Catheter robot and registration method therefor

Abstract

The present application relates to a catheter robot and a registration method therefor, characterized in that the method comprises: generating a first anatomical model on the basis of a first medical image in a first state; generating a second anatomical model on the basis of a second medical image in a second state; acquiring body surface data sensed by a second sensor, and determining a respiratory coefficient in the current state on the basis of the body surface data; on the basis of the respiratory coefficient and the first anatomical model, acquiring a third anatomical model associated with the respiratory coefficient; acquiring a plurality of actual path points sensed by a first sensor in an anatomical structure, and acquiring a simulated path point cloud on the basis of the plurality of actual path points; acquiring a model point cloud, which comprises a plurality of skeleton points of a tube center line of the third anatomical model and / or vertexes of a plurality of tube walls; and registering the simulated path point cloud and the model point cloud. Therefore, the third anatomical model better reflects the real state of an anatomical structure of a patient, thereby increasing the success rate of surgery.

Description

Catheter robot and registration method thereof

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on June 30, 2023, with application number 2023107991682 and application name “Catheter Robot and Its Alignment Method”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of medical device technology, and in particular to a catheter robot and a registration method thereof. Background Art

[0003] Minimally invasive medical techniques aim to reduce the amount of tissue damaged during medical procedures, thereby minimizing patient recovery time, discomfort, and adverse side effects. These techniques can be performed through natural orifices in anatomical structures or through one or more surgical incisions. For example, in the case of a bronchus, currently common lung medical procedures utilize bronchoscopy. The procedure involves inserting a medical device through the patient's natural orifices or through one or more minimally invasive surgical incisions. The device then uses a camera at the front of the bronchoscope, along with an intraoperative navigation system, to reach the target tissue location, i.e., the lesion.

[0004] During intraoperative navigation, an anatomical model (virtual bronchial 3D model) needs to be established based on the patient's preoperative CT images. The CT images taken before surgery are the shape of the patient's bronchi at a certain moment, and during surgery, the patient's bronchi are easily affected by breathing, and their size and shape will change dynamically. In addition, the movement of the catheter will also squeeze the bronchi, causing the bronchi to bend and other deformations.

[0005] In existing technologies, some treatment methods only consider the impact of breathing on bronchial shape, ignoring the squeezing or driving effect of medical devices on the bronchi. Because the bronchi are smaller near the lesion, the movement of the catheter can affect the shape of the bronchi. If the lesion is located inside the bronchus or connected to the bronchus, the deformation of the bronchus will cause the lesion to move along with it. If a puncture biopsy is performed according to the original planned path, the probability of failure will increase and the positive rate of the biopsy will decrease. Other treatment methods obtain data from multiple sensors on the catheter in real time and calculate the shape of the catheter and its impact on the bronchi. However, these methods ignore the impact of breathing on the bronchi and lesions. Breathing can cause the contraction and relaxation of the bronchi and the movement of the lesion. Especially when the lesion is located outside the bronchus, when the patient's breathing amplitude is large, if the puncture biopsy is still performed according to the planned path, the probability of success will also be reduced.

[0006] Therefore, the existing technologies do not comprehensively consider the impact of breathing and instruments on the shape of the bronchi. If there is a large difference between the anatomical model and the actual anatomical structure, it will affect the doctor's judgment of the position and distance between the catheter and the target tissue, and have a significant impact on the success rate of the operation.

[0007] Summary of the Invention

[0008] Based on this, it is necessary to provide a catheter robot and its alignment method to solve the problem of the influence of breathing and catheter movement on the shape of the anatomical structure during intraoperative navigation. By dynamically modifying the anatomical model, the anatomical model can better reflect the actual state of the patient's anatomical structure and improve the success rate of the operation.

[0009] In a first aspect, the present application provides a catheter robot, comprising:

[0010] catheter;

[0011] a first sensor, disposed on the catheter, for sensing the position of the distal end of the catheter;

[0012] A second sensor is disposed on the patient's body surface and is used to obtain the patient's body surface data; and

[0013] a control device coupled to the first sensor and configured to:

[0014] Acquiring a first medical image of an anatomical structure of a patient in a first state and generating a first anatomical model based on the first medical image;

[0015] acquiring a second medical image of the patient's anatomical structure in a second state and generating a second anatomical model based on the second medical image;

[0016] acquiring body surface data sensed by the second sensor, and determining a respiratory coefficient of a current state based on the body surface data;

[0017] Acquire a third anatomical model associated with the breathing coefficient based on the breathing coefficient and the first anatomical model, or acquire a third anatomical model associated with the breathing coefficient based on the breathing coefficient and the second anatomical model;

[0018] Acquire a plurality of actual path points sensed by the first sensor in the anatomical structure, and acquire a simulated path point cloud based on the plurality of actual path points;

[0019] Acquire a model point cloud, wherein the model point cloud includes a plurality of skeleton points of a pipeline centerline and / or a plurality of vertices of a pipeline wall of the third anatomical model;

[0020] The simulated path point cloud is registered with the model point cloud.

