Push control method and system for long and direct intervention consumables and computer equipment

Abstract

The invention provides a pushing control method and system for long and direct intervention consumables and computer equipment, and relates to the technical field of surgical robotics.The method comprises the steps that when an intervention surgical robot is started, motor background current generated when a propelling motor pushes the long and direct intervention consumables to move is obtained; the motor operation current of the propulsion motor for pushing the long-straight intervention consumable to move is obtained in real time in the operation; based on the motor background current and the motor operation current, the change degree of the pushing force for pushing the long and straight intervention consumables in the operation and before the operation is determined in real time in the operation; and pushing of the long and straight intervention consumables is controlled based on the change degree of the pushing force. Based on the technical scheme provided by the embodiment of the invention, the safety of the operation based on the interventional robot can be improved.

Description

Technical Field

[0001] This disclosure relates to the field of surgical robot technology, and in particular to a method, system and computer equipment for pushing and controlling long straight interventional consumables. Background Technology

[0002] With the development of surgical robot technology, vascular interventional surgery is becoming increasingly intelligent, and the safety requirements for surgery based on interventional surgical robots are also becoming increasingly stringent.

[0003] Typically, traditional guidewire delivery devices do not have safety detection functions. During vascular interventional surgery, a long, straight interventional consumable needs to be inserted into the patient's blood vessels. Doctors mainly rely on their sense of touch and experience with the long, straight interventional consumable during the surgery to determine how to proceed.

[0004] However, due to differences in each doctor's experience or intraoperative condition, doctors need to assess the progress of the long, straight interventional consumables in real time during the procedure to adjust the next step. Therefore, the current method has a high risk of guidewire control, such as the risk of puncturing the blood vessel wall and damaging internal organs, resulting in low surgical safety. Summary of the Invention

[0005] To overcome the problems existing in related technologies, this disclosure provides a method, system and computer device for pushing and controlling long straight interventional consumables.

[0006] According to a first aspect of the present disclosure, a method for controlling the pushing of a long, straight interventional consumable is provided. The method includes: acquiring the background current of the motor that drives the long, straight interventional consumable to move when the interventional surgical robot is powered on; acquiring the operating current of the motor that drives the long, straight interventional consumable to move in real time during the operation; determining the degree of change in the pushing force of the long, straight interventional consumable to move during the operation and before the operation based on the background current and the operating current; and controlling the pushing of the long, straight interventional consumable based on the degree of change in the pushing force.

[0007] Optionally, based on the motor background current and motor operating current, the degree of change in the pushing force of the long straight interventional consumable during the operation and before the operation is determined in real time during the operation, including: determining the deviation of the long straight interventional consumable according to the motor background current and motor operating current; and determining the degree of change in the pushing force of the long straight interventional consumable during the operation and before the operation based on the deviation and the deviation safety threshold range.

[0008] Optionally, based on the motor background current and the motor operating current, the degree of change in the pushing force of the long straight interventional consumable during the operation and before the operation is determined in real time during the operation, including: determining the current difference between the motor operating current and the motor background current; and based on the current difference and the current safety threshold, determining the degree of change in the pushing force of the long straight interventional consumable during the operation and before the operation.

[0009] Optionally, after acquiring the background current of the motor that drives the long straight interventional consumable to move using the propulsion motor, the method further includes: if it is detected that the load of the propulsion motor is replaced while energized, then the background current of the motor that drives the long straight interventional consumable to move using the propulsion motor is acquired again; wherein the load includes at least one of the following: guidewire, catheter, and guidewire box.

[0010] Optionally, obtaining the background current of the motor driving the long, straight-lined consumable material is performed by: sampling n times at preset intervals from a preset position to obtain n current sample values, where n is an integer greater than or equal to 2; and calculating the background current of the motor based on the n current sample values ​​and a first preset formula; the first preset formula is: in, I represents the background current of the motor. k This represents the current value sampled at the kth time.

[0011] Optionally, the deviation of the long-straight insertion consumable is determined based on the motor background current and the motor operating current, including: calculating the deviation of the long-straight insertion consumable based on the motor background current, the motor operating current, and a second preset formula; the second preset formula is: Where Dev represents the deviation degree. This represents the motor operating current, which is the average of the real-time current sampled s times.

[0012] Optionally, based on the deviation degree and the deviation degree safety threshold range, the degree of change in the pushing force of pushing the long straight interventional consumable during the operation is determined in real time during the operation, including: if the deviation degree is outside the deviation degree safety threshold range, it is determined that the degree of change in the pushing force is not within the safe range; if the deviation degree is within the deviation degree safety threshold range, it is determined that the degree of change in the pushing force is within the safe range.

[0013] Optionally, based on the current difference and the current safety threshold, the degree of change in the pushing force of the long straight interventional consumable during the procedure and before the procedure is determined in real time, including: if the current difference is outside the current safety threshold range, it is determined that the degree of change in the pushing force is not within the safe range; if the current difference is within the current safety threshold range, it is determined that the degree of change in the pushing force is within the safe range.

[0014] Optionally, after determining that the degree of change in the pushing force is outside the safe range, the method further includes: outputting a prompt message and controlling the propulsion motor to stop pushing the long straight intervention consumable; or, outputting a prompt message and controlling the propulsion motor to stop and retract the long straight intervention consumable; or, outputting a prompt message and controlling the propulsion motor to stop and rotate the orientation of the head end of the long straight intervention consumable.

[0015] Optionally, based on the motor background current and motor operating current, the degree of change in the pushing force of the long straight interventional consumable during the operation and before the operation is determined in real time during the operation, including: determining the degree of change in the pushing force of the long straight interventional consumable during the operation and before the operation based on the motor background current, motor operating current and feedback value of force feedback sensor, wherein the force feedback sensor is set on the long straight interventional consumable.

[0016] According to a second aspect of the present disclosure, a push control system for a long straight interventional consumable is provided. The push control system includes: a propulsion motor, a central processing unit, and a motor driver; the propulsion motor is used to acquire the background current of the motor that propels the long straight interventional consumable when the interventional surgical robot is turned on, and to acquire the operating current of the motor that propels the long straight interventional consumable in real time during the operation; the central processing unit is used to determine the degree of change of the pushing force of the long straight interventional consumable during the operation and before the operation based on the background current and the operating current; the motor driver is used to control the propulsion motor to push the long straight interventional consumable based on the degree of change of the pushing force.

