Interventional consumable advancing control method and control system

Abstract

The invention provides an intervention consumable advancing control method and system, and the method comprises the steps: planning a first path of an intervention consumable in a vascular intervention operation in a preoperative image, the first path comprising a starting point and an ending point of an advancing path, a central line of a passing blood vessel, the diameter of the blood vessel, a bifurcation point of the blood vessel, and a vascular lesion position; registering a first path in the preoperative image in the intraoperative image to obtain a planned second path displayed in the intraoperative image displayed in real time; in the advancing process, advancing information of the intervention consumable is obtained; automatically controlling the interventional consumable to advance along a second path based on the advancing information of the interventional consumable; the advancing information of the interventional consumables comprises at least one of the following items: the deviation angle of the interventional consumables, the advancing speed of the interventional consumables, the advancing direction of the interventional consumables and the arriving position of the interventional ends of the interventional consumables. Based on the technical scheme provided by the invention, the safety of automatically controlling the intervention consumables to advance in the operation can be improved.

Description

Technical Field

[0001] This invention relates to the field of surgical robot-assisted technology, and in particular to a control method and control system for the movement of interventional consumables. Background Technology

[0002] With the development of surgical robot-assisted technology, vascular interventional surgery is becoming increasingly intelligent, and can be assisted by surgical software.

[0003] Typically, during vascular interventional surgery, doctors encounter various vascular conditions when inserting interventional consumables into a patient's blood vessels, such as bifurcation points and lesion locations. During the procedure, doctors mainly inject contrast agents into the blood vessels to observe their condition and rely on their sense of touch and experience with the interventional consumables to determine how to pass through the aforementioned locations.

[0004] However, the above methods typically require physicians to assess intraoperative images and the status of interventional consumables in real time during the procedure, making it impossible to precisely control the movement of the guidewire. Therefore, the large workload of manually controlling the guidewire during surgery and the excessive use of contrast agents result in low safety for interventional procedures involving manual control of interventional consumables. Summary of the Invention

[0005] To overcome the problems existing in related technologies, the present invention provides a control method and control system for the movement of interventional consumables.

[0006] According to a first aspect of the present invention, a method for controlling the movement of an interventional consumable is provided. The method includes: planning a first path of the interventional consumable in a vascular interventional procedure in a preoperative image, the first path including: a starting point and an ending point of the movement route, the centerline of the blood vessels traversed, the diameter of the blood vessels, the bifurcation point of the blood vessels, and the location of the vascular lesion; registering the first path in the preoperative image in an intraoperative image to obtain a planned second path displayed in a real-time intraoperative image; acquiring movement information of the interventional consumable during movement; and automatically controlling the interventional consumable to move along the second path based on the movement information of the interventional consumable; wherein the movement information of the interventional consumable includes at least one of the following: the offset angle of the interventional consumable, the movement speed of the interventional consumable, the movement direction of the interventional consumable, and the position reached by the interventional end of the interventional consumable; the offset angle is the angle between the interventional end of the interventional consumable and the centerline of the blood vessel in the second path.

[0007] Optionally, based on the travel information of the interventional consumable, automatically controlling the interventional consumable to travel along the second path includes: starting from the first position, automatically controlling the interventional consumable to travel along the second path to the second position in real time based on the travel information of the interventional consumable with an initial speed and an initial offset angle; and / or, starting from the second position, automatically controlling the interventional consumable to return to the first position along the second path in real time based on the travel information of the interventional consumable with an initial speed and an initial offset angle; wherein, the first position is the starting position of the second path, the second position is the ending position of the second path, the first position is the intervention position of the interventional consumable, or a position a first distance after the intervention position.

[0008] Optionally, based on the travel information of the interventional consumables, the interventional consumables are automatically controlled to travel along the second path, including: during the travel, if the offset angle of the interventional end of the interventional consumables exceeds a preset angle, the offset angle of the interventional end is automatically corrected; and / or, during the travel, if the travel speed of the interventional consumables exceeds a preset speed, the travel speed of the interventional end is automatically corrected; and / or, during the travel, if the distance between the interventional end and the target position is less than a first distance, at least one of the offset angle and travel speed of the interventional end is automatically corrected; wherein, the target position is the location of a vascular lesion or a vascular bifurcation point.

[0009] Optionally, if the distance between the interventional device and the target location is less than a first distance, at least one of the offset angle and travel speed of the interventional device is automatically corrected, including: if the travel direction of the interventional consumable is towards the target location and the interventional device is a first distance away from the target location, controlling the interventional consumable to reduce its travel speed to a first preset speed; if the travel of the interventional consumable passes through the range from a first distance before the target location to a first distance after the target location, controlling the interventional consumable to pass through at a constant speed of the first preset speed; if the travel direction of the interventional consumable is away from the target location and the distance between the interventional device and the target location is greater than the first distance, controlling the interventional consumable to increase its travel speed to a second preset speed; the second preset speed is greater than the first preset speed.

[0010] Optionally, the target location is a blood vessel bifurcation point, and the method further includes: when the distance between the interventional end and the blood vessel bifurcation point is less than a first distance, determining whether the direction of travel of the interventional consumable is towards the first branch; if the direction of travel of the interventional consumable is towards the first branch, then controlling the interventional consumable to continue moving forward; if the direction of travel of the interventional consumable is towards the second branch, then controlling the interventional consumable to adjust its direction of travel to the first branch and continue moving forward; wherein, the first branch is a branch planned for travel in the second path, and the second branch is not a branch planned for travel in the second path.

[0011] Optionally, the target location is a vascular bifurcation point. The method further includes: after the interventional consumables pass the vascular bifurcation point, determining whether the actual vascular branch traveled by the interventional consumables is consistent with the planned vascular branch; if the actual vascular branch traveled is consistent with the planned vascular branch, then controlling the interventional consumables to continue moving forward; if the actual vascular branch traveled is inconsistent with the planned vascular branch, then controlling the interventional consumables to stop moving forward and retreat to a second distance before the vascular bifurcation point, and controlling the interventional consumables to adjust its direction of travel towards the planned vascular branch before continuing to move forward.

[0012] Optionally, during the journey, if the distance between the interventional end and the target location is less than a first distance, at least one of the offset angle and the journey speed of the interventional end is automatically corrected, including: if the distance between the interventional end and the bifurcation point is less than the first distance, the journey speed of the interventional consumable is adjusted to be less than the first speed; if the distance between the interventional end and the vascular lesion location is less than the first distance, the journey speed of the interventional consumable is adjusted to be less than the second speed; if the distance between the interventional end and the bifurcation point is less than the first distance, the offset angle of the interventional consumable is adjusted to be less than the first angle; if the distance between the interventional consumable and the lesion location is less than the first distance, the offset angle of the interventional consumable is adjusted to be less than the second angle.

[0013] Optionally, based on the travel information of the interventional consumables, the interventional consumables are automatically controlled to travel along the second path, including: determining in real time whether the distance between the interventional consumables and the target position is less than a first distance; if it is less than the first distance, determining whether the offset angle and travel speed of the interventional consumables need to be adjusted; if the offset angle is greater than a first preset angle, adjusting the offset angle to be less than or equal to the first preset angle, wherein the first preset angle is less than the initial offset angle; and / or if the travel speed is greater than a first preset speed, adjusting the travel speed to be less than or equal to the first preset speed, wherein the first preset speed is less than the initial travel speed.

