Bronchoscope catheter automatic posture control method, device, equipment and storage medium

Abstract

The application discloses a bronchoscope catheter automatic posture control method, device, equipment and storage medium in the technical field of surgical robots, the method acquires catheter end state information, branch entrance geometric information and catheter and airway contact state information; a branch entrance coordinate system is constructed, a multi-degree-of-freedom posture error is determined according to the spatial relationship between the end state and the target posture; it is mapped into error components corresponding to rotation, bending and transverse displacement degrees of freedom respectively to generate candidate posture control quantities; after safety constraints are performed according to contact risk, entrance contour reliability and execution feedback state, posture execution instructions are output; after the update error after execution, the contour reliability, the contact risk and the control stability are continuously determined, and the output enters the permission or prohibition entry state. The application realizes automatic posture control for airway bifurcation entry, improves the control accuracy and operation safety when the catheter enters the target branch.

Description

Technical Field

[0001] This application relates to the field of surgical robot technology, and in particular to a method, device, equipment and storage medium for automatic posture control of bronchoscopic catheters. Background Technology

[0002] Bronchoscopy has been widely used in the examination, diagnosis, and treatment of respiratory diseases. During bronchoscopy, it is usually necessary to control the catheter to move step by step along the human airway and enter the corresponding target branch according to the diagnostic and treatment needs.

[0003] Existing navigation systems can provide path planning and direction guidance through preoperative CT reconstruction of the airway structure or intraoperative electromagnetic positioning, assisting surgeons in guiding the catheter to the vicinity of the target bifurcation. However, existing systems still have certain shortcomings in the precise entry into the target branch. Most methods mainly provide direction indication of the target branch, and the adjustment of the catheter tip posture still requires repeated operations by the surgeon based on endoscopic images. The efficiency and accuracy of entry largely depend on the surgeon's experience.

[0004] Therefore, improving the accuracy of bronchoscopic catheter posture adjustment and the safety of entry into the target airway branch has become a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0005] The purpose of this application is to provide an automatic posture control method, device, equipment, and readable storage medium for bronchoscope catheters, thereby improving the accuracy of posture adjustment and the safety of entry of bronchoscope catheters during the entry into the target airway branch.

[0006] To solve the above-mentioned technical problems, this application provides the following technical solution: A method for automatic posture control of a bronchoscopic catheter includes: Acquire information on the terminal state of the bronchoscopic catheter, the geometric information of the branch inlet, and the contact state between the catheter and the airway; A branch entry coordinate system is constructed based on the geometric information, and a multi-degree-of-freedom pose correction error is determined based on the spatial relationship between the end-effector state information and the target pose determined based on the branch entry coordinate system. The multi-degree-of-freedom pose correction error includes an axis angle error vector determined by the pose difference and a position error determined by the position deviation. The axis angle error vector and the position error are mapped to error components corresponding to the degrees of freedom of the duct rotation, bending and lateral displacement, respectively, and candidate orientation control quantities corresponding to the degrees of freedom are generated according to each error component. Based on the contact status information, the contact risk is determined, and the candidate posture control quantity is subjected to safety constraints based on the contact risk, the reliability of the entrance contour, and the execution feedback status information before the posture execution command is output. Based on the update error after executing the posture execution command, the reliability of the inlet profile, the contact risk, and the control stability, the alignment status between the catheter and the branch inlet is continuously determined, and an entry permission or entry prohibition status is output according to the determination result.

[0007] Preferably, the entry permission or entry prohibition status is output based on the determination result, including: When the convergence conditions are met, an entry permit is issued; the convergence conditions include that the rotation error, bending error, and lateral error are all less than their respective preset thresholds, the reliability of the entrance profile is higher than the threshold, the contact risk is lower than the threshold, and the control stability meets the preset requirements. When the reliability of the entrance profile decreases, switch to conservative posing state, attenuate the posing instructions for at least some degrees of motion freedom, and output a prohibited entry state. When the contact risk state is not less than the preset threshold or the execution feedback state is abnormal, switch to the detachment recovery state, freeze the posture execution commands of rotation and bending degrees of freedom, stop the advance and execute the restricted retreat, and output the prohibited entry state.

[0008] Preferably, constructing a branch entry coordinate system based on the geometric information includes: The center position, direction, and contour boundary information of the branch entrance are determined from the geometric information. The origin of the branch entrance coordinate system is determined based on the center location information; The principal axis direction of the branch entrance coordinate system is determined based on the direction information; The lateral reference direction of the branch entrance coordinate system is determined based on the contour boundary information.

[0009] Preferably, determining the multi-degree-of-freedom pose correction error based on the spatial relationship between the end-effector state information and the target pose determined based on the branch ingress coordinate system includes: The current spatial attitude and position of the catheter tip are determined based on the terminal state information. The attitude error is determined based on the difference between the target attitude and the current spatial attitude, and the axis angle error vector is determined based on the attitude error; The position error is determined based on the deviation between the target position corresponding to the target posture and the current position.

[0010] Preferably, generating candidate pose control quantities corresponding to each degree of freedom based on each of the error components includes: The rotational adjustment control quantity is generated based on the error components corresponding to the rotational degrees of freedom. The bending adjustment control quantity is generated based on the error component corresponding to the bending degree of freedom. The lateral displacement adjustment control quantity is generated based on the error component corresponding to the lateral displacement degree of freedom. The candidate posture control quantity is synthesized based on the adjustment control quantity corresponding to each degree of freedom.

[0011] Preferably, the candidate pose control quantity is subject to safety constraints based on the contact risk, entry contour reliability, and execution feedback status information, including: The output amplitude of the candidate pose control quantity is limited based on the reliability of the inlet profile; The adjustment range of the corresponding degrees of freedom of movement is restricted according to the risk of contact. The deviation between the execution result and the posture execution command is determined based on the execution feedback status information; Adjust the posture execution command or update the candidate posture control quantity based on the judgment result.

[0012] Preferably, mapping the axis angle error vector and the position error to error components corresponding to the degrees of freedom includes: Establish the correspondence between the multi-degree-of-freedom orientation error and the spatial motion degrees of freedom of the duct; Based on the correspondence, the axial angle error vector is mapped to the error components corresponding to the rotational degree of freedom and the bending degree of freedom, and the position error is mapped to the error components corresponding to the lateral displacement degree of freedom.

