Interventional tool and catheter cooperative control method and device, equipment and storage medium

Abstract

The application relates to the technical field of cooperative control of interventional tools and catheters, and discloses a cooperative control method, device and equipment of interventional tools and catheters and a storage medium. A relative constraint model between a catheter and a tool is established, the model including a relative pose, a safe operation boundary and a risk mark, so as to improve executable area identification accuracy and reduce invalid attempts; the relative constraint model is used to generate a cooperative control target of a current operation stage, the catheter action and the tool action can be determined in linkage in different operation stages, and the matching accuracy between control actions and risk states is improved; through conflict detection, abnormal contact detection and deviation detection on an initial linkage control instruction, control competition and execution confusion caused by multi-action conflicts can be reduced, priority redistribution and safe takeover are automatically executed when a conflict occurs or abnormal contact appears, and the system can output stable and executable control instructions under complex working conditions.

Description

Technical Field

[0001] This application relates to the field of coordinated control technology of interventional tools and catheters, and in particular to a method, device, equipment and storage medium for coordinated control of interventional tools and catheters. Background Technology

[0002] In bronchoscopic interventional surgery, the surgeon typically first maneuvers the bronchoscopic catheter to the vicinity of the target area, then inserts interventional tools such as ablation needles, biopsy forceps, or drug delivery catheters through the catheter's internal channel to sample or treat the lesion. Existing systems separate catheter positioning and tool manipulation into two nearly independent processes. The surgeon must first align the catheter, then separately advance the tool. If the tool's movement causes the catheter to deviate from the target, the tool operation is paused, and the catheter is readjusted. This separate control method leads to frequent interruptions during the procedure, reduced real-time performance, and the inability to automatically compensate for disturbances between the tool and the catheter. Furthermore, existing solutions primarily rely on planning, display prompts, or threshold triggers; key execution steps still depend on manual judgment and compensation by the surgeon. When conflicts arise between tool advancement and catheter stability, or when abnormal contact occurs, the system cannot handle these situations automatically, making it difficult to establish stable and executable closed-loop control under complex conditions.

[0003] Therefore, how to achieve coordinated control of interventional tools and catheters, so that the system can automatically adjust their actions according to the operation stage and make safety decisions in case of conflict or abnormality, is a problem that needs to be solved by those skilled in the art. Summary of the Invention

[0004] This application provides a method, apparatus, device, and storage medium for the coordinated control of interventional tools and catheters, so as to realize the coordinated control of interventional tools and catheters, enabling the system to automatically adjust the actions of both according to the operation stage and execute safety decisions in case of conflict or abnormality.

[0005] Firstly, this application provides a method for the coordinated control of interventional tools and catheters, comprising: Obtain the standardized state set for this control cycle; wherein, the standardized state set includes standardized duct state, standardized tool state, standardized target data, standardized risk data, and the current operation stage; A relative constraint model between the catheter tip and the tool tip is established based on the standardized state set; the relative constraint model includes the relative pose of the tool with respect to the catheter, the safe operating boundary of the tool, and risk markings. The relative constraint model and the current operation stage are used to generate a cooperative control target; the cooperative control target represents the attitude that the catheter should maintain or adjust under the current operation stage, the forward and backward movements that the tool should perform, the allowable speed range, and the target alignment requirements; The coordinated control objective is converted into initial linkage control instructions; the initial linkage control instructions are a set of instructions with execution order generated based on the conduit actions and tool actions to be executed within the current control cycle. The initial linkage control command is subjected to conflict detection, abnormal contact detection, and deviation detection. Based on the detection results, a final linkage control command, action priority result, and safety gating result are generated. The final linkage control command is output to the execution end, and the action priority result and the safety gating result are written back to the state machine as input data for the next control cycle. The action priority result is the priority ranking result of each control action. The safety gating result is the control decision result used to constrain whether the final linkage control command is allowed to be output and the execution mode when output is allowed.

[0006] Optionally, obtaining the standardized state set for this control cycle includes: Acquire catheter status data, tool status data, target and path data, contact and risk data, and operation phase data; The catheter status data, tool status data, target and path data, contact and risk data, and operation stage data are time-aligned according to the control cycle. Expired data is removed based on the timestamp, and missing values ​​are marked after checking the data integrity. Invalid values ​​are removed from the numerical data in the catheter status data, tool status data, and contact and risk data according to a preset threshold. Unify the catheter status data, tool status data, target and path data, and contact and risk data after removing invalid values ​​into the same coordinate system; Convert the catheter tip posture in the catheter state data and the tool extension amount and tool direction in the tool state data into standard state quantities after unifying the coordinate system; The processed catheter status data, tool status data, target and path data, contact and risk data, and operational phase data are used to generate a standardized status set.

[0007] Optionally, establishing a relative constraint model between the catheter tip and the tool tip based on the standardized state set includes: Based on the standardized catheter state and the standardized tool state, calculate the relative pose of the tool tip relative to the catheter tip; the relative pose includes the positional deviation, directional deviation, and extension length of the tool tip relative to the catheter tip. The safe operating boundary of the tool is determined based on the tool type, the upper limit of the tool extension, the target safety distance, and the current posture of the conduit. The safe operating boundary of the tool includes: the tool extension range, the working window, and the prohibited area. Risk labels are generated based on the standardized risk data, resulting in a relative constraint model.

[0008] Optionally, generating a cooperative control objective using the relative constraint model and the current operation stage includes: The operation type of the current operation stage is determined, and a collaborative control objective is generated based on the relative constraint model; the operation type of the current operation stage includes: catheter positioning stage, tool extension stage, tool operation stage, tool retrieval stage, and anomaly handling stage; Specifically, when the current operation stage is the catheter positioning stage, the collaborative control objective is primarily to align the catheter tip with the target, while the tool remains stationary or in low-speed standby position; when the current operation stage is the tool extension stage, the collaborative control objective simultaneously includes the tool advancement objective and the catheter attitude compensation objective; when the current operation stage is the tool operation stage, the collaborative control objective is primarily to maintain the workable window and limit catheter disturbance; when the current operation stage is the tool retrieval stage, the collaborative control objective is primarily to retract the tool and stabilize the catheter; and when the current operation stage is the anomaly handling stage, the collaborative control objective switches to risk avoidance or manual intervention.

[0009] Optionally, converting the coordinated control objective into an initial linkage control command includes: Based on the cooperative control objective and the standardized catheter state, determine the catheter attitude adjustment amount and the catheter advancement and holding state; Based on the collaborative control objective and the standardized tool status, determine the tool advance / retreat amount; Based on the collaborative control objective, the standardized objective data, the standardized risk data, and the current operational stage, determine the upper limit of tool speed; Limit the control quantities that exceed the driving capacity or safety boundaries; the control quantities include the guide tube attitude adjustment, tool advance / retreat, and tool speed limit. A catheter attitude adjustment command is generated based on the catheter attitude adjustment amount after the amplitude limit; a catheter advance and hold command is generated based on the catheter advance and hold state; a tool advance and retreat command is generated based on the tool advance and retreat amount after the amplitude limit; and a tool speed gating command is generated based on the tool speed upper limit after the amplitude limit. The tool advance and retreat command is either a tool advance command or a tool retraction command. An initial linkage control command is generated based on the catheter posture adjustment command, the catheter advance and hold command, the tool advance and retreat command, and the tool speed gating command.

[0010] Optionally, the initial linkage control command is subjected to conflict detection, abnormal contact detection, and deviation detection, and the final linkage control command, action priority result, and safety gating result are generated based on the detection results, including: The initial linkage control command is subjected to conflict detection, abnormal contact detection, and deviation detection to obtain the detection results. The conflict detection checks whether there is a conflict between the tool advance command and the guide tube attitude adjustment command in the initial linkage control command. The abnormal contact detection checks whether the initial linkage control command will lead to abnormal contact or increased risk of exceeding the boundary. The deviation detection checks whether the alignment deviation of the tool tip relative to the target exceeds a preset threshold after executing the initial linkage control command. Based on the detection results, the final linkage control command, action priority result, and safety gating result are generated; wherein, the action priority result is the priority order among catheter holding, catheter adjustment, tool advancement, tool retrieval, risk avoidance, and manual takeover; the safety gating result is one of the following: allow execution, rate-limited execution, paused execution, reverted execution, replanning, or manual takeover.

[0011] Optionally, when an exception triggering condition is detected, the following exception handling operations are performed: Verify all input data; The upper limit of tightening tool speed, the range of guide tube posture adjustment, and the maximum extension of the tool; The initial linkage control command is modified by at least one of the following operations: speed limiting, pausing, reversing, or reordering. If the modified initial linkage control command still does not meet the safety gating conditions, one of the following is output as the safety gating result: pause execution, reversing execution, replanning, or manual takeover, and the current operation stage is switched to the abnormal handling stage. When the abnormal recovery condition is detected, the standardized state set for the next control cycle is obtained to realize the coordinated control process of the next control cycle.

[0012] Secondly, this application provides a coordinated control device for interventional tools and catheters, comprising: The status standardization module is used to obtain a standardized status set for the current control cycle; wherein, the standardized status set includes standardized duct status, standardized tool status, standardized target data, standardized risk data, and the current operation stage; The relative constraint modeling module is used to establish a relative constraint model between the catheter tip and the tool tip based on the standardized state set; the relative constraint model includes the relative pose of the tool relative to the catheter, the safe operating boundary of the tool, and risk markings. The collaborative target planning module is used to generate collaborative control targets using the relative constraint model and the current operation stage; the collaborative control targets represent the attitude that the duct should maintain or adjust under the current operation stage, the forward and backward movements that the tool should perform, the allowable speed range, and the target alignment requirements; The linkage instruction generation module is used to convert the collaborative control target into initial linkage control instructions; the initial linkage control instructions are a set of instructions with execution order generated based on the conduit actions and tool actions to be executed in the current control cycle. The safety priority management module is used to perform conflict detection, abnormal contact detection, and deviation detection on the initial linkage control command, and generate a final linkage control command, action priority result, and safety gating result based on the detection results. The final linkage control command is output to the execution end, and the action priority result and the safety gating result are written back to the state machine as input data for the next control cycle. The action priority result is the priority ranking result of each control action. The safety gating result is the control decision result used to constrain whether the final linkage control command is allowed to be output and the execution mode when output is allowed.

[0013] Thirdly, this application provides an electronic device, comprising: A memory for storing computer programs; a processor for executing the computer programs to implement the steps of the above-described cooperative control method.

[0014] Fourthly, this application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the above-described cooperative control method.

