S467: When the position change value is not within the species reference change range, a change deviation value is determined based on the position change value and the species reference change range;

[0067] S468: Determine the clamping adjustment value based on the change deviation value, and output the clamping adjustment value to adjust the position of the test force sensor.

[0068] By adopting the above technical solution, after adjusting the position of the test catheter, a dynamic stability verification mechanism is introduced through vibration of the catheter and detection of sensor position changes. When the position change value exceeds the category benchmark change range, a clamping adjustment value is output to correct the position of the test force sensor, ensuring precise contact between the sensor and the test catheter, reducing force acquisition errors, and improving the accuracy of catheter test data.

[0069] Optionally, the method for generating the test display data includes:

[0070] S61: Retrieve the real-time thrust value based on the catheter detection data;

[0071] S62: Generate a force curve and average force value based on the real-time thrust value;

[0072] S63: Determine the influence value of the interval deviation by referring to the aforementioned interval deviation value;

[0073] S64: Determine the impact value of the position change based on the aforementioned position change value;

[0074] S65: Determine the force value influence value based on the interval deviation influence value and the position change influence value;

[0075] S66: Adjust the force curve and the average force value according to the force influence value to generate an adjustment curve and an average adjustment force value;

[0076] S67: Combine the adjustment curve with the average adjustment force value to use as the test display data.

[0077] By adopting the above technical solution, when generating test display data, the force curve and average force value are corrected by calculating the influence values ​​of interval deviation and position change. The resulting adjustment curve and average adjustment force value eliminate the interference of installation and sensor deviations, making the test display data more accurately reflect the catheter pushing force performance and providing a precise reference for catheter quality assessment.

[0078] Secondly, the present invention provides an interventional medical catheter pushing force testing device, which adopts the following technical solution:

[0079] An interventional medical catheter pushing force testing device includes a memory and a processor. The memory stores a computer program that can be loaded by the processor and executed as described in any one of the first aspects.

[0080] In summary, the present invention has at least one of the following beneficial technical effects:

[0081] 1. By sequentially collecting catheter testing requirements, determining catheter requirement parameters based on these requirements, testing installation information, and push control information, multiple test catheters and their corresponding test force sensors are selected based on the catheter requirement parameters. Then, the test catheters and test force sensors are installed based on the test installation information. Finally, the push control information is used to push the catheters and collect catheter test data to analyze, generate test display data, and output it. This completes the push force test of multiple interventional medical catheters, facilitating accurate testing when multiple catheters are used simultaneously.

[0082] 2. After installation, the spacing deviation of the concentric nested installation is detected and adjusted by collecting the conduit spacing distance and calculating the spacing deviation value. When the deviation exceeds the limit, abnormal position adjustment information is output to correct the test conduit position, avoid the installation deviation from causing the conduit test data to be distorted, and ensure the execution accuracy of the test installation information;

[0083] 3. When generating test display data, the force curve and average force value are corrected by calculating the influence values ​​of interval deviation and position change. The resulting adjustment curve and average adjustment force value eliminate the interference of installation and sensor deviations, making the test display data more accurately reflect the catheter pushing force performance and providing a precise reference for catheter quality assessment. Attached Figure Description

[0084] Figure 1 This is a flowchart of the method for testing the pushing force of interventional medical catheters;

[0085] Figure 2 This is a flowchart illustrating the method for determining conduit requirements, test and installation information, and push control information.

[0086] Figure 3 This is a flowchart illustrating the installation process of the test conduit and the test force sensor.

[0087] Figure 4 This is a flowchart illustrating the method for generating test display data. Detailed Implementation

[0088] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0089] A method for testing the pushing force of interventional medical catheters involves selecting multiple test catheters and their corresponding force sensors, matching the installation information according to the clinical installation method (concentric / non-concentric nesting), installing them, and then testing the pushing force. The method corrects installation and sensor deviations through static interval detection and dynamic vibration verification, and finally corrects the data to generate test results. This method completes the pushing force test of multiple interventional medical catheters, facilitating accurate testing when multiple catheters are used simultaneously.

[0090] Reference Figure 1 This invention discloses a method for testing the pushing force of an interventional medical catheter, comprising:

[0091] S1: Requirements for collecting catheter test results.

[0092] The catheter testing requirements refer to the set of testing requirements defined before the interventional catheter delivery force test. These requirements include the testing application scenario and the testing timeframe. The catheter testing requirements are obtained through pre-entry by the operator.

[0093] S2: Determine the required parameters, test installation information, and push control information of the catheter based on the catheter testing requirements.

[0094] Among them, catheter requirement parameters refer to concrete indicators that characterize the core attributes of catheters, determined based on catheter testing requirements. Catheter requirement parameters include the type of catheter required (such as specific types like coronary stent catheters and neurointerventional microcatheters) and the required dimensions of the catheter (such as physical parameters like outer diameter and length).

[0095] The test installation information refers to the installation specifications of the catheter and the test force sensor, covering the catheter installation method (such as concentric nesting and non-concentric nesting), installation interval distance, and position layout logic, to ensure that the installation of the test components conforms to the clinical simulation scenario.