[0021] In a second aspect, a catheter robot is characterized by comprising:

[0022] catheter;

[0023] a first sensor, disposed on the catheter, for sensing the position of the distal end of the catheter;

[0024] A second sensor is disposed on the patient's body surface and is used to obtain the patient's body surface data; and

[0025] a control device coupled to the first sensor and configured to:

[0026] Acquiring a first medical image of an anatomical structure of a patient in a first state and generating a first anatomical model based on the first medical image;

[0027] acquiring a second medical image of the patient's anatomical structure in a second state and generating a second anatomical model based on the second medical image;

[0028] acquiring body surface data sensed by the second sensor, and determining a respiratory coefficient of a current state based on the body surface data;

[0029] Based on the breathing coefficient and the first anatomical model, a third anatomical model associated with the breathing coefficient is obtained, or based on the breathing coefficient and the second anatomical model, a third anatomical model associated with the breathing coefficient is obtained.

[0030] In a third aspect, the present application provides a catheter robot registration method, comprising:

[0031] Acquiring a first medical image of an anatomical structure of a patient in a first state and generating a first anatomical model based on the first medical image;

[0032] acquiring a second medical image of the patient's anatomical structure in a second state and generating a second anatomical model based on the second medical image;

[0033] acquiring body surface data sensed by the second sensor, and determining a respiratory coefficient of a current state based on the body surface data;

[0034] Acquire a third anatomical model associated with the breathing coefficient based on the breathing coefficient and the first anatomical model, or acquire a third anatomical model associated with the breathing coefficient based on the breathing coefficient and the second anatomical model;

[0035] Acquire a plurality of actual path points sensed by the first sensor in the anatomical structure, and acquire a simulated path point cloud based on the plurality of actual path points;

[0036] Acquire a model point cloud, wherein the model point cloud includes a plurality of skeleton points of a pipeline centerline and / or a plurality of vertices of a pipeline wall of the third anatomical model;

[0037] The simulated path point cloud is registered with the model point cloud.

[0038] In a fourth aspect, the present application provides a computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program, and the computer program is configured to be loaded and executed by a processor to implement the steps of the method described in any of the above embodiments.

[0039] The catheter robot and its registration method of the present application have the following beneficial effects:

[0040] By eliminating the effects of breathing and catheter movement on anatomical structures and target tissues, this application can, on the one hand, obtain a dynamic and accurate anatomical model, improve the accuracy of the registration algorithm, and make the position of the catheter tip displayed on the anatomical model closer to the actual position. This higher accuracy is beneficial for determining the distance between the catheter tip and / or the instrument tip (such as a biopsy needle) and the target tissue (e.g., a lesion), reducing the number of DR or CBCT scans during surgery and reducing the radiation intake of doctors and patients. Furthermore, this application can also accurately determine the shape of the catheter and anatomical structure in real time, provide guidance for the subsequent movement direction of the catheter, better adjust the angle of the catheter, align the center of the target tissue, and improve the success rate of the surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] FIG1 is a schematic structural diagram of a catheter robot provided in one embodiment of the present application;

[0042] FIG2 is a schematic structural diagram of a catheter device and a power unit provided in one embodiment of the present application;

[0043] FIG3 is a schematic flow chart of a registration method for a catheter robot according to an embodiment of the present invention;

[0044] FIG4 is a schematic diagram of the position of a second sensor on a patient's body surface according to an embodiment of the present application;

[0045] FIG5 is a schematic diagram of a respiratory coefficient obtained by using EM data of at least one respiratory cycle sensed by a second sensor according to an embodiment of the present application;

[0046] FIG6 is a schematic diagram of a process for obtaining a third anatomical model associated with a respiratory coefficient according to an embodiment of the present invention;

[0047] FIG7 is a schematic diagram of geodesics of a first anatomical model provided in one embodiment of the present application;

[0048] FIG8 is a schematic diagram showing a comparison of effects of obtaining a third anatomical model after shrinking the first anatomical model in the first state according to an embodiment of the application;

[0049] FIG9 is a schematic diagram of an affine transformation process of the first anatomical model as a whole according to an embodiment of the present application;

[0050] FIG10 is a schematic diagram showing the effect of deduplication processing of a path point cloud of a catheter end provided in an embodiment of the present invention;

[0051] FIG11 is a schematic diagram of a process for registering a simulation path point cloud with a model point cloud according to an embodiment of the present application;

[0052] FIG12 is a schematic diagram showing a comparative effect of deleting the simulated path point cloud belonging to the first area and retaining the simulated path point cloud belonging to the second area according to an embodiment of the present application;

[0053] 13-14 are schematic diagrams showing the comparison effect of registering a simulated path point cloud and a model point cloud using a second transformation matrix according to an embodiment of the present application;

[0054] FIG15 is a simplified schematic diagram of a user interface for doctor operation provided in one embodiment of the present application;

[0055] FIG16 is a schematic diagram showing the principle of a control device of a catheter robot provided in one embodiment of the present application. DETAILED DESCRIPTION

[0056] To facilitate understanding of the present application, a more comprehensive description of the present application will be provided below with reference to the accompanying drawings. The accompanying drawings illustrate preferred embodiments of the present application. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the disclosure of the present application.

[0057] It should be noted that when an element is referred to as being "disposed on" another element, it may be directly on the other element or there may also be an element centered. When an element is considered to be "connected" to another element, it may be directly connected to the other element or there may be an element centered at the same time. When an element is considered to be "coupled" to another element, it may be directly coupled to the other element or there may be an element centered at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method. The terms "distal end" and "proximal end" used in this application are used as directional words, which are commonly used terms in the field of interventional medical devices, where "distal end" refers to the end close to the patient during surgery and "proximal end" refers to the end away from the patient during surgery. The terms "first / second" and the like used in this application refer to a component and a class of two or more components with common characteristics.

