Control system, device and storage medium of vascular intervention robot

Abstract

Embodiments of the present application provide a kind of vascular intervention robot control system, device and storage medium, it is related to medical technical field.The control system includes robot master end, robot slave end and image recognition module;Robot master end obtains the position locking instruction of guide catheter and sends to robot slave end and image recognition module;Robot slave end responds to the instruction and fixes the position of guide catheter at target vessel opening or inside target vessel;Image recognition module obtains the reference position of guide catheter distal head, and obtains its real-time position multiple times in locking process;Robot master end determines displacement according to the deviation of reference position and real-time position, when displacement exceeds preset threshold, output reset prompt information, prompt user to adjust guide catheter position.The present application solves the problem that guide catheter is in place and is unstable in position and is prone to cause vascular injury, operation failure and other safety risk.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, specifically to a control system, device, and storage medium for a vascular interventional robot. Background Technology

[0002] In interventional vascular surgery, the guiding catheter must be precisely delivered to the target vascular region via a vascular pathway to facilitate the delivery of subsequent therapeutic instruments. Maintaining the stable position of the catheter tip after it reaches the target vessel is crucial for ensuring the precision and safety of the procedure.

[0003] Currently, once the guiding catheter reaches the target blood vessel, its distal tip maintains its position solely through passive friction with the vessel wall and vascular geometric constraints. However, due to dynamic factors such as continuous pulsation, blood flow impact, and the transmission of subsequent instrument pushing force, the distal tip of the guiding catheter is highly susceptible to minute displacement or even dislodgement from the target blood vessel, leading to a failure in positioning. This can result in damage to the vessel wall at the guiding catheter tip, inaccurate placement of interventional instruments, and even surgical failure, among other safety risks. Summary of the Invention

[0004] This invention provides a control system, device, and storage medium for a vascular interventional robot, aiming to solve the safety risks in the prior art, such as vascular damage and surgical failure caused by unstable positioning of the guide tube after it is in place.

[0005] In a first aspect, embodiments of the present invention provide a control system for a vascular interventional robot, comprising a robot master end, a robot slave end, and an image recognition module, wherein: The robot master is configured to acquire a position locking command from the guide tube and send the position locking command to the robot slave and the image recognition module. The robot slave is configured to fix the position of the guide tube at the opening of the target blood vessel or inside the target blood vessel in response to the position locking command; The image recognition module is configured to, in response to the position locking command, acquire the reference position of the distal tip of the guiding tube at the opening of the target blood vessel or within the target blood vessel, and send the reference position to the robot master end; The image recognition module is also configured to acquire the real-time position of the distal end of the guide tube at the opening of the target blood vessel or inside the target blood vessel multiple times during the process of fixing the position of the guide tube at the target blood vessel opening or inside the target blood vessel by the robot slave end, and send the real-time position to the robot master end; The robot's main end is further configured to determine the displacement of the distal tip of the guide tube based on the reference position and the real-time position, wherein the displacement is the deviation between the reference position and the real-time position; and to output a reset prompt message in response to the displacement being greater than a preset displacement, wherein the reset prompt message is used to prompt the user to adjust the position of the distal tip of the guide tube at the opening of the target blood vessel or within the target blood vessel.

[0006] In a second aspect, embodiments of the present invention also provide a control device for a vascular interventional robot, including a processor, a memory, a computer program stored in the memory and executable by the processor, and a data bus for enabling communication between the processor and the memory, wherein the computer program, when executed by the processor, performs the functions of a control system for a vascular interventional robot as described in any embodiment of the first aspect.

[0007] Thirdly, embodiments of the present invention also provide a computer-readable storage medium storing one or more computer programs, which can be executed by one or more processors to implement the functions of the control system of the vascular interventional robot as described in any embodiment of the first aspect.

[0008] This invention provides a control system, device, and storage medium for a vascular interventional robot. The control system includes a master robot, a slave robot, and an image recognition module. After receiving a position-locking command for the guiding catheter, the master robot sends the command to the slave robot and the image recognition module. In response to the position-locking command, the slave robot fixes the guiding catheter at the opening of the target vessel or within the target vessel, effectively preventing movement of the guiding catheter relative to the target vessel due to continuous vascular pulsation, blood flow impact, and the transmission of subsequent instrument pushing forces. In response to the position-locking command, the image recognition module acquires the reference position of the distal tip of the guiding catheter at the opening of the target vessel or within the target vessel, and repeatedly acquires the real-time position of the distal tip of the guiding catheter at the opening of the target vessel or within the target vessel during the process of fixing the guiding catheter position by the slave robot. The robot's main end determines the displacement of the distal tip of the guiding tube based on the reference position and the real-time position. When the displacement is determined to be greater than the preset displacement, a reset prompt message is output, enabling the user to promptly detect when the distal tip of the guiding tube deviates from the reference position and adjust the position of the distal tip of the guiding tube at the opening of the target blood vessel or within the target blood vessel, thereby improving the accuracy and safety of vascular interventional surgery. Attached Figure Description

[0009] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0010] Figure 1 This is a schematic diagram of the architecture of a control system for a vascular interventional robot provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the process for locking and monitoring the guide tube in the control system of a vascular interventional robot provided in an embodiment of the present invention; Figure 3 This is a flowchart illustrating the lock status indication in the control system of a vascular interventional robot provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the automatic reset and adjustment process in the control system of a vascular interventional robot provided in an embodiment of the present invention; Figure 5 This is a schematic block diagram of the structure of a control device for a vascular interventional robot provided in an embodiment of the present invention. Detailed Implementation

[0011] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0012] The flowchart shown in the attached diagram is for illustrative purposes only and does not necessarily include all content and operations / steps, nor does it necessarily have to be performed in the order described. For example, some operations / steps can be broken down, combined, or partially merged, so the actual execution order may change depending on the actual situation.