[0015] Compared with the prior art, the above-mentioned technical solution of this application has the following advantages: This application provides a method, device, equipment, and storage medium for the coordinated control of interventional tools and catheters. In this application, a relative constraint model between the catheter and the tool is established based on a standardized state set. This relative constraint model includes the relative pose of the tool relative to the catheter, the safe operating boundary of the tool, and risk markings. This method can improve the accuracy of executable area identification and reduce invalid attempts, thereby improving the stability of instrument operation window judgment. This application uses the relative constraint model and the current operation stage to generate a coordinated control target, so as to determine the catheter action and tool action in linkage at different operation stages, improve the matching accuracy between control actions and risk states, and avoid frequent operation interruptions and real-time performance degradation. This application reduces control competition and execution chaos caused by multi-action conflicts by performing conflict detection, abnormal contact detection, and deviation detection on the initial linkage control command. When a conflict or abnormal contact occurs, priority reallocation and safe takeover are automatically executed, enabling the system to output stable and executable control commands under complex operating conditions. Attached Figure Description

[0016] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0019] Figure 1 A schematic flowchart illustrating a method for the coordinated control of interventional tools and catheters, provided in an embodiment of this application; Figure 2 A timing flowchart illustrating a method for coordinated control of interventional tools and catheters provided in an embodiment of this application; Figure 3 A schematic diagram of a collaborative control device for interventional tools and catheters provided in an embodiment of this application; Figure 4 This is a structural diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0020] This specific embodiment is merely an explanation of this application and is not intended to limit it. After reading this specification, those skilled in the art can make modifications to this embodiment without contributing any inventive step, but such modifications are protected by patent law as long as they are within the scope of this application.

[0021] It should be noted that, in the optional embodiments of this application, the data related to object information, when applied to specific products or technologies, requires the permission or consent of the object. Furthermore, the collection, use, and processing of this data must comply with the relevant laws, regulations, and standards of the relevant countries and regions. In other words, if the embodiments of this application involve data related to an object, it must be obtained with the object's authorization and consent, the authorization and consent of relevant departments, and in accordance with the relevant laws, regulations, and standards of the country and region. If the embodiments involve personal information, the acquisition of all personal information requires the individual's consent. If sensitive information is involved, the separate consent of the information subject is required. The embodiments also need to be implemented with the object's authorization and consent.

[0022] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0023] Furthermore, the term "and / or" in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this document, unless otherwise specified, generally indicates that the preceding and following related objects have an "or" relationship. To better understand and illustrate the solutions of the embodiments of this application, some technical terms involved in the embodiments of this application are briefly explained below.

[0024] In traditional approaches, catheter control and tool control are typically separated. Existing solutions often treat catheter positioning and tool operation as two nearly independent processes. In the data link, the operator first approaches the target with the catheter, then operates the tool separately, only reverting to adjust the catheter if disturbances occur. In terms of control logic, existing solutions rely heavily on planning, prompts, threshold triggers, or manual judgment, with key execution steps still dependent on operator compensation. However, while traditional solutions can address some positioning, display, or single-point control issues, they still suffer from the following overall shortcomings: a lack of a unified planning and gating scheme that treats the catheter and tool as coupled execution objects; difficulty in handling conflicts between target arrival, maintaining the work window, and abnormal contact; difficulty in providing stable and executable next-step suggestions under conflict, low-confidence, or abnormal conditions; and a significant gap in human experience between output and actual execution under complex conditions.

[0025] The core contradiction of traditional solutions lies in the fact that the movement of interventional tools alters the catheter load and stability, while the catheter posture determines the effective working window of the tool. Traditional solutions lack a unified control scheme that treats these two as coupled objects. To address this contradiction, this application aims to resolve the following issues: 1) How to define the relative pose and safety constraints between the catheter and the tool; 2) How to adjust the catheter posture and propulsion status in conjunction with the tool's extension, retraction, or operation; 3) How to handle conflicts between target arrival, maintaining the working window, and abnormal contact; 4) How to smoothly switch between manual intervention and automatic control strategies. As can be seen from the above issues, for issue 1), due to the lack of a scheme to define the relative pose and safety constraints between the catheter and the tool, only coarse-grained prompts can be output, failing to stably form a main judgment result. Frequent pauses, retractions, reviews, or reselections are required during the procedure. In other words, traditional solutions lack a structured process that integrates basic inputs, core judgments, and result outputs. Regarding issue 2), the lack of a solution for adjusting catheter posture and advancement status in conjunction with tool extension, retrieval, or operation necessitates repeated comparisons and manual compensation by the operator for key candidate results, reducing real-time performance and increasing the risk of positioning errors, misoperations, or missing the optimal execution window. In other words, current technology lacks a solution for prioritizing, correcting, and proactively recommending candidate results. Regarding issue 3), the lack of a solution for handling conflicts between target arrival, maintaining the operating window, and abnormal contact, coupled with the lack of a clear switching and recovery link between abnormal and normal states, reduces consistency and clinical feasibility in complex cases. In other words, current technology lacks a stable solution for managing the degrading, recovery, and manual takeover boundaries.

[0026] To address the aforementioned issues, this application discloses a method, apparatus, device, and storage medium for the coordinated control of interventional tools and catheters. This application primarily relates to the technical fields of coordinated control of interventional tools and bronchoscopic catheters, multi-actuator coupling, and safety constraint technology. Its main application scenario is the coordinated control of interventional tools such as catheters, ablation needles, biopsy tools, and drug delivery catheters. This application can stably convert key state identification results into executable outputs in scenarios involving tool propulsion, catheter stabilization, mutual disturbance compensation, and coordinated execution.

[0027] Specifically, this application addresses problem 1) by explicitly modeling the relative pose and working window constraints of the catheter and interventional tool, establishing a collaborative constraint control scheme for the catheter and interventional tool, thereby improving the accuracy of executable area identification and reducing invalid attempts. Addressing problem 2) this application dynamically adjusts the control priorities of both by adjusting the catheter posture, tool advance / retreat, and speed gating in stages, thereby improving the matching accuracy between control actions and risk states. Addressing problem 3) this application reduces catheter instability and target deviation induced by tool movements by performing priority reallocation and safety takeover during collaborative conflicts, thereby reducing control competition and execution chaos caused by multi-action conflicts. Here, this application will describe the specific implementation process through the following embodiments.

[0028] See Figure 1 This is a schematic flowchart of a method for the coordinated control of interventional tools and catheters provided in an embodiment of this application. The method specifically includes: S101. Obtain the standardized state set for this control cycle; wherein, the standardized state set includes standardized duct status, standardized tool status, standardized target data, standardized risk data, and the current operation stage.

[0029] In this application, the controlled objects are the bronchoscopic catheter and the interventional tool extending through the catheter channel. Based on state data within the same control cycle, this application first establishes the relative constraints between the catheter and the tool, then generates collaborative control targets according to the operational stage, and finally outputs executable linkage control commands, safety gating results, etc. Within the current control cycle, it is necessary to acquire various types of state data required for the collaborative control of the interventional tool and catheter, and process them into a standardized state set in a unified format, providing a data foundation for subsequently establishing a relative constraint model between the catheter tip and the tool tip. The standardized state set includes standardized catheter state, standardized tool state, standardized target data, standardized risk data, and the current operational stage.

[0030] Interventional tools refer to instruments that extend through a catheter channel to perform medical procedures, such as ablation needles, biopsy tools, or drug delivery catheters. A catheter refers to a bronchoscopic catheter, a tubular instrument used for guidance and positioning within body cavities, through which the interventional tool extends to reach the target location. The control cycle refers to the time interval corresponding to one complete processing step from status acquisition to control command output. The specific value of this time interval can be set according to the actual situation; for example, it can be set to 10 milliseconds in scenarios with high precision requirements, and to 50 milliseconds in scenarios with relatively low precision requirements.

[0031] A standardized state set refers to a set of state data with a consistent data format and coordinate system, formed by uniformly processing state data from different sources and in different formats. Standardized catheter state refers to the catheter state representation obtained by converting raw catheter-related state data into a unified coordinate system and unified units of measurement. It includes information such as catheter tip position, catheter tip posture, catheter bending angle, and catheter advancement status. Standardized tool state refers to the tool state representation obtained by converting raw tool-related state data into a unified format. It includes information such as tool type, tool extension amount, tool direction, tool advancement speed, and tool operating status. Standardized target data refers to the target information representation obtained by converting target and path-related data into a unified coordinate system. It includes information such as target location, target direction, target safety distance, and preset entry path. Standardized risk data refers to the risk information representation obtained by converting contact and risk-related data into a unified format. It includes information such as tool tip contact status, catheter stress status, tissue approach risk, and boundary crossing risk. The current operation stage refers to the current operation stage identifier, used to distinguish different operation stages, including catheter positioning stage, tool extension stage, tool operation stage, tool retrieval stage, and anomaly handling stage.

[0032] S102. Establish a relative constraint model between the catheter tip and the tool tip based on the standardized state set; the relative constraint model includes the relative pose of the tool relative to the catheter, the safe operating boundary of the tool, and risk markings.

[0033] In this application, based on the standardized catheter states and standardized tool states included in the standardized state set, the spatial relationship and safety constraints between the catheter tip and the tool tip can be established, generating a relative constraint model to provide a constraint basis for the subsequent generation of collaborative control targets. The relative constraint model includes the relative pose of the tool relative to the catheter, the safe operating boundary of the tool, and risk markers. The catheter tip refers to the distal portion of the catheter that enters the human body and reaches the target area. The tool tip refers to the distal portion of the interventional tool that performs the medical operation. The relative constraint model describes the spatial relationship and safety constraints between the catheter tip and the tool tip, serving as input for the subsequent generation of collaborative control targets. The relative pose refers to the position and orientation relationship of the tool tip relative to the catheter tip, including positional and directional relationships. The safe operating boundary restricts the spatial range of movement allowed by the tool during operation, constraining the tool's operating area. Risk markers are information generated based on risk data to identify the degree of risk in the current state.

[0034] In determining the relative pose, this application uses geometric calculations to determine the spatial position and orientation of the tool tip relative to the guide tube tip, based on the guide tube tip position and orientation in the standardized guide tube state, and the tool extension amount and tool direction in the standardized tool state, thus obtaining the relative pose. Based on this, the safe operating boundary of the tool is determined by combining the target safety distance and tool extension limit parameters contained in the standardized target data. For example, a local coordinate system with the guide tube tip as the reference origin can be constructed based on the coordinate position of the guide tube tip and the tool extension direction. The safe operating boundary is then defined in this local coordinate system according to the maximum extension length of the tool and the target safety distance. Alternatively, a pre-calibrated constraint parameter table can be used to look up the corresponding safe operating boundary based on the tool type and the current orientation of the guide tube. Subsequently, risk markers are added to the relative constraint model based on the contact state and risk level information contained in the standardized risk data, resulting in a complete relative constraint model.