[0058] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by those skilled in the art to which this application belongs. The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The term "and / or" used in this application includes any and all combinations of one or more related listed items. The term "each" used in this application includes one or more. The term "plurality" used in this application refers to two or more.

[0059] The following describes a catheter robot and a method for improving alignment thereof according to an embodiment of the present application in conjunction with the accompanying drawings.

[0060] FIG1 shows a catheter system 1000 provided in accordance with an embodiment of the present application. The catheter system 1000 includes an imaging cart 100, a trolley 200 and a main controller 300 respectively connected to the imaging cart 100, a catheter instrument 400 that can be coupled to the trolley 200, a sensor system 500 connected to the trolley 200, and a control device 600 for realizing control among the catheter instrument 400, the main controller 300, the sensor system 500, and the imaging cart 100. The main controller 300 can be connected to the trolley 200 by wire or wirelessly. When the operator performs various procedures on a patient next to the trolley 200, the operator can trigger control instructions by operating the main controller 300, and control the catheter instrument 400 to advance, retract, bend, turn, etc. through the drive of the trolley 200.

[0061] The trolley 200 can typically be moved to the side of the operating table to engage the catheter instrument 400 and, under control instructions, control the catheter instrument 400 to move vertically, horizontally, or in non-vertical and non-horizontal directions, thereby providing a better preoperative preparation angle for the operation of the catheter instrument 400. The control instructions can be instructions triggered by the operator through the main controller 300, or instructions triggered by the operator directly clicking or pressing a button on the trolley 200. Of course, in other embodiments, the control instructions can also be instructions triggered by voice control or a force feedback mechanism.

[0062] As shown in Figure 1, further, the trolley 200 may include a base 210, a sliding seat body 220 that can be lifted and lowered along the base 210, and two mechanical arms 230 fixedly connected to the sliding seat body 220. The mechanical arm 230 may include a plurality of arm segments connected at a joint, and the plurality of arm segments provide the mechanical arm 230 with multiple degrees of freedom, for example, seven degrees of freedom corresponding to seven arm segments. The end of the mechanical arm 230 is equipped with a power unit (not shown in the figure), and the power unit of the mechanical arm 230 is used to engage the catheter instrument 400 and control the end of the catheter instrument 400 to bend and turn accordingly under the driving action of the power unit. Wherein, the two mechanical arms 230 can be structures that are exactly the same or partially the same, one mechanical arm 230 is used to engage the inner catheter instrument 410, and the other mechanical arm 230 is used to engage the outer catheter instrument 420. During installation, the outer catheter device 420 may be installed first, and after the outer catheter device 420 is installed, the catheter of the inner catheter device 410 is inserted into the catheter of the outer catheter device 420 .

[0063] The sensor system 500 has one or more subsystems for receiving information about the catheter device 400. The subsystems may include a position sensor system, a shape sensor system for determining the position, orientation, speed, velocity, pose, and / or shape of the tip of the catheter device 400 and / or one or more segments along a catheter that may comprise the catheter device 400, and / or a visualization system for capturing images from the tip of the catheter device 400.

[0064] The imaging vehicle 100 may be provided with a display system 110 and an irrigation system (not shown in the figure). The display system 110 is used to display images of the surgical site and the catheter instrument 400 generated by the subsystems of the sensor system 500. Real-time images of the surgical site and the catheter instrument 400 captured by the visualization system may also be displayed. Image data from imaging technologies such as computed tomography (CT), magnetic resonance imaging (MRI), optical coherence tomography (OCT), and ultrasound may also be used to present images of the surgical site recorded before or during surgery. The preoperative or intraoperative image data may be presented as two-dimensional, three-dimensional, or four-dimensional (e.g., time-based or rate-based) images and / or as images from a model created based on the preoperative or intraoperative image data set. A virtual navigation image may also be displayed. In the virtual navigation image, the actual position of the catheter instrument 400 is aligned with the preoperative image to present a virtual image of the catheter instrument 400 within the surgical site to the operator from the outside.

[0065] The control device 600 includes at least one memory and at least one processor. It is understood that the control device 600 can be integrated into the trolley 200 or the imaging trolley 100, or can be independently provided. The control device 600 can support wireless communication protocols such as IEEE 802.11, IrDA, Bluetooth, HomeRF, DECT, and wireless telemetry. The control device 600 can transmit signals instructing one or more of the catheter devices 400 to be moved by the power unit. The catheter device 400 can extend to a surgical location within the body through an opening in the patient's natural cavity or a surgical incision.

[0066] Furthermore, the control device 600 may include a mechanical control system (not shown) and an image processing system (not shown). The mechanical control system is used to control the movement of the catheter instrument 400 and can therefore be integrated into the trolley 200. The image processing system is used for virtual navigation path planning and can therefore be integrated into the imaging vehicle 100. Of course, the various subsystems of the control device 600 are not limited to the specific ones listed above and can be reasonably configured according to actual circumstances. The image processing system can use the above-mentioned imaging techniques to image the surgical site based on images of the surgical site recorded before or during the operation. The image processing system can also use software combined with manual input to convert the recorded images into two-dimensional or three-dimensional composite images of a portion or the entire anatomical organ or region. During the virtual navigation procedure, the sensor system 500 can be used to calculate the position of the catheter instrument 400 relative to the patient's anatomy. This position can be used to generate external tracking images and internal virtual images of the patient's anatomy, achieving registration of the actual position of the catheter instrument 400 with the preoperative images, thereby presenting a virtual image of the catheter instrument 400 within the surgical site to the operator from the outside.