[0013] It should be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0014] Currently, once the guiding catheter reaches the target blood vessel, its distal tip maintains its position solely through passive friction with the vessel wall and vascular geometric constraints. However, due to dynamic factors such as continuous pulsation, blood flow impact, and the transmission of subsequent instrument pushing force, the distal tip of the guiding catheter is highly susceptible to minute displacement or even dislodgement from the target blood vessel, leading to failure of the positioning state.

[0015] To address the aforementioned problems, embodiments of the present invention provide a control system, device, and storage medium for a vascular interventional robot. The control system includes a master robot, a slave robot, and an image recognition module. After receiving a position-locking command for the guiding catheter, the master robot sends the command to the slave robot and the image recognition module. In response to the position-locking command, the slave robot fixes the guiding catheter at the opening of the target vessel or within the target vessel, effectively preventing movement of the guiding catheter relative to the target vessel due to factors such as continuous vascular pulsation, blood flow impact, and subsequent instrument pushing force transmission. In response to the position-locking command, the image recognition module acquires the reference position of the distal tip of the guiding catheter at the opening of the target vessel or within the target vessel, and repeatedly acquires the real-time position of the distal tip of the guiding catheter at the opening of the target vessel or within the target vessel during the process of fixing the guiding catheter position by the slave robot. The robot's main end determines the displacement of the distal tip of the guiding tube based on the reference position and the real-time position. When the displacement is determined to be greater than the preset displacement, a reset prompt message is output, enabling the user to promptly detect when the distal tip of the guiding tube deviates from the reference position and adjust the position of the distal tip of the guiding tube at the opening of the target blood vessel or within the target blood vessel, thereby improving the accuracy and safety of vascular interventional surgery.

[0016] The following detailed description of some embodiments of the present invention is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0017] Please see Figure 1 , Figure 1 This is a schematic diagram of the architecture of a control system for a vascular interventional robot provided in an embodiment of the present invention.

[0018] like Figure 1As shown, the control system of this vascular interventional robot includes a robot master end 100, a robot slave end 200, and an image recognition module 300. The robot master end 100 and the robot slave end 200 are communicatively connected, and the robot master end 100 is also communicatively connected to the image recognition module 300. These communication connections can be wireless or wired, and this embodiment of the invention does not specifically limit them. In some embodiments, the image recognition module 300 and the robot slave end 200 may not establish a direct communication connection; the image recognition module 300 only interacts with the robot master end 100, sending the reference position and real-time position of the distal tip of the guiding catheter to the robot master end 100, which then makes judgments and controls based on the reference position and the real-time position.

[0019] The robot master device 100 refers to the device used by the user to operate the vascular intervention robot, such as a laptop, personal computer, console, workstation, or handheld controller. The robot master device 100 is used to obtain the position locking command of the guiding tube triggered by the user and send the position locking command to the robot slave device 200 and the image recognition module 300 to initiate the position locking and monitoring process of the guiding tube.

[0020] In some embodiments, the robot master 100 includes a locking button. The locking button can be a physical button, a touchscreen virtual control, or a button integrated on the operating handle. The user generates a position locking command by triggering the locking button, and the robot master 100 receives the position locking command in response to the user's triggering of the locking button.

[0021] In some embodiments, the robot master end 100 further includes a display and a joystick. The display is used to show angiographic images of the target blood vessel, position information of the distal tip of the guiding catheter, locking status prompts, and reset prompts; the joystick is used for the user to manually control the advancement and retraction of the guiding catheter.

[0022] The robot slave end 200 refers to the actuator used to perform operations such as delivery and fixation of the guide tube, such as a robotic arm or delivery device. The robot slave end 200 is used to fix the position of the guide tube at the opening of the target blood vessel or within the target blood vessel in response to the position locking command sent by the robot master end 100.

[0023] In some embodiments, the robot slave end 200 includes a locking mechanism. The locking mechanism applies a locking force to the guide tube, keeping it stationary and thus fixing its position at the opening of the target blood vessel or within the target blood vessel. Specific implementations of the locking mechanism may include a drive motor outputting a locking torque, a mechanical braking device locking, etc., and this invention does not limit these implementations.