[0035] S103. Generate a cooperative control target using the relative constraint model and the current operation stage; the cooperative control target represents the attitude that the catheter should maintain or adjust under the current operation stage, the forward and backward movements that the tool should perform, the allowable speed range, and the target alignment requirements.

[0036] In this application, based on the relative constraint model, and in conjunction with the current operational stage, the coordinated control objectives that the guide tube and tool should perform within the current control cycle can be determined, providing a target basis for the generation of subsequent linkage control commands. The coordinated control objectives refer to the control states that the guide tube and tool should achieve within the current control cycle, determined according to the current operational stage and the relative constraint model. These include the posture the guide tube should maintain or adjust, the forward and backward movements the tool should perform, the permissible speed range, and the target alignment requirements. The target alignment requirements refer to the alignment accuracy requirements of the tool tip relative to the target position.

[0037] When generating collaborative control objectives, the relative constraint model and the current operation stage can be read, and the focus of the collaborative control objective can be determined according to the type of the current operation stage. For example, a rule-based mapping method can be used, taking the key parameters in the current operation stage and the relative constraint model as input, and outputting the corresponding collaborative control objective through a preset mapping rule table. This mapping rule table records the correspondence between the guide tube attitude control parameters and the tool motion control parameters under different operation stages. Alternatively, a strategy model-based method can be used, taking the relative pose and safe operating boundary in the relative constraint model as input features of the strategy model, and combining them with the identifier of the current operation stage, to infer and output the collaborative control objective through the strategy model. This collaborative control objective clearly defines the attitude parameters that the guide tube should maintain or adjust, the types of forward and backward movements that the tool should perform, the allowable speed range of the tool, and the alignment accuracy requirements of the tool tip relative to the target.

[0038] S104. Convert the collaborative control target into initial linkage control instructions; the initial linkage control instructions are a set of instructions with execution order generated based on the conduit actions and tool actions to be executed within this control cycle.

[0039] In this application, the collaborative control objective can be transformed into a set of executable instructions for conduits and tools with an execution order, namely, initial linkage control instructions, which provide instructions to be detected for subsequent safety detection and adjudication. Specifically, the initial linkage control instructions refer to the set of instructions with an execution order, obtained after transforming the collaborative control objective, which includes conduit actions and tool actions within the current control cycle. This set of instructions can only be output as the final linkage control instructions after safety detection and adjudication. Specifically, this application can parse the collaborative control objective into a series of control actions, each corresponding to an instruction, and then determine the execution order according to the execution relationship between the actions to generate the initial linkage control instructions. The conduit actions and tool actions included in the initial linkage control instructions are arranged in execution order to ensure temporal coordination between conduit actions and tool actions.

[0040] S105. Perform conflict detection, abnormal contact detection, and deviation detection on the initial linkage control command, and generate the final linkage control command, action priority result, and safety gating result based on the detection results. Output the final linkage control command to the execution end, and write the action priority result and safety gating result back to the state machine as input data for the next control cycle. The action priority result is the priority ranking result of each control action. The safety gating result is the control decision result used to constrain whether the final linkage control command is allowed to be output and the execution mode when output is allowed.

[0041] In this application, the initial linkage control command needs to undergo safety detection to identify potential conflicts, abnormal contact risks, and alignment deviations. Based on the detection results, a final linkage control command, along with action priority and safety gating results, is generated after safety adjudication. The final linkage control command is then output to the execution end for execution, while the action priority and safety gating results are written back to the state machine as input data for the next control cycle, forming a cyclical process of state acquisition, constraint modeling, target planning, command generation, safety adjudication, and state updating. Conflict detection refers to detecting whether there are contradictions or interferences between different control actions in the initial linkage control command. Abnormal contact detection refers to detecting whether the execution of the initial linkage control command will lead to abnormal contact between the tool tip and the organization or an increased risk of the tool tip exceeding the safe operating boundary. Deviation detection refers to detecting whether the alignment deviation of the tool tip relative to the target position exceeds the allowable range after the execution of the initial linkage control command.

[0042] This application generates final linkage control commands, action priority results, and safety gating results based on the detection results. The final linkage control command is the linkage control command obtained after safety detection and adjudication of the initial linkage control command, and is allowed to be output to the execution end for execution. The action priority result refers to the priority ranking result of each control action, used to determine which actions are executed first when a conflict occurs. The safety gating result refers to the control decision result used to constrain whether the final linkage control command is allowed to be output and the execution method when output is allowed. The final linkage control command is output to the execution end, which executes the corresponding conduit action and tool action. Simultaneously, the action priority result and safety gating result are written back to the state machine as input data for the next control cycle, enabling the state acquisition and constraint modeling of the next control cycle to refer to the action priority result and safety gating result of this control cycle. The state machine refers to the state management module that manages the switching of operation phases and state updates; it records the current operation phase and receives the action priority result and safety gating result as input for the next control cycle. The execution end refers to the execution mechanism or auxiliary execution interface that receives and executes the final linkage control command; for example, it may include a conduit drive mechanism, a tool drive mechanism, or a surgeon-assisted execution interface.

[0043] When the detection results show no conflict, no abnormal contact, and alignment is qualified, the initial linkage control command directly serves as the final linkage control command. The action priority results maintain the preset default priority order, and the safety gating result is "permitted for execution." When the detection results show at least one of the following: conflict, abnormal contact, or alignment deviation exceeding the allowable range, the initial linkage control command is adjusted based on the detection results to generate the final linkage control command, and the action priority results and safety gating results are redefined. For example, a priority rule-based decision-making method can be used, which searches a preset priority rule table based on the conflict type and risk level to determine the priority order of each control action and adjusts the execution order or execution method of the initial linkage control command accordingly. Alternatively, a safety threshold-based gating method can be used, comparing various indicators in the detection results with preset safety thresholds, and determining the safety gating result as "permitted for execution," "speed-limited execution," "suspended execution," "rollback execution," "replanning," or "manual takeover" based on the comparison results.

[0044] In summary, this application improves the accuracy of executable region identification and reduces invalid attempts by explicitly establishing a relative constraint model between the catheter tip and the tool tip, thus stably converting critical state identification results into executable outputs. By utilizing the relative constraint model and the current operation stage to generate collaborative control targets and convert them into initial linkage control commands, this application enhances the matching accuracy between control actions and risk states. By performing conflict detection, abnormal contact detection, and deviation detection on the initial linkage control commands to generate final linkage control commands, action priority results, and safety gating results, this application reduces control competition and execution chaos caused by multiple action conflicts, reduces catheter instability and target deviation induced by tool actions, and forms an integrated process from state identification to action execution.

[0045] In another embodiment of this application, obtaining the standardized state set for this control cycle includes: Acquire catheter status data, tool status data, target and path data, contact and risk data, and operation phase data; The catheter status data, tool status data, target and path data, contact and risk data, and operation stage data are time-aligned according to the control cycle. Expired data is removed based on the timestamp, and missing values ​​are marked after checking the data integrity. Invalid values ​​are removed from the numerical data in the catheter status data, tool status data, and contact and risk data according to a preset threshold. Unify the catheter status data, tool status data, target and path data, and contact and risk data after removing invalid values ​​into the same coordinate system; Convert the catheter tip posture in the catheter state data and the tool extension amount and tool direction in the tool state data into standard state quantities after unifying the coordinate system; The processed catheter status data, tool status data, target and path data, contact and risk data, and operational phase data are used to generate a standardized status set.

[0046] In this embodiment, it is necessary to perform time synchronization, coordinate unification, missing value checking, and outlier removal on input data from multiple sources to solve the problems of inconsistent input names and timing from multiple sources, and generate a standardized state set that can be directly used by subsequent modules.

[0047] Specifically, the input data obtained in this application includes catheter status data, tool status data, target and path data, contact and risk data, and operational stage data. Catheter status data refers to raw data reflecting the current movement and posture of the catheter, including catheter tip position, catheter tip posture, catheter bending angle, and catheter advancement status, derived from the catheter drive mechanism encoder, catheter posture sensor, endoscopic image positioning results, or navigation registration results. Tool status data refers to raw data reflecting the current movement and working status of the tool, including tool type, tool extension amount, tool direction, tool advancement speed, and tool operating status, derived from the tool drive mechanism encoder, tool channel sensor, tool tip identification results, or manually confirmed tool configuration. Target and path data refers to raw data reflecting the surgical target and planned path, including target location, target direction, target safety distance, and preset entry path, derived from preoperative image planning, intraoperative navigation registration results, or target points confirmed by the surgeon on the navigation interface. Contact and risk data refers to raw data reflecting the contact status and risk conditions between the tool tip and tissue, including tool tip contact status, catheter force status, tissue proximity risk, and boundary crossing risk, derived from force / tactile sensors, drive current changes, image deformation recognition results, or threshold judgment results. Operation phase data refers to raw data reflecting the current surgical operation phase, including catheter positioning phase, tool extension phase, tool operation phase, tool retrieval phase, and abnormal handling phase, derived from the state machine, surgeon instructions, or phase judgment results from the previous control cycle.

[0048] Specifically, this application requires obtaining catheter status data, tool status data, target and path data, contact and risk data, and operational stage data from the aforementioned data sources. Specifically, the catheter drive mechanism encoder provides information on the catheter's advance distance and bending angle; the catheter attitude sensor provides the attitude angle information of the catheter tip; the endoscopic image positioning result provides the position information of the catheter tip in the image coordinate system; and the navigation registration result provides the position information of the catheter tip in the patient coordinate system. The tool drive mechanism encoder provides information on the tool's extension length; the tool channel sensor provides information on the tool's motion state within the channel; and the tool tip recognition result provides the position and orientation information of the tool tip. The force / tactile sensor provides information on the contact force between the tool tip and the tissue; changes in the driving current reflect changes in resistance encountered during tool advancement; and image deformation recognition results reflect the degree of tissue deformation upon tool contact.

