Catheter anomaly safety control method and system

Abstract

The application discloses a kind of catheter abnormality safety control method and system, comprising: obtaining the operation information of catheter, generating morphology abnormality candidate, to overcome the defect that single drive load monitoring is difficult to fully reflect the actual morphology change of catheter, and then the integrity and accuracy of abnormality identification are improved;On this basis, by calculating abnormal risk score and dividing abnormal grade to abnormality candidate, the system can distinguish different degrees of abnormal state, avoid the misjudgment or omission problem caused by single threshold alarm, and provide quantitative basis for hierarchical intervention;Further, according to the corresponding safety disposal action is matched according to the abnormal grade and executed, and then the recovery condition is judged by continuous operation information after action execution, and the control restriction is gradually released only when the condition is met, so as to realize the closed-loop control from abnormality identification, hierarchical disposal to recovery confirmation, effectively solve the problem that abnormal disposal in the prior art depends on artificial instant judgment and is easy to be abnormal again after recovery.

Description

Technical Field

[0001] This application relates to the field of surgical robot technology, and in particular to a method and system for controlling catheter abnormalities. Background Technology

[0002] With the widespread use of flexible interventional devices, the system usually needs to acquire the catheter's operating status in real time and perform safety monitoring based on the catheter's movement status and driving information to ensure the safety of interventional procedures.

[0003] Existing catheter safety monitoring systems typically acquire operational information such as catheter advancement resistance, drive load, or torque through load sensors, motor current sensors, or drive mechanisms, and compare the collected data with preset thresholds. When the comparison result meets the set conditions, the system outputs an alarm message or a stop prompt, allowing the operator to decide on subsequent actions such as deceleration, retraction, or continued advancement based on the alarm message or stop prompt, thus completing catheter safety control.

[0004] However, the above-mentioned technical solutions rely solely on information such as drive load or motor current to determine the condition of the conduit, which makes it difficult to accurately reflect the actual operating condition of the conduit, resulting in low accuracy in determining conduit anomalies. Summary of the Invention

[0005] In view of the shortcomings of the prior art, this application provides a catheter abnormality safety control method and system to solve the problem of low accuracy in catheter abnormality judgment in the prior art.

[0006] To achieve the above objectives, this application provides the following technical solution:

[0007] The first aspect of this application provides a method for catheter abnormality safety control, including:

[0008] Acquire the operational information of the catheter; wherein the operational information is used to characterize the morphological state, load state, and operational state of the catheter during operation;

[0009] Based on the operational information, candidates for morphological abnormalities of the catheter are identified;

[0010] Based on the morphological abnormality candidates, the abnormality risk score of the catheter is calculated, and the abnormality level of the catheter is determined according to the abnormality risk score.

[0011] Based on the level of abnormality, determine the corresponding safety procedure for the catheter and control the catheter to perform the safety procedure.

[0012] After the safety procedure is performed, based on the continuously acquired operational information, it is determined whether the catheter meets the recovery conditions.

[0013] If the catheter meets the recovery conditions, the control restrictions on the catheter are lifted level by level according to the release order corresponding to the abnormality level.

[0014] Optionally, in the above-described catheter abnormality safety control method, determining the candidate morphological abnormalities of the catheter based on the operational information includes:

[0015] Extract morphological awareness data, driving load, and operational context from the operational information;

[0016] The shape-sensing data and the driving load are time-aligned and filtered to obtain the processed shape-sensing data and the processed driving load.

[0017] Based on the operational context, the morphological baseline and load baseline corresponding to the catheter in the current operational stage are determined, and baseline correction is performed on the processed morphological sensing data and the processed driving load based on the morphological baseline and the load baseline, respectively.

[0018] Based on the baseline-corrected morphological sensing data, the morphological characteristic parameters corresponding to the catheter are determined, and based on the baseline-corrected driving load, the load characteristic parameters corresponding to the catheter are determined; wherein, the morphological characteristic parameters include local curvature, torsion angle, path drift and end-direction change, and the load characteristic parameters include load amplitude and load change rate;

[0019] Based on the morphological characteristic parameters and the load characteristic parameters, determine whether the catheter meets the corresponding abnormal candidate judgment conditions;

[0020] If the catheter meets the abnormal candidate determination conditions, then the corresponding abnormal time period or abnormal catheter segment is determined, and the abnormal time period or abnormal catheter segment is determined as a morphological abnormality candidate.

[0021] Optionally, in the above-described catheter abnormality safety control method, calculating the abnormality risk score of the catheter based on the morphological abnormality candidates includes:

[0022] The navigation confidence is obtained from the operational information, and the anomaly type, anomaly amplitude, duration and rate of change are determined based on the morphological anomaly candidates.

[0023] Based on the anomaly type, the anomaly amplitude, duration, rate of change, driving load, and operating context are scored to obtain a morphological amplitude score, a duration score, a load score, a rate of change score, and an operating context risk score.

[0024] The abnormal risk score of the catheter is calculated based on the navigation confidence score, the morphological amplitude score, the load score, the duration score, the rate of change score, and the operational context risk score.

[0025] Optionally, in the above-described catheter abnormality safety control method, determining the abnormality level of the catheter based on the abnormality risk score includes:

[0026] Obtain the scoring range corresponding to each anomaly level;

[0027] The target scoring interval corresponding to the abnormal risk score is determined from each scoring interval;

[0028] The abnormality level corresponding to the target scoring interval is determined as the abnormality level of the catheter.

[0029] Optionally, in the above-described catheter anomaly safety control method, determining the corresponding safety handling action for the catheter based on the anomaly level includes:

[0030] The target safety action corresponding to the anomaly level is determined from the preset anomaly level query and handling table; wherein, the target safety action includes at least one of the following: prompting, speed limit, pausing propulsion, reducing steering gain, reversing, locking drive, maintaining current position, and manual intervention;

[0031] The target safety handling action is adjusted according to the operation context in the operation information to obtain the safety handling action corresponding to the catheter.

[0032] Optionally, in the above-described catheter abnormality safety control method, after controlling the catheter to perform the safety handling action, the method further includes:

[0033] Obtain the execution feedback information corresponding to the safety handling action;

[0034] Based on the execution feedback information, determine whether the safety action was successfully executed;

[0035] If the safety procedure is not successfully executed, the status of the catheter will be switched to manual control status, and a manual control request will be output.

[0036] Optionally, in the above-described catheter abnormality safety control method, determining whether the catheter meets the recovery conditions based on the continuously acquired operational information includes:

[0037] Based on the continuously acquired operational information, the morphological characteristic parameters, driving load change rate, navigation confidence, and abnormal risk score of the catheter are determined.

[0038] Determine whether the morphological feature parameters, the driving load change rate, the navigation confidence, and the anomaly risk score continuously meet the corresponding recovery thresholds within the recovery observation window;

[0039] If the morphological characteristic parameters, the driving load change rate, the navigation confidence level, and the abnormal risk score continuously meet the corresponding recovery thresholds within the recovery observation window, then the catheter is determined to meet the recovery conditions.

[0040] Optionally, in the above-described catheter abnormality safety control method, the step of releasing the control restrictions on the catheter level by level according to the release sequence corresponding to the abnormality level includes:

[0041] Determine the control restriction level corresponding to the anomaly level;

[0042] The control restriction level is reduced.