[0014] Optionally, the method further includes: if the number of target abnormalities detected exceeds a preset number during the automatic control intervention of the consumable along the second path, the automatic control is stopped and an abnormality prompt message is output.

[0015] According to a second aspect of the present invention, a control system for the movement of an interventional consumable is provided. The control system includes: a path planning module, a path registration module, a movement information acquisition module, and a movement control module. The path planning module is used to plan a first path for the interventional consumable in a vascular interventional procedure in a preoperative image. The first path includes: the starting point and ending point of the movement route, the centerline of the blood vessels traversed, the diameter of the blood vessels, the bifurcation points of the blood vessels, and the location of the vascular lesions. The path registration module is used to register the first path in the preoperative image in an intraoperative image to obtain a planned second path displayed in a real-time intraoperative image. The movement information acquisition module is used to acquire movement information of the interventional consumable during movement. The movement control module is used to automatically control the interventional consumable to move along the second path based on the movement information of the interventional consumable. The movement information of the interventional consumable includes at least one of the following: the offset angle of the interventional consumable, the movement speed of the interventional consumable, the movement direction of the interventional consumable, and the position reached by the interventional end of the interventional consumable. The offset angle is the angle between the interventional end of the interventional consumable and the centerline of the blood vessel in the second path.

[0016] Optionally, the travel control module is specifically used to: starting from the first position, automatically control the interventional consumable to travel along the second path to the second position in real time based on the travel information of the interventional consumable, with an initial speed and an initial offset angle; and / or, starting from the second position, automatically control the interventional consumable to return to the first position along the second path in real time based on the travel information of the interventional consumable, with an initial speed and an initial offset angle; wherein, the first position is the starting position of the second path, the second position is the ending position of the second path, the first position is the intervention position of the interventional consumable, or a position a first distance after the intervention position.

[0017] Optionally, the travel control module is specifically used to: automatically correct the offset angle of the interventional end of the interventional consumable if the offset angle exceeds a preset angle during travel; and / or automatically correct the travel speed of the interventional end if the travel speed of the interventional consumable exceeds a preset speed during travel; and / or automatically correct at least one of the offset angle and travel speed of the interventional end if the distance between the interventional end and the target position is less than a first distance during travel; wherein the target position is the location of a vascular lesion or a vascular bifurcation point.

[0018] Optionally, the travel control module is specifically used to: if the travel direction of the interventional consumable is towards the target position and the interventional end is a first distance away from the target position, control the interventional consumable to reduce its travel speed to a first preset speed; if the travel of the interventional consumable passes through the range from a first distance before the target position to a first distance after the target position, control the interventional consumable to pass through at a constant speed of the first preset speed; if the travel direction of the interventional consumable is away from the target position and the interventional end is greater than the first distance away from the target position, control the interventional consumable to increase its travel speed to a second preset speed; the second preset speed is greater than the first preset speed.

[0019] Optionally, the target location is a blood vessel bifurcation point, and the travel control module is further configured to: determine whether the travel direction of the interventional consumable is towards the first branch when the distance between the interventional end and the blood vessel bifurcation point is less than a first distance; if the travel direction of the interventional consumable is towards the first branch, then control the interventional consumable to continue moving forward; if the travel direction of the interventional consumable is towards the second branch, then control the interventional consumable to adjust its travel direction to be towards the first branch and then continue moving forward; wherein, the first branch is the planned travel branch in the second path, and the second branch is not the planned travel branch in the second path.

[0020] Optionally, the target location is a vascular bifurcation point, and the travel control module is further configured to: after the interventional consumables pass the vascular bifurcation point, determine whether the actual vascular branch traveled by the interventional consumables is consistent with the planned vascular branch; if the actual vascular branch traveled is consistent with the planned vascular branch, control the interventional consumables to continue moving forward; if the actual vascular branch traveled is inconsistent with the planned vascular branch, control the interventional consumables to stop moving forward and retreat to a second distance before the vascular bifurcation point, and control the interventional consumables to adjust its travel direction toward the planned vascular branch before continuing to move forward.

[0021] Optionally, the travel control module is specifically used to: adjust the travel speed of the interventional consumable to be less than the first speed if the distance between the interventional end and the bifurcation point is less than the first distance; adjust the travel speed of the interventional consumable to be less than the second speed if the distance between the interventional end and the bifurcation point is less than the first distance; adjust the offset angle of the interventional consumable to be less than the first angle if the distance between the interventional consumable and the lesion point is less than the first distance; and adjust the offset angle of the interventional consumable to be less than the second angle if the distance between the interventional consumable and the lesion point is less than the first distance.

[0022] Optionally, the travel control module is specifically used to: determine in real time whether the distance between the interventional consumable and the target position is less than a first distance; if it is less than the first distance, determine whether the offset angle and travel speed of the interventional consumable need to be adjusted; if the offset angle is greater than a first preset angle, adjust the offset angle to be less than or equal to the first preset angle, wherein the first preset angle is less than the initial offset angle; and / or if the travel speed is greater than a first preset speed, adjust the travel speed to be less than or equal to the first preset speed, wherein the first preset speed is less than the initial travel speed.

[0023] Optionally, the travel control module is also used to: if the number of target abnormalities detected exceeds a preset number during the automatic control intervention of the consumable along the second path, stop the automatic control and output an abnormality prompt message.

[0024] According to a third aspect of the present invention, a control device for the movement of an interventional consumable is provided, comprising: a processor; and a memory for storing processor-executable instructions; wherein the processor is configured to: plan a first path of the interventional consumable in a vascular interventional procedure in a preoperative image, the first path including: a starting point and an ending point of the movement route, the centerline of the blood vessels traversed, the diameter of the blood vessels, the bifurcation point of the blood vessels, and the location of the vascular lesion; register the first path in the preoperative image in an intraoperative image to obtain a planned second path displayed in a real-time intraoperative image; acquire movement information of the interventional consumable during movement; and automatically control the interventional consumable to move along the second path based on the movement information of the interventional consumable; wherein the movement information of the interventional consumable includes at least one of the following: the offset angle of the interventional consumable, the movement speed of the interventional consumable, the movement direction of the interventional consumable, and the position reached by the interventional end of the interventional consumable; the offset angle is the angle between the interventional end of the interventional consumable and the centerline of the blood vessel in the second path.

[0025] According to a fourth aspect of the present invention, a readable storage medium is provided, on which a program or instructions are stored, which, when executed by a processor, implement the steps of the control method for the movement of interventional consumables as described in the first aspect.

[0026] According to a fifth aspect of the present invention, a chip is provided, the chip including a processor and a communication interface, the communication interface and the processor being coupled, the processor being used to run a program or instructions to implement the control method for the movement of interventional consumables as described in the first aspect.