[0024] The image recognition module 300 refers to a module used to recognize and process angiographic images of a target blood vessel to obtain positional information of the distal tip of the guiding catheter at the opening of the target blood vessel or within the target blood vessel, such as an image processing device containing an image recognition engine. The image recognition module 300 is used to respond to a position locking command sent by the robot master 100, obtain a reference position of the distal tip of the guiding catheter at the opening of the target blood vessel or within the target blood vessel, and repeatedly obtain the real-time position of the distal tip of the guiding catheter at the opening of the target blood vessel or within the target blood vessel during the process of fixing the guiding catheter position by the robot slave 200, and send the reference position and real-time position to the robot master 100.

[0025] In some embodiments, the image recognition module 300 includes an image recognition engine. The image recognition engine is used to perform feature matching and recognition on the angiographic image of the target blood vessel to identify contrast markers at the distal tip of the guiding catheter, thereby determining the position of the distal tip of the guiding catheter within the blood vessel.

[0026] In actual operation, the user first delivers the guiding catheter to the opening of the target blood vessel or inside the target blood vessel, and then triggers a position locking command through the robot master 100. After receiving the position locking command, the robot master 100 sends it to the robot slave 200 and the image recognition module 300. After receiving the command, the robot slave 200 applies a locking force to the guiding catheter, fixing its current position, and sends a locking confirmation message to the robot master 100 after the locking is completed. After receiving the command, the image recognition module 300 identifies and records the reference position of the distal tip of the guiding catheter, and continuously acquires the real-time position during the locking period, sending the reference position and the real-time position to the robot master 100. The robot master 100 calculates the displacement based on the deviation between the reference position and the real-time position. When the displacement does not exceed the preset displacement, it continues to receive the new real-time position sent by the image recognition module 300. When the displacement exceeds the preset displacement, the robot master 100 outputs a reset prompt message to prompt the user to adjust the position of the guide tube, and can send a reset adjustment command to the robot slave 200, so that the robot slave 200 can automatically adjust the position of the distal head end of the guide tube.

[0027] Through information interaction and collaborative work between the master end, slave end and image recognition module, this system can continuously monitor the position changes of the guide tube after it is locked, and promptly remind the user or automatically reset and adjust it when deviation occurs, so that the guide tube remains in a stable position during the operation and provides a reliable operating channel for the delivery of subsequent interventional instruments.

[0028] In some embodiments, the robot master 100 includes a locking button. The robot master 100 is configured to acquire the location locking command in response to a user triggering the locking button.

[0029] In some embodiments, the robot slave end 200 includes a locking mechanism. The locking mechanism is used to apply a locking force to the guide tube. The robot slave end 200 is configured to control the locking mechanism to apply a locking force to the guide tube in response to the position locking command, so as to keep the guide tube stationary, thereby fixing the position of the guide tube at the opening of the target blood vessel or within the target blood vessel.

[0030] In some embodiments, the robot slave end 200 is further configured to send a locked prompt message to the robot master end 100 after fixing the guide tube at the opening of the target blood vessel or within the target blood vessel. The robot master end 100 is further configured to output a locked status prompt message in response to the locked prompt message, the locked status prompt message including at least one of the following: displaying a locked activation label on the interface, changing the color of the joystick indicator light, providing joystick vibration feedback, and enhancing the damping of the joystick force feedback.

[0031] In some embodiments, the image recognition module 300 includes an image recognition engine. The image recognition module 300 is configured to perform feature matching and recognition on the angiographic image of the target blood vessel using the image recognition engine to obtain the reference position of the distal tip of the guiding catheter at the opening of the target blood vessel or within the target blood vessel, and to repeatedly obtain the real-time position of the distal tip of the guiding catheter at the opening of the target blood vessel or within the target blood vessel during the process of the robot slave end 200 fixing the position of the guiding catheter at the opening of the target blood vessel or within the target blood vessel.

[0032] In some embodiments, the reset prompt information includes the displacement amount and / or suggested adjustment direction.

[0033] In some embodiments, the control system further includes a physiological signal acquisition module for acquiring respiratory signals and / or heartbeat signals. At least one of the image recognition module 300 and the robot master 100 is configured to filter or compensate the real-time position based on the respiratory signals and / or heartbeat signals to eliminate displacement interference caused by respiratory movements and / or heartbeat movements.

[0034] In some embodiments, the robot master end 100 is further configured to send a reset adjustment command to the robot slave end 200 in response to the displacement of the distal tip of the guide tube from the reference position being greater than the preset displacement. The robot slave end 200 is further configured to automatically adjust the position of the distal tip of the guide tube at the opening of the target blood vessel or within the target blood vessel in response to the reset adjustment command.

[0035] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific workflow of the control system described above can be referred to the following embodiments, which will not be repeated here.

[0036] The following will combine Figure 1 The architecture described in this disclosure provides a detailed overview of the control system provided in the embodiments of this disclosure. It should be noted that... Figure 1 The architecture described herein is only used to explain the control system provided in the embodiments of the present invention, and does not constitute a limitation on the application architecture of the control system provided in the embodiments of the present invention. Please refer to [link / reference]. Figure 2 , Figure 2 This is a schematic diagram of the process for locking and monitoring the guide tube in the control system of a vascular interventional robot provided in an embodiment of the present invention.

[0037] like Figure 2 As shown, the workflow of the control system of the vascular intervention robot includes steps S101 to S104.