[0013] An automatic posture control device for a bronchoscopic catheter includes: The status acquisition module is used to acquire information on the terminal status of the bronchoscope catheter, the geometric information of the branch inlet, and the contact status information between the catheter and the airway. An error determination module is used to construct a branch entrance coordinate system based on the branch entrance geometry information, and determine a multi-degree-of-freedom pose correction error based on the spatial relationship between the end state information and the target pose determined based on the branch entrance coordinate system; wherein, the multi-degree-of-freedom pose correction error includes an axis angle error vector determined by the pose difference and a position error determined by the position deviation; The control generation module is used to map the axis angle error vector and the position error into error components corresponding to the degrees of freedom of the duct rotation, bending and lateral displacement, respectively, and generate candidate orientation control quantities corresponding to the degrees of freedom based on each error component. The safety constraint module is used to apply safety constraints to the candidate pose control quantities based on the contact risk, entry contour reliability and execution feedback status information determined by the contact state information, and output pose execution instructions. The status determination module is used to continuously determine the alignment status between the catheter and the branch inlet based on the update error after executing the posture execution command, the reliability of the inlet profile, the contact risk, and the control stability, and output the entry permission or entry prohibition status according to the determination result.

[0014] An electronic device, comprising: Memory, used to store computer programs; A processor is used to implement the steps of the above-described automatic posture control method for bronchoscopic catheters when executing the computer program.

[0015] A readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the above-described automatic posture control method for bronchoscopic catheters.

[0016] The method provided in this application provides the following steps: The terminal state information of the bronchoscope catheter, the geometric information of the branch inlet, and the contact state information between the catheter and the airway are obtained. A branch inlet coordinate system is constructed based on the geometric information, and a multi-degree-of-freedom (DOF) posture error is determined based on the spatial relationship between the terminal state information and the target posture determined by the branch inlet coordinate system. The multi-degree-of-freedom posture error includes an axial-angle error vector determined by the posture difference and a position error determined by the position deviation. The axial-angle error vector and the position error are mapped to error components corresponding to the catheter's rotation, bending, and lateral displacement degrees of freedom, respectively, and candidate posture control quantities for each degree of freedom are generated based on each error component. The contact risk is determined based on the contact state information, and the candidate posture control quantities are subjected to safety constraints based on the contact risk, inlet contour reliability, and execution feedback state information before the posture execution command is output. Based on the update error after executing the posture execution command, inlet contour reliability, contact risk, and control stability, the alignment state between the catheter and the branch inlet is continuously determined, and an entry permission or prohibition state is output based on the determination result.

[0017] This application acquires information on the distal state of the bronchoscopic catheter, the geometric information of the branch inlet, and the contact state between the catheter and the airway. Based on the geometric information, a branch inlet coordinate system is constructed to establish a spatial relationship between the catheter distal end and the target branch inlet, providing a reference benchmark for subsequent posture control. Based on the branch inlet coordinate system, multi-degree-of-freedom posture error is determined according to the spatial relationship between the catheter distal end state and the target posture, and this error is converted into error components corresponding to the catheter's rotational, bending, and lateral displacement degrees of freedom. Since each error component directly corresponds to the actual controllable degrees of freedom of the catheter, posture adjustment can be precisely matched with the catheter's motion capability, thereby improving the posture accuracy during entry into the target branch. Contact risk, inlet contour reliability, and execution feedback status are used as control constraints to perform safety gating on the posture process. After executing the posture command, the alignment state between the catheter and the branch inlet is determined based on state changes. The catheter is only allowed to enter the target branch when preset conditions are met, effectively reducing unexpected movement caused by changes in the inlet state or abnormal contact, and improving the safety of the entry process.

[0018] That is, this application realizes automatic posture control for airway bifurcation entry by constructing multi-degree-of-freedom errors in the branch inlet coordinate system, decomposing them into error components corresponding to the driving degrees of freedom, introducing multi-dimensional safety constraints and performing alignment state determination, thereby improving the control accuracy and operational reliability of the bronchoscope catheter when entering the target branch.

[0019] Accordingly, embodiments of this application also provide an automatic posture control device, equipment, and readable storage medium for bronchoscopic catheters corresponding to the above-described automatic posture control method for bronchoscopic catheters, which have the aforementioned technical effects, and will not be elaborated further here. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a flowchart illustrating the implementation of an automatic posture control method for a bronchoscopic catheter in an embodiment of this application. Figure 2 This is a schematic diagram of a bronchoscopy navigation / control system according to an embodiment of this application; Figure 3 This is a flowchart illustrating the specific implementation of an automatic posture control method for a bronchoscopic catheter in this application. Figure 4This is a schematic diagram illustrating an output determination method in an embodiment of this application; Figure 5 This is a schematic diagram of the structure of an automatic posture control device for a bronchoscope catheter in an embodiment of this application; Figure 6 This is a schematic diagram of the structure of an electronic device according to an embodiment of this application; Figure 7 This is a schematic diagram of the specific structure of an electronic device in an embodiment of this application. Detailed Implementation

[0022] To enable those skilled in the art to better understand the present application, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are merely some embodiments of the present application, and not all embodiments. Based on the embodiments in 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] Relevant bronchoscopic navigation systems typically display the target branch direction, path arrows, or current position to the surgeon based on preoperative CT airway tree, positioning sensors, or intraoperative images. After the catheter approaches the bifurcation, rotation, bending, and advancement movements are primarily performed by the surgeon through repeated trial and error based on the bronchoscope image. Some robotic systems can execute preset rotation angles, bending angles, or position control, but often use a single target quantity as the control input, failing to integrate the target branch inlet geometry, degrees of freedom errors, safety status, and entry permission organization into a single closed loop.

[0024] This can easily lead to problems such as incorrect circumferential rotation, incorrect bending direction, misalignment of the distal antegrade axis with the target branch direction, or eccentricity within the inlet plane, even when the catheter tip is close to the target branch entrance at the target airway bifurcation. If the operator makes tentative adjustments based solely on directional cues from two-dimensional images, repeated rotation, clumping to the airway wall, loss of field of vision, or mistaken entry into a non-target branch can easily occur.

[0025] To address the aforementioned problems, this application proposes an automatic posture control method for bronchoscope catheters that can be applied to bronchoscope navigation / control systems, such as... Figure 2 As shown, the bronchoscopy navigation / control system includes the following hardware or functional components: Bronchoscope catheter assembly: includes a flexible terminal segment, an insertion segment, an image acquisition end, and an operating end; the terminal segment bends in at least two directions via two or four traction wires, a serpentine joint, or an equivalent flexible joint.

[0026] Drive actuators include an axial rotary actuator, a bending actuator, and a push / retract actuator. The axial rotary actuator connects to the catheter operating end or rotating sleeve; the bending actuator connects to the traction wheel or traction wire; and the push / retract actuator connects to the clamping wheel, linear slide, or tube delivery mechanism. Each actuator is equipped with an encoder to provide feedback on at least position and speed.