[0027] The technical solutions provided by the embodiments of the present invention may include the following beneficial effects:

[0028] In this invention, the control system first plans the first path of the interventional consumables during vascular interventional surgery in preoperative images, registers the first path in the preoperative images with the intraoperative images, and obtains the planned second path displayed in the real-time intraoperative images. Then, based on the movement information of the interventional consumables, the system automatically controls the interventional consumables to move along the planned path. Because the control system plans the movement path of the interventional consumables in advance and obtains the starting and ending points of the movement route, the centerline of the blood vessels passed through, the diameter of the blood vessels, the bifurcation points of the blood vessels, and the location of vascular lesions, the control system does not need to determine the vascular condition during the operation. Therefore, the time for the control system to automatically control the movement of the interventional consumables can be shortened, which can reduce the safety risks caused by excessive operation time and minimize the adverse effects of the interventional process on the patient's body, such as reducing the radiation received by the doctor in the captured images. Furthermore, the control system can acquire the movement information of the interventional consumables during the procedure and automatically control their movement based on this information. It can automatically decide whether to proceed and how to control the movement, avoiding the need for doctors to inject contrast agents into the patient's blood vessels in complex areas such as vascular branches or lesion areas, thus reducing the patient's physical burden. The control system can accurately quantify the movement state of the interventional consumables based on their movement information. It can determine the status of the consumables in real time based on the offset angle of the interventional end, the movement speed, the direction of movement, and the position reached by the interventional end. In other words, the control system can control the movement of the interventional consumables from multiple perspectives, improving the accuracy and safety of automatic control. Therefore, it can reduce the workload of doctors, reduce or even avoid radiation damage to doctors from imaging equipment, reduce the frequency of contrast agent use, and thus reduce the harm of contrast agents to patients, improving the overall safety of robotic surgery.

[0029] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this specification. Attached Figure Description

[0030] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this specification and, together with the description, serve to explain the principles of this specification.

[0031] Figure 1 A flowchart of a control method for the movement of interventional consumables provided by the present invention.

[0032] Figure 2 This is a schematic diagram of the offset angle of an interventional consumable provided by the present invention.

[0033] Figure 3 This is a schematic diagram of a guidewire tip near the starting point (end point) provided by the present invention.

[0034] Figure 4 A flowchart of another control method for the movement of interventional consumables provided by the present invention.

[0035] Figure 5 A flowchart of another control method for the movement of interventional consumables provided by the present invention.

[0036] Figure 6 This is a schematic diagram of a blood vessel bifurcation region provided by the present invention.

[0037] Figure 7 This is a hardware structure diagram of the computer device containing the control system for the movement of interventional consumables provided by the present invention.

[0038] Figure 8 This invention provides a block diagram of a control system for the movement of interventional consumables. Detailed Implementation

[0039] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this specification. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this specification as detailed in the appended claims.

[0040] The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of this specification. The singular forms “a,” “the,” and “the” as used in this specification and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0041] It should be understood that although the terms first, second, third, etc., may be used in this specification to describe various information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this specification, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0042] The present invention will now be described in detail.

[0043] like Figure 1 As shown, Figure 1 This is a flowchart of a control method for the movement of interventional consumables provided by the present invention, including the following steps 100 to 103:

[0044] Step 100: The control system plans the first path of the interventional consumables in the vascular interventional procedure based on the preoperative images.

[0045] The first path includes: the starting and ending points of the route, the centerline of the blood vessel, the diameter of the blood vessel, the bifurcation of the blood vessel, and the location of the vascular lesion.

[0046] It can be understood that the starting point and ending point of the travel route are the starting point and ending point of the guidewire travel, and the starting point and ending point of the non-vascular travel route. Specifically, the starting point of the travel route is usually the puncture point, or it can also be a preset starting point, and the ending point of the travel route is usually the treatment point, or it can also be a preset ending point.

[0047] For example, the location of the vascular lesion can be a plaque area or a stenotic area.

[0048] Specifically, when planning a path, the feature points included in the first path can be marked.

[0049] Optionally, in this embodiment, the marked position can be the position automatically marked by the control system based on preoperative images, or the position manually marked by the doctor in the planned travel path in the control system. The present invention does not specifically limit this.

[0050] For example, the preoperative images can be CTA (Computed Tomography Angiography) images or MRA (Magnetic Resonance Angiography) images, or preoperative images obtained by other technologies. The present invention does not specifically limit them.

[0051] Typically, the control system can read preoperative images and segment the vascular images in the preoperative images based on image segmentation methods in related technologies. Preoperative images can be automatically uploaded to the control system by the imaging device that captured them, or they can be manually uploaded, for example, by a doctor uploading preoperative images via an external mobile device. Preoperative images can be captured by devices with different parameters; that is, the preoperative images to be segmented used by the control system are not limited in image resolution or imaging device, and this invention does not impose specific limitations in this regard.

[0052] Specifically, the control system can acquire feature nodes from preoperative vascular images to plan a first path. These feature nodes include: the interventional location of the interventional consumables, vascular bifurcation points, vascular lesion areas, and the starting and ending positions of the interventional consumables' automatic movement. Feature nodes can include those determined by automatic analysis of the vascular images and those determined by the control system based on the doctor's input commands. The doctor can also set other types of feature nodes in the control system as needed. Furthermore, the control system can search for feature nodes in the vascular images based on the feature information of the newly added feature nodes; this invention does not specifically limit this.

[0053] For example, the control system can automatically plan the path of the guidewire or catheter in the blood vessels during the operation based on the distribution and feature nodes of blood vessels in the angiography images or images obtained from magnetic resonance angiography.

[0054] After the control system segments the blood vessels in the preoperative images, if manual planning is required, the doctor can manually mark the interventional device's location, arrival location, and blood vessel bifurcation points in the control system, connecting the various feature nodes between the interventional and arrival locations to plan the device's path. For example, after the control system automatically marks the location of the vascular lesion, the user can also adjust the marking position, add or remove marked vascular lesion locations as needed.

[0055] Optionally, in this invention, the interventional consumable can be a catheter, a guidewire, or a stent, etc.

[0056] Step 101: The control system registers the first path in the preoperative image with the intraoperative image to obtain the planned second path displayed in the real-time intraoperative image.

[0057] It is understandable that preoperative path planning and real-time registration during surgery can improve the efficiency of path planning, reduce the time wasted on planning during surgery, and lower the risk to patients during surgery.

[0058] For example, in this invention, the intraoperative images displayed on the intraoperative display screen are dynamically changing. The second path displayed during the operation is updated in real time as the corresponding blood vessel position in the real-time intraoperative image is updated. For example, if the real-time intraoperative image displays the image at the first position, the control system can display the planned path portion corresponding to the second path in real time at the first position.

[0059] Step 102: During the movement, the control system acquires the movement information of the intervention consumables.

[0060] Step 103: Based on the movement information of the interventional consumables, the control system automatically controls the interventional consumables to move along the second path.

[0061] The travel information of the interventional consumables includes at least one of the following: the offset angle of the interventional consumables, the travel speed of the interventional consumables, the travel direction of the interventional consumables, and the position reached by the interventional end of the interventional consumables; the offset angle is the angle between the interventional end of the interventional consumables and the center line of the blood vessel in the second path.

[0062] For example, Figure 2 This is a schematic diagram illustrating an offset angle provided by the present invention. (See diagram below.) Figure 2 As shown, the curve represents the guidewire, the dashed line represents the planned path, L1 represents the direction vector of the planned path, L2 represents the tangential direction of the guidewire interventional end, and the offset angle of the interventional end of the interventional consumable in the blood vessel is the angle α between L1 and L2.