[0038] Step S101: The robot master obtains the position lock command of the guide tube and sends the position lock command to the robot slave and the image recognition module.

[0039] In this embodiment, the position locking command is used to instruct the guiding catheter to be maintained at the opening of the target vessel or within the target vessel. The target vessel refers to the vessel that needs to be intervened in during vascular interventional surgery, such as the coronary artery, femoral artery, and middle cerebral artery. Maintaining the guiding catheter at the opening of the target vessel or within the target vessel means keeping the current position of the guiding catheter within the vessel stable, preventing the guiding catheter from shifting forward or backward during subsequent surgical operations, thereby providing a stable operating channel for the delivery of subsequent interventional instruments.

[0040] In some embodiments, after the user manually delivers the distal tip of the guide tube to the opening of the target blood vessel or within the target blood vessel, the user triggers a position locking command via the robot's main end. The method by which the user triggers the position locking command is flexible and can be adapted to different surgical scenarios, user operating habits, and equipment configurations, reducing the user's learning cost and improving the convenience of operation and the naturalness of human-computer interaction.

[0041] Specifically, in some embodiments, the robot's main end is communicatively connected to a control handle, which allows the user to manually control the advancement and retraction of the guide tube. A guide tube locking button is integrated into the control handle and is located on the grip portion of the control handle. After the user delivers the distal tip of the guide tube to the opening of the target blood vessel or into the target blood vessel using the control handle, they can directly press the guide tube locking button on the grip portion to trigger the position locking command without removing the control handle. In other embodiments, the robot's main end displays a control interface, which includes a guide tube locking control. The user can trigger the position locking command by clicking this control. To prevent accidental activation, this control can be configured to require a long press for a preset duration or consecutive double-click confirmation before triggering the command, thereby avoiding accidental operation due to unintentional touch.

[0042] It is understood that pressing the physical button on the control handle and clicking the virtual button on the touchscreen are merely exemplary implementations of the user triggering the position lock command, and this embodiment of the invention does not limit this. In other possible implementations, the user can also trigger the position lock command by pressing an independent button on the control panel of the robot's main unit, or by sending a voice command through the voice control module of the robot's main unit. Any input device or interaction method that allows the user to trigger the position lock command can be used as a specific implementation of the lock button in this application, and will not be listed here.

[0043] After receiving the position lock command from the robot master, the robot master sends the position lock command to the robot slave and the image recognition module respectively. The communication connection between the robot master, the robot slave, and the image recognition module can be a wireless communication connection or a wired communication connection.

[0044] Step S102: The robot responds to the position locking command from the slave end and fixes the position of the guide tube at the opening of the target blood vessel or inside the target blood vessel.

[0045] In this embodiment, after receiving a position locking command from the end, the robot fixes the guide tube at the opening of the target blood vessel or within the target blood vessel to restrict movement of the guide tube relative to the target blood vessel. The fixing method may include applying a locking force to the guide tube through a locking mechanism to keep the guide tube stationary.

[0046] In some embodiments, the robot slave includes a locking mechanism for applying a locking force to the guide tube. In response to a position locking command, the robot slave controls the locking mechanism to apply the locking force to the guide tube to keep it stationary, thereby fixing the guide tube in position at or within the target blood vessel opening.

[0047] Exemplarily, the locking mechanism may include at least one of a drive motor and a mechanical braking device. In some embodiments, the robot slave end includes a delivery mechanism and a drive motor, the delivery mechanism being used to hold the guide tube, and the drive motor being used to provide power to the delivery mechanism. The robot slave end controls the drive motor to output a locking torque to drive the delivery mechanism to apply a holding force to the guide tube, thereby holding the guide tube in a position at or within the target blood vessel opening. In other embodiments, the robot slave end includes a mechanical braking device for applying a braking force to the guide tube, and the robot slave end controls the mechanical braking device to apply the braking force to the guide tube to fix its position at or within the target blood vessel opening.

[0048] In this embodiment, a locking mechanism is used to apply a locking force to the guiding tube, which stabilizes the entire guiding tube in its current position and prevents it from moving forward or backward along the axial direction. This achieves stable maintenance of the overall position of the guiding tube and avoids potential damage to the blood vessel wall that might be caused by directly locking the distal tip.

[0049] Step S103: In response to the position locking command, the image recognition module obtains the reference position of the distal tip of the guide tube at the opening of the target blood vessel or inside the target blood vessel. During the process of fixing the position of the guide tube at the opening of the target blood vessel or inside the target blood vessel by the robot slave end, the module obtains the real-time position of the distal tip of the guide tube at the opening of the target blood vessel or inside the target blood vessel multiple times, and sends the reference position and the real-time position to the robot master end.

[0050] In this embodiment, after receiving the position locking command, the image recognition module obtains the reference position of the distal tip of the guide tube at the opening of the target blood vessel or inside the target blood vessel, as a reference for monitoring whether the guide tube has shifted in the subsequent locked state.

[0051] In some embodiments, the image recognition module includes an image recognition engine. The image recognition module uses the image recognition engine to perform feature matching and recognition on the angiographic image of the target blood vessel to obtain the reference position of the distal tip of the guiding catheter at the opening of the target blood vessel or within the target blood vessel.