[0043] The catheter is controlled according to the reduced control limit level, and based on the continuously acquired operating information, it is determined whether the catheter continues to meet the recovery conditions.

[0044] If the catheter continues to meet the recovery conditions, the process of reducing the control restriction level is returned until the control restriction on the catheter is lifted.

[0045] Optionally, the above-mentioned catheter abnormality safety control method further includes:

[0046] If the catheter continues to meet the recovery conditions, the reduction of the control restriction level will stop, and a new abnormality level of the catheter will be determined based on the continuously acquired operational information.

[0047] A second aspect of this application provides a catheter abnormality safety control system, comprising:

[0048] An information acquisition unit is used to acquire the operating information of the catheter; wherein the operating information is used to characterize the morphological state, load state and operational state of the catheter during operation.

[0049] The candidate determination unit is used to determine the candidates for morphological abnormalities of the catheter based on the operational information.

[0050] The processing unit is used to calculate the abnormality risk score of the catheter based on the morphological abnormality candidates, and determine the abnormality level of the catheter according to the abnormality risk score.

[0051] An action determination unit is used to determine the corresponding safety treatment action for the catheter based on the abnormality level, and to control the catheter to perform the safety treatment action;

[0052] The recovery judgment unit is used to determine whether the catheter meets the recovery conditions based on the continuously acquired operating information after the safety handling action is performed.

[0053] The release unit is used to release the control restrictions on the catheter step by step according to the release sequence corresponding to the abnormality level if the catheter meets the recovery conditions.

[0054] Optionally, in the above-described catheter anomaly safety control system, the candidate determination unit includes:

[0055] The extraction unit is used to extract morphological sensing data, driving load, and operating context from the operation information;

[0056] The preprocessing unit is used to perform time-series alignment and filtering on the shape-sensing data and the driving load to obtain the processed shape-sensing data and the processed driving load.

[0057] The correction unit is used to determine the morphological baseline and load baseline of the catheter in the current operation stage according to the operation context, and to perform baseline correction on the processed morphological sensing data and the processed driving load according to the morphological baseline and the load baseline, respectively.

[0058] The parameter determination unit is used to determine the morphological feature parameters corresponding to the catheter based on the baseline-corrected morphological sensing data, and to determine the load feature parameters corresponding to the catheter based on the baseline-corrected driving load; wherein, the morphological feature parameters include local curvature, torsion angle, path drift and end-direction change, and the load feature parameters include load amplitude and load change rate;

[0059] The condition judgment unit is used to determine whether the catheter meets the corresponding abnormal candidate judgment condition based on the morphological feature parameters and the load feature parameters.

[0060] The candidate determination subunit is used to determine the corresponding abnormal time period or abnormal catheter segment if the catheter meets the abnormal candidate determination conditions, and to determine the abnormal time period or abnormal catheter segment as a morphological abnormality candidate.

[0061] Optionally, in the above-described catheter abnormality safety control system, the processing unit includes:

[0062] The first acquisition unit is used to acquire navigation confidence from the operation information and determine the anomaly type, anomaly amplitude, duration and rate of change based on the morphological anomaly candidates.

[0063] The scoring unit is used to score the abnormal amplitude, duration, rate of change, driving load, and operating context according to the abnormality type, so as to obtain the morphological amplitude score, duration score, load score, rate of change score, and operating context risk score.

[0064] The calculation unit is used to calculate the abnormal risk score of the catheter based on the navigation confidence score, the morphological amplitude score, the load score, the duration score, the rate of change score, and the operational context risk score.

[0065] Optionally, in the above-described catheter abnormality safety control system, the processing unit includes:

[0066] The interval acquisition unit is used to obtain the scoring intervals corresponding to each anomaly level;

[0067] An interval determination unit is used to determine the target scoring interval corresponding to the abnormal risk score from each scoring interval;

[0068] The level determination unit is used to determine the abnormal level corresponding to the target scoring interval as the abnormal level of the catheter.

[0069] Optionally, in the above-described catheter abnormality safety control system, the action determination unit includes:

[0070] The action determination subunit is used to determine the target safety handling action corresponding to the anomaly level from a preset anomaly level query and handling table; wherein, the target safety handling action includes at least one of the following: prompting, speed limiting, pausing propulsion, reducing steering gain, reversing, locking drive, maintaining current position, and manual intervention;

[0071] The adjustment unit is used to adjust the target safety handling action according to the operation context in the operation information to obtain the safety handling action corresponding to the catheter.

[0072] Optionally, the above-mentioned catheter abnormality safety control system further includes:

[0073] The second acquisition unit is used to acquire the execution feedback information corresponding to the safety handling action;

[0074] The first judgment unit is used to determine whether the safety handling action has been successfully executed based on the execution feedback information.

[0075] The switching unit is used to switch the state of the catheter to manual intervention state and output a manual intervention request if the safety handling action is not successfully executed.

[0076] Optionally, in the above-mentioned catheter abnormality safety control system, the recovery judgment unit includes:

[0077] The third acquisition unit is used to determine the morphological characteristic parameters, driving load change rate, navigation confidence and abnormal risk score of the catheter based on the continuously acquired operating information.

[0078] The second judgment unit is used to determine whether the morphological feature parameters, the driving load change rate, the navigation confidence, and the abnormal risk score continuously meet the corresponding recovery thresholds within the recovery observation window.

[0079] The first determining unit is configured to determine that the catheter meets the recovery conditions if the morphological characteristic parameters, the driving load change rate, the navigation confidence level, and the abnormal risk score continuously meet the corresponding recovery thresholds within the recovery observation window.

[0080] Optionally, in the above-described catheter abnormality safety control system, the release unit includes:

[0081] The second determining unit is used to determine the control restriction level corresponding to the anomaly level;

[0082] A downgrade unit is used to reduce the control restriction level;

[0083] The third judgment unit is used to control the catheter according to the reduced control restriction level, and to determine whether the catheter continues to meet the recovery conditions based on the continuously acquired operating information.

[0084] An execution unit is configured to, if the catheter continues to meet the recovery conditions, return to the process of reducing the control restriction level until the control restriction on the catheter is lifted.

[0085] Optionally, the above-mentioned catheter abnormality safety control system further includes:

[0086] The stopping unit is used to stop lowering the control limit level if the catheter continues to meet the recovery conditions, and to determine a new abnormality level of the catheter based on the continuously acquired operational information.

[0087] This application provides a catheter anomaly safety control method. It acquires catheter operational information, which characterizes the catheter's morphological state, load state, and operational state during operation. Based on this information, it identifies candidate morphological anomalies, calculates an anomaly risk score, determines the anomaly level, and then determines the corresponding safety intervention action. The method then controls the catheter to execute the safety intervention action. Finally, after the safety intervention action is executed, it determines whether the catheter meets the recovery conditions based on continuously acquired operational information. If the recovery conditions are met, the control restrictions on the catheter are gradually lifted according to the release sequence corresponding to the anomaly level. By integrating multi-dimensional operational information on catheter morphology, load, and operation, it identifies candidate morphological anomalies and calculates anomaly risk scores. Compared to solely relying on load-based judgment, this method more comprehensively reflects the actual state, improves the accuracy of anomaly identification, matches safety intervention actions according to the anomaly level, and gradually lifts restrictions based on continuous operational information after execution, achieving graded control and recovery to ensure the safety of interventional procedures. Attached Figure Description

[0088] 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, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0089] Figure 1 A schematic diagram of the architecture of a catheter abnormality safety control system provided in an embodiment of this application;

[0090] Figure 2 A schematic flowchart illustrating a catheter abnormality safety control method provided in an embodiment of this application;

[0091] Figure 3 A flowchart illustrating a method for calculating an anomaly risk score, provided as another embodiment of this application;

[0092] Figure 4 A flowchart illustrating a method for classifying anomaly levels, provided in another embodiment of this application;

[0093] Figure 5 A schematic diagram of the architecture of a security handling state machine provided for another embodiment of this application;

[0094] Figure 6 This is a schematic diagram of a catheter abnormality safety control system provided in another embodiment of this application. Detailed Implementation

[0095] 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, and 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.

