Method, apparatus, and storage medium for navigating tubular components within a multi-branch channel

Abstract

A method, an apparatus and a storage medium for navigating a tubular component (2) in a multi-branch channel (1) are provided. The method includes the steps of acquiring a three-dimensional model (1a) of the multi-branch channel (1), planning navigation information of the tubular component (2) in the multi-branch channel (1) according to the three-dimensional model (1a), and driving the tubular component (2) to move according to the navigation information in response to an input of a forward / reverse signal. The apparatus includes a scanner (51) configured to acquire the three-dimensional model (1a) of the multi-branch channel (1), a planning device (52) configured to plan navigation information of the tubular component (2) in the multi-branch channel (1) according to the three-dimensional model (1a), and a tubular component supply device (53) configured to drive the tubular component (2) to move according to the navigation information in response to an input of a forward / reverse signal. The apparatus can reduce the difficulty of operation, so that the operator can concentrate on more important procedures. Higher safety and improved reliability can be expected during operation.

Description

Technical Field

[0001] This application relates to the technical field of navigation within a pipe, and more specifically, to a method, apparatus, and storage medium for navigating a tubular component within a multi-branched channel.

Background Art

[0002] In pipe inspection, it is usually necessary to insert a flexible tubular component with a camera incorporated at its tip. In similar medical applications such as endoscopy, a flexible and thin endoscope is inserted into a patient's body through a natural opening (mouth, nose, anus, etc.) to inspect the internal conditions or perform treatments. Navigation of the endoscope is very important for the success of the intervention, but it is also a challenging task, especially in bronchoscopy.

[0003] The human respiratory tree has a complex branching structure with more than 20 generations. To direct the bronchoscope to the target position, the physician needs to carefully observe the image feedback from the camera and rely on anatomical knowledge and the memory of the pre-operative CT scan to track the location of the scope in their mind. As the bronchoscope approaches the peripheral region, it becomes increasingly difficult. Furthermore, the physician needs to operate the bronchoscope with at least three degrees of freedom. This not only increases the mental burden on the operator but also raises the requirements for the operator's operating skills. Even an experienced physician may make mistakes and may have to try many times to enter the correct airway branch, resulting in a prolonged intervention and a reduced yield. Additionally, due to the burden of navigation, the physician may not pay sufficient attention to the bronchoscope images along the path and may miss diseased tissues.

[0004] With the advancement of artificial intelligence and surgical robots, automatic navigation technology is expected to solve the above problems. This patent proposes a semi-automatic navigation framework in which the operator only needs to control the forward and backward movement of the scope, and the surgical robot can locate the scope's position and automatically adjust its orientation according to a predefined or temporarily determined path. The proposed technology has the following advantages compared to fully automatic navigation: First, the physician can stop at any time, making it safer in case of problems with the navigation algorithm. Second, seamless manual interruption allows for further examination of tissues of interest along the path or changes to the path to a new target. [Overview of the project]

[0005] The navigation method includes the steps of obtaining a 3D model of a multi-branch channel and navigating the tubular components within the multi-branch channel according to the 3D model. To support semi-automatic motion Steps to plan navigation information and to continuously perform the following actions before and after the tubular component while the operator is using the tubular component. Only one degree of freedom The process includes the step of driving the tubular component to move according to the navigation information in response to input for motion control. Furthermore, the multi-branched channel is a model of a human respiratory tree or a model of a human airway, and in the step of planning the navigation information, the movement route of the tubular component is pre-set in the navigation information so that the orientation of the head of the tubular component can be automatically adjusted according to the navigation information.

[0006] The navigation device includes a scanner configured to acquire a 3D model of a multi-branch channel, and the tubular components within the multi-branch channel according to the 3D model. To support semi-automatic motion A planning device configured to plan navigation information, and the operation of the tubular component before and after the tubular component, which is performed continuously by the operator during the period in which the tubular component is being used. Only one degree of freedom A tubular component supply device configured to drive the tubular component to move according to the navigation information in response to input for motion control, is provided. Furthermore, the navigation information planned by the planning device includes a pre-set travel route for the tubular component, such that the orientation of the head of the tubular component can be automatically adjusted according to the navigation information.