[0063] It is understood that the control system can automatically move forward to the target position based on the movement information of the interventional consumables, or it can retreat from the target position to the interventional position. This invention does not specifically limit this.

[0064] It should be noted that in this invention, since the control system can automatically control the movement of interventional consumables, the use of contrast agents can be reduced or eliminated during the procedure.

[0065] For example, the control system for the movement of interventional consumables may include an autonomous decision-making module and an autonomous decision-making communication module. These modules can be part of the vascular interventional surgical robot or separate modules. The autonomous decision-making module issues motion control commands to correct the movement state of the interventional consumables based on the planned real-time pose of the head end. The autonomous decision-making communication module forwards the commands issued by the autonomous decision-making module to the slave end of the vascular interventional robot. The slave end of the vascular interventional robot controls the movement of the interventional consumables according to the planned path and the correction commands.

[0066] In the control method for the movement of interventional consumables provided by this invention, firstly, the control system can plan a first path for the interventional consumables during vascular interventional surgery in preoperative images, register the first path in the preoperative images in intraoperative images, and obtain a second path displayed in real-time intraoperative images. Then, based on the movement information of the interventional consumables, the control system automatically controls the interventional consumables to move along the planned path. Because the control system plans the movement path of the interventional consumables in advance before the operation, and obtains the starting and ending points of the movement route, the centerline of the blood vessels passed through, the diameter of the blood vessels, the bifurcation points of the blood vessels, and the location of vascular lesions, the control system does not need to determine the vascular condition during the operation. Therefore, the time for the control system to automatically control the movement of the interventional consumables can be shortened, which can reduce the safety risks caused by excessive operation time and minimize the adverse effects of the interventional process on the patient's body, such as reducing the radiation received by the patient in the captured images. Furthermore, the control system can acquire the movement information of the interventional consumables during the procedure and automatically control their movement based on this information. It can automatically decide whether to proceed and how to control the movement, avoiding the need for doctors to inject contrast agents into the patient's blood vessels in complex areas such as vascular branches or lesion areas, thus reducing the workload of doctors and the physical burden on patients. Based on the movement information of the interventional consumables, the control system can accurately quantify their movement state. It can determine the status of the interventional consumables in real time based on the offset angle of the interventional end, the movement speed, the direction of movement, and the position reached by the interventional end. In other words, the control system can control the movement of the interventional consumables from multiple perspectives, improving the accuracy and safety of automatic control. Therefore, it can reduce the workload of doctors, reduce or even avoid radiation damage to doctors from imaging equipment, reduce the frequency of contrast agent use, and thus reduce the harm of contrast agents to patients, thereby improving the overall safety of robotic surgery.

[0067] Optionally, in the control method for the movement of interventional consumables provided by the present invention, step 103 above may specifically include at least one of the following steps: 103a1 and 103a2.

[0068] Step 103a1: Starting from the first position, the control system automatically controls the interventional consumable to travel along the second path to the second position in real time based on the travel information of the interventional consumable with an initial speed and an initial offset angle.

[0069] Wherein, the first position is the starting position of the second path, the second position is the ending position of the second path, the first position is the intervention position of the intervention consumable, or the position a first distance after the intervention position.

[0070] It is understood that in this invention, the first position is an automatically controlled position, which can be the interventional position or the initial automatically controlled position after the interventional consumable has been manually pushed a certain distance into the blood vessel.

[0071] It should be noted that after the control system starts automatic control, it begins to control the movement of the interventional consumables with an initial speed and an initial offset angle. During the movement, the movement of the interventional consumables is automatically adjusted based on the movement information.

[0072] For example, when the guidewire tip is detected to be near the starting point (i.e., a fixed length of blood vessel before the starting point), the control system issues a start-to-go command to control the guidewire to begin moving. When the guidewire tip is detected to be near the ending point (i.e., a fixed length of blood vessel before the ending point), the control system issues a stop-to-go command.

[0073] Figure 3 This is a schematic diagram illustrating the guidewire tip near the starting (ending) point, as provided by the present invention. Figure 3 As shown, the distance between the guidewire tip and the starting point (end point) on the horizontal axis is less than d / 2, and the vertical axis is less than the diameter of the blood vessel at the starting point (end point). This determines that the guidewire tip has reached the vicinity of the starting point (end point). d is the minimum distance that the control system determines has reached the starting point (end point).

[0074] Step 103a2: Starting from the second position, the control system automatically controls the interventional consumable to return to the first position along the second path based on the real-time travel information of the interventional consumable with an initial speed and an initial offset angle.

[0075] Specifically, the control system can automatically control the interventional consumables to move to the target location after they are inserted into the blood vessel, and it can also automatically control the interventional consumables to return to the interventional position after the surgery is completed at the target location.

[0076] Based on this scheme, the control system can automatically control the interventional consumables to move from the planned first position to the second position, or it can automatically control the interventional consumables to retreat back to the first position along the second position. That is, it can automatically control the movement only when moving forward, only when moving backward, or it can automatically control the movement throughout the entire process, making the control method flexible.

[0077] Optionally, in the control method for the movement of interventional consumables provided by the present invention, such as Figure 4 As shown, step 103 above may include at least one of the following steps: 103b1, 103b2, and 103b3:

[0078] Step 103b1: During the process, if the offset angle of the intervention end of the intervention consumable exceeds the preset angle, the control system will automatically correct the offset angle of the intervention end.

[0079] For example, due to the complex conditions in the blood vessels and the influence of blood flow velocity, the interventional end of the interventional consumable may be displaced. If the displacement angle is too large, it may puncture the blood vessel wall. Therefore, the control system can correct the displacement angle of the interventional end in real time to reduce the probability of puncture.

[0080] Step 103b2: During the process, if the speed of the intervention consumable exceeds the preset speed, the speed of the intervention end will be automatically corrected.

[0081] For example, due to the complex conditions in blood vessels and the influence of blood flow velocity, the speed of the interventional consumable tip may change. If it is too slow, the operation time will be longer, and if it is too fast, the blood vessel wall may be punctured. If the speed of the interventional consumable tip is too fast, there may be risks such as puncturing blood vessels, accidentally touching lesions that are not prepared to be treated, or the patient's body may not be able to adapt and the condition may be aggravated. Therefore, the control system can correct the speed of the interventional tip in real time to reduce the occurrence of the above situations.

[0082] Step 103b3: During the journey, if the distance between the intervention end and the target position is less than the first distance, then automatically correct at least one of the offset angle and the journey speed of the intervention end.

[0083] The target location is either the location of a vascular lesion or a vascular bifurcation point.

[0084] It is understood that the target location is a complex area. When passing through this location, staff usually need to operate with caution to avoid entering the lesion area or going to the wrong blood vessel branch. Therefore, in this invention, the operating system can automatically correct the deviation angle of the intervention end to be smaller and the travel speed to be slower when it is about to reach the target location, so as to safely and accurately pass through the complex area.

[0085] For example, if the distance between the guidewire and the narrow area in the planned path is less than 5 centimeters, the control system can start adjusting the guidewire's offset angle to keep the guidewire in the center of the blood vessel and parallel to the center line of the blood vessel, avoiding passing through the outer wall of the blood vessel.