[0027] Image acquisition unit: acquires continuous images from the bronchoscope and outputs image frames with timestamps for identifying the bifurcation inlet contour, inlet center, and image wall features.

[0028] Pose acquisition unit: includes at least one of an electromagnetic positioning sensor, an optical fiber shape sensor, an inertial sensor, a driver encoder, and a forward kinematics calculation unit, used to obtain the position of the catheter tip. and posture .

[0029] Contact observation unit: includes at least one of the following: end force or pressure sensor, drive motor current detector, torque sensor, propulsion resistance estimator, and image wall-attaching detector.

[0030] The controller communicates with the image acquisition unit, pose acquisition unit, contact observation unit, and drive execution component to perform target branch entry estimation, pose error decomposition, pose control, safety gating, and status recording.

[0031] Safety interfaces include emergency stop inputs, manual takeover inputs, drive limit inputs, and communication timeout monitoring. Disabling commands on the safety interfaces have higher priority than automatic posture correction commands.

[0032] Please refer to Figure 1 , Figure 1 This is a flowchart of an automatic posture control method for a bronchoscopic catheter according to an embodiment of this application. The method includes the following steps.

[0033] S101. Obtain information on the terminal status of the bronchoscope catheter, the geometric information of the branch inlet, and the contact status information between the catheter and the airway.

[0034] Among them, the bronchoscopic catheter is a flexible interventional catheter capable of being advanced, retracted, and axially rotated within the airway, and whose tip can be bent through traction or articulation. End-tip status information is used to characterize the current spatial state of the catheter tip, including its position, orientation, and information characterizing its motion.

[0035] The branch inlet refers to the opening formed by the planned sub-channel in the bifurcation region and its local geometric area. This branch inlet geometry information is used to describe the spatial structural characteristics of the target branch inlet, including the inlet location, inlet direction, and outline boundary.

[0036] Contact status information is used to reflect the interaction status between the catheter and the airway, including contact force information, motion resistance information, and adhesion status information obtained based on images or sensor information.

[0037] Obtaining the above three types of information can provide a data foundation for establishing the spatial relationship between the catheter tip and the target branch inlet.

[0038] For example, such as Figure 3 As shown, initialization and target branch loading can be performed first. That is, the controller loads the preoperative airway tree, planned path, and target branch identifier, obtains the initial value of the target branch inlet center and the initial value of the target branch centerline direction; and reads the duct kinematic calibration parameters, motor zero position, mechanical travel, speed limit, and safety threshold. If any necessary driver, encoder, or safety interface fails to self-test, the automatic posture adjustment state will not be entered.

[0039] Then, the system enters the bifurcation neighborhood and initiates a posture adjustment closed loop. That is, when the initial distance from the catheter tip to the center of the target branch inlet is less than the preset initiation distance, or when the target bifurcation is continuously detected in the intraoperative images, the state switches from IDLE to NORMAL_ALIGN or CAUTIOUS_ALIGN. The initiation distance only determines when posture adjustment begins and is not a condition for entry permission.

[0040] Multi-source data acquisition and spatiotemporal unification, that is, in the first... Each control cycle acquires image frames, end-effector pose, encoder feedback, and contact observations, and matches them according to timestamps. This spatial data can then be uniformly converted to a coordinate system. A single pose source can be used directly; multiple pose sources can be selected using Kalman filtering, weighted estimation, or consensus selection methods. Degraded operation is allowed when an alternative source is missing, but the corresponding reliability must be reduced; missing observations must not be treated as zero error.

[0041] Regarding target branch inlet estimation, the bifurcation opening can be segmented from intraoperative images, and the target branch inlet contour, contour center, principal axis direction, closure degree, and edge sharpness can be extracted. Combining the image registration with the preoperative airway model, the inlet center is updated to... Update the tangential unit vector of the target branch centerline at the entrance to .by Let the forward axis of the target branch entrance coordinate system be the axis perpendicular to the entrance profile. The projection on the plane is used as the circumferential reference axis to construct... When the principal axis of the profile is unstable, maintain the circumferential reference axis from the previous reliable cycle and update only the forward axis.

[0042] S102. Construct a branch entry coordinate system based on geometric information, and determine the multi-degree-of-freedom pose correction error based on the spatial relationship between the end state information and the target pose determined based on the branch entry coordinate system.

[0043] Among them, multi-degree-of-freedom orientation error includes the axis-angle error vector determined by the attitude difference and the position error determined by the position deviation. For example, multi-degree-of-freedom orientation error can be expressed as the set of rotational error, bending error, and lateral error of the inlet plane of the duct tip relative to the target branch inlet. .

[0044] After obtaining the geometric information, a branch entrance coordinate system can be constructed (i.e., a coordinate system established with the center of the target branch entrance as the origin, the target branch direction as the forward axis, and the principal axis of the entrance contour as the circumferential reference axis). Then, the target attitude is determined based on the branch inlet coordinate system. The target attitude characterizes the desired spatial orientation and positional state of the duct when it enters the target branch. By comparing the spatial difference between the current state of the duct tip and the target attitude, a multi-degree-of-freedom (DOF) attitude correction error is obtained to describe the degree of deviation from the current state. The DDF attitude correction error includes the axis-angle error vector and the position error.

[0045] Among them, the axis angle error vector is used to describe the rotational deviation between the current spatial attitude of the catheter and the target attitude, and the position error is used to describe the positional deviation between the current position of the catheter and the target position.

[0046] In one specific implementation, constructing a branch entry coordinate system based on geometric information includes: The center location, direction, and contour boundary information of the branch entrance are determined from the geometric information; Determine the origin of the branch entrance coordinate system based on the center location information; Determine the principal axis direction of the branch entrance coordinate system based on the direction information; The lateral reference direction of the branch entrance coordinate system is determined based on the contour boundary information.

[0047] In other words, the origin, principal axis direction, and lateral reference direction of the branch entrance coordinate system can be determined by the center position information, direction information, and contour boundary information of the branch entrance determined from the geometric information, thus constructing the branch entrance coordinate system.

[0048] By constructing a coordinate system corresponding to the target branch inlet, the deviation relationship between the duct tip state and the target attitude can be determined based on a unified spatial reference.

[0049] In practical applications, a coordinate system for the patient or preoperative model can be established. , Coordinate system of catheter tip and branch entrance coordinate system If the pose data source uses the device coordinate system, it should be transformed to the device coordinate system through preoperative calibration or intraoperative registration. The time difference between data participating in error calculation within the same period should be less than the preset synchronization window; data exceeding the synchronization window should not be directly merged.