[0096] Push control information refers to the set of parameters that control the preset roller clamping device to perform the pushing action, including pushing speed, pushing stroke, force control threshold, etc., which determines the consistency between the pushing process and clinical operation.

[0097] A roller clamping device is a device used to clamp a conduit. The roller clamping device is pre-set by the operator.

[0098] By analyzing the catheter testing requirements, the required catheter parameters, testing and installation information, and push control information can be determined to facilitate subsequent use.

[0099] To further ensure the rationality of catheter requirement parameters, test installation information, and push control information, it is necessary to perform further separate analysis and calculation on these parameters, which will be explained in detail through the steps shown below.

[0100] Reference Figure 2 The method for determining the required parameters, test installation information, and push control information for the conduit includes the following steps:

[0101] S21: Retrieve the test application scenario and test time point according to the catheter testing requirements.

[0102] The test application scenario simulates the environment and operational situation of the catheter in actual clinical use. The test time points refer to the key nodes in the entire push test process where data needs to be collected or performance needs to be monitored, such as the initial push moment (when it just enters the simulated blood vessel), the push midway (when passing through the curved section), and the push endpoint (when it reaches the simulated lesion), which are used to specifically evaluate the catheter push performance at different stages.

[0103] By retrieving the test application scenarios and test time points based on the pipeline testing requirements, it is convenient for subsequent use.

[0104] S22: Determine the required type, size, and location of the catheter based on the test application scenario.

[0105] Among these, "catheter type requirement" refers to the category of interventional medical catheters that matches the actual clinical use type and is matched to the test application scenario. "Catheter size requirement" refers to the catheter's physical parameters, including outer diameter, length, and tip diameter, that are adapted to the vascular anatomy features of the test application scenario. "Test location requirement" refers to the key locations in the simulated vascular model corresponding to the test application scenario where catheter delivery performance needs to be closely monitored.

[0106] For example, if the test application scenario is interventional embolization of intracranial neuroaneurysms, the required catheter type is a microcatheter, the required catheter size is an outer diameter of 0.8 mm and a length of 120 cm, and the required test locations are the intracranial artery branch (80 cm from the entrance) and the aneurysm entrance (100 cm from the entrance).

[0107] S23: Determine the required pushing force and conduit installation method based on the test requirements.

[0108] Among them, the positional push force refers to the range of target force values ​​required to push the catheter at the test requirement location (such as key locations such as bends and narrow sections). The catheter installation method refers to the assembly form of the catheter and auxiliary components determined according to the spatial characteristics of the test requirement location (such as single path or multi-branch structure).

[0109] By inputting the required test location into a preset test location database, the required push force and conduit installation method can be matched to facilitate subsequent use.

[0110] The test location database pre-stores a table showing the different test requirement locations, their corresponding required push force, and the conduit installation method. The test location database is obtained after the operator pre-inputs the information.

[0111] S24: Generate installation requirements information by combining the catheter installation method, the type of catheter required, and the required size of the catheter.

[0112] Among them, the installation requirements information refers to the control instructions corresponding to the specific assembly scheme when installing the conduit.

[0113] By analyzing the catheter installation method, the types of catheters required, and the required dimensions of catheters, installation requirements are generated to facilitate subsequent use.

[0114] To further ensure the rationality of the installation requirements information, it is necessary to perform further separate analysis and calculation on the installation requirements information, which will be explained in detail through the steps shown below.

[0115] The method for generating installation requirements includes the following steps:

[0116] S241: When the conduit installation method is the preset concentric nested installation method, the relative position of the type is determined according to the type of conduit required.

[0117] The concentric nesting installation method refers to the arrangement of catheters in a concentric inner and outer layer within a nested structure. The relative position of the types refers to the arrangement of different types of catheters in the inner and outer layers of the nested structure, determined based on the clinical functional logic and operational priority of different catheter needs when the catheter installation method is concentric nesting.

[0118] When the catheter installation method is the preset concentric nesting installation method, it means that each catheter needs to be concentrically nested. Therefore, the clinical function positioning corresponding to the type of catheter is queried by querying the type of catheter required (e.g., guidewire is responsible for path guidance, stent catheter is responsible for stent delivery, balloon catheter is responsible for dilation), and then the coordination order in clinical operation is determined (e.g., guidewire is delivered first, stent catheter is then placed, and balloon catheter is placed last). Finally, the relative positions of the types are determined according to the principle of "catheters with primary function in the inner layer and catheters for auxiliary / subsequent operations in the outer layer".

[0119] For example, if the required catheter types are "guidewire + coronary stent catheter + balloon catheter", in clinical operation, the guidewire first enters the blood vessel to guide the path, the stent catheter is placed outside the guidewire to deliver the stent, and the balloon catheter is placed outside the stent catheter for dilation. Therefore, the relative positions of the types are "guidewire (innermost layer) → coronary stent catheter (middle layer) → balloon catheter (outermost layer)".

[0120] S242: Determine the relative position sorting value based on the relative position of the categories.

[0121] Among them, the relative position sorting value refers to the quantitative identifier that converts the relative position of each type of catheter (i.e., the inner and outer layer arrangement relationship) under the concentric nested installation method.