[0007] The navigation device includes a scanner configured to acquire a three-dimensional model of a multi-branch channel, and a planning device configured to plan navigation information for the tubular components within the multi-branch channel according to the three-dimensional model. For controlling the forward and backward movement of the tubular component, which is performed continuously by the operator during the period in which the tubular component is being used. The system includes a tubular component supply device configured to drive the tubular component to move according to the navigation information in response to the input.

[0008] A computer-readable storage medium stores a computer program that, when executed by a processor, can perform each of the steps of the aforementioned method.

[0009] Compared to conventional technologies, the technical solution of this invention can significantly reduce the difficulty of operation, allowing physicians to concentrate on more important procedures, and thus improving safety and reliability during operation. [Brief explanation of the drawing]

[0010] To better illustrate the embodiments of this application, relevant drawings are briefly described below. The drawings described below are used solely to illustrate specific embodiments of this application, and those skilled in the art should understand that based on these drawings, many other technical features and connections not mentioned herein can be identified. [Figure 1] This is a schematic diagram of a multi-branch channel structure. [Figure 2] This is a flowchart of a method for navigating tubular components within a multi-branch channel. [Figure 3] This is a schematic diagram showing the field of view in front of the head of a tubular component. [Figure 4] This is a schematic diagram of a shot photograph of the head of a tubular component within the first field of view at the first position. [Figure 5] This is a schematic diagram of a shot photograph of the head of a tubular component in the second field of view at the second position. [Figure 6] This is a schematic diagram of a shot photograph of the head of a tubular component within the third field of view at the third position. [Figure 7] This is a schematic cross-sectional view of a tubular component when the orientation of the head is corrected by directly bending it. [Figure 8] This is a schematic cross-sectional view of the tubular component after correcting the orientation of the head by first rotating it and then bending it. [Figure 9] This is a flowchart illustrating a method for identifying and controlling the position and orientation of a tubular component. [Figure 10] This is a structural block diagram of a navigation device for tubular components within a multi-branch channel. [Modes for carrying out the invention]

[0011] The present application will be described in detail below with reference to the drawings. Referring to Figures 1-10, the present invention proposes a method for navigating tubular components within a multi-branch channel. This method comprises the steps of obtaining a 3D model 1a of the multi-branch channel 1, and planning the navigation information of tubular components 2 within the multi-branch channel 1 according to the 3D model 1a. For controlling the forward and backward movement of the tubular component 2, which is performed continuously by the operator during the period in which the tubular component 2 is being used. The process includes the step of driving the tubular component 2 to move according to navigation information in response to input.

[0012] In response to this, the present invention further proposes a device 5 for navigating tubular components within a multi-branch channel. This device 5 comprises a scanner 51 configured to acquire a three-dimensional model 1a of the multi-branch channel 1, and a planning device 52 configured to plan navigation information for tubular components 2 within the multi-branch channel 1 according to the three-dimensional model 1a. For controlling the forward and backward movement of the tubular component 2, which is performed continuously by the operator during the period in which the tubular component 2 is being used. The system includes a tubular component supply device 53 configured to drive the tubular component 2 to move according to navigation information in response to input.

[0013] The tubular component 2 may be a rigid pipe or a flexible hose. The channel into which the tubular component 2 is inserted may be a channel in the medical field or the non-medical field. In the medical field, the multi-branched channel 1 may be a channel such as the digestive tract, blood vessels, respiratory tract, etc. of the human body. However, this application is not limited to such specific application scenarios of the multi-branched channel 1. Since the human respiratory tract has a complex structure, in this specification, it will be mainly described as an exemplary example shown in FIG. 1. In one embodiment, the construction of the three-dimensional model 1a of the multi-branched channel 1 can be realized by scanning technologies such as CT and MRI combined with medical image segmentation technology.

[0014] Furthermore, the multi-branched channel 1 in the medical field can be, for example, a model of the human respiratory tree applicable to medical training, education, and further inspection. Operating the tubular component 2 within the model of the human airway for inspection or treatment can help doctors accumulate experience and transition from medical training to clinical surgery. In the case of experienced doctors, this application can also be applied to scoring evaluation, work competition, etc.