[0017] Optionally, the CPU is specifically used to: determine the deviation of the long straight interventional consumable based on the motor background current and the motor operating current; and determine the degree of change in the pushing force of the long straight interventional consumable during and before the operation based on the deviation and the deviation safety threshold range.

[0018] Optionally, the CPU is specifically used to: determine the current difference between the motor operating current and the motor background current; and, based on the current difference and the current safety threshold, determine in real time during the operation the degree of change in the pushing force of the long straight interventional consumables during and before the operation.

[0019] Optionally, the propulsion motor is also used to acquire the background current of the motor that drives the long straight interventional consumable to move after the propulsion motor is detected to be energized and the propulsion motor load is replaced, and then acquire the background current of the motor that drives the long straight interventional consumable to move again; wherein the load includes at least one of the following: guidewire, catheter and guidewire box.

[0020] Optionally, the propulsion motor is specifically used for: sampling n times at preset intervals from a preset position to obtain n current sampling values, where n is an integer greater than or equal to 2; and calculating the motor background current based on the n current sampling values ​​and a first preset formula; the first preset formula is: in, I represents the background current of the motor. k This represents the current value sampled at the kth time.

[0021] Optionally, the CPU is specifically used to: calculate the deviation of the long-straight insertion consumable based on the motor background current, the motor operating current, and a second preset formula; the second preset formula is: Where Dev represents the deviation, I s This represents the motor operating current, which is the average of the real-time current sampled s times.

[0022] Optionally, the CPU is specifically used to: determine that the degree of change in the pushing force is within the safe range if the deviation is within the safe threshold range; and determine that the degree of change in the pushing force is not within the safe range if the deviation is outside the safe threshold range.

[0023] Optionally, the CPU is specifically used to: determine that the degree of change in the pushing force is within the safe range if the current difference is within the current safety threshold range; and determine that the degree of change in the pushing force is not within the safe range if the current difference is outside the current safety threshold range.

[0024] Optionally, the push control system also includes an output unit, which is used to output a prompt message after the CPU determines that the degree of change in the push force is not within the safe range. The motor driver is also used to control the propulsion motor to stop pushing the long straight intervention consumable after determining that the degree of change in the push force is not within the safe range, or to control the propulsion motor to stop and retract the long straight intervention consumable, or to control the propulsion motor to stop and rotate the orientation of the head end of the long straight intervention consumable.

[0025] Optionally, the CPU is specifically used to: control the pushing of the long straight intervention consumable based on the degree of change in the pushing force and the feedback value of the force feedback sensor, wherein the force feedback sensor is set on the long straight intervention consumable.

[0026] According to a third aspect of the present disclosure, a pushing control device for a long straight interventional consumable is provided, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor; a memory for storing processor-executable instructions; wherein the processor is configured to: acquire the background current of the motor that drives the long straight interventional consumable to move when the interventional surgical robot is powered on; acquire the motor operating current that drives the long straight interventional consumable to move in real time during the operation; determine the degree of change of the pushing force of pushing the long straight interventional consumable during and before the operation based on the background current and the operating current; and control the pushing of the long straight interventional consumable based on the degree of change of the pushing force.

[0027] According to a fourth aspect of the present disclosure, an embodiment of the present disclosure provides a readable storage medium storing a program or instructions that, when executed by a processor, implement the steps of the push control method for long straight interventional consumables as described in the first aspect.

[0028] According to a fifth aspect of the present disclosure, an embodiment of the present disclosure provides a chip, the chip including a processor and a communication interface, the communication interface being coupled to the processor, the processor being used to run a program or instructions to implement the push control method for long straight interventional consumables as described in the first aspect.

[0029] The technical solutions provided by the embodiments of this disclosure may include the following beneficial effects:

[0030] In this embodiment, firstly, after the interventional surgical robot is powered on, the background current of the motor driving the long straight interventional consumable is acquired. Then, during the operation, the operating current of the motor driving the long straight interventional consumable is acquired in real time. Based on the background current and the operating current, the degree of change in the pushing force of the long straight interventional consumable during and before the operation is determined in real time during the operation, and the pushing of the long straight interventional consumable is controlled based on the degree of change in the pushing force. Compared with traditional guidewire delivery devices that do not have safety detection functions, this application, without adding other sensors and torque detection devices to the interventional surgical robot, can estimate the degree of change in the pushing force during and before the operation through the feedback current of the servo motor. Therefore, the pushing motor can be controlled based on the degree of change in the pushing force to push the long straight interventional consumable. For example, the degree of change in the pushing force can be used to detect whether an obstacle is touched during the advancement of the long straight interventional consumable in the blood vessel. The solution is simple and uncomplicated, highly reliable, and has higher sensitivity for touch detection than traditional devices. On the other hand, this application can control the pushing of the long straight consumable in real time and accurately based on the preoperative motor background current and the intraoperative motor operating current. For example, when doctors in the neurology or interventional radiology departments of hospitals use vascular interventional devices to deliver guidewires into blood vessels, the interventional surgical robot can determine whether the delivery is safe based on the degree of change in the pushing force before and during the procedure. For example, if the degree of change in pushing force is small, the delivery is safe, indicating no malfunction or contact with blood obstacles. If the degree of change in pushing force is too large, the delivery may be unsafe, indicating a possible malfunction or contact with obstacles (such as blood vessel walls, thrombi, masses, plaques, etc.). In such cases, further obstacle avoidance measures can be taken, thereby reducing the risk of blood vessel damage caused by continuing to deliver the guidewire after contacting the blood vessel. This also avoids the potential risk of long, straight interventional consumables puncturing blood vessels and damaging internal organs, thus improving the safety performance of surgeries performed using interventional surgical robots.

[0031] 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 the embodiments of this disclosure. Attached Figure Description

[0032] The accompanying drawings, which are incorporated in and form part of the embodiments of this disclosure, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of the embodiments of this disclosure.