[0122] By using the inner and outer layers of relative position as the core, and assigning values ​​according to the rule of "smaller inner layer values ​​and larger outer layer values", the relative position sorting value is obtained, which is convenient for subsequent use.

[0123] For example, if the relative positions of the types are "guidewire (innermost layer) → coronary stent catheter (middle layer) → balloon catheter (outermost layer)", then the relative position order of the guidewire is 1, the coronary stent catheter is 2, and the balloon catheter is 3.

[0124] S243: Sort the required dimensions of the catheters from smallest to largest, and use the sorting result as the size sorting value.

[0125] Among them, the size sorting value refers to the quantitative identifier assigned to each type of catheter after arranging the required dimensions of each test catheter (usually based on key physical parameters such as outer diameter and inner diameter) in ascending order.

[0126] By sorting the required catheter sizes from smallest to largest, and determining the corresponding size ranking value for each test catheter based on the ranking results, it is convenient for subsequent use.

[0127] S244: Determine the size installation information based on the size sorting value.

[0128] Among them, the size installation information refers to the specific assembly details formulated based on the size sorting value to guide the concentric nested installation.

[0129] By determining the inner and outer layers of each catheter according to the rule that "the smaller the size sort value, the more inward the nesting level", and determining the installation gap of each catheter according to the principle of concentric nesting, the size installation information is obtained, which facilitates subsequent use.

[0130] For example, when the size ranking value of the balloon catheter is 3, the size ranking value of the coronary stent catheter is 2, and the size ranking value of the guidewire is 1, the concentric nesting installation of the outermost layer of the balloon catheter, the middle layer of the coronary stent catheter, and the inner layer of the guidewire is used as the size installation information.

[0131] S245: When the size sorting value is consistent with the relative position sorting value, the size installation information is used as the required installation information.

[0132] When the size sorting value matches the relative position sorting value, it means that the size installation information can be used directly for installation. Therefore, the size installation information is used as the required installation information to improve the accuracy of the obtained required installation information.

[0133] To further ensure the rationality of the installation requirements information, it is necessary to perform further separate analysis and calculation on the installation requirements information, which will be explained in detail through the steps shown below.

[0134] The method for generating installation requirements information also includes the following steps:

[0135] S2451: When the size sorting value is inconsistent with the relative position sorting value, the sorting deviation type shall be determined by combining the size sorting value and the relative position sorting value.

[0136] Among them, the sorting deviation type refers to the type corresponding to the deviation between the size sorting value and the relative position sorting value of the catheter.

[0137] When the size sorting value and the relative position sorting value are inconsistent, it means that the size installation information cannot be used directly for installation. Therefore, by comparing the size sorting value and the relative position sorting value of each conduit, the type of conduit corresponding to the inconsistent comparison is identified as the sorting deviation type, which facilitates subsequent use.

[0138] S2452: Retrieve the deviation type size and adjacent deviation types according to the sorting deviation type, and define the required pipe size corresponding to the adjacent deviation type as the adjacent size.

[0139] Among them, "deviation type size" refers to the required catheter size corresponding to the sorted deviation type. "Adjacent deviation type" refers to the catheter requirement type that is directly adjacent to the sorted deviation type (either in the previous or next layer) in the relative position sorting value. "Adjacent size" is a specific description of the catheter requirement size corresponding to the adjacent deviation type.

[0140] The deviation type and its adjacent types are retrieved by sorting the deviation types, and the adjacent sizes are defined for easy use later.

[0141] S2453: Determine the dimensional deviation value based on adjacent dimensions and deviation type dimensions.

[0142] Among them, the dimensional deviation value refers to the deviation value corresponding to the deviation between adjacent dimensions and the deviation type dimension.

[0143] The difference between adjacent dimensions and the dimensions of the deviation type is calculated, and the calculation result is used as the dimension deviation value for convenient subsequent use.

[0144] S2454: Determine the baseline value of the category deviation by referring to adjacent categories of the deviation.

[0145] Among them, the category deviation benchmark value refers to the critical value of the allowable size deviation set based on the clinical application characteristics of adjacent categories and the nesting installation adaptation standard.

[0146] By inputting adjacent species with deviations into a preset species database to obtain a species deviation benchmark value, it is convenient for subsequent use.

[0147] The category database pre-stores a comparison table of adjacent categories with different deviations and their corresponding category deviation benchmark values. The category database is obtained after the operator pre-inputs the data.

[0148] S2455: When all dimensional deviation values ​​are less than the category deviation reference value, the relative installation information is determined by the relative position sorting value, and the relative installation information is used as the required installation information.

[0149] Among them, relative installation information refers to the installation plan formulated based on the relative position sorting value.

[0150] When the dimensional deviation values ​​are all less than the category deviation benchmark value, it means that installation can be carried out directly according to the category. Therefore, by following the rule that "the smaller the relative position sorting value, the more inward the nesting level", the inner and outer layer positions of each conduit are determined, and the installation gap of each conduit is determined according to the principle of concentric nesting, so as to obtain relative installation information. This relative installation information is used as the required installation information, thereby improving the accuracy of the obtained required installation information.