[0096] In this application, relational terms 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 "comprising," "including," or any other variations thereof 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. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0097] This application provides a catheter abnormality safety control method, which is applied to a catheter abnormality safety control system to solve the problem of low accuracy in abnormality judgment caused by relying solely on drive load or motor current to judge catheter abnormalities in the prior art.

[0098] It should be noted that catheter morphology abnormalities refer to kinks, twists, bends, morphological drifts, or rebound instability that occur during advancement, retraction, turning, or tool-assisted operations. These abnormal states exhibit multiple types, amplitudes, and temporal characteristics, making it difficult for a single threshold alarm mechanism to distinguish between transient fluctuations and persistent severe anomalies, nor to map the severity of the anomaly to differentiated safety response actions. This application's embodiments address these issues by fusing morphology-aware data, driving load, and operational context to establish a closed-loop control mechanism encompassing anomaly candidate generation, risk scoring, level classification, safety response, and recovery confirmation.

[0099] Based on the system architecture described above, optionally, such as Figure 1 As shown in the figure, this application provides an architecture diagram of a catheter abnormality safety control system. Figure 1 It includes: a shape perception module 110, a load and operation context module 115, an anomaly candidate generation module 120, an anomaly classification and evaluation module 130, a safety handling decision module 140, a recovery confirmation module 150, and an execution and prompting interface 160.

[0100] The morphology sensing module 110 is used to acquire morphology sensing data of the catheter in each control cycle, including the catheter centerline(t), end position Ptip, end direction Vtip, local curvature Kcurv, twist angle Twist, and path drift Ddrift.

[0101] The load and operation context module 115 is used to synchronously acquire the duct's drive load Fdrive, torque Tdrive, propulsion speed Vpush, steering input Usteer, operation phase, and navigation confidence CNav.

[0102] The anomaly candidate generation module 120 is used to perform time-series alignment, filtering, and baseline correction on the morphology-aware data and driving load, and to generate morphology anomaly candidates based on morphology feature parameters and load feature parameters.

[0103] The anomaly classification assessment module 130 is used to calculate the anomaly risk score Escore based on the anomaly type, anomaly magnitude, duration, rate of change, driving load, operating context, and navigation confidence, and to determine the anomaly level based on the anomaly risk score.

[0104] The safety handling decision module 140 is used to query the corresponding target safety handling action based on the anomaly level, and adjust the target safety handling action according to the operation context.

[0105] The recovery confirmation module 150 is used to perform continuous and stable observation and gradually remove restrictions after the safety handling action is performed.

[0106] The execution and prompting interface 160 is used to send safety handling actions to the conduit drive controller, robot controller, navigation interface or alarm interface, and to obtain the execution feedback corresponding to the safety handling actions.

[0107] It should also be noted that the catheter anomaly safety control system adopts a closed-loop control architecture, which includes a perception layer, a control layer, a system layer, and a clinical layer. The perception layer includes a morphological perception module 110 and a load and operational context module 115. The control layer includes an anomaly candidate generation module 120 and an anomaly grading assessment module 130. The system layer includes a safety handling decision module 140, a recovery confirmation module 150, and an execution and prompting interface 160. The clinical layer incorporates scenarios such as advancement, withdrawal, turning, tool extension, treatment, and recovery observation into the judgment through operational phases.

[0108] Based on the system architecture described above, this application provides a catheter anomaly safety control method accordingly, such as... Figure 2 As shown, the specific steps include:

[0109] S201. Obtain the operating information of the catheter.

[0110] Among them, the operational information is used to characterize the morphological state, load state and operational state of the catheter during operation.

[0111] It is understood that the catheter can be a flexible interventional catheter, a bronchoscopic catheter, a vascular interventional catheter, an ablation catheter, a drug delivery catheter, or other flexible interventional device. The procedure may include at least one of the following operational phases: advancement, retraction, steering, positioning, tool extension, treatment, and resumption of observation.

[0112] Specifically, operational information may include morphological perception data, driving load and operational context, as well as navigation confidence, propulsion speed, steering input and image morphological features.

[0113] The morphological data describes the catheter's centerline, end position, end orientation, local curvature, torsion angle, or spatial path. The driving load characterizes the estimated propulsion, traction, torque, current, or resistance generated by the catheter's drive mechanism or robot actuator. The operational context indicates the current operational stage of the catheter. Navigation confidence characterizes the reliability of the navigation system's estimations of the catheter's position, attitude, or path.

[0114] Alternatively, morphological perception data can be obtained through fiber optic shape sensors, electromagnetic positioning devices, robotic encoders, intraoperative image morphology recognition, or multi-source fusion.

[0115] For example, when using a fiber optic shape sensor, multiple morphological sampling points can be set along the catheter axis, and the catheter centerline can be reconstructed based on the spatial coordinates of each morphological sampling point. When using intraoperative image morphological recognition, the catheter contour can be extracted from endoscopic or fluoroscopic images, and the path drift and end-point orientation change can be estimated based on the catheter contour.

[0116] In addition, the morphology sensing module and the load and operation context module can collect data according to a unified control cycle and add timestamps to each data item. The control cycle can be set according to the sampling frequency of the duct drive system.

[0117] S202. Based on the operational information, identify candidates for abnormal catheter morphology.

[0118] It should be noted that candidate morphological abnormalities refer to abnormal time periods or abnormal catheter segments that are preliminarily identified as potentially exhibiting catheter morphological abnormalities after preprocessing. Catheter morphological abnormalities can include at least one of the following: kinking abnormalities, torsion abnormalities, bending abnormalities, morphological drift abnormalities, and rebound instability abnormalities.

[0119] Optionally, in another embodiment of this application, a specific implementation of step S202 includes the following processes A1 to A6:

[0120] A1: Extract morphological awareness data, driving load, and operational context from runtime information.

[0121] Specifically, the catheter centerline, local curvature, torsion angle, path drift, and end-point orientation change can be extracted from morphological sensing data. Load amplitude, torque amplitude, and corresponding rate of change can be extracted from the driving load. Operational phase identifiers corresponding to advance, retraction, steering, positioning, tool extension, treatment, or recovery observations can be extracted from the operational context.

[0122] A2: Perform timing alignment and filtering on the shape-sensing data and driving load to obtain the processed shape-sensing data and driving load.

[0123] It should be noted that timing alignment is used to map data output from different sensors or controllers to the same time base. Specifically, it can be based on the timestamp of the control cycle, performing nearest neighbor matching, linear interpolation, or hold-and-hold interpolation on form-sensing data and driving loads with different sampling frequencies.