[0033] Figure 1 A flowchart illustrating a method for pushing and controlling a long, straight interventional consumable, provided as an embodiment of this disclosure;

[0034] Figure 2 A flowchart illustrating another method for pushing and controlling a long, straight interventional consumable provided in this embodiment of the present disclosure;

[0035] Figure 3 A flowchart illustrating another method for pushing and controlling a long, straight interventional consumable provided in this embodiment of the present disclosure;

[0036] Figure 4 A flowchart illustrating another method for pushing and controlling a long, straight interventional consumable provided in this embodiment of the present disclosure;

[0037] Figure 5 A flowchart illustrating another method for pushing and controlling a long, straight interventional consumable provided in this embodiment of the present disclosure;

[0038] Figure 6 A flowchart illustrating another method for pushing and controlling a long, straight interventional consumable provided in this embodiment of the present disclosure;

[0039] Figure 7 A hardware structure diagram of the computer device containing the push control system for long straight interventional consumables provided in this embodiment of the disclosure;

[0040] Figure 8 A block diagram of a push control system for a long straight interventional consumable provided in an embodiment of this disclosure;

[0041] Figure 9 A block diagram of another push control system for a long straight interventional consumable provided in an embodiment of this disclosure. Detailed Implementation

[0042] 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 those of this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the embodiments of this disclosure as detailed in the appended claims.

[0043] The terminology used in this disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the present disclosure. The singular forms “a,” “the,” and “the” as used in this disclosure 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.

[0044] It should be understood that although the terms first, second, third, etc., may be used to describe various information in embodiments of this disclosure, such 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, first information may also be referred to as second information without departing from the scope of this disclosure, 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 a determination."

[0045] The embodiments of this disclosure will now be described in detail.

[0046] like Figure 1 As shown, Figure 1 A flowchart of a method for pushing and controlling a long, straight interventional consumable provided in this disclosure embodiment may include the following steps 101 to 104:

[0047] Step 101: When the interventional surgical robot is powered on, the interventional surgical robot obtains the background current of the motor that drives the long straight interventional consumable to move.

[0048] Specifically, the propulsion motor is a current-sensitive servo motor. For example, the propulsion motor is a current-sensitive brushed servo motor with feedback.

[0049] Specifically, after the interventional surgical robot is powered on, it can first perform a self-test function to obtain the background current of the motor.

[0050] For example, after the interventional surgical robot is powered on, the propulsion motor first loads the load (i.e., the long straight interventional consumable). Then, the propulsion motor automatically obtains the background current of the motor that propels the long straight interventional consumable and feeds it back to the CPU (Central Processing Unit) of the interventional surgical robot.

[0051] The load loaded by the propulsion motor may include: a guide tube, a guide wire, or a guide wire box.

[0052] It is understood that different loads have different propulsion resistance. Therefore, in this embodiment of the present disclosure, the background current of the motor is obtained after each power-on propulsion motor is loaded with a load, which can make the motor operating current of the propulsion motor corresponding to different materials, types and diameters of guide tubes (or guide wires) more accurate.

[0053] It should be noted that, in this embodiment of the disclosure, the interventional surgical robot can perform a self-test function to obtain the latest motor background current each time it is powered on, which can improve the safety of operation based on the interventional surgical robot.

[0054] It is understandable that the background current values ​​of the motors obtained during the self-test at startup will vary between each surgical robot due to precision errors in the manufacturing of mechanical parts such as gears and racks, as well as assembly gaps and force differences during manual assembly. Furthermore, wear and tear after use can alter the friction of the mechanical structure, further changing the background current value of the propulsion motor during the self-test. Therefore, performing a self-test each time the robot is powered on ensures a more accurate acquisition of the motor background current value.

[0055] For example, the interventional surgical robot can sample the background current value of the motor based on a fixed position and a fixed interval.

[0056] For example, the propulsion motor starts to feed back current values ​​based on a preset position located by a magnetic scale.

[0057] In this embodiment of the disclosure, after the propulsion motor measures the background current of the motor, the propulsion motor transmits the data to the CPU of the interventional surgical robot through the feedback interface of the motor driver. This data is then stored in the interventional surgical robot for subsequent calculations.

[0058] Step 102: The interventional surgical robot acquires the motor operating current of the propulsion motor that drives the long straight interventional consumable in real time during the operation.

[0059] For example, a real-time current monitoring chip can be installed in the interventional surgical robot. When the propulsion motor moves the long straight interventional consumable during the operation, the CPU in the interventional surgical robot can determine the motor operating current in real time by reading the current value in the chip.

[0060] Step 103: The interventional surgical robot determines the degree of change in the pushing force of the long straight interventional consumables during and before the operation based on the background current and operating current of the motor.

[0061] It is understandable that if the variation in pushing force is too large, it indicates that the delivery of the long, straight interventional consumable is unsafe, possibly due to encountering obstacles during its journey, such as the blood vessel wall, thrombus, or mass, or it may be a device malfunction. If the variation in pushing force is small, it indicates that the long, straight interventional consumable has not encountered any obstacles during its journey.

[0062] Step 104: The interventional surgical robot controls the pushing of long and straight interventional consumables based on the degree of change in pushing force.

[0063] For example, the degree of change in the pushing force of the long, straight interventional consumable during and before the operation in step 103 above can indicate two situations, namely:

[0064] (1) Pushing long straight intervention consumables is not safe, for example, the long straight intervention consumables may have touched or already touched an obstacle;

[0065] (2) Safety of pushing long straight intervention consumables, such as the long straight intervention consumables not touching obstacles.

[0066] For example, if the robot detects that pushing the long straight interventional consumable is unsafe, it can stop pushing the long straight interventional consumable; if it detects that pushing the long straight interventional consumable is safe, the robot can continue to push the long straight interventional consumable and continue to acquire the motor propulsion current to detect the degree of change in the pushing force.

[0067] Based on this scheme, after the interventional surgical robot is powered on, it first acquires the background current of the motor that drives the long, straight interventional consumable. Then, during the operation, it acquires the operating current of the motor that drives the long, straight interventional consumable in real time. Based on the background current and the operating current, it determines the degree of change in the pushing force of the long, straight interventional consumable during and before the operation, and controls the pushing of the long, straight interventional consumable based on the degree of change in pushing force. Compared with traditional guidewire delivery devices that do not have safety detection functions, this application, without adding other sensors and torque detection devices to the interventional surgical robot, can calculate the degree of change in pushing force during and before the operation through the feedback current of the servo motor. Therefore, it can control the pushing of the long, straight interventional consumable based on the degree of change in pushing force. For example, it can detect whether the long, straight interventional consumable has touched an obstacle during the advancement of the long, straight interventional consumable into the blood vessel based on the degree of change in pushing force. The scheme is simple to implement, highly reliable, and has higher sensitivity for touch detection than traditional devices. On the other hand, this application can control the pushing of the long, straight consumable in real time and accurately based on the preoperative background current of the motor and the operating current of the motor during the operation. For example, when doctors in the neurology or interventional radiology departments of hospitals use vascular interventional devices to deliver guidewires into blood vessels, the interventional surgical robot can determine whether the delivery is safe based on the degree of change in the pushing force before and during the procedure. For example, if the degree of change in pushing force is small, the delivery is safe, indicating no malfunction or contact with blood obstacles. If the degree of change in pushing force is too large, the delivery may be unsafe, indicating a possible malfunction or contact with obstacles (such as blood vessel walls, thrombi, masses, plaques, etc.). In such cases, further obstacle avoidance measures can be taken, thereby reducing the risk of blood vessel damage caused by continuing to deliver the guidewire after contacting the blood vessel. This also avoids the potential risk of long, straight interventional consumables puncturing blood vessels and damaging internal organs, thus improving the safety performance of surgeries performed using interventional surgical robots.