[0052] Specifically, the distal tip of the guiding catheter is marked with a contrast-enhancing marker. In angiographic images, this marker appears as a high-contrast bright spot, clearly indicating the actual position of the distal tip of the guiding catheter within the blood vessel. An image recognition engine is used to perform feature matching and recognition of this contrast-enhancing marker in the angiographic image. When the angiographic image is input into the image recognition engine, the engine extracts and analyzes features such as the shape, size, and position of the high-contrast bright spot in the image to automatically identify the area where the contrast-enhancing marker is located at the distal tip of the guiding catheter and determine the position of the distal tip of the guiding catheter in the angiographic image. Subsequently, the image recognition module determines the reference position of the distal tip of the guiding catheter at the opening of the target blood vessel or within the target blood vessel based on the spatial mapping relationship between the angiographic position and the vascular anatomy. This reference position is stored as spatial coordinates or a relative reference point, serving as a reference for subsequent monitoring of whether the guiding catheter has shifted.

[0053] After the image recognition module obtains the reference position, it repeatedly acquires the real-time position of the distal tip of the guide tube at the opening of the target blood vessel or within the target blood vessel while the robot fixes the guide tube at the end of the target vessel. Multiple acquisitions can be understood as periodic acquisition at preset time intervals, or as acquisition based on event triggers, such as acquisition upon detecting a possible displacement event. This embodiment of the invention does not limit the specific method of multiple acquisitions.

[0054] In some embodiments, multiple acquisitions include periodic acquisitions. The image recognition module periodically acquires angiographic images of the target blood vessel at preset time intervals, and uses an image recognition engine to perform feature matching and recognition of contrast markers in the angiographic images to determine the real-time position of the distal tip of the guiding catheter at the opening of the target blood vessel or within the target blood vessel.

[0055] The preset time interval can be set according to the type of target blood vessel, the stage of the surgical procedure, and the required locking accuracy. For example, in the aortic region where blood flow is strong or during a more intense stage of the surgical procedure, a shorter cycle can be set for high-frequency monitoring; in the distal blood vessel region where blood flow is relatively gentle or during a more stable stage of the surgical procedure, a longer cycle can be set to reduce the computational load on the system. Typical cycle ranges from tens of milliseconds to hundreds of milliseconds, and no specific limitation is made here.

[0056] The image recognition module sends the acquired reference position and subsequent real-time positions to the robot master, enabling the robot master to determine the displacement based on the reference position and real-time position.

[0057] Step S104: The robot master determines the displacement of the distal end of the guide tube based on the reference position and the real-time position; in response to the displacement being greater than the preset displacement, a reset prompt message is output.

[0058] In this embodiment, after receiving the reference position and real-time position sent by the image recognition module, the robot's main end compares the real-time position with the reference position to determine the displacement of the distal end of the guide tube. The displacement is the deviation between the reference position and the real-time position.

[0059] Specifically, both the reference position and the real-time position can be represented as spatial coordinates at the opening of the target blood vessel or within the target blood vessel. The robot's master end calculates the displacement of the distal tip of the guiding catheter based on the spatial coordinates of the reference position and the real-time position. This displacement can include at least one of axial displacement, radial displacement, and cumulative displacement. Axial displacement is the distance by which the distal tip of the guiding catheter deviates from the reference position along the blood vessel axis, used to determine whether the guiding catheter has moved forward or backward. Radial displacement is the lateral offset distance of the distal tip of the guiding catheter from the blood vessel centerline within the blood vessel cross-section, used to determine whether the guiding catheter tip has shifted towards the blood vessel wall. Cumulative displacement refers to the cumulative sum of instantaneous displacements measured since the application of the locking force, used to assess the positional stability of the guiding catheter throughout the locking period.

[0060] After calculating the displacement, the robot's master end compares this displacement with a preset displacement. The preset displacement refers to the maximum allowable deviation of the distal tip of the guide tube, pre-set to ensure surgical safety. It may include at least one of axial displacement thresholds, radial displacement thresholds, and cumulative displacement thresholds. The specific values ​​of each threshold can be pre-calibrated based on the anatomical characteristics of the target vessel, its inner diameter, the type of surgical procedure, and clinical safety experience. For example, in areas with small vessel diameters or fragile vessel walls, a smaller radial displacement threshold can be set to avoid pressure damage to the vessel wall from the guide tube tip; in stages of more intense surgery with greater external disturbance, a smaller axial displacement threshold can be set to promptly detect unexpected displacement of the guide tube.

[0061] In response to a displacement exceeding a preset displacement, the robot's main end outputs a reset prompt message. This reset prompt message is used to remind the user to adjust the position of the distal tip of the guide tube at the opening of the target blood vessel or within the target blood vessel.