[0124] Optionally, the filtering process can employ median filtering, low-pass filtering, or moving average processing. These filtering methods are used to filter the time-aligned morphological sensing data and driving load. Median filtering is used to remove isolated abrupt changes, low-pass filtering is used to reduce high-frequency noise, and moving average processing is used to obtain stable trends within a preset observation window.

[0125] A3: Based on the operational context, determine the morphological baseline and load baseline corresponding to the catheter in the current operational stage, and perform baseline correction on the processed morphological sensing data and the processed driving load based on the morphological baseline and load baseline, respectively.

[0126] Among them, the morphological baseline is used to characterize the normal morphological range of the catheter in the corresponding operation stage, and the load baseline is used to characterize the normal driving load range of the catheter in the corresponding operation stage.

[0127] Specifically, morphological and load baselines can be established for advancement, retraction, steering, positioning, tool extension, and treatment. Baselines can be determined based on calibration procedures, historical normal operation data, or stable data from the initial phase of the current operation.

[0128] It is easy to understand that the same local curvature or driving load may correspond to different risks at different operation stages. Therefore, by selecting the corresponding baseline through the operation context and performing baseline correction on the processed morphological sensing data and the processed driving load, abnormal misjudgments caused by changes in the operation stage can be reduced.

[0129] A4: Based on the baseline-corrected morphological sensing data, determine the morphological characteristic parameters corresponding to the catheter, and based on the baseline-corrected driving load, determine the load characteristic parameters corresponding to the catheter.

[0130] The morphological characteristic parameters include local curvature, torsion angle, path drift, and end-direction change, while the load characteristic parameters include load amplitude and load change rate. This means that local curvature, torsion angle, path drift, and end-direction change are extracted from the morphological sensing data, and load amplitude and load change rate are obtained from the driving load.

[0131] It should be noted that local curvature is used to characterize the degree of bending of the catheter centerline in a local catheter segment, and can be calculated based on the tangential changes of adjacent sampling points on the centerline. Torsion angle is used to characterize the rotational deformation of the catheter around its own axis. Path drift is used to characterize the degree of deviation of the catheter centerline relative to the planned path or the previous stable path. End-point orientation change is used to characterize the magnitude of change in the catheter end-point orientation between adjacent control cycles.

[0132] Specifically, the load amplitude can be the deviation of propulsion, traction, torque, or current relative to the load baseline. The load change rate can be calculated based on the load difference and time interval between adjacent control cycles.

[0133] A5: Based on the morphological characteristic parameters and load characteristic parameters, determine whether the catheter meets the corresponding abnormal candidate judgment conditions.

[0134] Optionally, the anomaly candidate determination conditions may include at least one of the following: local curvature exceeding a curvature threshold, torsion angle exceeding a torsion threshold, path drift exceeding a drift threshold, load amplitude exceeding a load threshold, load change rate exceeding a load change rate threshold, or a reverse jump in the end direction. Therefore, if it is determined that the conduit meets the corresponding anomaly candidate determination conditions, process A6 is executed.

[0135] For example, the curvature threshold can be set to 130% to 150% of the baseline of the corresponding operating stage. The torsion threshold can be set to 25 degrees to 45 degrees. The drift threshold can be set to 1 mm to 4 mm. The load threshold can be set to more than 130% of the load baseline.

[0136] In an optional embodiment, when only a single control cycle meets the abnormal candidate determination condition, and neither the driving load nor the image morphological features show corresponding changes, that is, the conduit does not meet the corresponding abnormal candidate determination condition, the control cycle can be marked as a transient fluctuation instead of directly generating morphological abnormality candidates corresponding to moderate or severe abnormalities.

[0137] A6: Identify the corresponding abnormal time period or abnormal duct segment, and identify the abnormal time period or abnormal duct segment as a candidate for morphological abnormality.

[0138] Specifically, when the catheter meets the abnormal candidate judgment conditions, multiple control cycles that continuously meet the abnormal candidate judgment conditions can be merged into an abnormal time period, and the abnormal catheter segment can be determined according to the range of the catheter centerline sampling points corresponding to the abnormal characteristics.

[0139] In addition, morphological abnormality candidates can record candidate start time, candidate end time, abnormal duct segment location, preliminary abnormality type, abnormal amplitude, duration, rate of change, and candidate confidence level.

[0140] Optionally, folding anomalies can be determined based on sudden increases in local curvature and decreases in local curvature radius. Torsional anomalies can be determined based on a coordinated increase in torsion angle and torque in the driving load. Over-bending anomalies can be determined based on continuous exceedance of local curvature within a preset length of conduit segment. Shape drift anomalies can be determined based on continuous deviation of the conduit centerline relative to the planned path. Rebound instability anomalies can be determined based on a reverse jump in end direction after the driving load is released.

[0141] S203. Based on the candidates for morphological abnormalities, calculate the abnormality risk score of the catheter, and determine the abnormality level of the catheter according to the abnormality risk score.

[0142] It should be noted that the anomaly risk score is used to comprehensively characterize the degree of morphological change, load change, persistence, development speed, and current operational stage risk corresponding to the candidate morphological anomaly. The anomaly level is used to classify the catheter status into multiple control levels.

[0143] Optionally, in another embodiment of this application, a specific implementation of step S203, which calculates the abnormal risk score of the catheter based on morphological abnormality candidates, is as follows: Figure 3 As shown, the specific steps include:

[0144] S301. Obtain navigation confidence from the operation information, and determine the anomaly type, anomaly amplitude, duration and rate of change based on the morphological anomaly candidates.

[0145] Among them, the abnormal types can include folding abnormality, torsion abnormality, bending abnormality, shape drift abnormality, and rebound instability abnormality.

[0146] Abnormal amplitudes can be determined based on local curvature, torsion angle, path drift, end-direction change, or the amount by which the load amplitude exceeds the corresponding baseline.

[0147] S302. Based on the anomaly type, score the anomaly amplitude, duration, rate of change, driving load, and operating context to obtain the morphological amplitude score, duration score, load score, rate of change score, and operating context risk score.

[0148] Specifically, each score can be normalized to a value range of zero to one. The morphological amplitude score is determined based on the proportion by which the corresponding morphological characteristic parameter exceeds the anomaly candidate judgment threshold. The duration score is determined based on the number of consecutive control cycles in which morphological anomaly candidates exist. The load score is determined based on the deviation of the load amplitude and load change rate from the load baseline. The change rate score is determined based on the morphological characteristic parameter or the growth rate of the driving load.

[0149] It should be noted that the operational context risk score can be set according to the operational stage. The operational context risk score corresponding to advancement, tool extension, ablation, drug delivery, or turning within a narrow channel can be higher than that for the positioning or recovery observation stage.

[0150] S303. Based on navigation confidence, morphological amplitude score, load score, duration score, rate of change score, and operational context risk score, calculate the duct's abnormal risk score.

[0151] Specifically, the formula for calculating the abnormal risk score is as follows:

[0152] Escore = a1 Sshape+ a2 Sload+ a3 Stime+ a4 Srate+ a5 Scontext- a6 Cnav.

[0153] Wherein, Sshape is the shape amplitude score, Sload is the load score, Stime is the duration score, Srate is the rate of change score, Scontext is the operational context risk score, and Cnav is the navigation confidence score.