[0015] As shown in FIG. 2, in one embodiment of this application, in order to plan navigation information, the orientation of the head 2a of the tubular component 2 is automatically controlled by a computer using the three-dimensional model 1a established by the scan result, and the doctor manually controls the forward and backward movement of the tubular component 2.

[0016] The navigation information may include path planning information, attitude information, current location information, and other information applied to assist the tubular component in semi-automatic movement. Among them, the path planning information can be obtained by planning in advance or in real time based on the current position and the target position. The attitude information can be obtained by detection with sensors or calculated from the rotation speed of the motor in combination with a kinematic model. The location information can be calculated by a location identification module based on various information such as endoscopic images. The attitude information may further include translational speed, rotational speed, etc. when the movement of the head end of the tubular component 2 is adjusted at a specific position. In order to better obtain the attitude information and location information, a plurality of different sensors can be arranged around the tubular component 2 and dispersed at various positions to provide feedback on the movement. For example, by using an optical sensor to non-contact measure the translational / rotational speed and travel distance of the tubular component 2, rich attitude information can be obtained without affecting the movement of the tubular component 2.

[0017] Specifically, the navigation information further includes a navigation path 3 for reaching the target position along the multi-branched channel 1 and the orientation parameters of the head 2a of the tubular component 2 at various positions while proceeding along the navigation path 3.

[0018] Based on accurate bronchoscope location identification and advanced control algorithms, the robot system of the present application can determine the optimal bending angle and rotation angle of the tubular component 2 and drive the tubular component 2 optimally from the starting point to the target position. For example, in a straight channel, each orientation parameter of the tubular component 2 is 0, and since each orientation parameter is set for a bifurcated channel, it is necessary to change the bending angle and rotation angle of the tubular component 2.

[0019] Considering the above, and with further reference to Figure 2, which uses an endoscope as an example, one embodiment of the present invention proposes a practical application process for a semi-automatic navigation method of tubular components. (1) The robotic bronchoscope is inserted into the patient's body according to a predefined 3D path based on planned path information. The bronchoscope continuously acquires actual endoscopic images of the patient's lumen. Depending on the type of endoscope, 2D or 3D images can be obtained. (2) The acquired actual endoscopic images can be used to determine the position of the tubular component. Meanwhile, posture information and current location information are provided for kinematic modeling of the tubular component. (3) During the process of advancing the bronchoscope, the target lumen can be detected and tracked in conjunction with a predefined 3D path, attitude information, and current location information. (4) The bronchoscope can perform image-based visual servo control for orientation control based on feedback from the actual endoscopic images described above, and the path and orientation can be continuously changed. (5) Throughout the entire process, the physician only needs to manually input instructions for forward and backward movements, and no other operations are required.

[0020] More specifically, in step (1), the physician can determine the location of a specific region of interest within the 3D model 1a, i.e., the target location, according to the scan results. Using the starting point (for example, the airway is usually the starting point for bronchoscopy) and the target location, navigation information can be planned within the 3D model 1a. The tubular component 2 can then move naturally with multiple degrees of freedom according to the navigation information.

[0021] In actual operation, the physician simply needs to decide whether to move the tubular component 2 forward or backward using a simple button or pedal. Naturally, the physician can also interrupt the current navigation task and switch to manual operation or manually change the navigation path 3 at any time.

[0022] In general, this invention proposes a semi-automatic navigation method for tubular components. The physician only needs to control one degree of freedom (forward / backward), while the other degrees of freedom are autonomously controlled by the robotic system according to navigation information, thereby enabling navigation of the tubular component. Compared to the prior art, since the movement route of the tubular component 2 is pre-set in the navigation information, the orientation of the head 2a of the tubular component 2 can be automatically adjusted according to the navigation information. Once the navigation path 3 is confirmed, the physician only needs to operate the tubular component 2 to move forward, backward, or stop within the confirmed navigation path 3 in order to achieve the medical objective. During operation, the physician does not need to spend extra mental effort adjusting the orientation or angle of the tubular component 2, and can concentrate more on medical operations such as checking lesions or performing surgery. Therefore, this invention can significantly reduce the difficulty of operation and the physical and mental burden on the physician. Furthermore, it is very convenient because the physician can pause or change the object at any time during operation.