[0151] To further ensure the rationality of the installation requirements information, it is necessary to perform further separate analysis and calculation on the installation requirements information, which will be explained in detail through the steps shown below.

[0152] The method for generating installation requirements information also includes the following steps:

[0153] S2456: When the dimensional deviation values ​​are not all less than the type deviation reference value, retrieve the value of each deviation type according to the sorted deviation type.

[0154] Among them, the number of deviation types refers to the number of sorting deviation types.

[0155] When the dimensional deviation values ​​are not all less than the category deviation benchmark value, it means that installation cannot be carried out directly according to the category. Therefore, the categories with sorting deviations are counted, and the count results are used as the numerical value of the deviation categories for subsequent use.

[0156] S2457: Determine the number of values ​​to be selected based on the number of deviation types.

[0157] The number of values ​​selected refers to the numerical value corresponding to the selection of dimensional deviation values.

[0158] When the number of deviation types is no greater than 2, the selected number is set to be equal to the number of deviation types. When the number of deviation types is greater than 2, 2 is selected as the selected number for ease of use later.

[0159] S2458: Select the size deviation value based on the number of selection values, and use the remaining size deviation value as the remaining deviation value.

[0160] The selected deviation value refers to the dimensional deviation value after selection. The remaining deviation value refers to the dimensional deviation value that was not selected.

[0161] By sorting the dimensional deviation values ​​from largest to smallest, and selecting the dimensional deviation values ​​based on the number of values, we can obtain the selected deviation values ​​and the remaining deviation values, which will be convenient for subsequent use.

[0162] S2459: Determine the adjustment dimensions and installation information based on the selected deviation values.

[0163] Among these, "adjustment dimensions" refers to the specific dimensional parameters optimized and corrected to meet the required dimensions of the deviation catheter or its adjacent catheters. "Dimensional adjustment installation information" refers to the specific plan developed based on the adjusted dimensions to guide catheter installation.

[0164] By analyzing the positive and negative values ​​of the selected deviation values, if the selected deviation value is negative (deviation conduit size > adjacent conduit size), the required size of the deviation conduit is reduced to "adjacent size + reasonable gap" (the reasonable gap is based on the type deviation benchmark value, such as benchmark value ±0.3mm, take 0.2mm), and the adjustment size is obtained; if it is positive (deviation conduit size < adjacent conduit size), the deviation conduit size is increased to "adjacent size - reasonable gap", and then based on the adjustment size, the nesting level of each conduit is re-determined to obtain the size adjustment and installation information, which is convenient for subsequent use.

[0165] S245A: Determine the remaining installation information based on the remaining deviation value, combine the size adjustment installation information, the remaining installation information, and the relative installation information to form the required installation information, and replace the required conduit size with the adjusted size.

[0166] Among them, the remaining installation information refers to the installation information when no adjustment is required according to the dimensions.

[0167] The remaining installation information of the size of the conduit is obtained by determining the nesting level of the conduit based on the remaining deviation value. The installation information of each conduit in the size adjustment installation information and the size remaining installation information is embedded and replaced with the installation information of the corresponding conduit in the relative installation information. The adjusted installation information is then used as the required installation information, and the required size of the conduit is replaced with the adjusted size. This improves the accuracy of the required installation information. Furthermore, by replacing the required size of the conduit with the adjusted size, it is easier to select a conduit of the correct size.

[0168] To further ensure the rationality of the installation requirements information, it is necessary to perform further separate analysis and calculation on the installation requirements information, which will be explained in detail through the steps shown below.

[0169] The method for generating installation requirements information also includes the following steps:

[0170] S2411: When the conduit installation method is not the preset concentric nested installation method, the type interval distance and the required adjacent types are determined according to the type of conduit required.

[0171] The type spacing distance refers to the minimum physical distance between different types of catheters, determined based on the clinical operation logic, functional attributes, and testing safety requirements for different types of catheters. The type spacing distance is used to avoid interference (such as friction or jamming) caused by mutual contact during catheter advancement, while ensuring compliance with the multi-path spatial layout of the simulated vascular model.

[0172] Adjacent demand types refer to other conduit demand types that are physically adjacent to the target conduit demand type (such as adjacent left and right when arranged in parallel, or adjacent upstream and downstream on the same path when arranged in multiple paths).

[0173] When the conduit installation method is not the preset concentric nested installation method, it means that it is arranged in parallel. Therefore, the adjacent types are retrieved according to the conduit requirement type and used as the adjacent types of the requirement. The conduit requirement type is also input into the preset type database to match and obtain the type interval distance, which is convenient for subsequent use.

[0174] The type database pre-stores a table of different conduit requirements and their corresponding intervals. The type database is obtained after the operator pre-inputs the information.

[0175] S2412: Determine the adjacent interval distance based on the requirements of adjacent species and the interval distance between species.

[0176] The adjacent interval distance refers to the minimum physical distance between adjacent catheters.

[0177] The adjacent categories are input into a preset category database to obtain the initial adjacent interval distance. The initial adjacent interval distance is then compared with the category interval distance, and the larger value is selected as the adjacent interval distance.

[0178] The category database pre-stores a lookup table of different adjacent categories and their corresponding initial interval distances. The category database is obtained after the operator pre-inputs the data.