[0068] It is understood that in this embodiment of the disclosure, when the interventional surgical robot changes to a different load while the power is off, it will automatically perform a self-test function upon power-on. This self-test function is used to obtain the background current of the motor. Typically, the interventional surgical robot may also change the load while the power is on. Therefore, the self-test function can be performed in the following manner to accurately obtain the background current of the motor.

[0069] Optionally, in the push control method for long straight interventional consumables provided in this embodiment of the present disclosure, after step 101 above, step 105 may be included, such as... Figure 2 As shown in the figure, step 105 is described as being located between steps 101 and 102.

[0070] Step 105: If the interventional surgical robot detects a load on the energized replacement propulsion motor, it reacquires the background current of the motor that drives the long straight interventional consumable.

[0071] In this embodiment of the present disclosure, the replaceable load of the propulsion motor includes at least one of the following: guide wire, guide tube, and guide wire box.

[0072] It should be noted that in the embodiments of this disclosure, the propulsion motor is subjected to different loads, resulting in different pushing resistances and thus different background currents of the motor when different loads are applied.

[0073] For example, for the same type of catheter or guidewire, different consumable diameters result in different pushing resistances, and therefore different motor background currents.

[0074] Similarly, the operating current of the motor detected by the instrument varies depending on the load applied to the propulsion motor.

[0075] It is understandable that the propulsion motor of the interventional surgical robot can be loaded with different loads when the power is off, or it can be loaded with different loads during the operation without the power being off.

[0076] For example, during the procedure performed by the interventional surgical robot, the load may need to be changed. This could involve replacing the guidewire or catheter with a different diameter, or even replacing the entire guidewire box with a different model. In such cases, the background current of the interventional surgical robot's motor will change. Therefore, the background current of the motor that propels the long, straight interventional consumable can be re-acquired, and steps 102, 103, and 104 can be repeated to accurately control the propulsion of the long, straight interventional consumable.

[0077] Based on this scheme, if the interventional surgical robot detects a load requiring the replacement of the propulsion motor without power interruption, the interventional surgical robot will automatically re-execute the self-test function to re-acquire the background current of the propulsion motor, thereby ensuring the accuracy of the background current and improving the safety of controlling the push of long straight interventional consumables based on the background current of the motor.

[0078] Optionally, in the push control method for long straight interventional consumables provided in this embodiment, the step "obtaining the background current of the motor that drives the long straight interventional consumables using the preoperative propulsion motor" in step 101 or step 105 can be specifically executed through the following steps 11 and 12:

[0079] Step 11: The interventional surgical robot samples n times at preset intervals from a preset position to obtain n current sampling values.

[0080] Where n is an integer greater than or equal to 2.

[0081] For example, in this embodiment of the disclosure, the starting position (i.e., preset position), sampling interval, and ending position of the sampling motor background current value can all be fixed after each power-on or reloading of the propulsion motor load.

[0082] Specifically, the propulsion motor in the interventional surgical robot can sample the current based on the preset position and sampling position determined by the magnetic grating ruler.

[0083] Step 12: The interventional surgical robot calculates the motor background current based on the n current sampling values ​​and formula (1).

[0084]

[0085] Among them, I n I represents the background current of the motor. k This represents the current value sampled at the kth time.

[0086] It is understandable that by sampling the current value multiple times over a distance and averaging the results, the determined background current value of the motor can be made more accurate.

[0087] Based on this scheme, the interventional surgical robot can accurately obtain the background current value of the motor when the long and straight interventional consumable is propelled by the motor before the operation, based on the above formula. This allows for accurate detection of contact between the long and straight consumable and the blood vessel wall based on the motor background current, reducing the risk of the long and straight interventional consumable puncturing the blood vessel wall and improving the safety of interventional surgery.

[0088] Optionally, in the push control method for long straight interventional consumables provided in this embodiment, step 103 described above can be specifically executed in either method 1 or method 2. Wherein, combined with Figure 1 , Figure 3 This is a flowchart illustrating the push control method for long-straight intervention consumables corresponding to Method 1. Method 1 includes steps 31 and 32; combined with Figure 1 , Figure 5 This is a flowchart of the push control method for long straight intervention consumables corresponding to Method 2. Method 2 includes the following steps 33 and 34.

[0089] Method 1:

[0090] Step 31: The interventional surgical robot determines the deviation of the long straight interventional consumable based on the background current and operating current of the motor.

[0091] It is understandable that the deviation of a long straight interventional consumable indicates the degree to which the tip of the long straight interventional consumable deviates from the travel path (or the center of the blood vessel), and indicates the degree to which the motor propulsion current deviates from the motor background current.

[0092] For example, the greater the deviation, the more the tip of the long straight interventional consumable deviates from the center of the blood vessel, the greater the resistance encountered by the long straight interventional consumable during its advancement, and the higher the risk of puncturing the blood vessel; the smaller the deviation, the less the deviation from the center of the blood vessel, the greater the resistance encountered by the long straight interventional consumable during its advancement, and the lower the risk of puncturing the blood vessel.

[0093] Step 32: Based on the deviation and the deviation safety threshold range, the interventional surgical robot determines in real time during the operation the degree of change in the pushing force of pushing the long straight interventional consumables during the operation and before the operation.

[0094] It should be noted that the deviation safety threshold range is preset, and the boundary point of the deviation safety threshold range corresponding to the deviation can be obtained based on experiments of various robots.

[0095] For example, based on empirical values ​​obtained from multiple actual operations, the deviation threshold in surgical robots can be set to 16%. Specifically, when the deviation is less than or equal to 16%, the advancement of long, straight interventional consumables is safe, for example, without contact with foreign objects; when the deviation is greater than or equal to 16%, the advancement of long, straight interventional consumables is unsafe, for example, the probability of the long, straight interventional consumables encountering foreign objects is greater than 90%.