[0023] In particular, if the patient's CT scan results show multiple lesion points, multiple target points can be marked within the 3D model 1a. In this case, the planned navigation path 3 may have multiple target points. For example, if multiple target points are located at different branches, the physician can operate the tubular component 2 according to the navigation path 3 during the preoperative examination, complete the examination of the first lesion point at the first branch, then return the tubular component 2 to the main path, and then guide the tubular component 2 into the second branch to examine the second lesion point. Compared to a solution in which the physician navigates the tubular component 2 directly to the second lesion point according to experience, the present invention can improve the accuracy of the actual operation by utilizing the navigation path 3 and prevent getting lost within the multi-branched channel 1. In minimally invasive surgery, the physician can also set new target points at any time during the operation, such as continuing to move deeper after removing the first lesion point at the first branch, in order to improve surgical efficiency. Naturally, the physician can also mark special locations to avoid certain anatomical structures and modify the navigation path 3.

[0024] Unlike conventional robots such as robotic arms with rigid links, the posture and location of a flexible endoscope cannot be fully controlled by the actuator. In fact, flexible endoscopes are not fully operational. They only have three degrees of freedom (DoF), but six DoF are required to move in 3D space. To adjust its own posture, it relies on contact with anatomical structures (e.g., airway walls). However, anatomical cavities are larger than the scope of bronchoscopy and can move and deform further. As a result, the endoscope can easily deviate from a predefined path and needs to maneuver itself accordingly. To achieve this objective, this navigation method further includes the steps of determining the position of a tubular component 2 within a multi-branch channel 1, and correcting the current orientation of the head 2a of the tubular component 2 in combination with localization information according to the determined position.

[0025] Accordingly, the tubular component supply device of the present invention may further include a positioning device 53a and a correction device 53b. The positioning device 53a is configured to determine the position of the tubular component 2 within the multi-branch channel 1 and to identify the channels in the field of view based on the acquired field of view in front of the head of the tubular component 2. The correction device 53b is used to correct the current orientation of the head of the tubular component 2 in combination with navigation information according to the determined position.

[0026] The accuracy and reliability of the operation can be improved by determining the position of the tubular component 2 within the multi-branch channel 1. Different localization algorithms may apply different intraoperative information in addition to the preoperative 3D model. For example, some algorithms may rely solely on real-time intraoperative 2D images of the endoscope that match a virtual bronchoscopy rendered by the preoperative 3D model for localization. However, since such algorithms may not be robust, other types of information may be introduced, such as: (1) kinematic information of the endoscope, including the depth and rotation angle of the endoscope, which can be measured by optical sensors or calculated by the endoscopic robot based on the rotation state of the motor and its own kinematic model; and (2) electromagnetic sensors for three-dimensional localization built into the endoscope head. In short, the influence of airway movement and deformation due to respiration on localization algorithms can be eliminated by combining multidimensionally sensed information, enabling more robust localization.

[0027] As mentioned earlier, the flexible tubular component is not fully functional. Its movement depends on its interaction with the surrounding environment. Therefore, its kinematics are not as fully analytical or predictable as those of a typical robotic arm. This problem can be solved iteratively by measuring the error between the movement predicted from the kinematic model in the previous step and the actual movement in the current step, and updating the kinematic model accordingly. Various algorithms can be used in this part. For example, if the error is used to guide the updating of the Jacobian sequence weights, a larger error will result in a larger change to the corresponding Jacobian sequence. This method of updating the kinematics helps to improve control accuracy and, more importantly, helps to ensure the safety of the endoscope's movement by avoiding potential damage to the airway wall or other tissues.

[0028] Under normal circumstances, a physician can accurately guide the tubular component 2 to a target point according to the navigation information. To better operate the tubular component 2, the navigation method may further include a step of acquiring a field of view in front of the head 2a of the tubular component 2. Correspondingly, the tubular component supply device may further include a field of view acquisition device 53c configured to acquire a field of view in front of the head of the tubular component 2.

[0029] Specifically, referring to Figures 3-6, the tubular component 2 enters the target channel 1b along the navigation path 3 and sequentially passes through the first position 3a, the second position 3b, and the third position 3c. Of these, the first field of view 4a can be obtained when the tubular component 2 passes through the first position 3a (see Figure 4), the second field of view 4b can be obtained when the tubular component 2 passes through the second position 3b (see Figure 5), and the third field of view 4c can be obtained when the tubular component 2 passes through the third position 3c (see Figure 6).