[0086] Specifically, during the movement of the interventional consumable, the control system can perform at least one of the following actions in real time: (1) obtain the offset angle of the interventional end of the interventional consumable; (2) obtain the distance between the interventional end of the interventional consumable and the target position; (3) obtain the movement direction of the interventional consumable; (4) obtain the movement speed of the interventional consumable.

[0087] For example, the distance between the interventional end and the target location is the straight-line distance between the endpoint of the interventional end and the target location.

[0088] Optionally, the control system can perform the above-mentioned state parameter acquisition operation in real time during the operation, or it can perform the above-mentioned state parameter acquisition operation periodically. The present invention does not specifically limit this.

[0089] Optionally, during the process of intervening in the consumables, any one of the above target operations, any two of the above operations, or all three of the above operations can be performed. In the case of performing any two of the above operations or performing all three of the above operations, the order of execution can be limited or not. This invention does not make specific limitations in this regard.

[0090] Based on this scheme, during the movement of the interventional consumables, the control system can acquire at least one of the following movement information in real time: the offset angle of the interventional end, the distance between the interventional end and the target position, the direction of movement of the interventional consumables, and the speed of movement of the interventional consumables. This allows for a precise determination of the current state of the interventional consumables, enabling accurate assessment of whether it is necessary to automatically correct at least one of the offset angle or speed of the interventional end. This improves the accuracy of the control system and, consequently, enhances the safety performance of surgeries performed using interventional robots.

[0091] Optionally, in the control method for the movement of interventional consumables provided by the present invention, step 103b3 above may include any one of steps 301 to 303:

[0092] Step 301: If the direction of travel of the interventional consumable is towards the target position and the interventional end is a first distance away from the target position, the control system controls the interventional consumable to reduce its travel speed to a first preset speed.

[0093] Step 302: If the interventional consumable travels within the range of the first distance before the target position to the first distance after the target position, the control system controls the interventional consumable to pass through at a uniform speed of the first preset speed.

[0094] Step 303: If the direction of travel of the interventional consumable is away from the target position, and the distance between the interventional end and the target position is greater than the first distance, the control system controls the interventional consumable to increase its travel speed to the second preset speed.

[0095] The first preset speed is less than the second preset speed.

[0096] During the control of interventional consumables by the control system, when traversing complex areas, it should be noted that the type of complex area can be defined by the operator according to different surgical needs. For example, it could be an area with many vascular bifurcations or an area with lesions. Furthermore, the range of the complex area can be determined based on two benchmarks: the target location and a first distance. The area within the first distance before and after the target location is considered the complex area. Of course, the specific value of the first distance can also be set according to the specific conditions of different areas. Before reaching the complex area, the travel speed is reduced to a first preset speed, and then the device passes through the complex area at a constant speed to improve the safety of the interventional consumables when traversing the complex area. After safely passing through the complex area, the travel speed can be increased to a second preset speed to continue. This allows for more precise speed control, effectively balancing operational and surgical efficiency while ensuring safety. Moreover, it should be understood that the values ​​of the first and second preset speeds are not restrictive; those skilled in the art can set them according to actual surgical needs.

[0097] It should be noted that the control system can acquire movement information in real time or periodically during the movement of the intervention consumable. The control system can determine in real time or periodically whether the offset angle of the intervention end is greater than a preset angle, whether the movement speed of the intervention consumable is greater than a preset speed, and whether the distance between the intervention consumable and the target position in the planned path is less than a first distance, at least one of these conditions.

[0098] Based on this scheme, the control system can output prompts based on at least one of the following as the interventional consumable travels along the planned path: the offset angle of the interventional end, the travel speed, and the distance to the target position. This prompts the doctor to adjust or maintain the operation status. In other words, the control system can provide prompts to the doctor from different angles of travel information, making the prompts during the operation more flexible and safer.

[0099] Optionally, in the control method for the movement of interventional consumables provided by the present invention, step 103b3 above may include steps 304 and 305, or steps 304 and 306:

[0100] Step 304: If the distance between the interventional end and the bifurcation point of the blood vessel is less than the first distance, the control system determines whether the direction of travel of the interventional consumable is towards the first branch.

[0101] Step 305: If the direction of travel of the interventional consumable is towards the first branch, then control the interventional consumable to continue moving forward.

[0102] Step 306: If the direction of travel of the interventional consumable is towards the second branch, then control the interventional consumable to adjust its direction of travel towards the first branch and continue to move forward.

[0103] The first branch is the planned branch in the second path, while the second branch is not the planned branch in the second path.

[0104] Based on this scheme, the control system can determine whether the current direction of travel is towards the correct blood vessel branch when the interventional consumable is close to the bifurcation area. If it is towards the correct blood vessel branch, it can control the device to continue moving forward. If it is towards the wrong blood vessel branch, it can adjust the offset angle of the interventional end in advance to adjust the direction of travel in order to avoid entering the wrong blood vessel branch.

[0105] Optionally, in another method for controlling the movement of interventional consumables provided by the present invention, when the target location is a blood vessel bifurcation point, step 103b3 may further include steps 307 and 308, or steps 307 and 309:

[0106] Step 307: After the interventional consumables pass the vascular bifurcation point, the control system determines whether the actual vascular branch traveled by the interventional consumables is consistent with the planned vascular branch.

[0107] Step 308: If the actual vascular branch being traversed matches the planned vascular branch, the control system will control the interventional consumables to continue advancing.

[0108] Step 309: If the actual vascular branch being traveled is inconsistent with the planned vascular branch, the control system controls the interventional consumable to stop moving forward and retreat to the second distance before the vascular bifurcation point, and controls the interventional consumable to adjust its direction of travel toward the planned vascular branch before continuing to move forward.

[0109] Based on this scheme, the control system can determine whether the interventional consumable has taken the wrong vascular branch after passing the bifurcation point. By judging whether the vascular branch where the current actual travel path is located is consistent with the planned vascular branch, if they are inconsistent, the control system can control the interventional consumable to stop moving forward and retreat to the position before the vascular bifurcation point. Then, the travel offset angle is adjusted to adjust the travel direction to the correct vascular branch. This makes the control system more precise and flexible in controlling the movement of the interventional consumable during the operation.

[0110] For example, when the guidewire enters the bifurcation region, the autonomous decision-making system issues a command to reduce the guidewire's forward speed. The autonomous decision-making module estimates the guidewire's movement direction based on the guidewire tip's pose. If the guidewire tip's tangential direction deviates from the planned path and is biased towards the wrong vascular branch, the guidewire tip's direction is adjusted by rotation to reduce the probability of the guidewire entering the wrong branch. When the guidewire tip enters the wrong vascular bifurcation, and the closest distance from the guidewire tip to the planned path is greater than the radius of the vessel at the bifurcation point, the autonomous decision-making module issues a retraction command to control the guidewire's retreat, then issues a rotation command to adjust the guidewire tip's pose, and finally issues a movement command to control the guidewire's forward movement. When the guidewire tip passes through the bifurcation, the autonomous decision-making module issues a command to increase the guidewire's forward speed.