[0154] Optionally, a1 = 0.25, a2 = 0.20, a3 = 0.20, a4 = 0.15, a5 = 0.15, a6 = 0.05, and the Escore is limited to 0 to 1. a1 to a6 can also be other thresholds, which can be set according to requirements.

[0155] In addition, when multiple anomaly types exist at the same time, the anomaly type with the highest anomaly risk score can be identified as the primary anomaly type, and the other anomaly types can be written into the anomaly record as accompanying anomaly types.

[0156] Optionally, the anomaly risk score can also be calculated using a rule-based scoring model, logistic regression model, tree model, time series model, or expert rule table, but each sub-score is retained in the output for use in tracing the cause of the anomaly.

[0157] Optionally, in another embodiment of this application, a specific implementation of determining the abnormality level of the catheter based on the abnormality risk score in step S203 is as follows: Figure 4 As shown, the specific steps include:

[0158] S401. Obtain the scoring range corresponding to each abnormality level.

[0159] Specifically, the abnormality level can be divided into L0 normal or observation level, L1 mild abnormality level, L2 moderate abnormality level and L3 severe abnormality level.

[0160] S402. Determine the target scoring interval corresponding to the abnormal risk score from each scoring interval.

[0161] Specifically, based on the numerical values ​​corresponding to the abnormal risk scores, the corresponding target score intervals are selected from each score interval.

[0162] S403. Determine the abnormality level corresponding to the target scoring interval as the abnormality level of the catheter.

[0163] Understandably, when the abnormal risk score is less than 0.35, the catheter abnormality level corresponds to L0 (normal or observational). When the abnormal risk score is greater than or equal to 0.35 and less than 0.55, the catheter abnormality level corresponds to L1 (mild abnormality). When the abnormal risk score is greater than or equal to 0.55 and less than 0.75, the catheter abnormality level corresponds to L2 (moderate abnormality). When the abnormal risk score is greater than or equal to 0.75, the catheter abnormality level corresponds to L3 (severe abnormality).

[0164] Optionally, when the navigation confidence level is lower than the preset confidence threshold and the number of abnormal morphology candidates continues to exceed the preset control cycle number, the abnormality level determined according to the target scoring interval can be increased by one level.

[0165] In addition, when there is a conflict between the shape-aware data and the driving load, such as when the local curvature does not exceed the curvature threshold but the driving load continues to increase, or when the path drift is inconsistent with the image shape features, the operation context risk score can be improved or the anomaly level can be raised by one level.

[0166] S204. Based on the level of abnormality, determine the corresponding safety procedures for the catheter and control the catheter to perform the safety procedures.

[0167] Understandably, based on the abnormality level determined in step S203, a safety control action matching that level is generated and executed to achieve graded intervention on the catheter's operational status.

[0168] Optionally, in another embodiment of this application, a specific implementation of determining the corresponding safety handling action for the catheter based on the anomaly level in step S204 specifically includes the following steps S501-S502:

[0169] S501. Determine the target safety handling action corresponding to the anomaly level from the preset anomaly level query and handling table.

[0170] The target safety handling actions include at least one of the following: warning, speed limit, pausing advancement, reducing steering gain, retraction, locking drive, maintaining current position, and manual takeover.

[0171] It should be noted that the anomaly level query and handling table is used to establish the correspondence between anomaly level, anomaly type and target safety handling actions.

[0172] For example, L0 (normal or observation level) corresponds to maintaining normal operation or outputting observation information. L1 (mild anomaly level) corresponds to prompting and speed limiting. L2 (moderate anomaly level) corresponds to pausing propulsion, reducing steering gain, slowing down, or waiting for manual confirmation. L3 (severe anomaly level) corresponds to locking the drive, maintaining the current position, prohibiting further propulsion, and outputting a manual takeover request.

[0173] Optionally, the speed-limiting action corresponding to the L1 mild abnormality level can restrict the advance speed to 70% of the normal speed limit. The retraction action corresponding to the L2 moderate abnormality level can control the catheter to retract slowly by one to three millimeters, or provide the operator with a retraction suggestion.

[0174] S502. Adjust the target safety handling action according to the operation context in the operation information to obtain the safety handling action corresponding to the conduit.

[0175] Specifically, during the tool extension, ablation, or drug delivery phases, when the abnormality level is L2 (moderate) or L3 (severe), the following actions can be added to the target safety procedures: tool energy prohibition, ablation suspension, automatic drug delivery cessation, or automatic propulsion prohibition.

[0176] In one alternative embodiment, during a high-risk operation phase, even if the abnormal risk score is in a low score range, the control limit level can be increased to adopt corresponding conservative safety measures.

[0177] It should be noted that when the control catheter performs safety procedures, the safety procedure decision module sends corresponding control commands to the catheter drive controller or robot controller through the execution and prompt interface, and sends prompt information to the navigation interface or alarm interface.

[0178] Optionally, to ensure that the execution effect of the safety handling action is traceable and verifiable, and to avoid the safety risks caused by execution failure being overlooked, in another embodiment of this application, after executing step S204, another embodiment of this application also provides an execution feedback verification method, specifically including the following processes B1 to B3:

[0179] B1: Obtain the execution feedback information corresponding to the safety handling actions.

[0180] The execution feedback information may include confirmation of speed limit command, propulsion stop status, steering gain setting result, retraction displacement, lock status, position hold status, or confirmation of manual takeover.

[0181] B2: Based on the execution feedback information, determine whether the safety handling action was successfully executed.

[0182] Specifically, the controller can compare the execution feedback information with the target state corresponding to the safety handling action. When the safety handling action cannot be confirmed by the execution controller, it can be determined that the safety handling action was not executed successfully, i.e., execution process B3. For example, if the speed limit command is not effective, the lock feedback is missing, or the rollback execution fails, the execution and prompt interface 160 records the execution exception.

[0183] Optionally, when the target state is established within the preset response time, the safety handling action is determined to have been successfully executed, i.e., step S205 is executed.

[0184] B3: Switch the catheter status to manual control status and output a manual control request.

[0185] Understandably, when safety procedures fail, the catheter status needs to be raised to L3 manual intervention status, at which point the catheter's abnormality level is considered severe.

[0186] Optionally, safety procedures, command sending times, execution feedback, execution results, and manual takeover requests can be written to the operation log.

[0187] S205. After the safety procedures are performed, determine whether the catheter meets the recovery conditions based on the continuously acquired operational information.

[0188] It should be noted that the recovery condition is used to determine whether the catheter's morphological state, load state, and navigation state have continuously recovered to the range that allows for a reduction in control limits. The recovery condition is determined through continuous observation, rather than directly releasing control limits based on the detection results of a single control cycle. Therefore, it is necessary to continuously acquire the catheter's operational information to determine whether the catheter meets the recovery condition. When the catheter meets the recovery condition, step S206 is executed.

[0189] Optionally, if the catheter does not meet the recovery conditions, the execution can return to step S202 to redefine the catheter's abnormality.

[0190] Optionally, in another embodiment of this application, a specific implementation of step S205 includes the following processes C1 to C3:

[0191] C1: Based on continuously acquired operational information, determine the morphological characteristic parameters, driving load change rate, navigation confidence, and anomaly risk score corresponding to the catheter.