[0030] Human tissue is mobile. Due to the contraction and expansion of the lungs during respiration, as well as involuntary movements of human tissue / organs due to the foreign body sensation of the device, the position of the tubular component 2 within the channel may also shift slightly. Therefore, referring to Figures 4 and 5, the images taken by the field acquisition device 53c on the head 2a of the tubular component 2 at the first position 3a and the second position 3b show a bifurcated channel in the upper left portion of the target channel 1b. Referring to Figure 6, the image taken by the head 2a of the tubular component 2 at the third position 3c shows a bifurcated channel in the lower right portion of the target channel 1b.

[0031] To further improve the navigation accuracy of the tubular component 2, the navigation method may further include the steps of: acquiring a field of view in front of the head 2a of the tubular component 2; identifying channels within the field of view; selecting a target channel 1b from the identified channels; and correcting the current orientation of the head 2a of the tubular component 2 so that it faces the center of the target channel 1b.

[0032] In response to this, the correcting device 53b in the tubular component supply device may be configured to select a target channel from the identified channels and correct the orientation of the current head of the tubular component 2 so that it faces the center of the target channel.

[0033] After the field of view acquisition device 53c acquires the field of view in front of the head 2a of the tubular component 2, the positioning device 53a can obtain structural features in the image by analyzing the field of view image to identify branches in airway navigation and improve navigation accuracy. The correction device 53b corrects the movement process by continuously correcting the orientation toward the center through image recognition. This prevents the tubular component 2 from coming into contact with the inner wall of the patient's lumen, thereby ensuring the safety and reliability of the operation.

[0034] Optionally, in the step of identifying channels within the field of view, if the identified channel has a branch, the branched channel planned by navigation path 3 is considered the target channel 1b, enabling automated navigation, reducing the difficulty of physician operation, and improving safety.

[0035] Furthermore, in the step of identifying channels within the field of view, if the identified channel does not have branches, the current channel is considered to be target channel 1b. To ensure that it is always maintained at the center of the pipe during operation, the tubular component 2 constantly self-corrects to reduce or eliminate interference caused by human movement, thereby ensuring the operational accuracy of the tubular component 2 and improving the safety and reliability of the physician's operation. Since the center of the camera's field of view and the center of the tubular component's head may not be in the same position, an offset value can be preset according to the distance between them. By keeping the distance between the center of the target channel and the center of the field of view within the range of the preset offset value, the head of the tubular component and the center of the target channel can always be aligned with each other to ensure more reliable movement of the tubular component.

[0036] Referring to Figures 3-6, the tubular component 2 enters the target channel 1b following the navigation path 3, and then sequentially passes through the first position 3a, the second position 3b, and the third position 3c. In the example shown in Figure 4, the tubular component 2 passes through the first position 3a, and the first field of view 4a is obtained.

[0037] Referring to Figure 5, as the tubular component 2 moves and passes through the second position 3b, the second field of view 4b is obtained. A branch in the channel identified by the positioning device 53a is shown. The branch channel planned by the navigation path 3 is the one to the right of the branch. This branch channel planned by the navigation path 3 is here adopted as the target channel 1b by the correction device 53b. Correction by the correction device 53b causes the tubular component 2 to begin rotating toward the branch channel.

[0038] Referring to Figure 6, as the tubular component 2 moves and passes through the third position 3c, the third field of view 4c is obtained. As will be described later, as the tubular component 2 moves further, this branching channel is located at the center of the field of view, so the tubular component 2 can smoothly enter the branching channel.

[0039] Furthermore, referring to Figure 7, the step in this application of correcting the orientation of the current head of the tubular component 2 to face the center of the target channel 1b may further include the step of driving the head 2a of the tubular component 2 to bend toward the center of the target channel 1b until the distance between the center of the target channel 16b and the center of the field of view is within a preset offset value range. In one embodiment, the center of the target channel 1b and the center of the field of view may coincide with each other. By driving the head 2a of the tubular component 2 to bend toward the center of the target channel 1b, the tubular component 2 can move in all 360° directions.