[0067] The inner catheter device 410 and the outer catheter device 420 have substantially the same structural composition, and each comprises a slender and flexible inner catheter 41 and an outer catheter 42, wherein the diameter of the outer catheter 42 is slightly larger than that of the inner catheter 41, so that the inner catheter 41 can pass through the outer catheter 42 and provide a certain degree of support for the inner catheter 41, thereby enabling the inner catheter 41 to reach a target location in the patient's body, facilitating operations such as tissue or cell sampling from the target location.

[0068] Certain movements of the main controller 300 can cause corresponding movements of the catheter device 400. For example, when the operator moves the directional control lever of the main controller 300 upward or downward, the movement of the directional control lever of the main controller 300 can be mapped to a corresponding pitch movement of the distal end of the catheter device 400. When the operator moves the directional control lever of the main controller 300 left or right, the movement of the directional control lever of the main controller 300 can be mapped to a corresponding yaw movement of the distal end of the catheter device 400. In this embodiment, the main controller 300 can control the distal end of the catheter device 400 to move within a 360-degree spatial range.

[0069] FIG2 illustrates a catheter device 400 provided in one embodiment of the present application. The catheter device 400 is configured to engage with the power unit 240 of the robotic arm 230. The catheter device 400 includes an instrument cassette 45 configured to engage with the power unit 240 and a catheter 48 connected to the instrument cassette 45. The term "engagement" refers to a state in which, when the instrument cassette 45 is mounted to the power unit 240, the driving force of the power unit 240 can be transmitted to the instrument cassette 45 and cause the catheter 48 to move normally. For example, under the driving force of the power unit 240, the distal end of the catheter 48 can bend, turn, or the like.

[0070] The end in this application may also be referred to as the distal end, which refers to the end away from the instrument box 45; the front end may also be referred to as the proximal end, which refers to the end close to the instrument box 45.

[0071] The processor of the control device 600 is configured to perform the following steps to implement the catheter robot registration method provided in an embodiment of the present application. As shown in FIG3 , the catheter robot registration method includes:

[0072] Step S11 : acquiring a first medical image of the patient's anatomical structure in a first state and generating a first anatomical model, and acquiring a second medical image of the patient's anatomical structure in a second state and generating a second anatomical model.

[0073] In this embodiment, the doctor needs to obtain medical images of the patient's anatomical structure through CT, MRI, OCT or ultrasound scanning (or photography) before the operation, where the anatomical structure can be a natural cavity such as bronchi, urinary tracts, (cardio)vascular and intestinal tracts.

[0074] In one embodiment, when the medical image is a CT image, a first preoperative CT image of the patient is acquired in a first state and a second preoperative CT image is acquired in a second state. The first state includes the patient's inhalation state, and the second state includes the patient's exhalation state. For example, using the anatomical structure of the bronchi as an example, when the first state is the patient's fully inhaled state, when capturing the first CT image during the inspiratory phase, the patient is required to take a deep breath and hold their breath until the CT scan is complete. Because the bronchi are largest during inhalation, the fine branches at the end of the bronchi are easier to image on CT. For another example, when the second state is the patient's fully exhaled state, when capturing the second CT image during the expiratory phase, the patient is required to exhale all air in the body and hold their breath until the CT scan is complete. The first medical image is segmented and reconstructed to obtain a first anatomical model, and the second medical image is segmented and reconstructed to obtain a second anatomical model. For example, the medical image can be segmented using segmentation algorithms such as region growing and convolutional neural networks to segment the bronchi in the lungs. The segmented images are then reconstructed into three-dimensional models using algorithms such as marching cubes algorithms to obtain the first and second anatomical models. 3D models include 3D mesh models, point cloud models, etc. Among them, a 3D mesh model is a set of vertices, edges, and faces that represents the shape of a 3D object, and usually contains geometric and topological information.

[0075] The first and second anatomical models include pipeline centerlines. To facilitate intraoperative navigation, a centerline extraction algorithm is used to extract pipeline centerlines from the first and second anatomical models. The pipeline centerline, also known as the skeleton of the anatomical model, is the centerline of the anatomical model. It is a curve used to describe some of the geometric features of the anatomical model. It is located in the middle of the anatomical model, shares the same topological structure as the anatomical model, and is typically a single pixel wide.

[0076] Pipeline centerlines are three-dimensional curves. In practical applications, they are often stored and used as multiple 3D points. In other words, the pipeline centerline consists of these 3D points, which are referred to as skeleton points. A collection of these skeleton points is called a skeleton point set or skeleton point cloud. Pipeline centerlines provide the information necessary for intraoperative navigation. Compared to traditional anatomical models, they require significantly less data, making them easier to process and facilitating real-time navigation.

[0077] Step S12: acquiring body surface data sensed by a second sensor disposed on the patient's body surface, and determining the respiratory coefficient of the current state based on the body surface data.