[0192] Specifically, after the safety handling actions are performed, it is necessary to re-execute the timing alignment, filtering, baseline correction, morphological characteristic parameter calculation, load characteristic parameter calculation, and abnormal risk score calculation.

[0193] C2: Determine whether the morphological characteristic parameters, driving load change rate, navigation confidence, and anomaly risk score continuously meet the corresponding recovery thresholds within the recovery observation window.

[0194] The recovery observation window is a time window encompassing multiple consecutive control cycles. Therefore, if the morphological characteristic parameters, drive load change rate, navigation confidence, and anomaly risk score all continuously meet their corresponding recovery thresholds within consecutive observation windows, then process C3 is executed. The recovery threshold can be different from the anomaly candidate judgment threshold to form a hysteresis interval.

[0195] Optionally, if any data point does not continuously meet the corresponding recovery threshold within the recovery observation window, the catheter is determined to have not met the recovery conditions.

[0196] For example, restoring the observation window may include five control cycles, with the high-frequency control system being set to five to ten control cycles and the low-frequency image assistance system being set to three to five control cycles.

[0197] Optionally, the abnormal risk score recovery threshold can be set to 0.35, and the navigation confidence recovery threshold can be set to 0.60. When the local curvature, torsion angle, and path drift are all below the corresponding recovery thresholds, and the rate of change of the driving load is below the load recovery threshold, the corresponding control cycle can be considered to meet the recovery requirements.

[0198] C3: Determine that the catheter meets the recovery conditions.

[0199] Additionally, when the abnormal risk score fluctuates repeatedly around the recovery threshold, the recovery observation window can be extended while maintaining the current safety procedures. If the repeated fluctuations continue for more than a preset duration, a manual review request will be issued.

[0200] S206. Release the control restrictions on the catheter step by step according to the release sequence corresponding to the abnormality level.

[0201] It should be noted that when the catheter meets the recovery conditions, a step-by-step unlock permission is output, meaning the control restrictions on the catheter are gradually lifted. Step-by-step lifting of control restrictions is used to prevent the catheter from directly returning to the normal control state immediately after the abnormal state has subsided. The control restriction levels can correspond to the L0 to L3 abnormality levels, or independent control state levels can be used.

[0202] Optionally, in another embodiment of this application, a specific implementation of step S206 includes the following processes D1 to D3:

[0203] D1: Determine the control restriction level corresponding to the anomaly level.

[0204] For example, L3 severe abnormality level corresponds to lockout and manual takeover restrictions, L2 moderate abnormality level corresponds to pause advance and retraction restrictions, L1 mild abnormality level corresponds to speed limit and warning restrictions, and L0 normal or observation level corresponds to normal control.

[0205] D2: Reduce the control limit level.

[0206] Specifically, the control limits corresponding to the L3 severe abnormality level can be reduced to the control limits corresponding to the L2 moderate abnormality level, the control limits corresponding to the L2 moderate abnormality level can be reduced to the control limits corresponding to the L1 mild abnormality level, or the control limits corresponding to the L1 mild abnormality level can be reduced to the control limits corresponding to the L0 normal or observation level.

[0207] D3: Control the catheter according to the reduced control limit level, and determine whether the catheter continues to meet the recovery conditions based on the continuously acquired operational information.

[0208] It should be noted that after each reduction in the control limit level, the recovery observation window needs to be restarted. Within this recovery observation window, morphological characteristic parameters, drive load change rate, navigation confidence, and anomaly risk score are continuously calculated. If the conduit continues to meet the recovery conditions within the recovery observation window, the process returns to execution step D2 until the control limit of the conduit is released. For example, the L3 limit is reduced to L2, the L2 limit is reduced to L1, and the L1 limit is restored to L0.

[0209] Optionally, for L3 severe abnormality level, even if the abnormality risk score drops directly to the scoring range corresponding to L0 normal or observation level, the observation state is first entered, and the control restrictions are lifted in the order of L3 to L2, L2 to L1, and L1 to L0.

[0210] Optionally, after executing process D3, in another embodiment of this application, it further includes:

[0211] If the catheter continues to meet the recovery conditions, the reduction of the control limit level will be stopped, and a new abnormality level for the catheter will be determined based on the continuously acquired operational information.

[0212] Specifically, when the abnormal risk score increases, the morphological characteristic parameter exceeds the abnormal candidate judgment threshold again, the driving load change rate increases again, or the navigation confidence decreases, the count recovery stops, and the corresponding control limits are restored or increased according to the new abnormal level.

[0213] In addition, the system can take a snapshot of the runtime information for each candidate record of morphological anomalies. The runtime information snapshot can include the anomaly type, anomaly time period, anomaly conduit segment, morphological characteristic parameters, load characteristic parameters, anomaly risk score, anomaly level, safety handling actions, execution feedback, recovery observation results, and control restriction removal process.

[0214] Alternatively, in another embodiment of this application, the morphology-sensing data is primarily obtained by a shape sensor. The shape sensor can be installed inside the catheter, and the morphology-sensing module reconstructs the catheter centerline based on the data output by the shape sensor, and calculates the local curvature and torsion angle. This implementation is suitable for interventional robots that require continuous acquisition of the overall morphology of the catheter.

[0215] Optionally, in another embodiment of this application, instead of using a dedicated shape sensor, the path drift, end-point orientation change, and load anomaly are estimated based on endoscopic images, fluoroscopic images, end-point pose estimation, drive load, and encoder data. When calculating the anomaly risk score, the weights of the load score and the operational context risk score can be increased.

[0216] Optionally, such as Figure 5 As shown in the figure, another embodiment of this application provides a schematic diagram of the architecture of a security processing state machine. Figure 5 This includes: G0 Normal Control State, G1 Observation and Alert State, G2 Speed ​​Limiting and Handling State, G3 Pause and Retreat State, G4 Lockdown and Manual Takeover State, and G5 Resumption and Observation State. The states transition between each other based on anomaly level and recovery conditions, forming a closed-loop safety response chain.

[0217] The G0 normal control state is the default operating state of the system. In the G0 state, the catheter is advanced, retracted, steered, or positioned according to normal operating parameters. When the anomaly grading assessment module outputs an anomaly level of L1, the system transitions from the G0 state to the G1 observation and alert state. In the G1 state, the system maintains the current operation but outputs observation and alerts to remind the operator to pay attention to changes in catheter morphology and load. When the L1 anomaly persists or the anomaly level rises to L2, the system transitions from the G1 state to the G2 rate-limiting intervention state. In the G2 state, the system limits the advancement speed to 70% of the normal upper limit and reduces the steer gain to slow the development of the anomaly.

[0218] When the anomaly level rises to L3 or the multi-source conflict condition is met, the system transitions from state G2 to state G3 (pause and rollback), or directly from state G0 to state G3. In state G3, the system prohibits further advancement, suspends the current advancement operation, and outputs a low-speed rollback suggestion. When the L3 anomaly persists or the safety handling action fails, the system transitions from state G3 to state G4 (lock and manual intervention). In state G4, the system locks the drive mechanism, maintains the current position of the conduit, outputs an alarm message, and requests manual intervention. When the safety handling action is successfully executed and the anomaly level drops to L0, the system rolls back from state G4 through G3 and G2 in a step-by-step manner.