[0049] After obtaining the aforementioned data, this application needs to align the data according to the control cycle, remove expired data based on timestamps, and mark missing values ​​after checking data integrity. Specifically, this application aligns the acquired conduit status data, tool status data, target and path data, contact and risk data, and operational phase data according to the time base of the control cycle. For each data point, its timestamp is used to determine whether the data belongs to the current control cycle. If the time difference between the timestamp of the data and the current control cycle exceeds a preset time tolerance range, the data is determined to be expired and removed. If the timestamp of the data is within the time tolerance range of the current control cycle, the data is retained. The specific value of the time tolerance range can be set according to the actual situation. In scenarios with high data collection frequency, it can be set to the duration of one control cycle; in scenarios with low data collection frequency, it can be set to the duration of two control cycles. After time alignment and removal of expired data, the integrity of each data point also needs to be checked. For each data category, check whether all data items are complete. If a data item exists but its value is empty, mark the data item as missing and record the name and source of the missing data item. If all data items exist and are readable, mark the data category as complete.

[0050] This application also requires removing invalid values ​​from numerical data in catheter status data, tool status data, and contact and risk data based on preset thresholds. The preset threshold refers to the numerical range limit used to determine whether numerical data is valid. The specific value of this threshold can be set according to actual conditions. For example, in determining the valid range of catheter bending angle, it can be set to 0 degrees to 180 degrees; values ​​exceeding this range are considered invalid. This application compares the value of each numerical data item in catheter status data, tool status data, and contact and risk data with the corresponding preset threshold. If the value of a numerical data item exceeds the corresponding preset threshold range, the value of that data item is determined to be an unusable input, invalid, and removed; after removal, the data item is marked as a missing value. If the value of a numerical data item is within the corresponding preset threshold range, the data item is retained.

[0051] This application also requires unifying the catheter status data, tool status data, target and path data, and contact and risk data after removing invalid values ​​to the same coordinate system. Here, a coordinate system refers to a reference frame used to describe spatial location. The coordinate system used in this application can be the patient coordinate system, i.e., a unified coordinate system established with the patient's body as a reference, or the catheter local coordinate system, i.e., a local coordinate system established with the catheter tip as the reference origin. Specifically, this application transforms the spatial location information contained in the catheter status data, tool status data, target and path data, and contact and risk data after removing invalid values ​​from their respective original coordinate systems to the same coordinate system. For example, when using the patient coordinate system as the unified coordinate system, the catheter tip position in the endoscopic image coordinate system is converted to coordinates in the patient coordinate system, the tool tip position in the tool channel sensor coordinate system is converted to coordinates in the patient coordinate system, and the target position in preoperative image planning is converted to coordinates in the patient coordinate system.

[0052] After unifying the coordinate system, this application also requires converting the catheter tip attitude in the catheter status data and the tool extension and tool direction in the tool status data into standard state quantities. Standard state quantities refer to state data representations that, after format conversion and unit standardization, can be directly used for comparison and calculation in subsequent modules. For example, the catheter tip attitude in the unified coordinate system catheter status data is converted into a standardized angle representation; the tool extension in the tool status data is converted into a standardized length unit, such as millimeters; and the tool direction in the tool status data is converted into a standardized direction representation.

[0053] After the above processing steps, the processed duct status data, tool status data, target and path data, contact and risk data, and operational phase data are combined according to a unified data format to generate a standardized status set. This standardized status set includes standardized duct status, standardized tool status, standardized target data, standardized risk data, and the current operational phase, and serves as input for subsequent relative constraint modeling.

[0054] As can be seen, in this embodiment, by performing time alignment, coordinate unification, missing value checking, and outlier removal on multi-source input data, the problems of inconsistent input names and timing are solved. This enables data from different sources and in different formats to be unified into a standardized set of states with a consistent coordinate system and data format. Converting tool extension, tool direction, and guide tube end posture into directly comparable standard state quantities improves the accuracy of subsequent constraint modeling and target planning, and reduces control deviations caused by data inconsistency.

[0055] In another embodiment of this application, establishing a relative constraint model between the catheter tip and the tool tip based on the standardized state set includes: Based on the standardized conduit state and the standardized tool state, the relative pose of the tool tip relative to the conduit tip is calculated; the relative pose includes the positional deviation, directional deviation, and extension length of the tool tip relative to the conduit tip; based on the tool type, the upper limit of tool extension, the target safety distance, and the current conduit posture, the safe operating boundary of the tool is determined, the safe operating boundary of the tool includes: the tool extension range, the operable window, and the prohibited area; risk markers are generated based on the standardized risk data to obtain a relative constraint model.

[0056] In this embodiment, when establishing a relative constraint model between the catheter tip and the tool tip based on a standardized state set, a complete relative constraint model can be established by calculating the relative pose of the tool tip relative to the catheter tip, determining the safe operating boundary of the tool, and generating risk markers, thus providing a precise constraint basis for the subsequent generation of collaborative control targets.

[0057] This application calculates the relative pose of the tool tip relative to the catheter tip based on standardized catheter and tool states. This relative pose includes the positional deviation, directional deviation, and extension length of the tool tip relative to the catheter tip. Positional deviation refers to the deviation between the spatial position of the tool tip and the spatial position of the catheter tip. Directional deviation refers to the angular deviation between the current direction of the tool tip and the reference direction of the catheter tip. Extension length refers to the distance the tool tip extends from the catheter tip. Specifically, the catheter tip position can be used as a reference origin, and the catheter tip orientation as a reference direction. The positional deviation of the tool tip relative to this reference origin can be calculated, the directional deviation between the current direction of the tool tip and the reference direction of the catheter tip can be calculated, and then the extension length of the tool tip, i.e., the axial distance the tool tip extends from the catheter tip, can be calculated. Then, combined with standardized target data, the distance and directional deviation from the tool tip to the target position can be determined, i.e., the distance between the current position of the tool tip and the target position, and the angular deviation between the current direction of the tool tip and the target direction can be calculated.

[0058] This application can also determine the safe operating boundary of the tool based on the tool type, the maximum tool extension limit, the target safety distance, and the current orientation of the conduit. The maximum tool extension limit refers to the maximum length the tool is allowed to extend from the end of the conduit; this limit can be set according to actual conditions. The target safety distance refers to the minimum safe distance that should be maintained between the tool tip and the target. The safe operating boundary of the tool includes the tool's extendable range, the operable window, and the prohibited area. The tool's extendable range refers to the length interval within which the tool is allowed to extend; the operable window refers to the space within which the tool tip is allowed to operate; and the prohibited area refers to the space within which the tool tip is not allowed to enter. Specifically, this application can determine the maximum tool extension limit corresponding to the tool type, and combine this with the current tool extension in the standardized tool state to determine the tool's extendable range, i.e., the length interval from the current extension to the maximum tool extension limit. Based on the target safety distance and the current orientation of the conduit, with the conduit end as the reference origin and the target position as the reference direction, a spatial region centered on the target position and with the target safety distance as the radius is constructed as the prohibited area; the tool tip is not allowed to enter this prohibited area. The working window is the space within the tool's reachable range and outside the prohibited area. The working window refers to the space within which the tool tip is allowed to operate, provided it does not exceed the maximum tool reach and does not enter the prohibited area.

[0059] Furthermore, this application also needs to generate risk markers based on standardized risk data and combine them with relative pose and safe operating boundaries to obtain a complete relative constraint model. Here, risk markers refer to information labels generated based on standardized risk data to identify the degree of risk in the current state. Specifically, this application can generate corresponding risk markers based on the tool end contact state, conduit force state, tissue approach risk, and boundary crossing risk contained in the standardized risk data. For example, when the tool end contact state is "contacted" and the contact force exceeds a preset contact force threshold, a high contact risk marker is generated; when the conduit force state shows that the conduit force exceeds a preset force threshold, a conduit force risk marker is generated; when the tissue approach risk indicates that the distance between the tool end and the critical tissue is less than a preset approach distance, a tissue approach risk marker is generated; when the boundary crossing risk indicates that the tool end is approaching the safe operating boundary, a boundary crossing risk marker is generated.

[0060] As can be seen, in this embodiment, by calculating the positional deviation, directional deviation, and extension length of the tool tip relative to the catheter tip, and combining this with standardized target data to determine the distance and directional deviation from the tool tip to the target position, this solution can accurately describe the spatial relationship between the catheter and the tool. By determining the tool's extendable range, operable window, and prohibited area based on the tool type, the upper limit of tool extension, the target safety distance, and the current catheter posture, this solution can improve the accuracy of operable area identification and reduce invalid attempts. By generating risk markers based on standardized risk data, this solution can integrate risk information into the relative constraint model, improving the stability of the device operating window determination.

[0061] In another embodiment of this application, generating a cooperative control objective using the relative constraint model and the current operation stage includes: The operation type of the current operation stage is determined, and a collaborative control objective is generated based on the relative constraint model; the operation type of the current operation stage includes: catheter positioning stage, tool extension stage, tool operation stage, tool retrieval stage, and anomaly handling stage; Specifically, when the current operation stage is the catheter positioning stage, the collaborative control objective is primarily to align the catheter tip with the target, while the tool remains stationary or in low-speed standby position; when the current operation stage is the tool extension stage, the collaborative control objective simultaneously includes the tool advancement objective and the catheter attitude compensation objective; when the current operation stage is the tool operation stage, the collaborative control objective is primarily to maintain the workable window and limit catheter disturbance; when the current operation stage is the tool retrieval stage, the collaborative control objective is primarily to retract the tool and stabilize the catheter; and when the current operation stage is the anomaly handling stage, the collaborative control objective switches to risk avoidance or manual intervention.

[0062] In this application, a matching collaborative control target can be generated based on different operation stage types, combined with a relative constraint model, to achieve phased coordinated adjustment of catheter posture, tool advance / retreat, and speed gating. The operation types of the current operation stage include catheter positioning, tool extension, tool operation, tool retrieval, and anomaly handling. The catheter positioning stage refers to guiding the catheter tip to the vicinity of the target and completing alignment; the tool extension stage refers to extending the tool from the catheter channel and approaching the target; the tool operation stage refers to performing medical operations at the target location; the tool retrieval stage refers to withdrawing the tool from the target area back into the catheter channel; and the anomaly handling stage refers to risk avoidance or manual intervention after detecting an anomaly.

[0063] Specifically, this application generates corresponding cooperative control objectives based on the operation type of the current operation stage and in conjunction with a relative constraint model. The generation methods for cooperative control objectives are as follows, depending on the different operation stage types: When the current operation phase is the catheter positioning phase, the primary goal of the coordinated control is to align the catheter tip with the target, while the tool remains stationary or in low-speed standby mode. Specifically, based on the positional and directional deviations of the tool tip relative to the catheter tip in the relative constraint model, and the target position and orientation in the standardized target data, the target attitude that the catheter tip needs to align with is calculated, generating the catheter attitude adjustment target. Simultaneously, the tool's control target is set to a stationary or low-speed standby state, meaning the tool remains retracted within the catheter channel or is ready to be deployed at extremely low speed.