[0111] Figure 6 This invention provides a schematic diagram of a vascular bifurcation region. The shortest distance (d) between the guidewire tip and the centerline of the correct blood vessel is taken, and the diameter of the vessel at the point of the shortest distance is taken (D). If d > k * D, the guidewire is determined to be on the wrong path, where k is an integer greater than 0 and less than 1. k is a correction coefficient, which can be set based on the number of vascular bifurcations and the bifurcation angle between adjacent vessels. Specifically, the more vascular bifurcations, the smaller the correction coefficient k; the fewer vascular bifurcations, the larger the correction coefficient k; the larger the bifurcation angle between adjacent vessels, the larger the correction coefficient k; and the smaller the bifurcation angle between adjacent vessels, the smaller the correction coefficient k. Based on this method of setting the correction coefficient, not only can the guidewire be effectively guided into the planned vascular branch, but adjustments to the guidewire tip can also be minimized, thereby effectively improving surgical efficiency.

[0112] Optionally, in the control method for the movement of interventional consumables provided by the present invention, step 103b3 specifically includes at least one of the following steps 310 to 313:

[0113] Step 310: If the distance between the intervention end and the bifurcation point is less than the first distance, the control system adjusts the travel speed of the intervention consumables to be less than the first speed.

[0114] Step 311: If the distance between the interventional end and the vascular lesion is less than the first distance, the control system adjusts the travel speed of the interventional consumables to be less than the second speed.

[0115] It should be noted that the first speed and the second speed can be different or the same, and can be set according to the actual situation. This invention does not impose any specific limitations on this.

[0116] For example, when the bifurcation angle at the bifurcation point is within a first angle range, the first speed can be set to speed 1. When the bifurcation angle at the bifurcation point is within a second angle range, the first speed can be set to speed 2. The angles included in the first angle range are smaller than those included in the second angle range. When the angle range is small, it is easy to enter the wrong bifurcation, so speed 1 is set to be less than speed 2. As another example, when the lesion condition at the lesion location meets lesion degree 1, the first speed can be set to speed 3. When the lesion condition at the lesion location meets lesion degree 2, the first speed can be set to speed 4. The first lesion degree 1 is less than the second lesion degree 2, and speed 3 is greater than speed 4.

[0117] Step 312: If the distance between the intervention end and the bifurcation point is less than the first distance, the control system adjusts the offset angle of the intervention consumables to be less than the first angle.

[0118] Step 313: If the distance between the interventional end and the vascular lesion is less than the first distance, the control system adjusts the offset angle of the interventional consumables to be less than the second angle.

[0119] Similarly, the first angle and the second angle can be different or the same, and can be set according to the actual situation. This invention does not make any specific limitations on this.

[0120] Based on this scheme, when the interventional end is close to target locations with different characteristics, the control system can adjust the angle or speed of the interventional consumables according to the characteristics of the target location, which can flexibly cope with blood vessels in various complex environments, thereby improving the accuracy of interventional consumables control.

[0121] Optionally, in the control method for the movement of interventional consumables provided by the present invention, such as Figure 5 As shown, step 103 may further include steps 314 to 317 as follows:

[0122] Step 314: The control system determines in real time whether the distance between the intervention consumable and the target position is less than the first distance.

[0123] Step 315: When the distance is less than the first distance, the control system begins to determine whether the offset angle and travel speed of the intervention consumable need to be adjusted.

[0124] Step 316: If the offset angle is greater than the first preset angle, the control system adjusts the offset angle to be less than or equal to the first preset angle.

[0125] The first preset angle is smaller than the initial offset angle.

[0126] Step 317: If the travel speed is greater than the first preset speed, the control system adjusts the travel speed to be less than or equal to the first preset speed.

[0127] The first preset speed is less than the initial travel speed.

[0128] It should be noted that steps 316 and 317 above are not sequential; one can be executed first and the other later, or they can be executed simultaneously. This invention does not impose any specific limitations on this.

[0129] Based on this scheme, when the automatic control system is in operation, it can control the movement of the interventional consumables according to the initial offset angle and initial travel speed when it detects that the target area is not approached. When it detects that the target area is approached, it starts to adjust the offset angle and travel speed so that the interventional consumables can safely pass through complex areas.

[0130] Optionally, in the control method for the movement of interventional consumables provided by the present invention, step 103 may further include the following step 318:

[0131] Step 318: If the control system detects an abnormality in the target more than a preset number of times during the automatic control intervention of the consumable along the second path, it will stop the automatic control and output an abnormality prompt message.

[0132] Among them, the abnormal prompt information can be used to prompt users to manually control or adjust the device parameters.

[0133] For example, if the tip of the interventional consumable enters the wrong blood vessel branch more than a preset number of times, such as more than three times, the control system will stop automatic control. At this point, the doctor can manually control the device or adjust the device parameters to restart automatic control. This makes the control system more precise and safer. It should be noted that in this invention, the doctor can also actively perform manual control at any time during the automatic control process as needed, and can also trigger the control system to resume automatic control at any time after manual control.

[0134] Based on this scheme, if the control system determines that the abnormal frequency is too high during the automatic control process, the control system can prompt the doctor to make adjustments, thereby improving the safety and flexibility of automatic control.

[0135] Corresponding to the embodiments of the foregoing methods, this specification also provides embodiments of the apparatus and the terminal to which it is applied.

[0136] The embodiments of the control system for the movement of consumables described in this specification can be applied to computer equipment, such as servers or terminal devices. The device embodiments can be implemented through software, hardware, or a combination of both. Taking software implementation as an example, as a logical device, it is formed by a processor that processes the file, loading the corresponding computer program instructions from non-volatile memory into memory for execution. From a hardware perspective, such as... Figure 7The diagram shown is a hardware structure diagram of the computer device housing the control system for the movement of consumables according to the present invention. (Except for...) Figure 7 In addition to the processor 710, memory 730, network interface 720, and non-volatile memory 740 shown, the server or electronic device where the device 731 is located in the embodiment may also include other hardware depending on the actual function of the computer device, which will not be described in detail here.

[0137] like Figure 8 As shown, Figure 8 This is a block diagram of a control system 800 for the movement of interventional consumables provided by the present invention. The control system 800 includes: a path planning module 801, a path registration module 802, a movement information acquisition module 803, and a movement control module 804. The path planning module 801 is used to plan a first path for the interventional consumables during vascular interventional surgery in preoperative images. The first path includes: the starting point and ending point of the movement route, the centerline of the blood vessels traversed, the diameter of the blood vessels, the bifurcation points of the blood vessels, and the location of the vascular lesions. The path registration module 802 is used to register the path information in the preoperative images with the path information in the intraoperative images. The first path is used to obtain the planned second path displayed in the real-time intraoperative images; the travel information acquisition module 803 is used to acquire the travel information of the interventional consumable during the travel process; the travel control module 804 is used to automatically control the interventional consumable to travel along the second path in real time based on the travel information of the interventional consumable; wherein, the travel information of the interventional consumable includes at least one of the following: the offset angle of the interventional consumable, the travel speed of the interventional consumable, the travel direction of the interventional consumable, and the position reached by the interventional end of the interventional consumable; the offset angle is the angle between the interventional end of the interventional consumable and the center line of the blood vessel in the second path.