[0096] It should be noted that in practical applications, the lower limit of the safety threshold range for deviation within the safety range is usually not zero. For example, if the change in pushing force during and before the operation is at least greater than 10%, then the value range of deviation within the safety range is [10%, 16%]. For example, if the change in pushing force during and before the operation is at most 20% when piercing an obstacle, then the value range of deviation outside the safety range can be [16%, 20%].

[0097] For example, the interventional surgical robot can sample the propulsion current value of the propulsion motor when it propels the long straight interventional consumable in real time during the operation. It can sample the propulsion current value s times and take the average value as the real-time current of the motor, where s is an integer greater than or equal to 2.

[0098] Based on this scheme, the interventional surgical robot can determine the deviation of the long and straight interventional consumables in real time based on the background current and operating current of the motor. This allows the interventional surgical robot to perform precise control of the long and straight interventional consumables based on the deviation during the operation, reducing the risk of the long and straight interventional consumables puncturing the blood vessel wall and damaging internal organs during the operation, and improving the safety of the operation based on the interventional surgical robot.

[0099] Optionally, in the push control method for long straight interventional consumables provided in this embodiment, step 31 above can be specifically executed according to the following step 311:

[0100] Step 311: The interventional surgical robot calculates the deviation of the long straight interventional consumable based on the background current of the motor, the operating current of the motor and formula (2).

[0101]

[0102] Where dev represents the deviation degree. This represents the motor operating current, which is the average of the real-time current sampled s times, where s is an integer greater than or equal to 2.

[0103] It should be noted that the number of times the motor background current is sampled and the number of times the motor operating current is sampled can be the same or different, and this disclosure does not specifically limit this.

[0104] It is understandable that the sampling position of the motor operating current is related to the advancement of the long straight intervention consumable, that is, the sampling position is variable as the long straight intervention consumable moves.

[0105] For example, taking the starting position of the magnetic grating ruler as Z1 and the ending position as Z2, where Z1 and Z2 are known constants, and the sampling interval factor is represented by ι, then the sampling interval is... Each movement of the magnetic scale reading head The distance is recorded once, and the background current value of the motor is recorded using a two-dimensional matrix based on the number of samplings, as shown in Table 1 below: Table 1 is an exemplary table of sampled values ​​of the background current of the motor.

[0106] Table 1

[0107] Number of samples 1st time 2nd time 3rd time 4th 5th Sampling location Preset position 1 Preset position 2 Preset position 3 Preset position 4 Preset position 5 Sampled current value <![CDATA[I1]]> <![CDATA[I2]]> <![CDATA[I3]]> <![CDATA[I4]]> <![CDATA[I5]]>

[0108] Based on the sampled values ​​in Table 1, the interventional surgical robot can calculate the motor background current using the five sampled current values:

[0109] Table 2 is an example table of sampled values ​​of motor operating current. Table 1 is illustrated with an example of sampling times n = 5, and Table 2 is illustrated with an example of sampling times s = 3.

[0110] Table 2

[0111] Number of samples 1st time 2nd time 3rd time Sampling location Real-time location 1 Real-time location 2 Real-time location 3 Sampled current value <![CDATA[I6]]> <![CDATA[I7]]> <![CDATA[I8]]>

[0112] Based on the sampled values ​​in Table 2, the interventional surgical robot can calculate the motor operating current based on the three sampled current values:

[0113] Based on this scheme, the interventional surgical robot can calculate the deviation of the long and straight interventional consumables, thereby accurately determining the degree of change in the pushing force of the long and straight interventional consumables based on the calculated deviation.

[0114] Optionally, combined Figure 3 ,like Figure 4 As shown in the embodiment of this disclosure, in the method for pushing and controlling long straight interventional consumables, step 32 can be specifically executed through step 321 or step 322 as follows:

[0115] Step 321: If the deviation of the long straight interventional consumable is outside the safe deviation threshold range, the interventional surgical robot will determine in real time during the operation that the degree of change in the pushing force of the long straight interventional consumable during and before the operation is not within the safe range.

[0116] For example, a long, straight interventional consumable may touch an obstacle, such as being advanced by conforming to the blood vessel wall.

[0117] Step 322: If the deviation of the long straight interventional consumable is within the safe deviation threshold range, the interventional surgical robot can determine in real time during the operation whether the change in the pushing force of the long straight interventional consumable during and before the operation is within the safe range.

[0118] For example, a long, straight interventional consumable may touch an obstacle, but not reach a dangerous area.

[0119] Optionally, the boundary point of the preset deviation range can be updated based on simulation experimental data or practical data, thereby obtaining an accurate deviation safety threshold range.

[0120] For example, taking a long straight interventional consumable as the guidewire and a deviation safety threshold range divided by a deviation of 16% as an example, if the deviation is less than or equal to 16%, it can be determined that the guidewire has touched the obstacle; if the deviation is greater than 16%, it can be determined that the guidewire has not touched the obstacle.

[0121] Based on this scheme, the deviation determined by the motor background current and motor operating current, and the safe threshold range of the deviation, can be used to determine the degree of change in the pushing force of the long straight interventional consumable during and before the operation. This allows for the assessment of whether the pushing of the long straight interventional consumable is safe. Consequently, the interventional robot can calculate the real-time deviation of the long straight interventional consumable based on the current motor background current and the real-time motor operating current during the operation. This enables the robot to control the pushing force of the long straight interventional consumable, thereby improving the safety and flexibility of the interventional surgical robot in controlling the long straight interventional consumable and reducing the risk of the long straight interventional consumable puncturing the blood vessel wall due to the inability to monitor whether it has touched an obstacle.

[0122] Optionally, such as Figure 5 As shown in the present embodiment, the detection method for detecting whether the push of the long straight interventional consumable is safe in step 103 above can also be performed in the following manner 2.

[0123] Method 2:

[0124] Step 33: The interventional surgical robot determines the current difference between the motor operating current and the motor background current.

[0125] Step 34: The interventional surgical robot determines the degree of change in the pushing force of the long straight interventional consumables during and before the operation based on the current difference and the current safety threshold range.

[0126] The current safety threshold range is a safe range determined based on a preset deviation after the interventional surgical robot determines the background current of the motor. In other words, in this scheme, after the interventional surgical robot performs step 101 or step 105, it can first calculate the current safety threshold range for the current operation based on the preset deviation and the deviation formula of the long straight interventional consumables.