[0050] For example, the forward axis of the branch inlet coordinate system is along the target branch direction, and the circumferential reference axis is determined by the principal axis of the inlet profile or the reference axis of the previous reliable cycle.

[0051] Table 1 below is a data interpretation table for the embodiments of this application.

[0052] Table 1

[0053] In one specific implementation, determining the multi-degree-of-freedom pose correction error based on the spatial relationship between the end-effector state information and the target pose determined based on the branch ingress coordinate system includes: Determine the current spatial attitude and position of the catheter tip based on the terminal status information; The attitude error is determined based on the difference between the target attitude and the current spatial attitude, and the axis-angle error vector is determined based on the attitude error. The position error is determined based on the deviation between the target position corresponding to the target attitude and the current position.

[0054] That is, by determining the posture deviation and position deviation separately, the posture control process can simultaneously consider the needs of duct alignment and position adjustment.

[0055] In other words, the controller is based on the attitude of the duct tip. Target entry posture Catheter tip position and target entrance center Calculate the rotational error, two bending errors, and two lateral errors within the entry plane to form... Each error corresponds to the axial rotation actuator, bending actuator, and pre-propulsion centering action, respectively. Lateral errors are not directly interpreted as axial propulsion.

[0056] The core mapping from spatial relationships to pose error of the degrees of freedom is explained below using formulas: .

[0057] Table 2 below is an explanation of the formulas for the core mapping of spatial relationships to the pose error of the degrees of freedom in the embodiments of this application.

[0058] Table 2

[0059] In other words, in this mapping formula, the rotation matrix error is first expressed in the coordinate relationship of the duct tip itself, and then decomposed into a longitudinal rotation component and two lateral bending components through the axis-angle vector, so that the direction error corresponds one-to-one with the actual driving degrees of freedom. The position difference is only projected onto the target inlet plane, thereby eliminating the axial component along the target branch direction and preventing the system from misjudging that it has not yet advanced as lateral misalignment. When the profile circumferential reference is unreliable, the controller lowers or freezes. Corresponding actions, but still usable Maintain forward axis alignment. This mapping forms the basis for generating pose movements from the bifurcation entry geometry.

[0060] S103. Map the axis angle error vector and position error to error components corresponding to the degrees of freedom of the duct rotation, bending and lateral displacement, respectively, and generate candidate orientation control quantities for the corresponding degrees of freedom based on each error component.

[0061] Based on the motion structure of the catheter, the multi-degree-of-freedom orientation error obtained in step S102 is converted into error components corresponding to the controllable motion degrees of freedom of the catheter, thereby providing a basis for the generation of subsequent control quantities.

[0062] In one specific implementation, mapping the axis angle error vector and position error to error components corresponding to the degrees of freedom includes: Establish the correspondence between multi-degree-of-freedom orientation error and the spatial motion degrees of freedom of the duct; Based on the correspondence, the axis angle error vector is mapped to the error components corresponding to the rotational degree of freedom and the bending degree of freedom, and the position error is mapped to the error components corresponding to the lateral displacement degree of freedom.

[0063] That is, by establishing the correspondence between the error quantity and the degree of freedom of motion, each spatial deviation can be allocated to the corresponding degree of freedom according to its correspondence with the degree of freedom of the duct motion.

[0064] After each error component is determined, the corresponding adjustment control quantity for each degree of freedom is generated.

[0065] In one specific implementation, candidate pose control quantities corresponding to each degree of freedom are generated based on each error component, including: The rotational adjustment control quantity is generated based on the error components corresponding to the rotational degrees of freedom. The bending adjustment control quantity is generated based on the error component corresponding to the bending degree of freedom. The lateral displacement adjustment control quantity is generated based on the error component corresponding to the lateral displacement degree of freedom. Candidate posture control quantities are synthesized based on the adjustment control quantities corresponding to each degree of freedom.

[0066] Among them, the candidate posture control quantity is used to characterize the adjustment direction and adjustment amplitude corresponding to each degree of motion freedom, and is not directly output to the drive mechanism before safety constraints are imposed.

[0067] In other words, for Candidate control quantities are calculated separately for different error components. Specifically, rotational error drives axial rotation; the direction of bending error determines the traction combination or bending plane, and the amplitude determines the bending increment; lateral error is corrected through small bending, micro-retraction followed by realignment, or a dedicated centralized mechanism. The controller can employ proportional control, PID, model predictive control, fuzzy gain control, or calibration lookup table, but all outputs are uniformly denoted as... Security gating cannot be bypassed.

[0068] S104. Determine the contact risk based on the contact status information, and output the pose execution command after applying safety constraints to the candidate pose control quantities based on the contact risk, the reliability of the entry contour, and the execution feedback status information.

[0069] Specifically, the contact risk during the current catheter movement is determined based on the contact status information, and the candidate posture control values ​​are adjusted and limited in combination with the inlet profile reliability and execution feedback status information to reduce unreliable movement caused by changes in inlet status, abnormal catheter contact, or execution deviation.

[0070] For example, the controller calculates based on ingress segmentation confidence, edge sharpness, contour closure, fitting residuals, and consecutive frame stability. ;Calculated based on end force, motor current or torque, image adhesion ratio, airway wall distance, and command response residual. The current control state is determined based on the consistency between the two and the sensor.

[0071] In one specific implementation, safety constraints are applied to candidate pose control quantities based on contact risk, entry contour reliability, and execution feedback status information, including: The output amplitude of the candidate pose control quantity is limited based on the reliability of the inlet profile; The adjustment range of the corresponding degrees of freedom of movement is restricted according to the risk of contact. The deviation between the execution result and the posture execution command is determined based on the execution feedback status information; Adjust the posture execution command or update the candidate posture control quantity based on the judgment result.

[0072] That is, by constraining the candidate posture control variables, the output posture execution command can adapt to changes in the inlet state and the interaction between the duct and the airway.

[0073] Among them, the contour reliability and contact risk, namely the two normalized state quantities used to perform gating, can be calculated according to the following formula: .

[0074] Table 3 below is an explanation of the calculation formulas for contour reliability and contact risk in the embodiments of this application.

[0075] Table 3

[0076] Each effective positive weight and penalty weight is normalized and configured separately. When a certain observation source is missing, the item is removed from the corresponding weighted sum and the remaining effective weights are renormalized, while the source missing flag is recorded. If the number of effective contour sources or contact sources is less than the preset number, the system directly enters the conservative pose adjustment state and does not replace it with the low-risk default value.