[0064] When the current operation phase is the tool extension phase, the collaborative control objectives simultaneously include the tool propulsion objective and the duct attitude compensation objective. Specifically, based on the tool's extendable range and workable window in the relative constraint model, a tool propulsion objective is generated, including the target extension amount and propulsion speed. Simultaneously, based on the potential duct attitude disturbances that may occur during tool extension, a duct attitude compensation objective is generated, which is the amount of attitude fine-tuning the duct should undergo during tool extension to compensate for the impact of tool extension on duct stability.

[0065] When the current operation phase is the tooling phase, the collaborative control objectives are primarily to maintain the workable window and limit duct disturbances. Specifically, based on the workable window in the relative constraint model, a control objective is generated to maintain the workable window, ensuring that the tool tip is always within the workable window. Simultaneously, a control objective is generated to limit duct disturbances, restricting the amplitude and speed of duct attitude adjustments to prevent duct disturbances from affecting tooling accuracy.

[0066] When the current operation phase is the tool retrieval phase, the collaborative control objectives are primarily tool retraction and duct stabilization. Specifically, a tool retraction objective is generated, including the tool's retraction speed and target position. Simultaneously, a duct stabilization objective is generated, which aims to maintain duct attitude stability during tool retraction without significant attitude adjustments.

[0067] When the current operational phase is the anomaly handling phase, the collaborative control objective switches to risk avoidance or manual takeover. Specifically, based on the risk markers in the relative constraint model, risk avoidance objectives are generated, such as limiting tool speed, pausing tool movement, or withdrawing the tool; or control is switched to manual takeover mode, where the operator manually controls the movement of the catheter and tools.

[0068] As can be seen, in this embodiment, a matching collaborative control target can be generated according to the type of the current operation stage. This solution can adjust the duct attitude, tool advance / retreat, and speed gating in stages, improving the matching accuracy between control actions and risk states. During the duct positioning stage, duct alignment is prioritized; during the tool extension stage, tool advancement and duct compensation are simultaneously constrained; during the tool operation stage, the operation window is maintained and disturbances are limited; during the tool retrieval stage, safe exit is ensured; and during the anomaly handling stage, risk avoidance or manual intervention is implemented. This reduces the competition between the tool extension stage and duct adjustment, and lowers the risk of duct instability and target deviation induced by tool movements.

[0069] In another embodiment of this application, converting the coordinated control target into an initial linkage control command includes: Based on the cooperative control objective and the standardized catheter state, determine the catheter attitude adjustment amount and the catheter advancement and holding state; Based on the collaborative control objective and the standardized tool status, determine the tool advance / retreat amount; Based on the collaborative control objective, the standardized objective data, the standardized risk data, and the current operational stage, determine the upper limit of tool speed; Limit the control quantities that exceed the driving capacity or safety boundaries; the control quantities include the guide tube attitude adjustment, tool advance / retreat, and tool speed limit. A catheter attitude adjustment command is generated based on the catheter attitude adjustment amount after the amplitude limit; a catheter advance and hold command is generated based on the catheter advance and hold state; a tool advance and retreat command is generated based on the tool advance and retreat amount after the amplitude limit; and a tool speed gating command is generated based on the tool speed upper limit after the amplitude limit. The tool advance and retreat command is either a tool advance command or a tool retraction command. An initial linkage control command is generated based on the catheter posture adjustment command, the catheter advance and hold command, the tool advance and retreat command, and the tool speed gating command.

[0070] In this application, the cooperative control objective can be converted into specific duct attitude adjustment commands, duct advance and hold commands, tool advance and retreat commands, and tool speed gating commands. Control quantities exceeding the driving capability or safety boundary are limited, generating initial linkage control commands with an execution sequence. Specifically, this application compares the target attitude of the duct to be maintained or adjusted contained in the cooperative control objective with the current duct tip attitude contained in the standardized duct state, calculates the difference between the two, and obtains the duct attitude adjustment amount. Simultaneously, based on the duct advance control requirements contained in the cooperative control objective and the current duct advance state contained in the standardized duct state, the duct advance and hold state is determined, i.e., whether the duct should continue advancing, maintain its current position, or retreat.

[0071] Furthermore, this application also needs to determine the tool advance / retreat amount based on the collaborative control objectives and the standardized tool status. Specifically, this application compares the advance / retreat actions and target extension amounts that the tool should perform, as contained in the collaborative control objectives, with the current tool extension amount contained in the standardized tool status, and calculates the difference between the two to obtain the tool advance / retreat amount. This application also needs to determine the upper limit of tool speed based on the collaborative control objectives, standardized target data, standardized risk data, and the current operational stage. Specifically, this application needs to comprehensively consider the target safety distance contained in the collaborative control objectives and standardized target data, the contact status contained in the standardized risk data, and the type of the current operational stage to determine the upper limit of tool speed.

[0072] In this application, it is also necessary to limit the control quantities that exceed the driving capability or safety boundary. These control quantities include the guide tube attitude adjustment, tool advance / retreat, and tool speed limit. Limiting refers to adjusting the control quantity exceeding the preset range to the boundary value of the preset range. Driving capability refers to the maximum driving force or maximum range of motion that the actuator can provide. Safety boundary refers to the allowable range of control quantities set to ensure safety. Specifically, this application checks whether the guide tube attitude adjustment, tool advance / retreat, and tool speed limit exceed the corresponding driving capability range or safety boundary. If the guide tube attitude adjustment exceeds the maximum driving capability of the guide tube drive mechanism or the preset safety boundary, the guide tube attitude adjustment is adjusted to the limit of the maximum driving capability or safety boundary; if the guide tube attitude adjustment does not exceed this limit, the original value is maintained. If the tool advance / retreat exceeds the maximum driving capability of the tool drive mechanism or the preset safety boundary, the tool advance / retreat is adjusted to the limit of the maximum driving capability or safety boundary; if the tool advance / retreat does not exceed this limit, the original value is maintained. If the upper limit of the tool speed exceeds the maximum speed capability of the tool drive mechanism or the preset safe speed boundary, the upper limit of the tool speed will be adjusted to the limit of the maximum speed capability or the safe speed boundary; if the upper limit of the tool speed does not exceed the limit, the original value will be maintained.

[0073] This application ultimately generates a conduit attitude adjustment command based on the limited conduit attitude adjustment amount, a conduit advance and hold command based on the conduit advance and hold status, a tool advance and retraction command based on the limited tool advance and retraction amount, and a tool speed gating command based on the limited tool speed upper limit. The tool advance and retraction command is either a tool advance command or a tool retraction command.

[0074] Specifically, the catheter attitude adjustment command in this application refers to the command used to control the catheter drive mechanism to perform attitude adjustment. It is generated based on the limited catheter attitude adjustment amount and includes the target attitude adjustment angle and adjustment direction. The catheter advance and hold command refers to the command used to control the catheter drive mechanism to perform advance, hold, or retraction. It is generated based on the catheter advance and hold state and includes the advance distance, hold position, or retraction distance. The tool advance and retraction command refers to the command used to control the tool drive mechanism to perform advance or retraction. It is generated based on the limited tool advance and retraction amount. When the tool advance and retraction amount is positive, a tool advance command is generated, which includes the advance distance and advance direction. When the tool advance and retraction amount is negative, a tool retraction command is generated, which includes the retraction distance and retraction direction. The tool speed gating command refers to the command used to control the upper speed limit of the tool drive mechanism. It is generated based on the limited tool speed upper limit and includes the maximum allowable speed value.

[0075] Furthermore, this application organizes the duct attitude adjustment command, duct advance and hold command, tool advance and retreat command, and tool speed gating command into a command set according to a preset execution order to generate the initial linkage control command. The principle for arranging the execution order is that the duct actions and tool actions within the same control cycle are ordered according to the dependency relationship between the actions. For example, when the tool advance command depends on the duct attitude after the duct attitude adjustment command is completed, the duct attitude adjustment command is placed before the tool advance command. The organized command set is used as the initial linkage control command.

[0076] As can be seen, in this embodiment, by converting the collaborative control objective into specific catheter attitude adjustment commands, catheter advance and hold commands, tool advance and retreat commands, and tool speed gating commands, and by limiting the control quantities exceeding the driving capability or safety boundary, this solution can stably transform the collaborative control objective into executable linkage control commands, ensuring that the control commands are within the driving capability and safety boundary range at the execution end. By organizing catheter and tool actions within the same cycle into a set of commands with an execution sequence, this solution can guarantee the timing coordination between catheter and tool actions, reducing control conflicts caused by improper timing.

[0077] In another embodiment of this application, conflict detection, abnormal contact detection, and deviation detection are performed on the initial linkage control command, and the final linkage control command, action priority result, and safety gating result are generated based on the detection results, including: The initial linkage control command is subjected to conflict detection, abnormal contact detection, and deviation detection to obtain the detection results. The conflict detection checks whether there is a conflict between the tool advance command and the guide tube attitude adjustment command in the initial linkage control command. The abnormal contact detection checks whether the initial linkage control command will lead to abnormal contact or increased risk of exceeding the boundary. The deviation detection checks whether the alignment deviation of the tool tip relative to the target exceeds a preset threshold after executing the initial linkage control command. Based on the detection results, the final linkage control command, action priority result, and safety gating result are generated; wherein, the action priority result is the priority order among catheter holding, catheter adjustment, tool advancement, tool retrieval, risk avoidance, and manual takeover; the safety gating result is one of the following: allow execution, rate-limited execution, paused execution, reverted execution, replanning, or manual takeover.

[0078] This application requires specific safety checks on the initial linkage control commands and generates final linkage control commands, action priority results, and safety gating results based on the check results. This enables priority reallocation and safety takeover in the event of coordination conflicts or abnormal contact. The data required for this process includes the initial linkage control commands, coordination control objectives, relative constraint models, standardized risk data, and the current operational stage.