[0078] In some embodiments, the catheter robot includes a catheter, and the catheter is provided with a first sensor for acquiring the position of the catheter tip. The first sensor may include a position sensor and / or a shape sensor.

[0079] Among them, a position sensor can be a component in an electromagnetic positioning system. The electromagnetic positioning system can further include a magnetic field generating component and a magnetic field detecting component. The magnetic field generating component is used to generate a magnetic field, and the position sensor is an EM sensor (i.e., an electromagnetic sensor). The position sensor will cause a change in the magnetic field in the magnetic field. The magnetic field detecting component can detect the change in the magnetic field and thus detect the position of the position sensor relative to the magnetic field / magnetic field generating component. Combined with the coordinate conversion relationship between the position sensor and the catheter end obtained by pre-setting or calibration, the position of the catheter end relative to the magnetic field / magnetic field generating component can be calculated. Combined with the coordinate conversion relationship between the magnetic field / magnetic field generating component and the world coordinate system, the position of the catheter end in the world coordinate system, i.e., the actual path point, can be calculated.

[0080] For another example, a shape sensor can be used to acquire a path point cloud for the distal end of a catheter inserted into an anatomical structure. For example, the shape sensor can include an optical fiber aligned with the catheter. A fiber bend sensor formed by the optical fiber can provide feedback on the catheter's shape. This feedback can be used to calculate the position of the distal end of the catheter relative to the base of the shape sensor. Combined with the position of the base of the shape sensor in the world coordinate system, the position of the distal end of the catheter in the world coordinate system, i.e., the actual path point, can be calculated.

[0081] The catheter robot also includes at least three second sensors disposed on the patient's body surface for acquiring data from the patient's body surface. These second sensors can typically be position sensors or posture sensors. These second sensors are typically non-invasively and stably disposed on the patient's body surface corresponding to anatomical structures, i.e., they are typically exposed to the patient's body surface. These second sensors can be EM sensors or optical positioning sensors.

[0082] In some embodiments, for example, when the anatomical structure is a bronchus, since the respiratory amplitude of each part of the lung is different, the second sensor in the middle of the main bronchus actually measures the respiratory amplitude of the front end of the main bronchus, which has a relatively small amplitude, while the second sensors on the left and right sides of the end of the bronchus are mainly used to measure the respiratory amplitude of the left and right lung ends. The amplitude of the diaphragm movement at the lower end of the lung segment is the largest during breathing. Therefore, the second sensors are arranged at a position on the patient's body surface that does not change much in the middle of the main bronchus of the lung, and at positions on the left and right sides of the end of the bronchus that change more. As the patient's respiratory state changes, the anatomical structure changes in six dimensions: up and down, left and right, and front and back. In theory, the more sensors there are, the richer the respiratory state changes obtained. That is, the more second sensors there are, the more areas of the patient's body surface are covered, and the more accurately the respiratory movement of the anatomical structure is sensed. For example, at least three second sensors are arranged on the surface of the patient's chest. Among them, one second sensor can be placed in the middle of the patient's chest, and the other two second sensors can be placed in the area of ​​the patient's chest corresponding to the 7th rib on the left, and in the area of ​​the patient's chest corresponding to the 7th rib on the right. During the operation, the second sensors need to be fixed with tape to prevent slipping during the operation.

[0083] In some embodiments, the above step S12 of determining the breathing coefficient in the current state can be implemented by the following steps:

[0084] (1) Acquiring body surface data of the patient through a second sensor, wherein a sampling period for acquiring the body surface data of the patient includes at least one respiratory cycle. For a bronchi, the sampling period may include at least one respiratory cycle, for example, one, two, or more respiratory cycles. A normal respiratory cycle of a normal person typically lasts 3 to 5 seconds.

[0085] (2) Determine the area of ​​the figure enclosed by the second sensor based on the patient's body surface data, wherein the area includes a first area, a second area, and a third area. The first area includes the area of ​​the figure enclosed by the second sensor in the first state, the second area includes the area of ​​the figure enclosed by the second sensor in the second state, and the third area is the area S of the figure enclosed by the second sensor in the current state. When the first state is the fully inhaled state, the first area is the maximum area S enclosed by the second sensor. max When the second state is the complete exhalation state, the second area is the minimum area S enclosed by the second sensor min .

[0086] As shown in Figure 4, using three second sensors as an example, the breathing coefficient in the current state is determined. The three second sensors are located at points P1 (X1, Y1, Z1), P2 (X2, Y2, Z2), and P1 (X3, Y3, Z3). The distances between the two second sensors, i.e., the side lengths A, B, and C, are calculated.

[0087] Use Euclidean distance to calculate the lengths of A, B, and C. For example, to calculate the length of side A:

[0088] The length calculation method of B and C is the same as that of A, and will not be repeated here.