[0077] In this formula, contour reliability uses segmentation results, edge quality, contour integrity, and temporal continuity as positive evidence, and fitting residuals as negative evidence. Therefore, the clearer, more complete, and more stable the entry point recognition, the better. The larger the value, the greater the risk. Contact risk combines direct load, driving load, visual wall contact, execution residual, and proximity to the wall as evidence of risk in the same direction. Exceeding any key hard threshold can bypass the weighted result and directly trigger detachment recovery. The two state variables are not merely used for cues, but are incorporated into action gating to reflect the constraints of image credibility and contact safety on actual execution degrees of freedom.

[0078] The candidate pose control variables are first obtained from the error and control gain, then scaled according to the current control state, and finally superimposed with the recovery motion. The specific calculation formula is as follows: , .

[0079] Table 4 below is an explanation of the calculation formulas for candidate posture control quantities in the embodiments of this application.

[0080] Table 4

[0081] That is, in a normal posture state, , .when Below the reliable threshold but If the high-risk threshold is not reached, a conservative posture adjustment state is entered, the rotation and bending coefficients are reduced, and the permissible forced zero is entered; if the circumferential reference axis is unreliable, only... Retain minor forward axis adjustments. When the contact risk or execution response residual reaches the high-risk threshold, enter the recovery disengagement state, allowing... and through Output stops or slightly retracts. Emergency stop, manual intervention, and mechanical limit switches can directly override formula output.

[0082] In this way, the magnitude of the error and whether the action is permitted based on that error can be handled separately. Responsible for generating candidate actions from geometric errors. Responsible for controlling the range of reliable actions for each degree of freedom. It is responsible for replacing the original action with a disengagement action in high-risk situations. Therefore, it does not need to shut down all controls when the circumferential reference fails, and it will not continue to apply force to the wall by simply reducing the gain when the contact risk exceeds the limit.

[0083] S105. Based on the update error after executing the posture command, the reliability of the inlet profile, the contact risk, and the control stability, continuously determine the alignment status between the catheter and the branch inlet, and output the entry permission or entry prohibition status according to the determination result.

[0084] After the orientation command is executed, the state of the catheter tip changes, consequently affecting the update error, inlet profile reliability, contact risk, and control stability. Based on the updated state information, the alignment between the catheter and the branch inlet is continuously assessed, and the decision on whether entry into the target branch is permitted is determined according to the assessment results.

[0085] For example, the safety gating unit controls the system according to the control state. Degrees of freedom processing: Under normal posture adjustment, mechanical limits are applied for release; under conservative posture adjustment, rotation and bending gains are reduced, step size is decreased, and propulsion is prohibited; under recovery state, rotation and bending are frozen, and stop or slight retraction is prioritized. The gated control quantity is converted into the motor target position increment and speed via the guide tube drive calibration matrix, and then finally arbitrated with emergency stop, manual intervention, and limit signals to form... .

[0086] In one specific implementation, such as Figure 4 As shown, based on the judgment result, the entry permission or entry prohibition status is output, including: When the convergence conditions are met, an entry permit is issued; the convergence conditions include that the rotation error, bending error, and lateral error are all less than the corresponding preset thresholds, the reliability of the inlet profile is higher than the threshold, the contact risk is lower than the threshold, and the control stability meets the preset requirements. When the reliability of the entrance profile decreases, switch to conservative posing state, attenuate the posing instructions for at least some degrees of motion freedom, and output a prohibited entry state. When the contact risk state is not less than the preset threshold or the execution feedback state is abnormal, switch to the detachment recovery state, freeze the posture execution commands of rotation and bending degrees of freedom, stop the advance and execute the restricted retreat, and output the prohibited entry state.

[0087] The aforementioned continuous judgment refers to judging relevant state parameters over multiple consecutive control cycles, rather than determining the entry state based solely on a single detection result. This reduces the possibility of misjudgment caused by instantaneous noise or state fluctuations. For example, if rotation, bending, lateral, and directional errors are all within the threshold, contour reliability and contact risk meet safety conditions, and the control output tends to stabilize, the stability counter increments by one; if any condition is not met, the counter is reset or decremented. This only applies to continuous... When the condition is met in each cycle, set The execution results, errors, control status, and reasons for exceptions are recorded. Then proceed to the next control cycle.

[0088] Among them, restricted retraction refers to the catheter retraction action performed under preset speed and range of motion constraints. The retraction process can be adjusted according to the contact risk status so that the catheter can be removed from the abnormal contact area.

[0089] Specifically, an output permission must be generated / output only after multiple conditions are met consecutively: ;otherwise .

[0090] Table 5 below is an explanation of the calculation formula for output access permission in the embodiments of this application.

[0091] Table 5

[0092] It is evident that a decrease in a single directional angle does not necessarily mean the conduit is centered at the inlet, nor does it imply a safe current image and contact state. The above equation incorporates rotational, bending, lateral, contour, contact, and control stability simultaneously, and requires continuous... Each cycle is established. Entry permission is revoked if any condition fails; it is also forcibly revoked upon manual takeover, emergency stop, communication timeout, or mechanical limit switch triggering. This mechanism reduces false permissions caused by single-frame noise, momentary bounce, or images that are too close to the wall.

[0093] Table 6 below is a comparison table of abnormal branches, state switching and recovery in the embodiments of this application.

[0094] Table 6

[0095] The micro-retreat maneuver employs limited distance and speed, continuously monitoring contact risk during the retraction process; it stops immediately if the risk does not decrease or a new hard threshold is exceeded. Before returning to normal posture, the system re-estimates the target branch entry and resets the alignment stability count to avoid using the entry permission from before the anomaly.

[0096] The method provided in this application provides the following steps: The terminal state information of the bronchoscope catheter, the geometric information of the branch inlet, and the contact state information between the catheter and the airway are obtained. A branch inlet coordinate system is constructed based on the geometric information, and a multi-degree-of-freedom (DOF) posture error is determined based on the spatial relationship between the terminal state information and the target posture determined by the branch inlet coordinate system. The multi-degree-of-freedom posture error includes an axial-angle error vector determined by the posture difference and a position error determined by the position deviation. The axial-angle error vector and the position error are mapped to error components corresponding to the catheter's rotation, bending, and lateral displacement degrees of freedom, respectively, and candidate posture control quantities for each degree of freedom are generated based on each error component. The contact risk is determined based on the contact state information, and the candidate posture control quantities are subjected to safety constraints based on the contact risk, inlet contour reliability, and execution feedback state information before the posture execution command is output. Based on the update error after executing the posture execution command, inlet contour reliability, contact risk, and control stability, the alignment state between the catheter and the branch inlet is continuously determined, and an entry permission or prohibition state is output based on the determination result.