[0138] Optionally, the travel control module 804 is specifically configured to: starting from the first position, automatically control the interventional consumable to travel along the second path to the second position in real time based on the travel information of the interventional consumable with an initial speed and an initial offset angle; and / or, starting from the second position, automatically control the interventional consumable to return to the first position along the second path in real time based on the travel information of the interventional consumable with an initial speed and an initial offset angle; wherein, the first position is the starting position of the second path, the second position is the ending position of the second path, the first position is the intervention position of the interventional consumable, or a position a first distance after the intervention position.

[0139] Optionally, the travel control module 804 is specifically used to: automatically correct the offset angle of the interventional end of the interventional consumable if the offset angle exceeds a preset angle during travel; and / or automatically correct the travel speed of the interventional end if the travel speed of the interventional consumable exceeds a preset speed during travel; and / or automatically correct at least one of the offset angle and travel speed of the interventional end if the distance between the interventional end and the target position is less than a first distance during travel; wherein the target position is the location of a vascular lesion or a vascular bifurcation point.

[0140] Optionally, the travel control module 804 is specifically used to: if the travel direction of the interventional consumable is towards the target position and the interventional end is a first distance away from the target position, control the interventional consumable to reduce its travel speed to a first preset speed; if the travel of the interventional consumable passes through the range from a first distance before the target position to a first distance after the target position, control the interventional consumable to pass through at a constant speed of the first preset speed; if the travel direction of the interventional consumable is away from the target position and the interventional end is greater than the first distance away from the target position, control the interventional consumable to increase its travel speed to a second preset speed; wherein, the second preset speed is greater than the first preset speed.

[0141] Optionally, the target location is a blood vessel bifurcation point, and the travel control module 804 is further configured to: determine whether the travel direction of the interventional consumable is towards the first branch when the distance between the interventional end and the blood vessel bifurcation point is less than a first distance; if the travel direction of the interventional consumable is towards the first branch, then control the interventional consumable to continue moving forward; if the travel direction of the interventional consumable is towards the second branch, then control the interventional consumable to adjust its travel direction to be towards the first branch and then continue moving forward; wherein, the first branch is the planned travel branch in the second path, and the second branch is not the planned travel branch in the second path.

[0142] Optionally, the target location is a vascular bifurcation point. The travel control module 804 is further configured to: after the interventional consumables pass the vascular bifurcation point, determine whether the actual vascular branch traveled by the interventional consumables is consistent with the planned vascular branch; if the actual vascular branch traveled is consistent with the planned vascular branch, control the interventional consumables to continue moving forward; if the actual vascular branch traveled is inconsistent with the planned vascular branch, control the interventional consumables to stop moving forward and retreat to a second distance before the vascular bifurcation point, and control the interventional consumables to adjust its travel direction toward the planned vascular branch before continuing to move forward.

[0143] Optionally, the travel control module 804 is specifically used to: adjust the travel speed of the interventional consumable to be less than the first speed if the distance between the interventional end and the bifurcation point is less than the first distance; adjust the travel speed of the interventional consumable to be less than the second speed if the distance between the interventional end and the vascular lesion is less than the first distance; adjust the offset angle of the interventional consumable to be less than the first angle if the distance between the interventional end and the bifurcation point is less than the first distance; and adjust the offset angle of the interventional consumable to be less than the second angle if the distance between the interventional consumable and the lesion is less than the first distance.

[0144] Optionally, the travel control module 804 is specifically used to: determine in real time whether the distance between the interventional consumable and the target position is less than a first distance; if it is less than the first distance, determine whether the offset angle and travel speed of the interventional consumable need to be adjusted; if the offset angle is greater than a first preset angle, adjust the offset angle to be less than or equal to the first preset angle, wherein the first preset angle is less than the initial offset angle; and / or, if the travel speed is greater than a first preset speed, adjust the travel speed to be less than or equal to the first preset speed, wherein the first preset speed is less than the initial travel speed.

[0145] Optionally, the travel control module 804 is also used to: if the target abnormality is detected more than a preset number of times during the automatic control intervention of the consumable along the second path, stop the automatic control and output an abnormality prompt message.

[0146] This invention provides a control system for the movement of interventional consumables. First, the control system plans a first path for the interventional consumables during vascular interventional surgery in preoperative images. Then, it registers this first path with intraoperative images, resulting in a second path displayed in real-time intraoperative images. Finally, based on the movement information of the interventional consumables, the system automatically controls the consumables to move along the planned path. Because the control system plans the path of the interventional consumables in advance, acquiring the starting and ending points of the automatically controlled path, the centerline of the blood vessels traversed, the diameter of the blood vessels, the bifurcation points of the blood vessels, and the location of vascular lesions, the system avoids determining the vascular condition during the procedure. Therefore, it can shorten the time for the control system to automatically control the movement of the interventional consumables, reducing safety risks caused by prolonged surgery time and minimizing the adverse effects of the interventional procedure on the patient's body, such as reducing radiation exposure to the physician during image capture. Furthermore, the control system can acquire the movement information of the interventional consumables during the procedure and automatically control their movement based on this information. It can automatically decide whether to proceed and how to control the movement, avoiding the need for doctors to inject contrast agents into the patient's blood vessels in complex areas such as vascular branches or lesion areas, thus reducing the patient's physical burden. The control system can accurately quantify the movement state of the interventional consumables based on their movement information. It can determine the status of the consumables in real time based on the offset angle of the interventional end, the movement speed, the direction of movement, and the position reached by the interventional end. In other words, the control system can control the movement of the interventional consumables from multiple perspectives, improving the accuracy and safety of automatic control. Therefore, it can reduce the workload of doctors, reduce or even avoid radiation damage to doctors from imaging equipment, reduce the frequency of contrast agent use, and thus reduce the harm of contrast agents to patients, improving the overall safety of robotic surgery.

[0147] Accordingly, this specification also provides a control device for the movement of interventional consumables, which includes a processor and a memory for storing processor-executable instructions; wherein the processor is configured to: plan a first path for the interventional consumables in vascular interventional surgery in preoperative images, the first path including: the starting point and ending point of the route, the centerline of the blood vessels traversed, the diameter of the blood vessels, the bifurcation points of the blood vessels, and the location of the vascular lesions; register the first path in the preoperative images in intraoperative images to obtain a planned second path displayed in real-time intraoperative images; acquire the movement information of the interventional consumables during movement; and automatically control the interventional consumables to move along the second path based on the movement information of the interventional consumables.

[0148] The specific implementation process of the functions and roles of each module in the above device can be found in the implementation process of the corresponding steps in the above method, and will not be repeated here.

[0149] The present invention also provides a readable storage medium storing a program or instructions that, when executed by a processor, implement the various processes of the above-described control method embodiment for intervening in the movement of consumables, and achieve the same technical effect. To avoid repetition, these will not be described again here.

[0150] The processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes computer-readable storage media, such as ROM, RAM, magnetic disk, or optical disk.

[0151] The present invention also provides a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run programs or instructions to implement the various processes of the above-described control method embodiment for intervening in the movement of consumables, and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0152] It should be understood that the chip mentioned in this invention may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0153] This invention provides a computer program product containing instructions that, when run on a computer, causes the computer to perform the steps of the control method for intervening in the movement of consumables as described above, and achieves the same technical effect. To avoid repetition, it will not be described again here.

[0154] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to in the description of the method embodiments. The device embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separate, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of the solution in this specification according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0155] The foregoing has described specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require a specific or sequential order to achieve the desired result. In some embodiments, multitasking and parallel processing are possible or may be advantageous.