[0040] More specifically, as shown in Figure 7, point M is the center point of the target channel 1b. Point O indicates the center of the head of the tubular component 2, calibrated according to the camera parameters and the relative position between the camera and the tubular component head. In particular, if the optical axis of the camera is parallel to the center line of the head of the tubular component, point O is merely a projection of the tubular center line onto the camera's image plane, and there may be an offset between point O and the center of the field of view, or it may coincide with the center of the field of view if the camera is positioned at the center of the head of the tubular component. By driving the head 2a of the tubular component 2, the head 2a of the tubular component 2 bends toward the center of the target channel 1b. When points M and O approximately coincide in the field of view, the center of the target channel 1b will be located at the center of the head of the tubular component.

[0041] If a physician wants to examine a specific area of ​​a non-target channel 1b, the head 2a of the tubular component 2 may be controlled to face the center of this area to obtain a better view. For example, the controller may attempt to position the tip of the endoscope perpendicular to the tissue surface for better visibility. In this case, a computer can be used to dynamically compensate for movements caused by anatomical structures to keep the imaging stable. If the acquired two-dimensional image is blurry, the robotic system may stop and wait for recovery to ensure the safety of the operation.

[0042] Conventional endoscopes typically use drive cables to control the direction of movement of tubular components. To achieve omnidirectional movement, at least three or more drive cables, typically four, are required. Furthermore, it is also possible to control the movement of tubular component 2 with one degree of freedom using only two drive cables. In this case, referring to Figure 8, correcting the current orientation of the head of tubular component 2 to face the center of target channel 1b may further include the steps of rotating the head 2a of tubular component 2 so that the center of target channel 1b is in the free direction of the head 2a of tubular component 2 within the field of view, and driving the head 2a of tubular component 2 to move in the free direction so that the distance between the center of target channel 16b and the center of the field of view is within a preset offset value. In one embodiment, the center of target channel 1b and the center of the field of view may coincide with each other. Here, “free direction” means that the head 2a of tubular component 2 moves freely move It means the direction in which it is possible.

[0043] In actual operation, referring to Figure 8, point O is the center point of the tubular component in the current field of view, point M is the center point of the target channel 1b, and the angle between the vertical line passing through point O and line OM is α. By driving the head 2a of tubular component 2 to rotate α° to the right or (180-α)° to the left, the center of the target channel 1b will be in the free direction of the head 2a of tubular component 2 in the field of view. That is, point M will be close to the vertical line. Finally, the head 2a of tubular component 2 is driven to move in the free direction. It should be understood that when the head 2a of tubular component 2 rotates to the right, the head 2a of tubular component 2 is driven to move upward accordingly, and when the head 2a of tubular component 2 rotates to the left, the head 2a of tubular component 2 is driven to move downward accordingly. In either case, the center of the target channel 1b can be positioned to face the center of the head of the tubular component. In other words, points M and O almost overlap within the field of view.

[0044] The included angle α is preferably acute or right-angled in order to reduce the rotational amplitude and improve the efficiency of operation. More preferably, an angular range can be set. When the included angle α is within a preset angular range, the center of the target channel 1b is considered to be located in the free direction of the head 2a of the tubular component 2 in the field of view, and the head 2a of the tubular component 2 can be directly driven to move in the free direction, resulting in the center of the target channel 1b being located in the center of the field of view, thereby improving the efficiency of operation.

[0045] Similarly, the positions of points O and M do not need to perfectly coincide on the two-dimensional visual image, and a margin of error may be allowed to reduce difficulty and improve the efficiency of the operation.

[0046] In this application, the correction device 53b is configured to drive the head 2a of the tubular component 2 toward the center of the target channel 1b until the distance between the center of the target channel 16b and the center of the field of view is within a preset offset range. The correction device 53b is also configured to rotate the tubular component 2 so that the center of the target channel 1b is positioned in the free direction of the head 2a of the tubular component 2 within the field of view, and then to drive the head 2a of the tubular component 2 toward the free direction until the distance between the center of the target channel 16b and the center of the field of view is within a preset offset range.