[0079] Specifically, conflict detection checks whether there is a conflict between the tool advance command and the guide tube attitude adjustment command in the initial linkage control instructions. Specifically, it checks whether the tool extension after the tool advance command is executed will cause an increase in the guide tube attitude deviation, and whether the execution of the guide tube attitude adjustment command will cause the tool tip to deviate from the workable window. If there is a contradiction or interference between the tool advance command and the guide tube attitude adjustment command, it is determined that a conflict exists, and the conflict type and degree are recorded; if there is no contradiction or interference, it is determined that there is no conflict. Abnormal contact detection checks whether the initial linkage control instructions will lead to abnormal contact or an increased risk of exceeding the boundary. Specifically, based on the tool advance / retreat command and the guide tube attitude adjustment command in the initial linkage control instructions, it predicts the position and contact state of the tool tip after execution. If the prediction result shows that the tool tip will make abnormal contact with the tissue, or that the tool tip will exceed the safe working boundary in the relative constraint model, it is determined that there is an abnormal contact risk, and the abnormality type and risk level are recorded; if the prediction result shows that the tool tip will not make abnormal contact and will not exceed the safe working boundary, it is determined that it is normal. Deviation detection checks whether the alignment deviation of the tool tip relative to the target exceeds a preset threshold after the execution of the initial linkage control command. Specifically, based on the predicted position of the tool tip after the initial linkage control command is executed, the alignment deviation between that position and the target position is calculated. If the alignment deviation exceeds a preset threshold, it is determined that the deviation exceeds the standard, and the deviation value and direction are recorded; if the alignment deviation does not exceed the preset threshold, it is determined that the alignment is qualified.

[0080] After obtaining the test results, this application needs to generate final linkage control commands, action priority results, and safety gating results based on the test results. The action priority results are the order of priority among catheter holding, catheter adjustment, tool advancement, tool retrieval, risk avoidance, and manual takeover, etc. The safety gating results are one of the following: allow execution, rate-limited execution, paused execution, reverted execution, replanning, or manual takeover. Allow execution means the initial linkage control command can be output and executed as originally planned. Rate-limited execution means the initial linkage control command can be output and executed, but the execution speed needs to be reduced. Pause execution means the output of the initial linkage control command is paused. Reverted execution means the output of the tool revert command replaces the original planned command. Replanning means regenerating the collaborative control objective and the initial linkage control command. Manual takeover means handing over control to the operator for manual operation.

[0081] When the detection results indicate no conflict, no risk of abnormal contact, and alignment deviation does not exceed the preset threshold, the initial linkage control command is directly output as the final linkage control command. The action priority results maintain the preset default priority order, and the safety gating result indicates that execution is allowed. The default priority order can be set according to the actual application scenario; for example, it can be set to prioritize catheter holding over tool advancement, and tool retrieval over tool advancement.

[0082] When the conflict detection result indicates a conflict, specifically a conflict between tool advancement and catheter stabilization, the priority of catheter holding and tool speed limiting is increased. In other words, in the action priority results, catheter holding and tool speed limiting have a higher priority than tool advancement. The initial linkage control command is then modified based on the adjusted priority order; for example, the tool advancement speed can be reduced or tool advancement can be paused. This generates the final linkage control command, with the safety gating result being speed-limited execution. It should be noted that if contact and risk data indicate increased tissue approach risk, abnormal catheter stress, insufficient target safety distance, or the tool tip approaching the workable window boundary, the risk avoidance weight can be increased. In this case, the collaborative control objective is more conservative, the tool advancement speed and catheter attitude adjustment range are reduced, and the safety gating result can be speed-limited execution, paused execution, or reversal execution. The essential difference in this method lies in changing the action priority and speed gating based on risk data, rather than simply changing the displayed prompts.

[0083] When the abnormal contact detection result indicates an abnormal contact risk, the priority of tool retrieval, suspension of execution, or manual takeover is increased. A final linkage control command is generated based on the risk level of the abnormal contact risk. When the risk level is low, the safety gating result is speed-limited execution or suspension of execution, and the final linkage control command reduces tool speed or suspends tool action. When the risk level is high, the safety gating result is rollback execution or manual takeover, and the final linkage control command outputs a tool rollback command instead of the original planned command.

[0084] When the deviation detection result indicates that the alignment deviation exceeds the preset threshold, the tool extension is prohibited and the guide tube is required to be realigned. That is, in the action priority result, the guide tube adjustment has a higher priority than the tool advancement. The initial linkage control command is modified according to the adjusted priority order. For example, the tool advancement can be paused and the guide tube attitude adjustment amount can be increased to generate the final linkage control command. The safety gating result is to pause execution or replan.

[0085] After obtaining the final linkage control command, action priority result, and safety gating result through the above process, the final linkage control command is sent to the execution end for execution. The action priority result and safety gating result are fed back to the next control cycle as the source of updates for operation phase data and risk data. Furthermore, after executing the final linkage control command, it is also necessary to acquire the conduit status data, tool status data, and contact and risk data after the command execution, and write them back to the next control cycle in combination with the action priority result and safety gating result, forming a closed-loop processing flow of status acquisition, constraint modeling, target planning, command generation, safety adjudication, and status update.

[0086] For example, when the tool completes its work or needs to exit the target area, the system switches the current operation phase to the tool retrieval phase. When generating collaborative control objectives, tool retraction and conduit stabilization are the primary goals. The generated initial linkage control commands include tool retraction commands and conduit holding commands. When detecting initial linkage control commands, if tool retraction is obstructed or conduit attitude deviation increases, the system prioritizes outputting safety gating results such as speed-limited retraction, paused retraction, or conduit restabilization. This scheme includes not only the tool advancement process but also the safe exit process after the work is completed.

[0087] As can be seen, in this embodiment, by performing conflict detection, abnormal contact detection, and deviation detection on the initial linkage control commands, this solution can perform priority reallocation and safety takeover in the event of coordination conflicts or abnormal contact. When tool advancement conflicts with catheter stabilization, the priority of catheter holding and tool rate limiting is increased; when the contact state is abnormal, the priority of tool retraction or manual takeover is increased; when the target alignment deviation exceeds the threshold, the tool extension is prohibited and the catheter is required to be realigned. This reduces control competition and execution chaos caused by multiple action conflicts, and reduces the mutual preemption between catheters, instruments, and safety actions.

[0088] In another embodiment of this application, when an abnormal triggering condition is detected, the following abnormal handling operation is performed: Verify all input data; The upper limit of tightening tool speed, the range of guide tube posture adjustment, and the maximum extension of the tool; The initial linkage control command is modified by at least one of the following operations: speed limiting, pausing, reversing, or reordering. If the modified initial linkage control command still does not meet the safety gating conditions, one of the following is output as the safety gating result: pause execution, reversing execution, replanning, or manual takeover, and the current operation stage is switched to the abnormal handling stage. When the abnormal recovery condition is detected, the standardized state set for the next control cycle is obtained to realize the coordinated control process of the next control cycle.

[0089] In this application, when an abnormal triggering condition is detected, an abnormal handling operation needs to be performed, including input verification, parameter shrinking and instruction correction, and the main process is restored when the abnormal recovery condition is met, so as to realize the boundary management of degradation, recovery and manual takeover.

[0090] In this application, the abnormal triggering conditions refer to the conditions that trigger the entry into the abnormal handling phase. These include situations such as missing conduit or tool status data, incomplete registration of target and path data, contact and risk data exceeding safety thresholds, the relative constraint model indicating that the tool tip will exceed the workable window, inconsistency between the collaborative control target and the current operation phase, and initial linkage control commands exceeding the driving capacity or safety limit. When at least one of the above abnormal triggering conditions is detected, it is determined that the abnormal triggering condition is met, and abnormal handling operations are executed; when none of the above abnormal triggering conditions are detected, the main process continues to be executed.

[0091] When performing anomaly handling operations, this application first reviews all input data. This data includes catheter status data, tool status data, target and path data, contact and risk data, and operation phase data. The review process involves re-examining the timestamps, coordinate systems, sensor availability, and operator input for each data point to identify the source of the anomaly. For timestamps, it checks whether the timestamps of each data point are within the valid range of the current control cycle; for coordinate systems, it checks whether each data point has been correctly converted to a unified coordinate system; for sensor availability, it checks whether each sensor is functioning normally and outputting valid data; and for operator input, it checks whether the operator's input instructions and configurations are complete and consistent. The review determines whether the anomaly was caused by missing data, data inconsistency, sensor malfunction, or operator input error.

[0092] This application also requires tightening the upper limit of tool speed, the range of duct attitude adjustment, and the maximum extension of the tool to generate conservative collaborative control targets. Specifically, the upper limit of tool speed is reduced to a preset safe speed value. This safe speed value can be set according to actual conditions; in high-risk scenarios, it can be set to 50% of the normal upper limit, and in relatively low-risk scenarios, it can be set to 70% of the normal upper limit. The range of duct attitude adjustment is limited to a preset safe adjustment range, meaning that the angle of each attitude adjustment does not exceed the preset maximum safe adjustment angle. The maximum extension of the tool is shortened to a preset safe extension, meaning that the tool extension does not exceed the preset safe extension limit. Based on these tightened parameters, a more conservative collaborative control target is generated. It should be noted that when duct status data, tool status data, target and path data, or contact and risk data are missing, inconsistent, or continuously fluctuate beyond a threshold, the most recent reliable relative constraint model can be retained and a low-confidence state can be marked. Instead of generating a normal tool advancement target, a pause, retraction, replanning, or manual takeover target can be generated.

[0093] Furthermore, this application also requires modifying the initial linkage control command by at least one of the following: speed limiting, pausing, reversing, or reordering. If the modified initial linkage control command still does not meet the safety gating conditions, then one of the following—pausing execution, reversing execution, replanning, or manual takeover—is output as the safety gating result, and the current operation stage is switched to the abnormal handling stage. The safety gating conditions refer to the conditions under which the initial linkage control command is allowed to be executed after passing the safety test, including no conflict, no risk of abnormal contact, and alignment deviation not exceeding a preset threshold.

[0094] Specifically, speed limit correction refers to reducing the execution speed of tool advance instructions in the initial linkage control command; pause correction refers to pausing the execution of some or all instructions in the initial linkage control command; rollback correction refers to inserting tool rollback instructions into the initial linkage control command to replace the original tool advance instructions; and reordering correction refers to adjusting the execution order of the instructions in the initial linkage control command, placing safety-related instructions first. After correction, the corrected initial linkage control command is subjected to safety checks again to determine whether it meets the safety gating conditions. If the corrected initial linkage control command meets the safety gating conditions, it is output as the final linkage control command for execution, and the safety gating result is either speed-limited execution or allowed execution. If the corrected initial linkage control command still does not meet the safety gating conditions, one of the following is output as the safety gating result: pause execution, rollback execution, replanning, or manual takeover, and the current operation stage is switched to the anomaly handling stage. When the anomaly recovery conditions are detected, the standardized state set for the next control cycle is acquired to realize the collaborative control process of the next control cycle.