[0179] S2413: Determine the size interval distance based on the required dimensions of the conduit.

[0180] Among them, the size interval distance refers to the minimum interval distance between catheters determined based on the size.

[0181] The outer diameters of two adjacent catheters are retrieved based on the required catheter dimensions. The sum of the radii between the outer diameters of the two adjacent catheters is calculated as a comprehensive radius value. The sum of the comprehensive radius value and the preset redundancy amount is then calculated as the size interval distance for convenient subsequent use.

[0182] The redundancy is preset by the operator based on the material of the catheter. For rigid catheters, it can be 0.2~0.3mm, and for flexible catheters, it can be 0.1~0.2mm.

[0183] S2414: Select the interval distance by combining the size interval distance and the adjacent interval distance.

[0184] Among them, the interval selection distance refers to the distance corresponding to the selected interval distance.

[0185] By comparing the size interval distance with the adjacent interval distance, and using the larger value as the interval selection distance, it is convenient for subsequent use.

[0186] S2415: Determine the installation information of adjacent intervals based on the adjacent types of requirements and the selected interval distance, and use the installation information of adjacent intervals as the installation information of requirements.

[0187] Among them, the adjacent interval installation information refers to the specific plan for catheter installation under non-concentric nested installation.

[0188] By selecting corresponding conduits based on adjacent types of requirements and installing them at intervals, adjacent interval installation information is generated. This adjacent interval installation information is then used as the required installation information, thereby improving the accuracy of the obtained required installation information.

[0189] S25: Generate time control information based on the test time point and location demand.

[0190] Among them, time control information refers to a collaborative control scheme formulated by combining the test time point as the time dimension with the location demand push force of the corresponding test requirement location.

[0191] By associating test time points with the corresponding test requirement locations and forming a correspondence table between time points and locations, and then extracting the positional push force corresponding to each test requirement location, a three-dimensional correspondence between time points, locations, and force values ​​is formed, thereby obtaining time control information for subsequent use.

[0192] For example, when the test time point is the start of the push, the test location is the blood vessel inlet, and the required push force is 0.5~1.0N; when the test time point is 10 seconds after the push, the test location is the first curved section, and the required push force is 1.2~3.0N; when the test time point is 25 seconds after the push, the test location is the narrow section, and the required push force is 2.0~4.5N; when the test time point is 40 seconds after the push, the test location is the target release position, and the required push force is 0.8~1.5N.

[0193] S26: Combine the required catheter type with the required catheter size to obtain the catheter requirement parameters, and use the required installation information as the test installation information and the time control information as the push control information.

[0194] Specifically, by combining the type of catheter required with the size of the catheter required, catheter requirement parameters are obtained. The installation information is used as test installation information, and the time control information is used as push control information, thereby improving the accuracy of the obtained catheter requirement parameters, test installation information, and push control information.

[0195] S3: Select multiple test catheters and corresponding test force sensors based on the catheter requirement parameters.

[0196] In this process, multiple test catheters are selected based on the catheter requirement parameters, and a test force sensor capable of testing that size is selected based on the selected test catheter, thus facilitating subsequent use.

[0197] S4: Install the test conduit and test force sensor according to the test installation information.

[0198] The test installation information is used to install the test conduit and the test force sensor, which facilitates subsequent testing.

[0199] To further ensure the rationality of the installation of the test conduit and the test force sensor, it is necessary to perform further separate analysis and calculations on the installed test conduit and the test force sensor. The specific steps are explained in detail below.

[0200] Reference Figure 3 After installing the test conduit and the test force sensor, the following steps are also included:

[0201] S41: Collect the distance between the test catheters.

[0202] The catheter spacing distance refers to the actual distance between each test catheter. This distance is obtained by detecting a pre-set laser rangefinder.

[0203] S42: Retrieve the installation interval distance based on the required installation information.

[0204] The installation interval distance refers to the corresponding interval distance between each test conduit during installation.

[0205] The installation interval distance can be retrieved by using the installation requirements information, which facilitates subsequent use.

[0206] S43: Determine the interval deviation value by matching the conduit interval distance with the installation interval distance.

[0207] Among them, the interval deviation value refers to the deviation value corresponding to the existence of deviation in the interval distance.

[0208] The difference between the catheter spacing distance and the installation spacing distance corresponding to each test catheter is calculated, and the calculation result is used as the spacing deviation value for convenient subsequent use.

[0209] S44: Determine the reference deviation value based on the conduit installation method.

[0210] Among them, the method reference deviation value refers to the critical value that exists in the preset according to different catheter installation methods.

[0211] By inputting the catheter installation method into a preset installation method database, the reference deviation value of the method is obtained for easy subsequent use.

[0212] The installation method database pre-stores a table comparing different conduit installation methods with their corresponding baseline deviation values. The installation method database can be pre-set by the operator according to actual needs.

[0213] For example, when the catheter is installed using the preset concentric nesting installation method, the reference deviation value can be set to 0.2 mm. When the catheter is not installed using the preset concentric nesting installation method, the reference deviation value can be set to 2.5 mm.