[0127] That is, in this embodiment of the present disclosure, after obtaining the background current of the motor, the interventional surgical robot can calculate the current safety threshold I based on the above formula (2). s =I n *Dev / 100%-I n .

[0128] It is understandable that after each power-on or power-on replacement of the motor load, the interventional surgical robot needs to calculate the current safety threshold based on the acquired motor background current and preset deviation, in order to improve the safety of the interventional surgical robot operation.

[0129] For example, after obtaining the motor background current, taking dev = 16% as an example, calculate the current safety threshold I used in this case. sThen, the motor operating current is obtained during the operation, and the difference between the motor operating current and the motor background current is calculated.

[0130] Based on this scheme, the interventional surgical robot can obtain the background current and operating current of the motor, and then calculate the current difference in real time. This difference is compared with the current safety threshold range calculated in this case to determine the degree of difference in the pushing force of the long and straight interventional consumable during and before the operation. This allows for control of the advancement of the long and straight interventional consumable, thereby improving the accuracy of the pushing control. Furthermore, it can also determine whether the long and straight interventional consumable has touched any obstacles, improving the accuracy and diversity of the touch detection.

[0131] Optionally, combined Figure 5 ,like Figure 6 As shown in the embodiment of this disclosure, in the method for pushing and controlling long straight interventional consumables, step 34 can be specifically executed through step 341 or step 342 as follows:

[0132] Step 341: If the current difference is outside the current safety threshold range, the interventional surgical robot determines that the degree of change in the pushing force is not within the safe range.

[0133] Step 342: If the current difference is within the current safety threshold range, the interventional surgical robot determines that the degree of change in the pushing force is within the safe range.

[0134] For example, if the current difference is between [I0, I1), the change in pushing force is within the safe range; if the current difference is between [I1, I2], the change in pushing force is outside the safe range.

[0135] For example, if the current difference is outside the current safety threshold range, it means that the degree of change in the pushing force is not within the safe range. The greater the deviation of the tip of the long straight intervention consumable, the higher the probability of hitting the obstacle, and protective measures can be taken. If the current difference is within the current safety threshold range, it means that the degree of change in the pushing force is within the safe range. The smaller the deviation of the tip of the long straight intervention consumable, the lower the probability of hitting the obstacle, and pushing can continue.

[0136] Based on this scheme, after the interventional surgical robot determines the current safety threshold range for this operation, it can determine the degree of change in the propulsion force of the long straight interventional consumable during and before the operation based on the relationship between the difference between the motor background current and the real-time detected motor operating current and the current safety threshold range. Based on the degree of change, it can determine whether the long straight interventional consumable is safe. This not only allows for precise control of the propulsion of the long straight interventional consumable, but also enables simple and rapid touch detection of the long straight interventional consumable.

[0137] Optionally, in the push control method for long and straight interventional consumables provided in this embodiment, after the interventional surgical robot determines that the degree of change in the push force is not within the safe range, the method may further include the following steps 106, 107, or 108:

[0138] Step 106: The interventional surgical robot outputs a prompt message and controls the propulsion motor to stop advancing the long straight interventional consumable.

[0139] Step 107: The interventional surgical robot outputs a prompt message, controls the propulsion motor to stop, and reverses the long straight interventional consumable.

[0140] Step 108: The interventional surgical robot outputs prompt information, controls the propulsion motor to stop and rotate the orientation of the long straight interventional consumable tip.

[0141] It is understandable that the prompt message is used to alert the doctor that pushing the long, straight interventional consumables is unsafe, such as when it is about to or has already touched an obstacle. For example, the prompt can be a voice announcement or a vibration alert from the operating handle. For instance, a voice announcement can warn of an obstacle being touched, or a force feedback device can provide feedback to the operating handle.

[0142] For example, if it is determined that pushing the long straight interventional consumable is unsafe, the avoidance function in the interventional surgery robot is triggered. That is, the motor driver in the interventional surgery robot can be used to control the propulsion motor to stop pushing the long straight interventional consumable, control the long straight interventional consumable to move backward, or rotate the orientation of the head end of the long straight interventional consumable.

[0143] For example, the interventional surgical robot can also prompt the doctor, and based on the doctor's input on the operating handle, the interventional surgical robot rotates the orientation of the long straight interventional consumable tip via a motor driver.

[0144] Based on this scheme, after detecting that the push of the long straight interventional consumable is unsafe, the interventional surgery robot can immediately alert the operator so that the operator can stop manually pushing it in time. At the same time, the motor driver of the interventional surgery robot will also stop pushing the long straight interventional consumable, or stop pushing it and retract it, or stop pushing it and rotate the orientation of the tip of the long straight interventional consumable, thereby preventing the long straight interventional consumable from puncturing the blood vessel wall.

[0145] Optionally, in the push control method for long straight interventional consumables provided in this embodiment, step 104 above can also be performed through step 40 below:

[0146] Step 40: The interventional surgical robot controls the pushing of the long straight interventional consumable based on the degree of change in the pushing force and the feedback value of the force feedback sensor.

[0147] The force feedback sensor is mounted on the long, straight interventional consumable. For example, the force feedback sensor can be positioned in the middle of the guidewire.

[0148] For example, if the feedback value of the force feedback sensor is greater than the pressure threshold, the long straight intervention consumable may come into contact with an obstacle.

[0149] Specifically, during the movement of the long, straight interventional consumable, intraoperative detection of whether the consumable has touched an obstacle can be performed simultaneously from two detection angles. The first detection angle monitors the degree of change in the pushing force of the consumable based on the motor background current to determine if pushing is safe; the specific determination method can be based on the method described in the above embodiments. The second detection angle is based on whether the pressure data detected by the force feedback sensor exceeds a set pressure threshold. By simultaneously detecting from both angles, the consumable is determined to have touched an obstacle if the conditions corresponding to both angles are met, thereby reducing the probability of false alarms.

[0150] For example, if a deviation greater than 16% is detected, and the force feedback sensor also detects a feedback value greater than the preset pressure value, then it is determined that the long straight interventional consumable has hit the blood vessel wall.

[0151] Based on this scheme, the interventional surgical robot can determine the degree of change in the pushing force of the long and straight interventional consumables during and before the operation based on the background current and operating current of the motor. Then, in conjunction with the feedback value of the force feedback sensor, it can control the advancement of the long and straight interventional consumables during the operation, thereby detecting whether it is safe. Detection from multiple angles can reduce the probability of false alarms, improve the accuracy of detection and the flexibility of advancement, and thus improve the safety of interventional surgery.