[0095] Specifically, this application checks whether the anomaly recovery conditions are met within each control cycle. When key inputs become available again, the relative constraint model again meets the workable window, risk data remains below the threshold for several consecutive cycles, and manual takeover is no longer effective, the anomaly recovery conditions are deemed met. The main process resumes, and the standardized state set for the next control cycle is acquired to achieve collaborative control in the next cycle. When at least one of the anomaly recovery conditions is not met, the application remains in the anomaly handling phase and continues to perform anomaly handling operations. When the task is completed or manual takeover remains effective, the standardized state set, relative constraint model, final linkage control command, and safety gating results are saved before exiting. Key input availability means that previously missing or abnormal conduit status data, tool status data, target and path data, or contact and risk data have returned to normal. Risk data remaining below the threshold for several consecutive cycles means that contact and risk data remain below the safety threshold for several consecutive control cycles.

[0096] As can be seen, in this embodiment, by performing input verification, parameter contraction, and instruction correction when abnormal triggering conditions are met, this solution can generate conservative collaborative control targets and correct initial linkage control instructions under abnormal operating conditions. By outputting pause execution, rollback execution, replanning, or manual takeover and switching to the abnormal handling stage when the safety gating conditions are still not met after correction, this solution provides stable degradation and manual takeover boundary management. By restoring the main process when abnormal recovery conditions are met, this solution achieves a clear switching and recovery link between abnormal and normal states.

[0097] See Figure 2 This is a timing flowchart of a collaborative control method for interventional tools and catheters provided in an embodiment of this application. Each stage is executed sequentially, including: S201, Startup Phase: The system loads the tool type, duct parameters, tool extension limit, target safety distance, speed gating threshold, and operation phase state machine; then checks whether the duct drive mechanism encoder, tool drive mechanism encoder, navigation registration results, and contact and risk data sources are available, and initializes the standardized state set.

[0098] S202, Modeling Phase: Within each control cycle, the system first updates the duct status data, tool status data, target and path data, contact and risk data, and operation phase data. Then, the status standardization module outputs a standardized status set, and the relative constraint modeling module outputs a relative constraint model based on this.

[0099] S203, Planning Phase: The collaborative goal planning module outputs collaborative control goals based on the relative constraint model and the current operational phase. This phase clearly determines whether the current cycle prioritizes guide alignment, tool extension, tool operation, tool retrieval, or entering anomaly handling.

[0100] S204, Command Phase: The linkage command generation module generates initial linkage control commands based on the collaborative control objectives, and the safety priority management module further outputs the final linkage control commands, action priority results, and safety gating results.

[0101] S205, Feedback Phase: After the actuator or auxiliary execution interface executes the final linkage control command, new conduit status data, tool status data, and contact and risk data are collected; safety gating results and action priority results are synchronously written back to the operation phase state machine as input for the next cycle.

[0102] S206, Abnormal and Exit Phase: When the safety gating result is pause execution, rollback execution, replanning, or manual takeover, the system stops outputting ordinary advancement instructions and only retains the final linkage control instructions related to safety handling; when the task is completed or the manual takeover continues to be effective, the system saves the standardized state set, relative constraint model, final linkage control instructions, and safety gating result before exiting.

[0103] In summary, this application demonstrates that explicitly modeling the relative pose and working window constraints of the catheter and interventional tool, and establishing a collaborative constraint control mechanism for the catheter and interventional tool, can improve the accuracy of executable area identification and reduce invalid attempts. The application's phased linkage adjustment of catheter posture, tool advance / retreat, and speed gating can dynamically adjust the control priorities of both at different operational stages, improving the matching accuracy between control actions and risk states. Furthermore, the application's priority redistribution and safety takeover during collaborative conflicts can reduce catheter instability and target deviation induced by tool movements, and reduce control competition and execution chaos caused by multiple action conflicts.

[0104] The following describes the collaborative control device provided in the embodiments of this application. The collaborative control device described below can be referred to in correspondence with the method described above.

[0105] See Figure 3 , Figure 3 A schematic diagram of a collaborative control device for interventional tools and catheters provided in this application embodiment is shown. The device specifically includes: The state standardization module 11 is used to obtain a standardized state set for the current control cycle; wherein, the standardized state set includes standardized duct state, standardized tool state, standardized target data, standardized risk data, and the current operation stage; The relative constraint modeling module 12 is used to establish a relative constraint model between the catheter tip and the tool tip based on the standardized state set; the relative constraint model includes the relative pose of the tool relative to the catheter, the safe operating boundary of the tool, and risk markings. The collaborative target planning module 13 is used to generate a collaborative control target using the relative constraint model and the current operation stage; the collaborative control target represents the attitude that the duct should maintain or adjust under the current operation stage, the forward and backward movements that the tool should perform, the allowable speed range, and the target alignment requirements; The linkage instruction generation module 14 is used to convert the collaborative control target into initial linkage control instructions; the initial linkage control instructions are a set of instructions with execution order generated based on the conduit actions and tool actions to be executed in this control cycle; The safety priority management module 15 is used to perform conflict detection, abnormal contact detection, and deviation detection on the initial linkage control command, and generate a final linkage control command, action priority result, and safety gating result based on the detection results. The final linkage control command is output to the execution end, and the action priority result and the safety gating result are written back to the state machine as input data for the next control cycle. The action priority result is the priority ranking result of each control action. The safety gating result is the control decision result used to constrain whether the final linkage control command is allowed to be output and the execution mode when output is allowed.

[0106] As an optional embodiment, the state standardization module 11 is specifically used for: Acquire catheter status data, tool status data, target and path data, contact and risk data, and operation stage data; align the catheter status data, tool status data, target and path data, contact and risk data, and operation stage data according to the control cycle, remove expired data based on timestamps, and mark missing values ​​after checking data integrity; Invalid values ​​are removed from the numerical data in the catheter status data, tool status data, and contact and risk data according to a preset threshold; the catheter status data, tool status data, target and path data, and contact and risk data after removing invalid values ​​are unified to the same coordinate system; the catheter end posture in the catheter status data and the tool extension amount and tool direction in the tool status data after unifying the coordinate system are converted into standard status quantities. The processed catheter status data, tool status data, target and path data, contact and risk data, and operational phase data are used to generate a standardized status set.

[0107] As an optional embodiment, the relative constraint modeling module 12 is specifically used for: Based on the standardized catheter state and the standardized tool state, calculate the relative pose of the tool tip relative to the catheter tip; the relative pose includes the positional deviation, directional deviation, and extension length of the tool tip relative to the catheter tip. Based on the tool type, the upper limit of tool extension, the target safety distance, and the current posture of the conduit, the safe operating boundary of the tool is determined. The safe operating boundary of the tool includes: the tool's extendable range, the operable window, and the prohibited area. Risk markers are generated based on the standardized risk data to obtain a relative constraint model.

[0108] As an optional embodiment, the collaborative goal planning module 13 is specifically used for: The operation type of the current operation stage is determined, and a collaborative control objective is generated based on the relative constraint model; the operation type of the current operation stage includes: catheter positioning stage, tool extension stage, tool operation stage, tool retrieval stage, and anomaly handling stage; Specifically, when the current operation stage is the catheter positioning stage, the collaborative control objective is primarily to align the catheter tip with the target, while the tool remains stationary or in low-speed standby position; when the current operation stage is the tool extension stage, the collaborative control objective simultaneously includes the tool advancement objective and the catheter attitude compensation objective; when the current operation stage is the tool operation stage, the collaborative control objective is primarily to maintain the workable window and limit catheter disturbance; when the current operation stage is the tool retrieval stage, the collaborative control objective is primarily to retract the tool and stabilize the catheter; and when the current operation stage is the anomaly handling stage, the collaborative control objective switches to risk avoidance or manual intervention.

[0109] As an optional embodiment, the linkage instruction generation module 14 is specifically used for: Based on the cooperative control objective and the standardized catheter state, determine the catheter attitude adjustment amount and the catheter advance and hold state; based on the cooperative control objective and the standardized tool state, determine the tool advance and retreat amount; based on the cooperative control objective, the standardized objective data, the standardized risk data, and the current operation stage, determine the tool speed upper limit; limit the control amount that exceeds the driving capability or safety boundary; the control amount includes the catheter attitude adjustment amount, the tool advance and retreat amount, and the tool speed upper limit; A catheter attitude adjustment command is generated based on the limited catheter attitude adjustment amount, a catheter advance and hold command is generated based on the catheter advance and hold state, a tool advance and retreat command is generated based on the limited tool advance and retreat amount, and a tool speed gating command is generated based on the limited tool speed upper limit; the tool advance and retreat command is a tool advance command or a tool retraction command; an initial linkage control command is generated based on the catheter attitude adjustment command, the catheter advance and hold command, the tool advance and retreat command, and the tool speed gating command.

[0110] As an optional embodiment, the security priority management module 15 is specifically used for: The initial linkage control command is subjected to conflict detection, abnormal contact detection, and deviation detection to obtain the detection results. The conflict detection checks whether there is a conflict between the tool advance command and the guide tube attitude adjustment command in the initial linkage control command. The abnormal contact detection checks whether the initial linkage control command will lead to abnormal contact or increased risk of exceeding the boundary. The deviation detection checks whether the alignment deviation of the tool tip relative to the target exceeds a preset threshold after executing the initial linkage control command. Based on the detection results, the final linkage control command, action priority result, and safety gating result are generated; wherein, the action priority result is the priority order among catheter holding, catheter adjustment, tool advancement, tool retrieval, risk avoidance, and manual takeover; the safety gating result is one of the following: allow execution, rate-limited execution, paused execution, reverted execution, replanning, or manual takeover.

[0111] As an optional embodiment, the device further includes: The anomaly handling module is used to perform the following anomaly handling operations when an anomaly triggering condition is detected: reviewing all input data; tightening the upper limit of tool speed, the adjustment range of guide posture, and the maximum extension of the tool; correcting the initial linkage control command by at least one of the following operations: limiting speed, pausing, reverting, or reordering; if the corrected initial linkage control command still does not meet the safety gating condition, outputting one of the following as the safety gating result: pausing execution, reverting execution, replanning, or manual takeover, and switching the current operation stage to the anomaly handling stage; when an anomaly recovery condition is detected, continuing to acquire the standardized state set for the next control cycle to realize the collaborative control process of the next control cycle.