[0214] S45: When the catheter installation method is the preset concentric nested installation method, and the interval deviation value is greater than the method reference deviation value, the abnormal deviation value shall be determined by referring to the interval deviation value and the method reference deviation value.

[0215] Among them, abnormal deviation value refers to the deviation value corresponding to the abnormal deviation of the interval deviation value.

[0216] When the catheter is installed in the preset concentric nested installation mode, and the interval deviation value is greater than the mode reference deviation value, the difference between the interval deviation value and the mode reference deviation value is calculated, and the calculation result is used as the abnormal deviation value for convenient subsequent use.

[0217] S46: Determine abnormal position adjustment information based on abnormal deviation values, and output abnormal position adjustment information to adjust the position of the test catheter.

[0218] Among them, abnormal position adjustment information refers to the control information corresponding to the installation and adjustment of abnormal conduits.

[0219] By inputting abnormal deviation values ​​into a preset abnormal deviation adjustment database to obtain abnormal position adjustment information and outputting abnormal position adjustment information, the preset robotic arm is controlled to adjust the position of the test guide tube, thereby improving the installation accuracy of the test guide tube.

[0220] The abnormal deviation adjustment database pre-stores a table that compares different abnormal deviation values ​​with their corresponding abnormal position adjustment information. The abnormal deviation adjustment database allows the operator to conduct experiments on different abnormal deviation values ​​in advance to obtain different adjustment parameters. The adjustment parameters are then organized into control information to obtain the abnormal position adjustment information corresponding to the abnormal deviation value before being stored.

[0221] To further ensure the validity of the abnormal position adjustment information output for adjusting the position of the test conduit, it is necessary to perform further separate analysis and calculation on the abnormal position adjustment information output for adjusting the position of the test conduit. The specific steps are explained in detail below.

[0222] After outputting abnormal position adjustment information to adjust the position of the test catheter, the following steps are also included:

[0223] S461: Vibration test conduits.

[0224] The test catheters are vibrated by a pre-set vibration device to facilitate subsequent testing.

[0225] S462: Collect vibration detection information of the test tube and the sensor location of the test force sensor.

[0226] Vibration detection information refers to the amplitude of vibration observed when the test conduit vibrates. This information can be acquired using a pre-set laser displacement sensor, a high-speed optical camera, or a vibration analyzer.

[0227] The sensor location point refers to the location of the force sensor after it is installed. The sensor location point is obtained by first establishing a reference coordinate system for the test platform, and then collecting the relative coordinates of the sensor.

[0228] S463: Retrieve vibration amplitude values ​​at each location based on vibration detection information.

[0229] Among them, the vibration amplitude value refers to the maximum displacement fluctuation of the test conduit at different positions along the vibration direction, extracted from the vibration detection information.

[0230] The maximum displacement fluctuation at each location is retrieved using vibration detection information and used as the vibration amplitude value for subsequent use.

[0231] S464: Determine the amplitude change based on the vibration amplitude value.

[0232] Among them, amplitude change refers to the dynamic trend corresponding to the change in vibration amplitude as position changes.

[0233] By calculating the change in vibration amplitude values ​​at each location according to the adjacent conditions of the locations, and then combining the change values ​​of each location, the amplitude change can be obtained for convenient subsequent use.

[0234] S465: Determine the position change value by combining the sensor position point and amplitude change.

[0235] The position change value refers to the change in amplitude at the sensor's position point.

[0236] By retrieving the change value corresponding to the sensor position point from the amplitude change data and using it as the position change value, it is convenient for subsequent use.

[0237] S466: Determine the range of variation for the type of catheter based on the required catheter type and size.

[0238] Among them, the range of variation of the type benchmark refers to the reasonable fluctuation range of the duct vibration amplitude.

[0239] By inputting the required catheter type and size into a preset baseline variation database, the baseline variation range of the type can be matched to facilitate subsequent use.

[0240] The baseline variation database pre-stores a table comparing different catheter requirement types and sizes with their corresponding baseline variation ranges. The baseline variation database collects and stores the baseline variation ranges for different catheter requirement types and sizes after the operator vibrates them.

[0241] S467: When the position change value is not within the category benchmark change range, the change deviation value shall be determined based on the position change value and the category benchmark change range.

[0242] Among them, the change deviation value refers to the deviation value corresponding to the position change value when there is a deviation.

[0243] When the position change value is not within the category benchmark change range, it indicates that position adjustment is required. Therefore, the difference between the position change value and the category benchmark change range is calculated, and the calculation result is used as the change deviation value for subsequent use.

[0244] S468: Determines the clamping adjustment value based on the change deviation value and outputs the clamping adjustment value to adjust the position of the test force sensor.

[0245] The clamping adjustment value refers to the adjustment value used to control the clamping installation of the test tube by the test force sensor.

[0246] By calculating the product between the variable deviation value and the preset clamping adjustment coefficient, and using the calculation result as the clamping adjustment value, the clamping adjustment value is output, thereby controlling the preset robotic arm to adjust the position of the test force sensor and improving the installation accuracy of the test force sensor.

[0247] The clamping adjustment coefficient is a coefficient used to convert the change deviation value into a clamping adjustment value. The clamping adjustment coefficient is preset by the operator according to actual needs.