[0089] Calculate the semi-perimeter P of the shape enclosed by the second sensor: P = (A + B + C) / 2 Formula (2)

[0090] The area S of the figure enclosed by the second sensor in the current state:

[0091] According to the maximum area S max , minimum area S min , and the area S of the graph enclosed by the second sensor in the current state determine the respiratory coefficient F in the current state:

[0092] Wherein, Fmax in formula (4) represents the maximum value of the designed breathing coefficient, and Fmin represents the minimum value of the designed breathing coefficient. For example, in some embodiments, if the formula is designed according to the range of the breathing coefficient in the interval [-1, 1], the breathing coefficient F is:

[0093] For example, in some embodiments, if the formula is designed based on the range of the breathing coefficient in the interval [-100, 100], the breathing coefficient F is:

[0094] As shown in Figure 5, the respiratory coefficient is designed within the range of [-1, 1]. The horizontal axis represents the number of EM data points acquired by the second sensor in real time as the respiratory duration or respiratory cycle changes. The vertical axis represents, from top to bottom, the area of ​​the graph enclosed by the second sensor, the area slope, and the respiratory coefficient. The area of ​​the graph enclosed by the second sensor represents the size of the graph as the patient's respiratory state changes; the area slope represents the rate of change of the area; and the respiratory coefficient represents the patient's different respiratory states.

[0095] The present application uses the respiratory coefficient F to intuitively and quickly determine the patient's respiratory state at the time, and based on the respiratory state, enable or disable the movement of the catheter in the anatomical structure. For example, if the respiratory coefficient F is a positive value, it indicates that the human chest cavity is in the inspiratory state of the first state, the chest cavity is full and the bronchi are in a dilated state. The larger the value, the fuller the chest cavity, and the movement of the catheter in the anatomical structure is enabled; alternatively, when the respiratory coefficient F is a negative value, the patient's respiratory state is determined to be an expiratory state, and the movement of the catheter in the anatomical structure is disabled. For another example, the patient's respiratory state is determined based on the respiratory coefficient F, and a prompt is generated based on the respiratory state to indicate whether to allow the movement of the catheter in the anatomical structure. When the respiratory coefficient F is a positive value, the patient's respiratory state is determined to be an inspiratory state, and a prompt is generated to allow the movement of the catheter in the anatomical structure; alternatively, when the respiratory coefficient F is a negative value, the patient's respiratory state is determined to be an expiratory state, and a prompt is generated to disable the movement of the catheter in the anatomical structure. For example, when the anatomical structure is a bronchus, the visualization system assisting the doctor in the operation can detect that the surgical instrument (e.g., a needle) at the end of the catheter reaches the vicinity of the target tissue location and detects that the patient is in an inhalation state. The system allows the doctor to be prompted to perform a percutaneous puncture operation, and it is safer to perform the puncture when the patient is in an inhalation state; if the respiratory coefficient is a negative value, it means that the human chest cavity is in the exhalation state in the second state, and the chest cavity and bronchi are in a contracted state. The system allows the doctor to be prompted to prohibit the operation.

[0096] When the first state is a fully inhaled state, the first anatomical model corresponds to a respiratory coefficient of 1, and when the second state is a fully exhaled state, the second anatomical model corresponds to a respiratory coefficient of -1. Because the first anatomical model for a fully inhaled state and the second anatomical model for a fully exhaled state have already been acquired preoperatively based on the first and second medical images, and other respiratory coefficients, such as 0, are required to obtain a third anatomical model associated with a respiratory coefficient of 0 through affine transformation based on the first or second anatomical model for the first or second state. In some embodiments, to reduce computational complexity, five classical respiratory coefficients, such as {-1, -0.5, 0, 0.5, 1}, are typically selected. The first or second anatomical model associated with the classical respiratory coefficient to which the calculated respiratory coefficient in the previous state is closest is selected for display. For example, if the calculated respiratory coefficient in the previous state is 0.9, the first anatomical model with a respiratory coefficient of 1 is selected for display.

[0097] S13 , based on the breathing coefficient and the first anatomical model, obtaining a third anatomical model associated with the breathing coefficient, or based on the breathing coefficient and the second anatomical model, obtaining a third anatomical model associated with the breathing coefficient.

[0098] In this embodiment, since the bronchi are largest when the human body is in the first state, i.e., the inhalation state, the fine branches at the end of the bronchi are easier to image on CT, while the bronchi are smallest when the human body is in the second state, i.e., the exhalation state, resulting in many bronchial ends being unable to be imaged on CT due to contraction. Therefore, the affine transformation in this application is based on the scaling and translation of the first anatomical model in the first state to obtain a third anatomical model associated with different respiratory coefficients.

[0099] In step S13, obtaining a third anatomical model associated with the respiratory coefficient, as shown in FIG6 , may include:

[0100] S131 , obtaining a first geodesic distance of the first anatomical model and a second geodesic distance of the second anatomical model.

[0101] In this embodiment, when the anatomical structure is a bronchus (usually referring to a pulmonary bronchus), a first geodesic distance (Geodesic Distance) from the main carina point to the end point of the lower lobe in the first anatomical model and a second geodesic distance from the main carina point to the end point of the lower lobe in the second anatomical model are calculated respectively. The main carina point refers to the bifurcation point of the left and right bronchi, and the end point of the lower lobe refers to the point in the bronchial model closest to the human diaphragm. In some embodiments, when the first anatomical model is a three-dimensional mesh model, the geodesic distance is the shortest path distance from the main carina point to the end point of the lower lobe along the mesh surface in the first anatomical model; in another embodiment, when the first anatomical model is a three-dimensional point cloud model, it is necessary to use all points in the three-dimensional point cloud to construct a surface structure similar to a mesh, and then calculate the geodesic distance by finding the shortest path from the main carina point to the end point of the lower lobe in the mesh. The first anatomical model or the second anatomical model includes the target tissue. As shown in FIG7 , the geodesic line 10 is formed from the main carina point to the end point of the lower lung lobe in the first anatomical model. The geodesic line 10 is a line on the grid surface. The length of the geodesic line 10 is the geodesic distance. The target tissue 20 is exactly at the end point of the lower lung lobe.