[0062] In some embodiments, the reset prompt information includes displacement and / or suggested adjustment direction. The robot's main end can output reset prompt information on the display interface, such as through flashing red boxes, displaying displacement values, comparing the marker points of the reference position and the current position, guiding arrows pointing from the current position to the reference position, and suggested reset direction and reset distance. This allows users to intuitively and accurately grasp the offset state of the guide tube without relying on subjective visual judgment, and quickly complete the reset adjustment according to the prompts, improving the efficiency and accuracy of reset and reducing the surgical risks caused by incomplete reset.

[0063] In some embodiments, the control system further includes a physiological signal acquisition module for acquiring respiratory signals and / or heartbeat signals. At least one of the image recognition module and the robot master is configured to filter or compensate the real-time position based on the respiratory signals and / or heartbeat signals to eliminate displacement interference caused by respiratory movements and / or heartbeat movements.

[0064] Specifically, during the locking of the guiding catheter, the patient's respiratory and cardiac movements cause periodic vascular pulsations, resulting in regular, minute displacements at the distal tip of the guiding catheter that follow physiological rhythms. If these physiological displacements are not addressed, the robot's master end may misinterpret normal physiological movements as abnormal catheter deviations, leading to false alarms. By filtering or compensating for the real-time position before displacement assessment, displacement interference caused by respiratory and cardiac movements can be eliminated or weakened from the real-time position, retaining only the displacement component caused by actual sliding or displacement of the guiding catheter, thus improving the accuracy of displacement assessment.

[0065] In summary, this embodiment of the application achieves fully automated management of the entire process of the guide tube, from manual delivery to automatic locking and continuous monitoring, through steps S101 (obtaining the guide tube position locking command), S102 (fixing the guide tube position), S103 (obtaining the reference position and repeatedly obtaining the real-time position), and S104 (judging the displacement and outputting a reset prompt). By transforming the locking and monitoring of the guide tube from manual maintenance to automatic execution and continuous monitoring by the vascular interventional robot, the uncertainty caused by individual differences in operator experience and physiological fatigue is effectively eliminated. This significantly improves the positional stability of the guide tube during the procedure, provides a continuous and reliable operating channel for the delivery of subsequent interventional instruments, reduces the risk of vascular damage and surgical complications caused by accidental guide tube displacement, and improves the accuracy and safety of vascular interventional surgery.

[0066] Please see Figure 3 , Figure 3 This is a schematic diagram of the lock status prompt in the control system of a vascular interventional robot provided in an embodiment of the present invention.

[0067] In some embodiments, such as Figure 3 As shown, after the robot responds to the position locking command in step S102 and fixes the position of the guide tube at the opening of the target blood vessel or inside the target blood vessel, steps S105 to S106 are also included.

[0068] Step S105: After the robot slave end fixes the guide tube at the opening of the target blood vessel or inside the target blood vessel, it sends a locked prompt message to the robot master end.

[0069] In this embodiment, after the robot completes the fixing operation of the guide tube at the slave end, it generates a locked prompt message and sends the locked prompt message to the robot master end. The locked prompt message is used to inform the robot master end that the guide tube has been locked.

[0070] Step S106: The robot master responds to the locked prompt information and outputs a locked status prompt information.

[0071] In this embodiment, after receiving the locked notification, the robot's master end outputs a locked status notification. The locked status notification includes at least one of the following: a locked activation label displayed on the interface, a color change of the joystick indicator light, joystick vibration feedback, and enhanced joystick force feedback damping.

[0072] Specifically, in some embodiments, the robot's main end includes a display. The display may show a lock activation label, such as a "Lock Activated" visual label that pops up on the surgical interface to indicate to the user that the guide tube is in a locked state.

[0073] In some embodiments, the robot's main end is communicatively connected to a joystick, which integrates an indicator light. When the guide tube is unlocked, the indicator light displays a first color, such as green; when the guide tube is locked, the indicator light displays a second color, such as red, to indicate to the user that the guide tube is locked.

[0074] In some embodiments, the joystick may also generate vibration feedback, allowing the user to perceive the locked state through touch while holding the joystick. In some embodiments, the joystick may also enter a force feedback damping enhancement mode, which increases the damping force of the joystick to limit accidental operation by the user.

[0075] Through the above multimodal prompts, users can intuitively and accurately perceive the locking status of the guide tube, avoiding misoperation due to failure to detect the locking status, thus improving the safety and reliability of operation.

[0076] Please see Figure 4 , Figure 4 This is a schematic diagram of the automatic reset and adjustment process in the control system of a vascular interventional robot provided in an embodiment of the present invention.

[0077] In some embodiments, such as Figure 4 As shown, after step S103, steps S107 and S108 are also included.

[0078] Step S107: In response to the fact that the displacement of the far end of the guide tube from the reference position is greater than the preset displacement, the robot master end sends a reset adjustment command to the robot slave end.

[0079] In this embodiment, after the robot master determines the displacement of the distal end of the guide tube based on the reference position and the real-time position, when the displacement is greater than the preset displacement, the robot master can not only output a reset prompt message to prompt the user to manually adjust, but also send a reset adjustment command to the robot slave to start automatic reset adjustment.

[0080] Step S108: The robot responds to the reset and adjustment command from the slave end and automatically adjusts the position of the distal tip of the guide tube at the opening of the target blood vessel or inside the target blood vessel.