[0248] S5: Push the test catheter using push control information and collect catheter test data.

[0249] Among them, catheter detection data refers to the quantitative information on the dynamic state of the catheter and its interaction with the environment. Catheter detection data includes real-time pushing force, displacement, deformation, vibration feedback, etc.

[0250] The test catheter is pushed out by pushing control information, and the catheter test data is collected to facilitate subsequent use.

[0251] S6: Generate test display data based on catheter detection data and output the test display data.

[0252] Among them, the test display data refers to the data corresponding to the display of test results.

[0253] By analyzing the catheter detection data, test display data is generated and output, making it easier to understand the test results.

[0254] To further ensure the reasonableness of the test display data, it is necessary to perform further separate analysis and calculation on the test display data, which will be explained in detail through the steps shown below.

[0255] Reference Figure 4 The test results show that the data generation method includes the following steps:

[0256] S61: Retrieve the real-time thrust value based on the catheter detection data.

[0257] Among them, the real-time thrust value refers to the instantaneous value of the pushing force on the catheter at the current moment, which is collected in real time by detection equipment such as axial force sensors during the test catheter pushing process.

[0258] The real-time thrust value can be retrieved by using the duct detection data, which is convenient for subsequent use.

[0259] S62: Generates a force curve and average force value based on the real-time thrust value.

[0260] Among them, the force curve is a visual curve plotted with time (or displacement) on the horizontal axis and real-time thrust value on the vertical axis. The average force value is the arithmetic mean of all real-time thrust values ​​within a specified time range or push phase.

[0261] By performing curve analysis on the real-time thrust values ​​according to the changes in time or displacement, a force value curve is obtained. The average value of each real-time thrust value is calculated, and the calculation result is used as the average force value for convenient subsequent use.

[0262] S63: Determine the influence value of interval deviation by referring to the interval deviation value.

[0263] Among them, the interval deviation impact value refers to the adjustment value corresponding to the impact of the interval deviation on the thrust situation, which requires adjustment.

[0264] The product of the interval deviation influence value and the preset interval deviation influence coefficient is calculated, and the calculation result is used as the interval deviation influence value for convenient subsequent use.

[0265] The interval deviation influence coefficient is a coefficient used to convert the interval deviation value into an interval deviation influence value. The interval deviation influence coefficient is preset by the operator according to actual needs.

[0266] S64: Determine the impact value of position change by combining the position change value.

[0267] Among them, the position change impact value refers to the adjustment value corresponding to the impact of position change on thrust, which requires adjustment.

[0268] The product of the position change value and the preset position change influence coefficient is calculated, and the calculation result is used as the position change influence value for convenient subsequent use.

[0269] The position change impact coefficient is a coefficient used to convert position change values ​​into position change impact values. The position change impact coefficient is preset by the operator based on actual needs.

[0270] S65: Determine the force value influence value based on the influence value of interval deviation and the influence value of position change.

[0271] Among them, the force influence value refers to the comprehensive adjustment value corresponding to the adjustment required when the thrust condition is affected.

[0272] The sum of the influence values ​​of interval deviation and position change is calculated, and the result is used as the force influence value for convenient subsequent use.

[0273] S66: Adjust the force curve and average force value based on the force influence value to generate an adjustment curve and average adjustment force value.

[0274] The adjustment curve refers to the curve corresponding to the force value curve after adjustment.

[0275] The average adjustment force value refers to the force value after adjusting the average force value.

[0276] The adjustment curve is obtained by calculating the product between the real-time thrust value and the force influence value on the force value curve, and then re-curving the curve based on the calculation results. Then, the product between the force influence value and the average force value is calculated, and the result is used as the average adjustment force value for subsequent use.

[0277] S67: Combine the adjustment curve with the average adjustment force value as test display data.

[0278] By combining the adjustment curve with the average adjustment force value as test display data, the accuracy of the obtained test display data is improved.

[0279] Based on the same inventive concept, this invention provides an interventional medical catheter pushing force testing device, including a memory and a processor. The memory stores a computer program, which can be loaded and executed by the processor as described above for an interventional medical catheter pushing force testing method.

[0280] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0281] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principle of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A method for testing the pushing force of an interventional medical catheter, characterized in that, include: S1: Requirements for collecting catheter test data; S2: Determine the catheter requirement parameters, test installation information, and push control information based on the catheter testing requirements; S3: Select multiple test catheters and corresponding test force sensors according to the catheter requirement parameters; S4: Install the test conduit and test force sensor according to the test installation information; S5: Push the test catheter using the push control information and collect catheter detection data; S6: Generate test display data based on the catheter detection data, and output the test display data; The methods for determining the catheter requirement parameters, the test installation information, and the push control information include: S21: Retrieve the test application scenario and test time point according to the catheter test requirements; S22: Determine the required catheter type, catheter size, and test location based on the test application scenario; S23: Determine the required pushing force and conduit installation method based on the test requirements; S24: Generate installation requirements information by combining the catheter installation method, the type of catheter required, and the required size of the catheter; S25: Generate time control information based on the test time point and the required push force at the location; S26: Combine the catheter requirement type with the catheter requirement size to obtain the catheter requirement parameters, and use the requirement installation information as the test installation information and the time control information as the push control information; The method for generating the installation requirement information includes: S241: When the catheter installation method is a preset concentric nested installation method, the relative position of the type is determined according to the type of catheter required; S242: Determine the relative position sorting value based on the relative position of the categories; S243: Sort the required catheter dimensions from smallest to largest according to the above requirements, and use the sorting result as the size sorting value; S244: Determine the size installation information based on the size sorting value; S245: When the size sorting value is consistent with the relative position sorting value, the size installation information is used as the required installation information.