[0102] S132 : Determine a maximum shrinkage ratio of the first anatomical model or the second anatomical model according to the first geodesic distance and the second geodesic distance.

[0103] In some embodiments, for example, the first geodesic distance GDIn of the first anatomical model in the first state is obtained before surgery, and GDIn is 166 mm; the second geodesic distance GDEx of the second anatomical model in the second state is obtained before surgery, and GDEx is 127 mm; then the maximum shrinkage ratio of the first anatomical model or the second anatomical model is determined according to the ratio of the first geodesic distance to the second geodesic distance: ShrinkMax = GDEx / GDIn, at this time, ShrinkMax is approximately 0.76.

[0104] S133 , determining a scaling ratio of the first anatomical model or the second anatomical model according to the breathing coefficient and the maximum contraction ratio, and scaling the first anatomical model or the second anatomical model based on the scaling ratio.

[0105] The scaling ratio Shrink of the first anatomical model or the second anatomical model is determined according to the breathing coefficient F and the maximum shrinkage ratio ShrinkMax of the model. The calculation formula is:

[0106] Because the bronchi in the expiratory state are not only overall more contracted than those in the inspiratory state, but also some of the terminal branches are too narrow to be imaged in the medical CT image space, in some embodiments, the affine transformation is based on the first anatomical model of the patient in the first state, that is, the first anatomical model in the fully inspiratory state, and is scaled and translated. For example, when the respiratory coefficient is -1, substituting into formula (7), it can be seen that Shrink is equal to ShrinkMax, which is approximately 0.76. That is, based on the first anatomical model in the fully inspiratory state, the affine transformation is proportionally contracted at a contraction ratio of 0.76 to obtain a third anatomical model in the fully exhaled state. The effect is shown in Figure 8. The left figure is a second anatomical model 63 obtained based on the second medical image in the second state (fully exhaled state) before surgery, and the right figure is a third anatomical model 64 obtained based on the first anatomical model in the first state (fully inspiratory state) after contraction at a contraction ratio of 0.76 through affine transformation. At this time, the third anatomical model 64 is in the fully exhaled state. As can be seen from the renderings, the third anatomical model 64 and the second anatomical model 63 are essentially identical in size and length. However, the third anatomical model 64 effectively preserves the shape of the terminal branch bronchi, resolving the problem of expiratory CT images often failing to segment the terminal bronchi due to unclear imaging (the vessel effect makes it difficult to image small bronchi). Furthermore, the complete and clearly structured terminal branch bronchi significantly improve navigation accuracy, enabling better judgment of the correct catheter path.

[0107] In some embodiments, scaling of the first anatomical model or the second anatomical model can be achieved by affine transformation of a matrix, that is, multiplying by a scaling matrix S to obtain a third anatomical model, where the coordinates of the third anatomical model are each vertex of the first anatomical model multiplied by the matrix Transform: Transform = T2(Xn, Yn, Zn)·S(x, y, z)·T1(-Xn, -Yn, -Zn) Formula (8)

[0108] Wherein, S represents the scaling matrix, T1 represents the first translation matrix, and T2 represents the second translation matrix.

[0109] In step S133, as shown in FIG9 , taking the first anatomical model as an example, the affine transformation process of the entire first anatomical model, that is, the scaling process, is as follows:

[0110] S1331 , obtaining a first centroid of the first anatomical model and a second centroid of the second anatomical model.

[0111] The centroid, also known as the centroid, is the center of the shape. Its coordinates can be the average coordinates of all skeletal points that comprise the pipeline centerline. Since the pipeline centerline is obtained by processing medical images, its density can be considered uniform. Therefore, the centroid of the pipeline centerline is also the centroid. When the anatomical model is a three-dimensional mesh model, the first centroid can be obtained by calculating the average coordinate values ​​of all vertices in the first anatomical model, and the second centroid can be obtained by calculating the average coordinate values ​​of all vertices in the second anatomical model.

[0112] S1332 , obtain a scaling matrix S, a first translation matrix T1 , and a second translation matrix T2 .

[0113] S1333: Move the first anatomical model located at the initial position toward the origin based on the first translation matrix T1, with the first centroid as the reference, so that the first centroid coincides with the coordinate origin of the first medical image.

[0114] The coordinate origin of the first medical CT image is in the upper left corner, the x-axis is horizontal to the right, and the y-axis is horizontal to the bottom, while the first anatomical model image is in the lower right area of ​​the coordinate system. During the affine transformation, the vertices of the first anatomical model are moved toward the coordinate origin of the first medical image, and the translation is performed based on the first centroid. The first centroid of the first anatomical model is just moved to the origin so that the first centroid coincides with the coordinate origin. The value of the first centroid moved to the origin is the value that all vertices in the first anatomical model need to be translated. For example, in the coordinate system of the CT image, the coordinate value of the first centroid of the first anatomical model is (Ox, Oy, Oz). After being moved to the origin by the T1 translation matrix (-Ox, -Oy, -Oz), the coordinate value of the centroid of the first anatomical model coincides with the coordinate value of the origin (0, 0, 0).