[0097] This application acquires information on the distal state of the bronchoscopic catheter, the geometric information of the branch inlet, and the contact state between the catheter and the airway. Based on the geometric information, a branch inlet coordinate system is constructed to establish a spatial relationship between the catheter distal end and the target branch inlet, providing a reference benchmark for subsequent posture control. Based on the branch inlet coordinate system, multi-degree-of-freedom posture error is determined according to the spatial relationship between the catheter distal end state and the target posture, and this error is converted into error components corresponding to the catheter's rotational, bending, and lateral displacement degrees of freedom. Since each error component directly corresponds to the actual controllable degrees of freedom of the catheter, posture adjustment can be precisely matched with the catheter's motion capability, thereby improving the posture accuracy during entry into the target branch. Contact risk, inlet contour reliability, and execution feedback status are used as control constraints to perform safety gating on the posture process. After executing the posture command, the alignment state between the catheter and the branch inlet is determined based on state changes. The catheter is only allowed to enter the target branch when preset conditions are met, effectively reducing unexpected movement caused by changes in the inlet state or abnormal contact, and improving the safety of the entry process.

[0098] That is, this application realizes automatic posture control for airway bifurcation entry by constructing multi-degree-of-freedom errors in the branch inlet coordinate system, decomposing them into error components corresponding to the driving degrees of freedom, introducing multi-dimensional safety constraints and performing alignment state determination, thereby improving the control accuracy and operational reliability of the bronchoscope catheter when entering the target branch.

[0099] It should be noted that, based on the above embodiments, the embodiments of this application also provide corresponding improvement schemes. In the preferred / improved embodiments, the same or corresponding steps as in the above embodiments can be referred to each other, and the corresponding beneficial effects can also be referred to each other; however, these will not be elaborated upon in the preferred / improved embodiments herein.

[0100] Regarding the combined electromagnetic positioning and endoscopic contouring, an electromagnetic positioning sensor is installed at the end of the catheter, and the preoperative CT airway model is registered with the electromagnetic coordinate system. Electromagnetic positioning provides... and The preoperative model provides initial values ​​for the target branch direction, and the microscopic image corrects the entry center and circumferential contour reference. The controller generates parameters in a proportional or PID manner. It drives a rotary motor, two bending traction motors, and a propulsion / retraction motor after passing through gating constraints. This method is suitable for robotic bronchoscopy systems with stable external positioning conditions.

[0101] Regarding fiber optic shape sensing and encoder closed-loop attitude correction, fiber optic shape sensors are installed along the duct. The forward direction is obtained by reconstructing the tangent vector at the end of the centerline, and the circumferential attitude is determined by combining this with the rotary encoder at the operating end. The entrance geometry is still obtained by combining the preoperative model and intraoperative images. If the circumferential attitude uncertainty is high, the system is reduced... Prioritize completing the bending direction and entrance centering; resume rotation only after the circumferential reference is continuously stabilized. This method reduces dependence on the external electromagnetic environment.

[0102] Contact risk estimation without end-effector force sensors can be achieved by using the current or torque increments of bending, rotating, and propulsion motors, encoder tracking residuals, image wall adhesion ratio, and estimated wall distance, without installing end-effector force sensors. Different drive actions use their own no-load baselines, and anomaly increments are calculated within a short time window after the action begins. When any drive current reaches the hardware protection threshold, it directly enters the recovery state without waiting for weighted risk scoring.

[0103] Semi-automatic entry after surgeon confirmation, i.e., the system completes automatic posture adjustment and outputs results. Afterwards, only when the human-machine interface displays "access permitted" will the propulsion motor remain stationary; only after the operator presses the confirmation switch will the propulsion module execute under individual speed and distance constraints. If any alignment condition fails during the confirmation waiting period, the permission will be immediately revoked.

[0104] Therefore, the main problems with the relevant navigation systems are as follows: directional prompts cannot directly generate posture adjustment movements. The root cause is that the geometric information of the target branch entrance is not converted into control quantities corresponding to the catheter's driving degrees of freedom. During the operation, the surgeon still needs to repeatedly try, and the posture adjustment result depends on personal experience. Single posture control is difficult to adapt to the local characteristics of bifurcation, lacking joint constraints from the entrance center, branch direction, and contour circumferential reference. Although the catheter direction may seem close to the target, there are still eccentricity or bending plane errors. Low-quality images may still drive control movements. Contour quality is only used as display information and is not included in the execution gating. When the target direction changes, it is easy to generate erroneous rotation or bending movements. When the device is attached to the wall or obstructed, the force is still applied according to the original error. The contact observation and posture control links are separated, increasing the risk of mucosal damage, instrument jamming, or loss of field of view. Alignment is considered complete as long as the angle threshold is met in a single frame. There is a lack of position, stability, and continuous period constraints, and entry permission is easily affected by noise and instantaneous image interference.

[0105] To address the aforementioned issues, after the catheter enters the target bifurcation neighborhood, it performs acquisition and synchronization, entry estimation, error decomposition, risk assessment, candidate action generation, safety gating, alignment confirmation, and status feedback in a fixed control cycle. The posture control input is not directly sent to the motor; instead, it undergoes joint gating based on contour reliability, contact risk, mechanical limits, and state duration. This application only outputs whether entry is permitted; the actual advancement can be confirmed by the surgeon or executed by another controlled module, thus separating entry permission from automatic advancement.

[0106] In other words, this application achieves automatic posture control for airway bifurcation entry by constructing a target branch entrance coordinate system and decomposing posture error, controlling the range of motion and degrees of freedom with contour reliability, triggering freeze and retraction with contact risk, and establishing a continuous convergent alignment confirmation mechanism.

[0107] Corresponding to the above method embodiments, this application also provides an automatic posture control device for bronchoscope catheters. The automatic posture control device for bronchoscope catheters described below can be referred to in correspondence with the automatic posture control method for bronchoscope catheters described above.

[0108] See Figure 5 As shown, the device includes the following modules: The status acquisition module 101 is used to acquire the terminal status information, branch inlet geometric information, and contact status information between the bronchoscope catheter and the airway. The error determination module 102 is used to construct a branch entrance coordinate system based on the branch entrance geometric information, and determine the multi-degree-of-freedom pose correction error based on the spatial relationship between the end state information and the target attitude determined based on the branch entrance coordinate system; wherein, the multi-degree-of-freedom pose correction error includes the axis angle error vector determined by the attitude difference and the position error determined by the position deviation; The control generation module 103 is used to map the axis angle error vector and position error into error components corresponding to the degrees of freedom of the duct rotation, bending and lateral displacement, respectively, and generate candidate attitude control quantities for the corresponding degrees of freedom based on each error component. The safety constraint module 104 is used to apply safety constraints to candidate pose control quantities based on the contact risk, entry contour reliability and execution feedback status information determined by the contact status information, and output pose execution instructions. The status determination module 105 is used to continuously determine the alignment status between the catheter and the branch inlet based on the update error after the posture execution command, the reliability of the inlet profile, the contact risk and the control stability, and output the entry permission or entry prohibition status according to the determination result.