[0081] In this embodiment, after receiving a reset and adjustment command, the robot slave automatically adjusts the position of the distal end of the guide tube according to the magnitude and direction of the displacement. Specifically, the robot slave can control the delivery mechanism to move the guide tube towards the reference position to eliminate the displacement of the distal end of the guide tube. For example, when the distal end of the guide tube shifts to the distal end, the robot slave controls the delivery mechanism to retract the guide tube to the proximal end; when the distal end of the guide tube shifts to the proximal end, the robot slave controls the delivery mechanism to advance the guide tube to the distal end until the distal end of the guide tube returns to the reference position.

[0082] In some embodiments, the robot master can output a reset prompt message and send a reset adjustment command to the robot slave simultaneously. This way, the robot slave automatically begins resetting and adjusting as soon as the user becomes aware of the guide tube misalignment, achieving closed-loop control from monitoring to automatic reset, further improving the system's response speed and reset accuracy.

[0083] Please see Figure 5 , Figure 5 This is a schematic block diagram of the structure of a control device for a vascular interventional robot provided in an embodiment of the present invention.

[0084] like Figure 5 As shown, the control device 110 of the vascular intervention robot includes a processor 111 and a memory 112. The processor 111 and the memory 112 are connected via a bus 113, such as an I2C (Inter-integrated Circuit) bus.

[0085] Specifically, processor 111 provides computing and control capabilities to support the operation of the entire control device. Processor 111 can be a Central Processing Unit (CPU), but it can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0086] Specifically, the memory 112 can be a Flash chip, a read-only memory (ROM), a disk, an optical disk, a USB flash drive, or a portable hard drive, etc.

[0087] Those skilled in the art will understand that Figure 5 The structure shown is merely a block diagram of a portion of the structure related to the embodiments of the present invention, and does not constitute a limitation on the control device applied thereto. The specific control device may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0088] The processor 111 is used to run a computer program stored in the memory 112, and when executing the computer program, it implements the functions performed by each component in the control system of any of the vascular interventional robots provided in the embodiments of the present invention.

[0089] In some embodiments, processor 111 is configured to run a computer program stored in memory, and perform the following steps when executing the computer program: Obtain the position locking command of the guide tube and send the position locking command to the robot slave and the image recognition module; In response to the position locking command, the position of the guiding catheter is fixed at the opening of the target blood vessel or inside the target blood vessel; In response to the position locking command, the reference position of the distal tip of the guiding catheter at the opening of the target blood vessel or within the target blood vessel is obtained, and the reference position is sent to the robot master end; During the process of fixing the position of the guide tube at the opening of the target blood vessel or inside the target blood vessel, the real-time position of the distal end of the guide tube at the opening of the target blood vessel or inside the target blood vessel is acquired multiple times, and the real-time position is sent to the robot master end. Based on the reference position and the real-time position, the displacement of the distal end of the guide tube is determined, and the displacement is the deviation between the reference position and the real-time position. In response to the displacement being greater than a preset displacement, a reset prompt message is output. The reset prompt message is used to prompt the user to adjust the position of the distal tip of the guide tube at the opening of the target blood vessel or inside the target blood vessel.

[0090] In some embodiments, processor 111 is further configured to implement: In response to the user's triggering of the lock button, the location lock command is obtained.

[0091] In some embodiments, processor 111 is further configured to implement: The locking mechanism applies a locking force to the guiding tube to keep it stationary, thereby fixing the position of the guiding tube at the opening of the target blood vessel or within the target blood vessel.

[0092] In some embodiments, processor 111 is further configured to implement: After fixing the position of the guide tube at the opening of the target blood vessel or inside the target blood vessel, a locked prompt message is sent to the robot master end; In response to the locked prompt, a locked status prompt is output, which includes at least one of the following: displaying a locked activation label on the interface, changing the color of the joystick indicator light, providing joystick vibration feedback, and enhancing the damping of the joystick force feedback.

[0093] In some embodiments, processor 111 is further configured to implement: The image recognition engine performs feature matching and recognition on the angiographic image of the target blood vessel to obtain the reference position of the distal tip of the guiding catheter at the opening of the target blood vessel or within the target blood vessel. During the process of fixing the position of the guiding catheter at the opening of the target blood vessel or within the target blood vessel, the real-time position of the distal tip of the guiding catheter at the opening of the target blood vessel or within the target blood vessel is obtained multiple times.

[0094] In some embodiments, processor 111 is further configured to implement: The real-time position is filtered or compensated based on respiratory signals and / or heartbeat signals to eliminate displacement interference caused by respiratory movements and / or heartbeat movements.

[0095] In some embodiments, processor 111 is further configured to implement: In response to the displacement of the distal end of the guide tube from the reference position being greater than the preset displacement, a reset adjustment command is sent to the robot slave end; In response to the reset and adjustment command, the position of the distal tip of the guiding catheter at the opening of the target blood vessel or within the target blood vessel is automatically adjusted.

[0096] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the control device described above can be referred to the corresponding process in the aforementioned embodiment of the control system of the vascular intervention robot, and will not be repeated here.

[0097] This invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to perform the functions of the components in the control system of any of the vascular interventional robots provided in this specification.