[0112] Figure 4 A structural diagram of an electronic device provided in this application embodiment includes: Memory 20 is used to store computer programs; The processor 21 is configured to execute a computer program to implement the steps of the method described in any of the above embodiments.

[0113] The electronic devices provided in this embodiment may include, but are not limited to, smartphones, tablets, laptops, or desktop computers.

[0114] The processor 21 may include one or more processing cores, such as a quad-core processor or an octa-core processor. The processor 21 may be implemented using at least one hardware form selected from Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), and Programmable Logic Array (PLA). The processor 21 may also include a main processor and a coprocessor. The main processor, also known as the Central Processing Unit (CPU), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, the processor 21 may integrate a Graphics Processing Unit (GPU), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, the processor 21 may also include an Artificial Intelligence (AI) processor, which handles computational operations related to machine learning.

[0115] The memory 20 may include one or more computer-readable storage media, which may be non-transitory. The memory 20 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In this embodiment, the memory 20 is used to store at least the following computer program 201, which, after being loaded and executed by the processor 21, is capable of implementing the relevant steps of the method disclosed in any of the foregoing embodiments. In addition, the resources stored in the memory 20 may also include an operating system 202 and data 203, and the storage method may be temporary storage or permanent storage. The operating system 202 may include Windows, Unix, Linux, etc.

[0116] In some embodiments, the electronic device may further include a display screen 22, an input / output interface 23, a communication interface 24, a power supply 25, and a communication bus 26.

[0117] Those skilled in the art will understand that Figure 4 The structures shown do not constitute a limitation on electronic devices and may include more or fewer components than those shown.

[0118] In another exemplary embodiment, a computer storage medium is also provided, wherein the program instructions, when executed by a processor, implement the steps of the method described in any of the above method embodiments.

[0119] It is understood that if the methods in the above embodiments are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the current technology, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and executes all or part of the steps of the methods in the various embodiments of this application. The aforementioned storage medium includes: USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), electrically erasable programmable ROM, registers, hard disks, removable disks, CD-ROMs, magnetic disks, or optical disks, and other media capable of storing program code.

[0120] The various embodiments described in this specification are presented in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. It should be understood that the terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “described” used herein may also mean the plural forms. The terms “comprising,” “including,” “containing,” and “having” are inclusive and therefore indicate the presence of the stated features, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein are not construed as requiring them to be performed in a specific order described or illustrated, unless the order of performance is explicitly indicated. It should also be understood that additional or alternative steps may be used.

[0121] It should be understood that although the steps in the flowcharts of the accompanying figures are shown sequentially as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the accompanying figures may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0122] The above are only some embodiments of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A method for the coordinated control of interventional tools and catheters, characterized in that, include: Obtain the standardized state set for this control cycle; wherein, the standardized state set includes standardized duct state, standardized tool state, standardized target data, standardized risk data, and the current operation stage; A relative constraint model between the catheter tip and the tool tip is established based on the standardized state set; the relative constraint model includes the relative pose of the tool with respect to the catheter, the safe operating boundary of the tool, and risk markings. Generate a cooperative control objective using the relative constraint model and the current operation stage; The coordinated control target refers to the posture that the catheter should maintain or adjust during the current operation phase, the forward and backward movements that the tool should perform, the permissible speed range, and the target alignment requirements; The coordinated control objective is converted into initial linkage control instructions; the initial linkage control instructions are a set of instructions with execution order generated based on the conduit actions and tool actions to be executed within the current control cycle. The initial linkage control command is subjected to conflict detection, abnormal contact detection, and deviation detection. Based on the detection results, a final linkage control command, action priority result, and safety gating result are generated. The final linkage control command is output to the execution end, and the action priority result and the safety gating result are written back to the state machine as input data for the next control cycle. The action priority result is the priority ranking result of each control action. The safety gating result is the control decision result used to constrain whether the final linkage control command is allowed to be output and the execution mode when output is allowed.

2. The collaborative control method according to claim 1, characterized in that, Obtaining the standardized state set for this control cycle includes: Acquire catheter status data, tool status data, target and path data, contact and risk data, and operation phase data; The catheter status data, tool status data, target and path data, contact and risk data, and operation stage data are time-aligned according to the control cycle. Expired data is removed based on the timestamp, and missing values ​​are marked after checking the data integrity. Invalid values ​​are removed from numerical data in the catheter status data, tool status data, and contact and risk data according to a preset threshold. Unify the catheter status data, tool status data, target and path data, and contact and risk data after removing invalid values ​​into the same coordinate system; Convert the catheter tip posture in the catheter state data and the tool extension amount and tool direction in the tool state data into standard state quantities after unifying the coordinate system; The processed catheter status data, tool status data, target and path data, contact and risk data, and operational phase data are used to generate a standardized status set.

3. The collaborative control method according to claim 1, characterized in that, Establishing a relative constraint model between the catheter tip and the tool tip based on the standardized state set includes: Based on the standardized catheter state and the standardized tool state, calculate the relative pose of the tool tip relative to the catheter tip; the relative pose includes the positional deviation, directional deviation, and extension length of the tool tip relative to the catheter tip. The safe operating boundary of the tool is determined based on the tool type, the upper limit of the tool extension, the target safety distance, and the current posture of the conduit. The safe operating boundary of the tool includes: the tool extension range, the working window, and the prohibited area. Risk labels are generated based on the standardized risk data, resulting in a relative constraint model.

4. The collaborative control method according to claim 1, characterized in that, Generating a cooperative control objective using the relative constraint model and the current operation stage includes: The operation type of the current operation stage is determined, and a collaborative control objective is generated based on the relative constraint model; the operation type of the current operation stage includes: catheter positioning stage, tool extension stage, tool operation stage, tool retrieval stage, and anomaly handling stage; Specifically, when the current operation stage is the catheter positioning stage, the collaborative control objective is primarily to align the catheter tip with the target, while the tool remains stationary or in low-speed standby position; when the current operation stage is the tool extension stage, the collaborative control objective simultaneously includes the tool advancement objective and the catheter attitude compensation objective; when the current operation stage is the tool operation stage, the collaborative control objective is primarily to maintain the workable window and limit catheter disturbance; when the current operation stage is the tool retrieval stage, the collaborative control objective is primarily to retract the tool and stabilize the catheter; and when the current operation stage is the anomaly handling stage, the collaborative control objective switches to risk avoidance or manual intervention.

5. The collaborative control method according to claim 1, characterized in that, Converting the coordinated control objective into initial linkage control commands includes: Based on the cooperative control objective and the standardized catheter state, determine the catheter attitude adjustment amount and the catheter advancement and holding state; Based on the collaborative control objective and the standardized tool status, determine the tool advance / retreat amount; Based on the collaborative control objective, the standardized objective data, the standardized risk data, and the current operational stage, determine the upper limit of tool speed; Limit the control quantities that exceed the driving capacity or safety boundaries; the control quantities include the guide tube attitude adjustment, tool advance / retreat, and tool speed limit. A catheter attitude adjustment command is generated based on the catheter attitude adjustment amount after the amplitude limit; a catheter advance and hold command is generated based on the catheter advance and hold state; a tool advance and retreat command is generated based on the tool advance and retreat amount after the amplitude limit; and a tool speed gating command is generated based on the tool speed upper limit after the amplitude limit. The tool advance and retreat command is either a tool advance command or a tool retraction command. An initial linkage control command is generated based on the catheter posture adjustment command, the catheter advance and hold command, the tool advance and retreat command, and the tool speed gating command.

6. The cooperative control method according to claim 5, characterized in that, The initial linkage control command is subjected to conflict detection, abnormal contact detection, and deviation detection. Based on the detection results, the final linkage control command, action priority result, and safety gating result are generated, including: The initial linkage control command is subjected to conflict detection, abnormal contact detection, and deviation detection to obtain the detection results. The conflict detection checks whether there is a conflict between the tool advance command and the guide tube attitude adjustment command in the initial linkage control command. The abnormal contact detection checks whether the initial linkage control command will lead to abnormal contact or increased risk of exceeding the boundary. The deviation detection checks whether the alignment deviation of the tool tip relative to the target exceeds a preset threshold after executing the initial linkage control command. Based on the detection results, the final linkage control command, action priority result, and safety gating result are generated; wherein, the action priority result is the priority order among catheter holding, catheter adjustment, tool advancement, tool retrieval, risk avoidance, and manual takeover; the safety gating result is one of the following: allow execution, rate-limited execution, paused execution, reverted execution, replanning, or manual takeover.

7. The cooperative control method according to claim 5, characterized in that, When an exception trigger condition is detected, the following exception handling operations are performed: Verify all input data; The upper limit of tightening tool speed, the range of guide tube posture adjustment, and the maximum extension of the tool; The initial linkage control command is modified by at least one of the following operations: speed limiting, pausing, reversing, or reordering. If the modified initial linkage control command still does not meet the safety gating conditions, one of the following is output as the safety gating result: pause execution, reversing execution, replanning, or manual takeover, and the current operation stage is switched to the abnormal handling stage. When the abnormal recovery condition is detected, the standardized state set for the next control cycle is obtained to realize the coordinated control process of the next control cycle.

8. A coordinated control device for interventional tools and catheters, characterized in that, include: The status standardization module is used to obtain a standardized status set for the current control cycle; wherein, the standardized status set includes standardized duct status, standardized tool status, standardized target data, standardized risk data, and the current operation stage; The relative constraint modeling module is used to establish a relative constraint model between the catheter tip and the tool tip based on the standardized state set; the relative constraint model includes the relative pose of the tool relative to the catheter, the safe operating boundary of the tool, and risk markings. The collaborative target planning module is used to generate collaborative control targets using the relative constraint model and the current operation stage; the collaborative control targets represent the attitude that the duct should maintain or adjust under the current operation stage, the forward and backward movements that the tool should perform, the allowable speed range, and the target alignment requirements; The linkage instruction generation module is used to convert the collaborative control target into initial linkage control instructions; the initial linkage control instructions are a set of instructions with execution order generated based on the conduit actions and tool actions to be executed in the current control cycle. The safety priority management module is used to perform conflict detection, abnormal contact detection, and deviation detection on the initial linkage control command, and generate a final linkage control command, action priority result, and safety gating result based on the detection results. The final linkage control command is output to the execution end, and the action priority result and the safety gating result are written back to the state machine as input data for the next control cycle. The action priority result is the priority ranking result of each control action. The safety gating result is the control decision result used to constrain whether the final linkage control command is allowed to be output and the execution mode when output is allowed.

9. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor for executing the computer program to implement the steps of the cooperative control method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the cooperative control method as described in any one of claims 1 to 7.

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