[0109] Using the apparatus provided in this application, the following steps are taken: The terminal state information of the bronchoscope catheter, the geometric information of the branch inlet, and the contact state information between the catheter and the airway are acquired. A branch inlet coordinate system is constructed based on the geometric information, and a multi-degree-of-freedom (DOF) posture error is determined based on the spatial relationship between the terminal state information and the target posture determined by the branch inlet coordinate system. The multi-DOF posture error includes an axial-angle error vector determined by the posture difference and a position error determined by the position deviation. The axial-angle error vector and the position error are mapped to error components corresponding to the catheter's rotation, bending, and lateral displacement degrees of freedom, respectively, and candidate posture control quantities for each degree of freedom are generated based on each error component. The contact risk is determined based on the contact state information, and the candidate posture control quantities are subjected to safety constraints based on the contact risk, inlet contour reliability, and execution feedback state information before the posture execution command is output. Based on the update error after executing the posture execution command, inlet contour reliability, contact risk, and control stability, the alignment state between the catheter and the branch inlet is continuously determined, and an entry permission or prohibition state is output based on the determination result.

[0110] This application acquires information on the distal state of the bronchoscopic catheter, the geometric information of the branch inlet, and the contact state between the catheter and the airway. Based on the geometric information, a branch inlet coordinate system is constructed to establish a spatial relationship between the catheter distal end and the target branch inlet, providing a reference benchmark for subsequent posture control. Based on the branch inlet coordinate system, multi-degree-of-freedom posture error is determined according to the spatial relationship between the catheter distal end state and the target posture, and this error is converted into error components corresponding to the catheter's rotational, bending, and lateral displacement degrees of freedom. Since each error component directly corresponds to the actual controllable degrees of freedom of the catheter, posture adjustment can be precisely matched with the catheter's motion capability, thereby improving the posture accuracy during entry into the target branch. Contact risk, inlet contour reliability, and execution feedback status are used as control constraints to perform safety gating on the posture process. After executing the posture command, the alignment state between the catheter and the branch inlet is determined based on state changes. The catheter is only allowed to enter the target branch when preset conditions are met, effectively reducing unexpected movement caused by changes in the inlet state or abnormal contact, and improving the safety of the entry process.

[0111] That is, this application realizes automatic posture control for airway bifurcation entry by constructing multi-degree-of-freedom errors in the branch inlet coordinate system, decomposing them into error components corresponding to the driving degrees of freedom, introducing multi-dimensional safety constraints and performing alignment state determination, thereby improving the control accuracy and operational reliability of the bronchoscope catheter when entering the target branch.

[0112] In one specific embodiment of this application, the state determination module is specifically used to output an entry permit when the convergence conditions are met; the convergence conditions include that the rotation error, bending error, and lateral error are each less than the corresponding preset threshold, the reliability of the entrance contour is higher than the threshold, the contact risk is lower than the threshold, and the control stability meets the preset requirements. When the reliability of the entrance profile decreases, switch to conservative posing state, attenuate the posing instructions for at least some degrees of motion freedom, and output a prohibited entry state. When the contact risk state is not less than the preset threshold or the execution feedback state is abnormal, switch to the detachment recovery state, freeze the posture execution commands of rotation and bending degrees of freedom, stop the advance and execute the restricted retreat, and output the prohibited entry state.

[0113] In one specific embodiment of this application, the error determination module is specifically used to determine the center position information, direction information, and contour boundary information of the branch entrance from the geometric information; Determine the origin of the branch entrance coordinate system based on the center location information; Determine the principal axis direction of the branch entrance coordinate system based on the direction information; The lateral reference direction of the branch entrance coordinate system is determined based on the contour boundary information.

[0114] In one specific embodiment of this application, the error determination module is specifically used to determine the current spatial attitude and current position of the duct tip based on the end-state information; The attitude error is determined based on the difference between the target attitude and the current spatial attitude, and the axis-angle error vector is determined based on the attitude error. The position error is determined based on the deviation between the target position corresponding to the target attitude and the current position.

[0115] In one specific embodiment of this application, the control generation module is specifically used to generate rotation adjustment control quantities based on the error components corresponding to the rotational degrees of freedom. The bending adjustment control quantity is generated based on the error component corresponding to the bending degree of freedom. The lateral displacement adjustment control quantity is generated based on the error component corresponding to the lateral displacement degree of freedom. Candidate posture control quantities are synthesized based on the adjustment control quantities corresponding to each degree of freedom.

[0116] In one specific embodiment of this application, the safety constraint module is specifically used to limit the output amplitude of the candidate pose control quantity based on the reliability of the entrance contour; The adjustment range of the corresponding degrees of freedom of movement is restricted according to the risk of contact. The deviation between the execution result and the posture execution command is determined based on the execution feedback status information; Adjust the posture execution command or update the candidate posture control quantity based on the judgment result.

[0117] In one specific embodiment of this application, the control generation module is specifically used to establish the correspondence between multi-degree-of-freedom pose error and the spatial motion degrees of freedom of the guide tube; Based on the correspondence, the axis angle error vector is mapped to the error components corresponding to the rotational degree of freedom and the bending degree of freedom, and the position error is mapped to the error components corresponding to the lateral displacement degree of freedom.

[0118] Corresponding to the above method embodiments, this application also provides an electronic device. The electronic device described below can be referred to in conjunction with the automatic posture control method for bronchoscope catheters described above.

[0119] See Figure 6 As shown, the electronic device includes: Memory 332 is used to store computer programs; The processor 322 is used to execute a computer program to implement the steps of the automatic posture control method for the bronchoscope catheter in the above method embodiments.

[0120] For details, please refer to Figure 7 , Figure 7 This is a schematic diagram of the specific structure of an electronic device provided in this embodiment. The electronic device can vary significantly due to differences in configuration or performance. It may include one or more central processing units (CPUs) (e.g., one or more processors) and a memory 332. The memory 332 stores one or more computer programs 342 or data 344. The memory 332 can be temporary or permanent storage. The program stored in the memory 332 may include one or more modules (not shown in the diagram), each module may include a series of instruction operations on the data processing device. Furthermore, the processor 322 may be configured to communicate with the memory 332 and execute the series of instruction operations stored in the memory 332 on the electronic device 301.