[0152] Corresponding to the embodiments of the foregoing methods, this disclosure also provides embodiments of the apparatus and the terminal to which it is applied.

[0153] The embodiments of the push control system for long-straight interventional consumables disclosed herein can be applied to computer devices, 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 to read the corresponding computer program instructions from non-volatile memory into memory for execution. From a hardware perspective, such as... Figure 7 The diagram shown is a hardware structure diagram of a computer device housing the push control system for the long-straight interventional consumables according to an embodiment of this disclosure. Except for... Figure 7In 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.

[0154] like Figure 8 As shown, Figure 8 This is a block diagram of a push control system 800 for a long straight interventional consumable provided in an embodiment of this disclosure. The push control system 800 includes: a propulsion motor 801, a CPU 802, and a motor driver 803; the propulsion motor 801 is used to acquire the background current of the motor that propels the long straight interventional consumable when the interventional surgical robot is turned on, and to acquire the operating current of the motor that propels the long straight interventional consumable in real time during the operation; the CPU 802 is used to determine the degree of change of the pushing force of the long straight interventional consumable during the operation and before the operation based on the background current and the operating current; the motor driver 803 is used to control the propulsion motor 801 to push the long straight interventional consumable based on the degree of change of the pushing force.

[0155] Optionally, the CPU 802 is specifically used to: determine the deviation of the long straight interventional consumable based on the motor background current and the motor operating current; and determine the degree of change in the pushing force of the long straight interventional consumable during and before the operation based on the deviation and the deviation safety threshold range.

[0156] Optionally, the CPU 802 is specifically used to: determine the current difference between the motor operating current and the motor background current; and, based on the current difference and the current safety threshold, determine in real time during the operation the degree of change in the pushing force of the long straight interventional consumables during and before the operation.

[0157] Optionally, the propulsion motor 801 is also used to acquire the background current of the motor that propelled the long straight interventional consumable before the operation. After the load of the propulsion motor 801 is detected to be replaced while energized, the background current of the motor that propelled the long straight interventional consumable before the operation is acquired again. The load includes at least one of the following: guidewire, catheter and guidewire box.

[0158] Optionally, the propulsion motor 801 is specifically used for: sampling n times at preset intervals from a preset position to obtain n current sampling values, where n is an integer greater than or equal to 2; and calculating the motor background current based on the n current sampling values ​​and a first preset formula; the first preset formula is: in, I represents the background current of the motor. k This represents the current value sampled at the kth time.

[0159] Optionally, CPU 802 is specifically used to: calculate the deviation of the long-straight insertion consumable based on the motor background current, the motor operating current, and a second preset formula; the second preset formula is: Where Dev represents the deviation, I s This represents the motor operating current, which is the average of the real-time current sampled s times.

[0160] Optionally, the CPU 802 is specifically used to: determine that the degree of change in the pushing force is not within the safe range if the deviation is outside the deviation safety threshold range; and determine that the degree of change in the pushing force is within the safe range if the deviation is within the deviation safety threshold range.

[0161] Optionally, the CPU 802 is specifically used to: determine that the degree of change in the pushing force is not within the safe range if the current difference is outside the current safety threshold range; and determine that the degree of change in the pushing force is within the safe range if the current difference is within the current safety threshold range.

[0162] Optionally, combined Figure 8 ,like Figure 9 As shown, the push control system 800 for the long straight intervention consumable also includes an output unit 804, which is used to output a prompt message after determining that the degree of change in the push force is not within the safe range. The motor driver 803 is also used to control the propulsion motor 801 to stop pushing the long straight intervention consumable after determining that the degree of change in the push force is not within the safe range, or to control the propulsion motor 801 to stop and retract the long straight intervention consumable, or to control the propulsion motor 801 to stop and rotate the orientation of the head end of the long straight intervention consumable.

[0163] Optionally, the CPU 802 is specifically used to: control the pushing of the long straight intervention consumable based on the degree of change in the pushing force and the feedback value of the force feedback sensor, wherein the force feedback sensor is set on the long straight intervention consumable.

[0164] This disclosure provides a push control system for a long, straight interventional consumable. First, after the interventional surgical robot is powered on, the push control system acquires the background current of the motor that drives the long, straight interventional consumable. Then, during the operation, the push control system acquires the operating current of the motor that drives the long, straight interventional consumable in real time, and based on the background current and operating current, determines the degree of change in the pushing force of the long, straight interventional consumable during and before the operation, and controls the pushing of the long, straight interventional consumable based on the degree of change in the pushing force. Compared to traditional guidewire delivery devices that lack safety detection functions, this application, without adding other sensors and torque detection devices to the interventional surgical robot, can calculate the degree of change in pushing force during and before the operation through the feedback current of the servo motor. This allows for control of the propulsion motor to push the long, straight interventional consumable based on the degree of change in pushing force. For example, it can detect whether an obstacle has been encountered during the advancement of the long, straight interventional consumable within the blood vessel based on the degree of change in pushing force. The solution is simple to implement, highly reliable, and has higher sensitivity for touch detection than traditional devices. Furthermore, this application, based on the preoperative motor background current combined with the intraoperative motor operating current, can control the pushing of the long, straight consumable in real time and accurately. For example, when doctors in the neurology or interventional radiology departments of hospitals use vascular interventional devices to deliver guidewires into blood vessels, the interventional surgical robot can determine whether the delivery is safe based on the degree of change in the pushing force before and during the procedure. For example, if the degree of change in pushing force is small, the delivery is safe, indicating no malfunction or contact with blood obstacles. If the degree of change in pushing force is too large, the delivery may be unsafe, indicating a possible malfunction or contact with obstacles (such as blood vessel walls, thrombi, masses, plaques, etc.). In such cases, further obstacle avoidance measures can be taken, thereby reducing the risk of blood vessel damage caused by continuing to deliver the guidewire after contacting the blood vessel. This also avoids the potential risk of long, straight interventional consumables puncturing blood vessels and damaging internal organs, thus improving the safety performance of surgeries performed using interventional surgical robots.

[0165] Accordingly, this disclosure also provides an interventional surgical robot, which includes a processor and a memory for storing processor-executable instructions. The processor is configured to: acquire the background current of the propulsion motor driving the long, straight interventional consumable when the interventional surgical robot is powered on; acquire the operating current of the propulsion motor driving the long, straight interventional consumable in real time during the procedure; determine the degree of change in the pushing force of the long, straight interventional consumable during and before the procedure based on the background current and the operating current; and control the pushing of the long, straight interventional consumable based on the degree of change in the pushing force.