[0156] Other embodiments of this specification will readily occur to those skilled in the art upon consideration of the specification and practice of the invention claimed herein. This specification is intended to cover any variations, uses, or adaptations that follow the general principles of this specification and include common knowledge or customary techniques in the art not claimed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this specification are indicated by the following claims.

[0157] It should be understood that this specification is not limited to the precise structures described above and provided in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this specification is limited only by the appended claims.

[0158] The above description is merely a preferred embodiment of this specification and is not intended to limit this specification. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this specification should be included within the scope of protection of this specification.

Claims

1. A control method for the movement of intervening consumables, characterized in that, The method includes: The first path of interventional consumables in vascular interventional surgery is planned in the preoperative image. The first path includes: the starting point and ending point of the route, the centerline of the blood vessels passed through, the diameter of the blood vessels, the bifurcation point of the blood vessels, and the location of the vascular lesions. The first path in the preoperative image is registered in the intraoperative image to obtain the planned second path displayed in the real-time intraoperative image; During the process, the travel information of the interventional consumables is acquired; Based on the travel information of the interventional consumables, the interventional consumables are automatically controlled to travel along the second path; The travel information of the interventional consumable includes at least one of the following: the offset angle of the interventional consumable, the travel speed of the interventional consumable, the travel direction of the interventional consumable, and the position reached by the interventional end of the interventional consumable; the offset angle is the angle between the interventional end of the interventional consumable and the center line of the blood vessel in the second path.

2. The method according to claim 1, characterized in that, The automatic control of the interventional consumables along the second path based on their travel information includes: Starting from the first position, based on the real-time travel information of the interventional consumables, the interventional consumables are automatically controlled to travel along the second path to the second position with an initial speed and an initial offset angle. And / or, Starting from the second position, based on the real-time travel information of the interventional consumables, the interventional consumables are automatically controlled to return to the first position along the second path with the initial speed and the initial offset angle; Wherein, the first position is the starting position of the second path, the second position is the ending position of the second path, and the first position is the intervention position of the interventional consumable, or a position a first distance after the intervention position.

3. The method according to claim 1 or 2, characterized in that, The automatic control of the interventional consumables along the second path based on their travel information includes: During the process, if the offset angle of the interventional end of the interventional consumable exceeds a preset angle, the offset angle of the interventional end will be automatically corrected; and / or, During the process, if the speed of the interventional consumables exceeds a preset speed, the speed of the interventional end will be automatically corrected; and / or, During the journey, if the distance between the intervention end and the target position is less than the first distance, at least one of the offset angle and the travel speed of the intervention end will be automatically corrected. The target location is either the location of a vascular lesion or a vascular bifurcation point.

4. The method according to claim 3, characterized in that, If the distance between the interventional end and the target position is less than a first distance, then automatically correct at least one of the offset angle and travel speed of the interventional end, including: If the direction of travel of the interventional consumable is toward the target position, and the interventional end is a first distance away from the target position, control the interventional consumable to reduce its travel speed to a first preset speed; If the interventional consumable travels through the range from a first distance before the target position to a first distance after the target position, the interventional consumable is controlled to pass through at a uniform speed at the first preset speed; If the direction of travel of the interventional consumable is opposite to the target position, and the distance between the interventional end and the target position is greater than the first distance, the interventional consumable is controlled to increase its travel speed to a second preset speed; the second preset speed is greater than the first preset speed.

5. The method according to claim 4, characterized in that, The target location is a blood vessel bifurcation point, and the method further includes: If the distance between the interventional end and the bifurcation point of the blood vessel is less than the first distance, determine whether the direction of travel of the interventional consumable is towards the first branch; If the direction of travel of the interventional consumable is toward the first branch, then control the interventional consumable to continue moving forward; If the direction of travel of the interventional consumable is towards the second branch, then control the interventional consumable to adjust its direction of travel to the first branch and continue to move forward; Wherein, the first branch is a planned branch in the second path, and the second branch is not a planned branch in the second path.

6. The method according to claim 4, characterized in that, The target location is a blood vessel bifurcation point, and the method further includes: After the interventional consumables pass the blood vessel bifurcation point, determine whether the actual blood vessel branch traveled by the interventional consumables is consistent with the planned blood vessel branch; If the actual vascular branch being traversed matches the planned vascular branch, then the interventional consumables are controlled to continue advancing; If the actual vascular branch being traveled is inconsistent with the planned vascular branch, the interventional consumable is controlled to stop advancing and retreat to a second distance before the vascular bifurcation point, and then the interventional consumable is controlled to adjust its direction of travel toward the planned vascular branch before continuing to advance.

7. The method according to claim 4, characterized in that, During the journey, if the distance between the intervention point and the target position is less than a first distance, then at least one of the offset angle and the travel speed of the intervention point is automatically corrected, including: If the distance between the interventional end and the bifurcation point is less than the first distance, the travel speed of the interventional consumable is adjusted to be less than the first speed; if the distance between the interventional end and the vascular lesion location is less than the first distance, the travel speed of the interventional consumable is adjusted to be less than the second speed. If the distance between the interventional end and the bifurcation point is less than the first distance, then the offset angle of the interventional consumable is adjusted to be less than the first angle; if the distance between the interventional consumable and the lesion location is less than the first distance, then the offset angle of the interventional consumable is adjusted to be less than the second angle.

8. The method according to claim 2, characterized in that, The automatic control of the interventional consumables along the second path based on their travel information includes: Real-time determination of whether the distance between the interventional consumable and the target location is less than the first distance; If the distance is less than the first distance, it is determined whether the offset angle and travel speed of the interventional consumables need to be adjusted. If the offset angle is greater than the first preset angle, adjust the offset angle to be less than or equal to the first preset angle, wherein the first preset angle is less than the initial offset angle; and / or If the travel speed is greater than the first preset speed, adjust the travel speed to be less than or equal to the first preset speed, wherein the first preset speed is less than the initial travel speed.

9. The method according to claim 1, characterized in that, The method further includes: During the automatic control of the interventional consumables to travel along the second path, if the target abnormality is detected more than a preset number of times, the automatic control will stop and an abnormality prompt message will be output.

10. A control system for intervening in the movement of consumables, characterized in that, The control system includes: a path planning module, a path registration module, a travel information acquisition module, and a travel control module; The path planning module is used to plan the first path of the interventional consumables in the vascular interventional surgery in the preoperative image. The first path includes: the starting point and the ending point of the route, the centerline of the blood vessels, the diameter of the blood vessels, the bifurcation point of the blood vessels, and the location of the vascular lesions. The path registration module is used to register the first path in the preoperative image in the intraoperative image to obtain the planned second path displayed in the real-time intraoperative image. The travel information acquisition module is used to acquire the travel information of the interventional consumables during the travel process; The travel control module is used to automatically control the interventional consumables to travel along the second path based on the travel information of the interventional consumables; The travel information of the interventional consumable includes at least one of the following: the offset angle of the interventional consumable, the travel speed of the interventional consumable, the travel direction of the interventional consumable, and the position reached by the interventional end of the interventional consumable; the offset angle is the angle between the interventional end of the interventional consumable and the center line of the blood vessel in the second path.

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