[0121] Electronic device 301 may also include one or more power supplies 326, one or more wired or wireless network interfaces 350, one or more input / output interfaces 358, and / or one or more operating systems 341.

[0122] The steps in the automatic posture control method for bronchoscope catheters described above can be implemented by the structure of electronic devices.

[0123] Corresponding to the above method embodiments, this application also provides a readable storage medium. The readable storage medium described below can be referred to in conjunction with the automatic posture control method for bronchoscope catheters described above.

[0124] A readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the automatic posture control method for bronchoscope catheters described in the above method embodiments.

[0125] The readable storage medium can specifically be a USB flash drive, external hard drive, read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk, or any other readable storage medium capable of storing program code.

[0126] The various embodiments in this specification are described 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. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to in the method section.

[0127] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0128] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly by hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0129] Finally, it should be noted that in this document, relationships such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "include," "contain," or any other variations are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus.

[0130] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A method for automatic posture control of a bronchoscope catheter, characterized in that, include: Acquire information on the terminal state of the bronchoscopic catheter, the geometric information of the branch inlet, and the contact state between the catheter and the airway; A branch entry coordinate system is constructed based on the geometric information, and a multi-degree-of-freedom pose correction error is determined based on the spatial relationship between the end-effector state information and the target pose determined based on the branch entry coordinate system. The multi-degree-of-freedom pose correction error includes an axis angle error vector determined by the pose difference and a position error determined by the position deviation. The axis angle error vector and the position error are mapped to error components corresponding to the degrees of freedom of the duct rotation, bending and lateral displacement, respectively, and candidate orientation control quantities corresponding to the degrees of freedom are generated according to each error component. Based on the contact status information, the contact risk is determined, and the candidate posture control quantity is subjected to safety constraints based on the contact risk, the reliability of the entrance contour, and the execution feedback status information before the posture execution command is output. Based on the update error after executing the posture execution command, the reliability of the inlet profile, the contact risk, and the control stability, the alignment status between the catheter and the branch inlet is continuously determined, and an entry permission or entry prohibition status is output according to the determination result.

2. The method according to claim 1, characterized in that, Based on the judgment result, the entry permission or entry prohibition status is output, including: When the convergence conditions are met, an entry permit is issued; the convergence conditions include that the rotation error, bending error, and lateral error are all less than their respective preset thresholds, the reliability of the entrance profile is higher than the threshold, the contact risk is lower than the threshold, and the control stability meets the preset requirements. When the reliability of the entrance profile decreases, switch to conservative posing state, attenuate the posing instructions for at least some degrees of motion freedom, and output a prohibited entry state. When the contact risk state is not less than the preset threshold or the execution feedback state is abnormal, switch to the detachment recovery state, freeze the posture execution commands of rotation and bending degrees of freedom, stop the advance and execute the restricted retreat, and output the prohibited entry state.

3. The method according to claim 1, characterized in that, Constructing a branch entry coordinate system based on the geometric information includes: The center position, direction, and contour boundary information of the branch entrance are determined from the geometric information. The origin of the branch entrance coordinate system is determined based on the center location information; The principal axis direction of the branch entrance coordinate system is determined based on the direction information; The lateral reference direction of the branch entrance coordinate system is determined based on the contour boundary information.

4. The method according to claim 1, characterized in that, Determining the multi-degree-of-freedom pose correction error based on the spatial relationship between the end-effector state information and the target pose determined based on the branch ingress coordinate system includes: The current spatial attitude and position of the catheter tip are determined based on the terminal state information. The attitude error is determined based on the difference between the target attitude and the current spatial attitude, and the axis angle error vector is determined based on the attitude error; The position error is determined based on the deviation between the target position corresponding to the target posture and the current position.

5. The method according to claim 1, characterized in that, Based on each of the aforementioned error components, candidate pose control quantities corresponding to the degrees of freedom are generated, including: The rotational adjustment control quantity is generated based on the error components corresponding to the rotational degrees of freedom. The bending adjustment control quantity is generated based on the error component corresponding to the bending degree of freedom. The lateral displacement adjustment control quantity is generated based on the error component corresponding to the lateral displacement degree of freedom. The candidate posture control quantity is synthesized based on the adjustment control quantity corresponding to each degree of freedom.

6. The method according to claim 1, characterized in that, Based on the contact risk, entry contour reliability, and execution feedback status information, safety constraints are applied to the candidate pose control quantities, including: The output amplitude of the candidate pose control quantity is limited based on the reliability of the inlet profile; The adjustment range of the corresponding degrees of freedom of movement is restricted according to the risk of contact. The deviation between the execution result and the posture execution command is determined based on the execution feedback status information; Adjust the posture execution command or update the candidate posture control quantity based on the judgment result.

7. The method according to any one of claims 1 to 6, characterized in that, Mapping the axis angle error vector and the position error to error components corresponding to the degrees of freedom includes: Establish the correspondence between the multi-degree-of-freedom orientation error and the spatial motion degrees of freedom of the duct; Based on the correspondence, the axial angle error vector is mapped to the error components corresponding to the rotational degree of freedom and the bending degree of freedom, and the position error is mapped to the error components corresponding to the lateral displacement degree of freedom.

8. An automatic posture control device for a bronchoscope duct, characterized in that, include: The status acquisition module is used to acquire information on the terminal status of the bronchoscope catheter, the geometric information of the branch inlet, and the contact status information between the catheter and the airway. An error determination module is used to construct a branch entrance coordinate system based on the branch entrance geometry information, and determine a multi-degree-of-freedom pose correction error based on the spatial relationship between the end state information and the target pose determined based on the branch entrance coordinate system; wherein, the multi-degree-of-freedom pose correction error includes an axis angle error vector determined by the pose difference and a position error determined by the position deviation; The control generation module is used to map the axis angle error vector and the position error into error components corresponding to the degrees of freedom of the duct rotation, bending and lateral displacement, respectively, and generate candidate orientation control quantities corresponding to the degrees of freedom based on each error component. The safety constraint module is used to apply safety constraints to the candidate pose control quantities based on the contact risk, entry contour reliability and execution feedback status information determined by the contact state information, and output pose execution instructions. The status determination module is used to continuously determine the alignment status between the catheter and the branch inlet based on the update error after executing the posture execution command, the reliability of the inlet profile, the contact risk, and the control stability, and output the entry permission or entry prohibition status according to the determination result.

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

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

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