[0219] The G5 recovery observation state is a necessary intermediate state for the system before returning to the G0 normal control state from various handling states. When the anomaly level recovers to L0 and the continuous stability count meets the recovery observation window requirements, the system transitions from state G1, G2, or G3 to state G5. In state G5, the recovery confirmation module performs continuous stability observation, monitoring whether the morphological characteristic parameters, drive load change rate, navigation confidence, and anomaly risk score continuously meet the corresponding recovery thresholds within the recovery observation window. If the continuous stability count reaches the preset window length and all parameters meet the recovery conditions, the system returns from state G5 to the G0 normal control state. If the anomaly level rises during the recovery process, the system exits state G5 and reverts to the corresponding handling state.

[0220] Specifically, the safety handling decision module receives the anomaly level and type from the anomaly classification assessment module as input, and also receives execution feedback signals from the execution and prompting interface. Based on the current state and input conditions, the safety handling decision module determines the target state according to the state transition logic and outputs the corresponding safety handling action command. The execution and prompting interface sends the handling action command to the conduit drive controller, navigation interface, or alarm interface, and receives execution feedback. In G5 state, the recovery confirmation module continuously acquires the output data from the shape perception module and the load and operation context module, performs recovery condition judgment, and feeds back the judgment result to the safety handling decision module to determine whether to complete the step-by-step unlocking and return to G0 state.

[0221] This application provides a catheter anomaly safety control method. It acquires catheter operational information, which characterizes the catheter's morphological state, load state, and operational state during operation. Based on this information, it identifies candidate morphological anomalies, calculates an anomaly risk score, determines the anomaly level, and then determines corresponding safety procedures based on the anomaly level. Finally, after the safety procedure is executed, it assesses whether the catheter meets recovery conditions based on continuously acquired operational information. If the conditions are met, control restrictions are gradually lifted according to the release sequence corresponding to the anomaly level. By integrating multi-dimensional operational information on catheter morphology, load, and operation, it identifies candidate morphological anomalies and calculates anomaly risk scores. Compared to relying solely on load-based judgment, this method more comprehensively reflects the actual state and improves anomaly identification accuracy. Furthermore, it matches safety procedures based on anomaly levels and gradually lifts restrictions based on continuous operational information after execution, achieving graded control and recovery to ensure the safety of interventional procedures.

[0222] Another embodiment of this application provides a catheter abnormality safety control system, such as Figure 6 As shown, it specifically includes the following units:

[0223] The information acquisition unit 601 is used to acquire the operating information of the catheter. The operating information is used to characterize the morphological state, load state, and operational state of the catheter during operation.

[0224] The candidate determination unit 602 is used to determine candidates for morphological abnormalities of the catheter based on the operating information.

[0225] The processing unit 603 is used to calculate the abnormality risk score of the catheter based on the morphological abnormality candidates, and determine the abnormality level of the catheter according to the abnormality risk score.

[0226] The action determination unit 604 is used to determine the corresponding safety handling action for the catheter based on the abnormality level, and to control the catheter to perform the safety handling action.

[0227] The recovery judgment unit 605 is used to determine whether the catheter meets the recovery conditions based on continuously acquired operational information after the safety handling action is performed.

[0228] Release unit 606 is used to release the control restrictions of the catheter step by step according to the release sequence corresponding to the abnormality level if the catheter meets the recovery conditions.

[0229] It should be noted that the specific working process of the above modules in the embodiments of this application can be referred to steps S201 to S206 in the above method embodiments, and will not be repeated here.

[0230] Optionally, in another embodiment of the catheter anomaly safety control system provided in this application, the candidate determination unit 602 includes:

[0231] The extraction unit is used to extract morphological awareness data, driving load, and operational context from the runtime information.

[0232] The preprocessing unit is used to perform timing alignment and filtering on the shape-aware data and driving load to obtain the processed shape-aware data and the processed driving load.

[0233] The correction unit is used to determine the morphological baseline and load baseline of the catheter in the current operation phase according to the operation context, and to perform baseline correction on the processed morphological sensing data and the processed driving load according to the morphological baseline and load baseline.

[0234] The parameter determination unit is used to determine the morphological characteristic parameters of the catheter based on the baseline-corrected morphological sensing data, and to determine the load characteristic parameters of the catheter based on the baseline-corrected driving load. The morphological characteristic parameters include local curvature, torsion angle, path drift, and end-direction change, while the load characteristic parameters include load amplitude and load change rate.

[0235] The condition judgment unit is used to determine whether the catheter meets the corresponding abnormal candidate judgment conditions based on the morphological characteristic parameters and load characteristic parameters.

[0236] The candidate determination subunit is used to determine the corresponding abnormal time period or abnormal catheter segment if the catheter meets the abnormal candidate determination conditions, and to determine the abnormal time period or abnormal catheter segment as a morphological abnormality candidate.

[0237] Optionally, in another embodiment of the present application, a catheter abnormality safety control system includes a processing unit 603 comprising:

[0238] The first acquisition unit is used to obtain navigation confidence from the operation information and determine the anomaly type, anomaly amplitude, duration and rate of change based on the morphological anomaly candidates.

[0239] The scoring unit is used to score the anomaly amplitude, duration, rate of change, driving load, and operating context according to the anomaly type, resulting in a morphological amplitude score, duration score, load score, rate of change score, and operating context risk score.

[0240] The calculation unit is used to calculate the duct's abnormal risk score based on navigation confidence, morphological amplitude score, load score, duration score, rate of change score, and operational context risk score.

[0241] Optionally, in another embodiment of the present application, a catheter abnormality safety control system includes a processing unit 603 comprising:

[0242] The interval acquisition unit is used to obtain the scoring interval corresponding to each abnormality level.

[0243] The interval determination unit is used to determine the target scoring interval corresponding to the abnormal risk score from each scoring interval.

[0244] The rating determination unit is used to determine the abnormality level corresponding to the target rating interval as the abnormality level of the duct.

[0245] Optionally, in another embodiment of the present application, a catheter abnormality safety control system includes an action determination unit 604, comprising:

[0246] The action determination subunit is used to determine the target safety handling action corresponding to the anomaly level from a preset anomaly level query and handling table. The target safety handling action includes at least one of the following: warning, speed limit, pausing propulsion, reducing steering gain, reversing, locking the drive, maintaining the current position, and manual intervention.

[0247] The adjustment unit is used to adjust the target safety handling action according to the operation context in the operation information to obtain the safety handling action corresponding to the conduit.

[0248] Optionally, another embodiment of this application provides a catheter abnormality safety control system, which further includes:

[0249] The second acquisition unit is used to acquire the execution feedback information corresponding to the safety handling actions.

[0250] The first judgment unit is used to determine whether the safety handling action was successfully executed based on the execution feedback information.

[0251] The switching unit is used to switch the status of the catheter to manual control status and output a manual control request if the safety handling action is not successfully executed.

[0252] Optionally, in another embodiment of the catheter abnormality safety control system provided in this application, the recovery judgment unit 605 includes:

[0253] The third acquisition unit is used to determine the morphological characteristic parameters, driving load change rate, navigation confidence and abnormal risk score of the duct based on the continuously acquired operational information.

[0254] The second judgment unit is used to determine whether the morphological characteristic parameters, driving load change rate, navigation confidence, and abnormal risk score continuously meet the corresponding recovery thresholds within the recovery observation window.