[0047] Using the 3D model 1a and positioning algorithm, the computer can determine the position of the target channel 1b and generate navigation information for accurate navigation. The motion process of the tubular component 2 is continuously modified according to the established kinematic model and image recognition method, and the navigation information can be further optimized based on the modification results. Thus, the entire process forms a dynamic closed loop, improving the safety and accuracy of the operation.

[0048] Lumen detection is performed on 2D bronchoscopy images. To mark the correct target lumen, the detection algorithm must consider a predefined 3D path and the current 3D location obtained from the localization module, and then compare the rendered image with the actual bronchoscopy image. The location of the target lumen on the resulting 2D image is used for visual servoing or other purposes, as illustrated in Figure 9.

[0049] In practical applications, the lumen detection algorithm and localization algorithm for the tubular component 2 can be combined to perform real-time correction of multi-directional navigation paths 3. The lumen detection algorithm can be implemented in a high-frequency control loop, while the localization algorithm can be implemented in a low-frequency control loop, as the latter requires significantly more computational power. Physicians can mark target channels 1b in a 2D image or target locations in a 3D model. Using visual images, the computer can control the orientation of the tubular component 2 in one direction, improving the accuracy of the operation.

[0050] To better obtain dynamic feedback during operation and improve the safety and reliability of the operation, the method for navigating a tubular component in a multi-branch channel according to the present invention may further include the steps of obtaining the resistance borne by the tubular component 2 during the supply process and providing feedback of the resistance to the operator via a tactile feedback device.

[0051] Correspondingly, the navigation device for the tubular component 2 may include a resistance feedback device 54 configured to acquire the resistance borne by the tubular component 2 and provide feedback of that resistance to the operator via a tactile feedback device 55, as shown in Figure 10. The tactile feedback device 55 may be an electrically resistive structure provided on a rocker, such as a motor-driven push rod. When the push rod acts on the rocker, it can prevent the rocker from moving any further.

[0052] Specifically, the resistance feedback device 54 may be a resistance sensor located at the head end of the tubular component 2 for measuring the magnitude of the contact force. When the tubular component 2 comes into contact with the patient's tissue, the resistance sensor acquires a resistance signal and feeds it back to the tactile feedback device 55, which then activates the push rod to stop the rocker or forcibly return the rocker to its designated position. Of course, the resistance sensor can also feed information back to a computer so that the physician can adjust the operation in a timely manner to ensure the safety of the procedure.

[0053] This invention further proposes a computer-readable storage medium for storing computer programs. When the computer program is executed by a processor, it can perform each step of the above method.

[0054] Although this application has been described in detail with reference to only a limited number of embodiments, it should be understood that this application is not limited to such disclosed embodiments. Rather, this application can be modified to incorporate any number of variations, alterations, substitutions, or equivalent arrangements that are in line with the spirit and scope of this application, although these have not been described herein. Furthermore, although various embodiments of this application have been described, it should be understood that each aspect of this application may include only some of the embodiments described herein. In general, this application is not limited by the foregoing description but only by the appended claims. [Explanation of Symbols]

[0055] 1: Multi-branch channel; 1a: 3D model; 1b: Target channel; 2: Tubular component; 2a: Head; 3: Navigation path; 3a: First position; 3b: Second position; 3c: Third position; 4a: First field of view; 4b: Second field of view; 4c: Third field of view; 5: Navigation equipment for tubular components in the multi-branch channel; 51: Scanner; 52: Planning device; 53: Tubular component supply device; 53a: Positioning device; 53b: Correction device; 53c: Field of view acquisition device; 54: Resistance feedback device; 55: Tactile feedback device.

Claims

1. A method for operating a device for navigating a tubular component within a multi-branch channel, The aforementioned device is A three-dimensional model of the aforementioned multi-branch channel is obtained, Navigation information is planned to support the semi-automatic motion of the tubular component in the multi-branch channel according to the three-dimensional model. In response to inputs for controlling the movement of only one degree of freedom of the tubular component, either forward or backward, which are continuously performed by the operator during the period in which the tubular component is being used, the tubular component is driven to move according to the navigation information. The aforementioned multi-branched channel is a model of the human respiratory tree, a model of the human airway, or a channel in a non-medical field. A method for operating equipment for navigating a tubular component within a multi-branch channel, characterized in that, when planning the navigation information, the movement route of the tubular component is pre-set in the navigation information so that the orientation of the head of the tubular component can be automatically adjusted according to the navigation information.