[0098] The storage medium can be volatile or non-volatile. It can be an internal storage unit of the control device described in the foregoing embodiments, such as the hard disk or memory of the control device. Alternatively, it can be an external storage device of the control device, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, or FlashCard.

[0099] It will be understood by those skilled in the art that all or some of the functions in the systems and devices disclosed above, and the functional modules / units in the apparatus, can be implemented as software, firmware, hardware, and suitable combinations thereof. In hardware embodiments, the division between functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed collaboratively by several physical components. Some or all physical components may be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and can be accessed by a computer. Furthermore, it is well known to those skilled in the art that communication media typically contain computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0100] It should be understood that the term "and / or" as used in this specification and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes such combinations. It should be noted that, herein, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0101] The sequence numbers of the above-described embodiments of the present invention are merely for descriptive purposes and do not represent the superiority or inferiority of the embodiments. The above descriptions are only specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A control system for a vascular interventional robot, characterized in that, It includes a robot master unit, a robot slave unit, and an image recognition module, among which: The robot master is configured to acquire a position locking command from the guide tube and send the position locking command to the robot slave and the image recognition module. The robot slave is configured to fix the position of the guide tube at the opening of the target blood vessel or inside the target blood vessel in response to the position locking command; The image recognition module is configured to, in response to the position locking command, acquire the reference position of the distal tip of the guiding tube at the opening of the target blood vessel or within the target blood vessel, and send the reference position to the robot master end; The image recognition module is also configured to acquire the real-time position of the distal end of the guide tube at the opening of the target blood vessel or inside the target blood vessel multiple times during the process of fixing the position of the guide tube at the target blood vessel opening or inside the target blood vessel by the robot slave end, and send the real-time position to the robot master end; The robot's main end is further configured to determine the displacement of the distal tip of the guide tube based on the reference position and the real-time position, wherein the displacement is the deviation between the reference position and the real-time position; and to output a reset prompt message in response to the displacement being greater than a preset displacement, wherein the reset prompt message is used to prompt the user to adjust the position of the distal tip of the guide tube at the opening of the target blood vessel or within the target blood vessel.

2. The control system of the vascular interventional robot according to claim 1, characterized in that, The robot's main end includes a lock button; The robot's main terminal is configured to receive the location lock command in response to the user's triggering of the lock button.

3. The control system of the vascular interventional robot according to claim 1, characterized in that, The robot slave end includes a locking mechanism for applying a locking force to the guide tube; The robot slave is configured to control the locking mechanism to apply a locking force to the guide tube in response to the position locking command, so as to keep the guide tube stationary and thereby fix the position of the guide tube at the opening of the target blood vessel or within the target blood vessel.

4. The control system of the vascular interventional robot according to claim 1, characterized in that, The robot slave end is also configured to send a locked prompt message to the robot master end after fixing the position of the guide tube at the opening of the target blood vessel or inside the target blood vessel; The robot's main terminal is also configured to output a lock status prompt in response to the locked prompt information. The lock status prompt information includes at least one of the following: displaying a lock activation label on the interface, changing the color of the joystick indicator light, providing joystick vibration feedback, and enhancing the damping of the joystick force feedback.

5. The control system of the vascular interventional robot according to claim 1, characterized in that, The image recognition module includes an image recognition engine; The image recognition module is configured to perform feature matching and recognition on the angiographic image of the target blood vessel through the image recognition engine to obtain the reference position of the distal tip of the guiding tube at the opening of the target blood vessel or within the target blood vessel, and to obtain the real-time position of the distal tip of the guiding tube at the opening of the target blood vessel or within the target blood vessel multiple times during the process of the robot fixing the position of the guiding tube at the opening of the target blood vessel or within the target blood vessel.

6. The control system of the vascular interventional robot according to claim 1, characterized in that, The reset prompt information includes the displacement amount and / or suggested adjustment direction.

7. The control system of the vascular interventional robot according to claim 1, characterized in that, The control system also includes a physiological signal acquisition module for acquiring respiratory signals and / or heartbeat signals; At least one of the image recognition module and the robot main terminal is configured to filter or compensate the real-time position based on the breathing signal and / or heartbeat signal to eliminate displacement interference caused by breathing movements and / or heartbeat movements.

8. The control system of the vascular interventional robot according to claim 1, characterized in that, The robot master end is also configured to send a reset adjustment command to the robot slave end in response to the displacement of the distal head end of the guide tube from the reference position being greater than the preset displacement. The robot slave end is also configured to automatically adjust the position of the distal tip of the guide tube at the opening of the target blood vessel or within the target blood vessel in response to the reset adjustment command.

9. A control device for a vascular interventional robot, characterized in that, The control device of the vascular interventional robot includes a processor, a memory, a computer program stored in the memory and executable by the processor, and a data bus for connecting and communicating between the processor and the memory, wherein when the computer program is executed by the processor, it implements the functions of the control system of the vascular interventional robot as described in any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores one or more computer programs, which can be executed by one or more processors to implement the functions of the control system of the vascular interventional robot according to any one of claims 1 to 8.

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