[0255] The first determining unit is used to determine that the catheter meets the recovery conditions if the morphological characteristic parameters, driving load change rate, navigation confidence and abnormal risk score continuously meet the corresponding recovery threshold within the recovery observation window.

[0256] Optionally, in another embodiment of the present application, a catheter abnormality safety control system includes a release unit 606, comprising:

[0257] The second determining unit is used to determine the control restriction level corresponding to the anomaly level.

[0258] The degradation unit is used to reduce the control limit level.

[0259] The third judgment unit is used to control the catheter according to the reduced control limit level and, based on the continuously acquired operating information, to determine whether the catheter continues to meet the recovery conditions.

[0260] The execution unit is used to return to the process of reducing the control restriction level if the catheter continues to meet the recovery conditions, until the control restriction of the catheter is lifted.

[0261] Optionally, another embodiment of this application provides a catheter abnormality safety control system, which further includes:

[0262] The stop unit is used to stop lowering the control limit level if the catheter no longer meets the recovery conditions, and to determine the new abnormality level of the catheter based on the continuously acquired operational information.

[0263] It should be noted that the specific working process of each module provided in the above embodiments of this application can be referred to the corresponding steps in the above method embodiments, and will not be repeated here.

[0264] It should also be noted that the catheter abnormality safety control system provided in this application has the technical effects of any of the above embodiments, and will not be described in detail here.

[0265] 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.

[0266] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for controlling catheter abnormalities, characterized in that, include: Acquire the operational information of the catheter; wherein the operational information is used to characterize the morphological state, load state, and operational state of the catheter during operation; Based on the operational information, candidates for morphological abnormalities of the catheter are identified; Based on the morphological abnormality candidates, the abnormality risk score of the catheter is calculated, and the abnormality level of the catheter is determined according to the abnormality risk score. Based on the level of abnormality, determine the corresponding safety procedure for the catheter and control the catheter to perform the safety procedure. After the safety procedure is performed, based on the continuously acquired operational information, it is determined whether the catheter meets the recovery conditions. If the catheter meets the recovery conditions, the control restrictions on the catheter are lifted level by level according to the release order corresponding to the abnormality level.

2. The method according to claim 1, characterized in that, The step of determining the candidate morphological abnormalities of the catheter based on the operational information includes: Extract morphological awareness data, driving load, and operational context from the operational information; The shape-sensing data and the driving load are time-aligned and filtered to obtain the processed shape-sensing data and the processed driving load. Based on the operational context, the morphological baseline and load baseline corresponding to the catheter in the current operational stage are determined, and baseline correction is performed on the processed morphological sensing data and the processed driving load based on the morphological baseline and the load baseline, respectively. Based on the baseline-corrected morphological sensing data, the morphological characteristic parameters corresponding to the catheter are determined, and based on the baseline-corrected driving load, the load characteristic parameters corresponding to the catheter are determined; wherein, the morphological characteristic parameters include local curvature, torsion angle, path drift and end-direction change, and the load characteristic parameters include load amplitude and load change rate; Based on the morphological characteristic parameters and the load characteristic parameters, determine whether the catheter meets the corresponding abnormal candidate judgment conditions; If the catheter meets the abnormal candidate determination conditions, then the corresponding abnormal time period or abnormal catheter segment is determined, and the abnormal time period or abnormal catheter segment is determined as a morphological abnormality candidate.

3. The method according to claim 2, characterized in that, The step of calculating the abnormal risk score of the catheter based on the morphological abnormality candidates includes: The navigation confidence is obtained from the operational information, and the anomaly type, anomaly amplitude, duration and rate of change are determined based on the morphological anomaly candidates. Based on the anomaly type, the anomaly amplitude, duration, rate of change, driving load, and operating context are scored to obtain a morphological amplitude score, a duration score, a load score, a rate of change score, and an operating context risk score. The abnormal risk score of the catheter is calculated based on the navigation confidence score, the morphological amplitude score, the load score, the duration score, the rate of change score, and the operational context risk score.

4. The method according to claim 1, characterized in that, Determining the abnormality level of the catheter based on the abnormality risk score includes: Obtain the scoring range corresponding to each anomaly level; The target scoring interval corresponding to the abnormal risk score is determined from each scoring interval; The abnormality level corresponding to the target scoring interval is determined as the abnormality level of the catheter.

5. The method according to claim 1, characterized in that, The step of determining the corresponding safety procedure for the catheter based on the abnormality level includes: The target safety action corresponding to the anomaly level is determined from the preset anomaly level query and handling table; wherein, the target safety action includes at least one of the following: prompting, speed limit, pausing propulsion, reducing steering gain, reversing, locking drive, maintaining current position, and manual intervention; The target safety handling action is adjusted according to the operation context in the operation information to obtain the safety handling action corresponding to the catheter.

6. The method according to claim 1, characterized in that, After controlling the catheter to perform the safety procedure, the method further includes: Obtain the execution feedback information corresponding to the safety handling action; Based on the execution feedback information, determine whether the safety action was successfully executed; If the safety procedure is not successfully executed, the status of the catheter will be switched to manual control status, and a manual control request will be output.

7. The method according to claim 1, characterized in that, The step of determining whether the catheter meets the recovery conditions based on the continuously acquired operational information includes: Based on the continuously acquired operational information, the morphological characteristic parameters, driving load change rate, navigation confidence, and abnormal risk score of the catheter are determined. Determine whether the morphological feature parameters, the driving load change rate, the navigation confidence, and the anomaly risk score continuously meet the corresponding recovery thresholds within the recovery observation window; If the morphological characteristic parameters, the driving load change rate, the navigation confidence level, and the abnormal risk score continuously meet the corresponding recovery thresholds within the recovery observation window, then the catheter is determined to meet the recovery conditions.

8. The method according to claim 1, characterized in that, The step of releasing the control restrictions on the catheter level by level according to the release order corresponding to the abnormality level includes: Determine the control restriction level corresponding to the anomaly level; The control restriction level is reduced. The catheter is controlled according to the reduced control limit level, and based on the continuously acquired operating information, it is determined whether the catheter continues to meet the recovery conditions. If the catheter continues to meet the recovery conditions, the process of reducing the control restriction level is returned until the control restriction on the catheter is lifted.

9. The method according to claim 8, characterized in that, Also includes: If the catheter continues to meet the recovery conditions, the reduction of the control restriction level will stop, and a new abnormality level of the catheter will be determined based on the continuously acquired operational information.

10. A catheter abnormality safety control system, characterized in that, include: An information acquisition unit is used to acquire the operating information of the catheter; wherein the operating information is used to characterize the morphological state, load state and operational state of the catheter during operation. A candidate determination unit is used to determine candidate morphological abnormalities of the catheter based on the operational information. The processing unit is used to calculate the abnormality risk score of the catheter based on the morphological abnormality candidates, and determine the abnormality level of the catheter according to the abnormality risk score. An action determination unit is used to determine the corresponding safety treatment action for the catheter based on the abnormality level, and to control the catheter to perform the safety treatment action; The recovery judgment unit is used to determine whether the catheter meets the recovery conditions based on the continuously acquired operating information after the safety handling action is performed. The release unit is used to release the control restrictions on the catheter step by step according to the release sequence corresponding to the abnormality level if the catheter meets the recovery conditions.

Images