2. The method for operating a device for navigating a tubular component within a multi-branch channel according to claim 1, wherein the navigation information includes a designated navigation path for reaching a target location along the multi-branch channel, and orientation information of the head of the tubular component and current location information as the tubular component moves along the navigation path.

3. A method of operating a device for navigating a tubular component in a multi-branch channel according to claim 2, characterized in that the device identifies the location of the tubular component in the multi-branch channel and corrects the orientation of the current head of the tubular component in combination with the navigation information according to the identified location.

4. A method for operating a device for navigating a tubular component in a multi-branch channel according to claim 2, characterized in that the device acquires a field of view in front of the head of the tubular component, identifies channels in the field of view, selects a target channel from the identified channels, and corrects the orientation of the current head of the tubular component to face the center of the target channel.

5. The method for operating a device for navigating a tubular component in a multi-branch channel according to claim 4, characterized in that when the device identifies a channel in the field of view, if the identified channel has branches, it selects a branch channel planned by the navigation path as the target channel.

6. The method for operating a device for navigating a tubular component in a multi-branch channel according to claim 4, characterized in that when the device identifies a channel in the field of view, if the identified channel does not have branches, it selects the current channel as the target channel.

7. A method of operating a device for navigating a tubular component in a multi-branch channel according to any one of claims 4 to 6, characterized in that when the device corrects the orientation of the current head of the tubular component to face the center of the target channel, it drives the head of the tubular component to bend toward the center of the target channel until the distance between the center of the target channel and the center of the head of the tubular component is within a preset offset range.

8. A method for operating a device for navigating a tubular component in a multi-branch channel according to any one of claims 4 to 6, characterized in that when the device corrects the orientation of the current head of the tubular component to face the center of the target channel, it rotates the head of the tubular component so that the center of the target channel is located in the free direction of the head of the tubular component within the field of view, and drives the head of the tubular component to move in the free direction until the distance between the center of the target channel and the center of the head of the tubular component is within a preset offset range.

9. A method for operating a device for navigating a tubular component in a multi-branch channel according to any one of claims 1 to 6, characterized in that the device acquires the resistance borne by the tubular component during the supply process and feeds back the resistance to the operator via a tactile feedback device.

10. A computer-readable storage medium for storing a computer program, wherein the computer program, when executed by a processor, can perform the operation method of the device described in any one of claims 1 to 9.

11. A device for navigating tubular components within a multi-branch channel, A scanner configured to acquire a three-dimensional model of the aforementioned multi-branch channel, A planning device configured to plan navigation information to support the semi-automatic motion of the tubular component in the multi-branch channel according to the three-dimensional model, A tubular component supply device is configured to drive the tubular component to move according to the navigation information in response to inputs for controlling the movement of only one degree of freedom of the tubular component forward or backward, which are continuously performed by the operator during the period in which the tubular component is being used, A device for navigating a tubular component within a multi-branch channel, characterized in that the navigation information planned by the planning device includes a pre-set travel route for the tubular component, such that the orientation of the head of the tubular component can be automatically adjusted according to the navigation information.

12. The device for navigating a tubular component within a multi-branch channel according to claim 11, wherein the navigation information includes a navigation path for reaching a target location along the multi-branch channel, and attitude information of the head of the tubular component and current location information as the tubular component moves along the navigation path.

13. The apparatus for navigating a tubular component in a multi-branch channel according to claim 12, further comprising: a field of view acquisition device configured to acquire a field of view in front of the head of the tubular component; a positioning device configured to determine the position of the tubular component in the multi-branch channel and to identify channels in the field of view according to the acquired field of view in front of the head of the tubular component; and a correction device configured to correct the orientation of the current head of the tubular component in combination with the navigation information according to the determined position, and to select a target channel from the identified channels and correct the orientation of the current head of the tubular component to face the center of the target channel.

14. The apparatus for navigating a tubular component within a multi-branch channel according to any one of claims 11 to 13, further comprising a resistance feedback device that acquires the resistance borne by the tubular component and provides feedback of the resistance to an operator via a tactile feedback device.

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