[0166] 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.

[0167] This disclosure also provides a readable storage medium storing a program or instructions. When the program or instructions are executed by a processor, they implement the various processes of the above-described long-straight intervention consumable push control method embodiments and achieve the same technical effect. To avoid repetition, they will not be described again here.

[0168] 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.

[0169] This disclosure 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 long-straight intervention consumable push control method embodiments, and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0170] It should be understood that the chip mentioned in the embodiments of this disclosure may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0171] Optionally, embodiments of this disclosure provide an interventional surgical robot, which includes a push control system for a long, straight interventional consumable. The push control system includes: a propulsion motor, a CPU, and a motor driver. The propulsion motor is used to acquire the background current of the motor driving the long, straight interventional consumable when the interventional surgical robot is powered on, and to acquire the operating current of the motor driving the long, straight interventional consumable in real time during the procedure. The CPU is used to determine the degree of change in the pushing force of the long, straight interventional consumable during and before the procedure based on the background current and the operating current. The motor driver is used to control the propulsion motor to push the long, straight interventional consumable based on the degree of change in the pushing force.

[0172] This disclosure provides a computer program product containing instructions that, when run on a computer, causes the computer to perform the steps of the above-described method for pushing and controlling long straight intervention consumables, and achieves the same technical effect. To avoid repetition, it will not be described again here.

[0173] 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 this disclosure according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0174] The foregoing has described specific embodiments of this disclosure. 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 results. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0175] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention applied herein. This disclosure is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure 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 disclosure are indicated by the following claims.

[0176] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

[0177] The above description is merely a preferred embodiment of this disclosure and is not intended to limit this disclosure. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A method for pushing and controlling a long, straight interventional consumable, characterized in that, The method includes: When the interventional surgical robot is powered on, the background current of the motor that drives the long, straight interventional consumables is obtained; The operating current of the motor that drives the long, straight interventional consumables is acquired in real time during the procedure; Based on the background current of the motor and the operating current of the motor, the degree of change in the pushing force of pushing the long straight interventional consumable is determined in real time during the operation and before the operation. The pushing of the long, straight interventional consumable is controlled based on the degree of change in the pushing force.

2. The method according to claim 1, characterized in that, The method of determining the degree of change in the pushing force of the long, straight interventional consumable during and before surgery based on the background current and operating current of the motor includes: The deviation of the long straight insertion consumable is determined based on the background current of the motor and the operating current of the motor. Based on the deviation and the deviation safety threshold range, the degree of change in the pushing force of the long straight interventional consumable is determined in real time during the operation and before the operation.

3. The method according to claim 1, characterized in that, The method of determining the degree of change in the pushing force of the long, straight interventional consumable during and before surgery based on the background current and operating current of the motor includes: Determine the current difference between the motor operating current and the motor background current; Based on the current difference and current safety threshold, the degree of change in the pushing force of the long straight interventional consumable is determined in real time during the operation and before the operation.

4. The method according to claim 1, characterized in that, After obtaining the background current of the motor that drives the long, straight, interfering consumable material, the method further includes: If the load of the propulsion motor is detected to be replaced while it is energized, the background current of the motor that drives the long straight intervening consumable is reacquired. The load includes at least one of the following: a guidewire, a catheter, and a guidewire cartridge.

5. The method according to claim 1 or 2, characterized in that, The acquisition of the background current of the motor driving the long, straight, interfering consumable material by the propulsion motor includes: Sample the current n times at preset intervals from a preset position to obtain n current sample values, where n is an integer greater than or equal to 2; Based on the n current sampling values ​​and the first preset formula, the background current of the motor is calculated; The first preset formula is: in, I represents the background current of the motor. k This represents the current value sampled at the kth time.

6. The method according to claim 5, characterized in that, The step of determining the deviation of the long-straight insertion consumable based on the motor background current and the motor operating current includes: Based on the motor background current, the motor operating current, and the second preset formula, the deviation of the long straight insertion consumable is calculated; The second preset formula is: Where Dev represents the deviation. This represents the motor operating current, which is the average value of the real-time current sampled s times.

7. The method according to claim 2, characterized in that, The method of determining the degree of change in the pushing force of the long, straight interventional consumable during and before surgery in real time, based on the deviation degree and the deviation safety threshold range, includes: If the deviation is outside the deviation safety threshold range, then it is determined that the degree of change in the pushing force is not within the safety range; If the deviation is within the deviation safety threshold range, then the degree of change in the pushing force is determined to be within the safe range.

8. The method according to claim 3, characterized in that, Based on the current difference and current safety threshold, the degree of change in the pushing force of the long, straight interventional consumable is determined in real time during the procedure and before the procedure, including: If the current difference is outside the current safety threshold range, it is determined that the degree of change in the pushing force is not within the safe range; If the current difference is within the current safety threshold range, the degree of change in the pushing force is determined to be within a safe range.

9. The method according to claim 7 or 8, characterized in that, After determining that the degree of change in the pushing force is outside the safe range, the method further includes: Output a prompt message to control the propulsion motor to stop propulsing the long, straight intervention consumable; or, Output a prompt message to control the propulsion motor to stop and retract the long, straight intervention consumable; or, Output a prompt message to control the propulsion motor to stop and rotate the orientation of the long straight intervention consumable head.

10. The method according to claim 1, characterized in that, The method of controlling the delivery of the long, straight interventional consumable based on the degree of change in the pushing force includes: The pushing of the long straight intervention consumable is controlled based on the degree of change of the pushing force and the feedback value of the force feedback sensor, wherein the force feedback sensor is installed on the long straight intervention consumable.

11. A push control system for long, straight interventional consumables, characterized in that, The push control system includes: a propulsion motor, a central processing unit, and a motor driver; The propulsion motor is used to acquire the background current of the motor that drives the long straight interventional consumable when the interventional surgical robot is turned on, and to acquire the motor operating current of the propulsion motor that drives the long straight interventional consumable in real time during the operation. The central processing unit is used to determine, in real time during the operation, the degree of change in the pushing force of pushing the long straight interventional consumable during and before the operation, based on the background current of the motor and the operating current of the motor. The motor driver is used to control the pushing of the long straight intervention consumable based on the degree of change in the pushing force.

12. A computer device, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, it implements the steps of the push control method for the long straight interventional consumable as described in any one of claims 1 to 10.

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