2. The method for testing the pushing force of an interventional medical catheter according to claim 1, characterized in that, The method for generating the installation requirements information further includes: S2451: When the size sorting value is inconsistent with the relative position sorting value, the sorting deviation type is determined by combining the size sorting value and the relative position sorting value; S2452: Retrieve the deviation type size and adjacent deviation types according to the sorting deviation type, and define the required size of the conduit corresponding to the adjacent deviation type as the adjacent size; S2453: Determine the size deviation value based on the adjacent size and the size of the deviation type; S2454: Determine the category deviation benchmark value by referring to the adjacent categories of the aforementioned deviation; S2455: When all the dimensional deviation values ​​are less than the type deviation reference value, the relative installation information is determined based on the relative position sorting value, and the relative installation information is used as the required installation information.

3. The method for testing the pushing force of an interventional medical catheter according to claim 2, characterized in that, The method for generating the installation requirements information further includes: S2456: When the size deviation value is not less than the type deviation reference value, retrieve the value of each deviation type according to the sorted deviation type; S2457: Determine the number of selection values ​​based on the numerical values ​​of the aforementioned deviation types; S2458: Select the size deviation value with reference to the number selection value, and use the remaining size deviation value as the remaining deviation value; S2459: Determine the adjustment dimensions and installation information based on the selected deviation values; S245A: Determine the remaining installation information based on the remaining deviation value, combine the size adjustment installation information, the remaining installation information, and the relative installation information to form the required installation information, and replace the required catheter size with the adjusted size.

4. The method for testing the pushing force of an interventional medical catheter according to claim 1, characterized in that, The method for generating the installation requirements information further includes: S2411: When the catheter installation method is not the preset concentric nested installation method, the type interval distance and the required adjacent types are determined according to the type of catheter required; S2412: Determine the adjacent interval distance based on the distance between adjacent types and the type mentioned in the requirement; S2413: Determine the size interval distance with reference to the required dimensions of the catheter; S2414: Select an interval selection distance by combining the size interval distance and the adjacent interval distance; S2415: Determine adjacent interval installation information based on the adjacent types of the demand and the selected interval distance, and use the adjacent interval installation information as the demand installation information.

5. The method for testing the pushing force of an interventional medical catheter according to claim 1, characterized in that, After installing the test conduit and the test force sensor, the following is also included: S41: Collect the catheter spacing distance between each test catheter; S42: Retrieve the installation interval distance based on the installation requirements; S43: Determine the interval deviation value by matching the catheter interval distance with the installation interval distance; S44: Determine the reference deviation value based on the described catheter installation method; S45: When the catheter installation method is a preset concentric nested installation method, and the interval deviation value is greater than the method reference deviation value, the abnormal deviation value is determined by referring to the interval deviation value and the method reference deviation value. S46: Determine abnormal position adjustment information based on the abnormal deviation value, and output the abnormal position adjustment information to adjust the position of the test catheter.

6. The method for testing the pushing force of an interventional medical catheter according to claim 5, characterized in that, After outputting the abnormal position adjustment information to adjust the position of the test catheter, the method further includes: S461: Vibration test conduits; S462: Collect vibration detection information of the test tube and the sensor location of the test force sensor; S463: Retrieve the vibration amplitude values ​​at each location based on the vibration detection information; S464: Determine the amplitude change based on the vibration amplitude value; S465: Determine the position change value by combining the sensor position point with the amplitude change; S466: Determine the range of variation for the type of catheter required and the required catheter size; S467: When the position change value is not within the species reference change range, a change deviation value is determined based on the position change value and the species reference change range; S468: Determine the clamping adjustment value based on the change deviation value, and output the clamping adjustment value to adjust the position of the test force sensor.

7. The method for testing the pushing force of an interventional medical catheter according to claim 6, characterized in that, The method for generating the test display data includes: S61: Retrieve the real-time thrust value based on the catheter detection data; S62: Generate a force curve and average force value based on the real-time thrust value; S63: Determine the influence value of the interval deviation by referring to the aforementioned interval deviation value; S64: Determine the impact value of the position change based on the aforementioned position change value; S65: Determine the force value influence value based on the interval deviation influence value and the position change influence value; S66: Adjust the force curve and the average force value according to the force influence value to generate an adjustment curve and an average adjustment force value; S67: Combine the adjustment curve with the average adjustment force value to use as the test display data.

8. A device for testing the pushing force of interventional medical catheters, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed as described in any one of claims 1 to 7, a method for testing the pushing force of an interventional medical catheter.

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