[0115] S1334 : Determine a scaling ratio Shrink of the first anatomical model according to the breathing coefficient F and the maximum shrinkage ratio ShrinkMax of the first anatomical model.

[0116] S1335. The first anatomical model is scaled proportionally based on the scaling ratio, with the first centroid of the first anatomical model as the center, or with the coordinate origin of the first medical image as the center, that is, Sx, Sy, and Sz are all equal to Shrink, indicating that the scaling ratios of the first anatomical model in the three directions are the same, that is, geometric scaling. At this time, the scaling matrix S is the product of the scaling ratio Shrink and the unit matrix.

[0117] S1336: Move the geometrically scaled first anatomical model back to the initial position using a second translation matrix. Use the T2 translation matrix (Ox, Oy, Oz) to move the scaled first anatomical model back to the initial position with the first centroid as the center, thereby achieving scaling of the first anatomical model.

[0118] The scaling of the second anatomical model may refer to the overall scaling process of the first anatomical model, which will not be described in detail here.

[0119] S134: Translate the scaled first anatomical model or the scaled second anatomical model to obtain a third anatomical model associated with the respiratory coefficient.

[0120] Since breathing not only causes the scaling of anatomical structures, but also causes the movement of anatomical structures and target tissues. For example, breathing not only causes the scaling of bronchi, but also causes the movement of bronchi and lesions, thereby causing the relative position of the target tissue and the scaled first anatomical model (bronchial model caused by breathing) or the second anatomical model relative to other tissues such as bones to change, it is necessary to translate the first anatomical model or the second anatomical model from the position before scaling to the position after scaling. In this application, the first anatomical model or the second anatomical model includes the target tissue. In one embodiment, the motion offset vector between the first anatomical model and the second anatomical model can be determined based on the first center of mass and the second center of mass, and the motion offset vector includes the magnitude and direction of the translation.

[0121] Obtaining the motion offset vector includes: obtaining a first center of mass of the first anatomical model and a second center of mass of the second anatomical model, and determining the motion offset vector between the first anatomical model and the second anatomical model based on the first center of mass and the second center of mass. For example, by obtaining the second anatomical model of the first anatomical model before surgery, the first center of mass of the first anatomical model (inspiratory model) in the first state is calculated as CentroidIn(Xn,Yn,Zn), and the second center of mass of the first anatomical model (exhalation model) in the second state is calculated as CentroidEx(Xm,Ym,Zm), and the motion offset vector MoveTotal from the inspiratory model to the expiratory model is calculated, where MoveTotal = {Xm–Xn,Ym–Yn,Zm-Zn}.

[0122] According to the current respiratory coefficient F and the motion offset vector MoveTotal, the vector Move that the target tissue and the scaled first anatomical model or the second anatomical model need to translate as a whole can be calculated. The calculation formula is as follows:

[0123] The scaled first anatomical model or the second anatomical model is translated according to the translation vector Move to obtain a third anatomical model associated with the respiratory coefficient in the current state.

[0124] Therefore, the third anatomical model associated with the respiratory coefficient in the current state can be obtained through the above steps S131 to S134.

[0125] In one embodiment, when the anatomical structure is the urinary system, the above steps S11 to S13 can be applied to a urinary catheter robot to perform supracostal percutaneous nephrolithotomy under the guidance of CT images. In the treatment of urinary stones, if the stones in the kidney are large and hard, percutaneous nephrolithotomy is usually required, and the puncture needle is inserted into the target renal calyx through the skin. Punctures are divided into supracostal punctures and subcostal punctures. The biggest challenge of supracostal punctures is that puncture and expansion can easily cause damage to the pleura and adjacent organs (liver, pancreas). Under different respiratory states, the distance between the pleura and organs such as the diaphragm and the renal calyces is different. In the inspiratory state, the pleura is at its lowest position and closest to the kidneys. At this time, the risk of pleural and lung lobe damage during intercostal puncture is also the highest. Therefore, supracostal percutaneous nephrolithotomy is usually performed during the exhalation phase. Calculating and judging the patient's real-time respiratory state and calculating the distance between the pleura and the kidneys are very important for improving the safety of the puncture.

[0126] Similar to steps S11 to S13, the urinary catheter robot performs supracostal percutaneous nephroscopic puncture under the guidance of CT images. Due to the influence of breathing, the scaling of anatomical structures (organs such as the pleura and diaphragm) may include the following steps:

[0127] (1) Before surgery, a medical image, such as a CT image, can be obtained by scanning the target area of ​​the patient. Organ tissues such as the pleura, diaphragm, kidneys, and ureters can be segmented from the CT image and reconstructed into a three-dimensional model.

[0128] (2) installing a second electromagnetic sensor on the patient's chest and collecting EM data in real time, wherein the number of the second electromagnetic sensors is at least three;

[0129] (3) A first sensor is provided in the catheter, which is in the world coordinate system. The catheter moves through the ureter into the renal calyx, and electromagnetic data at the end of the catheter is collected to obtain the movement path of the catheter. The CT image and the world coordinate system are then aligned. The aligned data are the movement path of the catheter and the three-dimensional model of the ureter in the CT image (including the centerline of the ureter). After alignment, the three-dimensional spatial relationship between the puncture needle and the organ tissue can be displayed in real time in the CT image space, and the spatial relationship such as the distance between the puncture needle and tissues such as the pleura can be calculated in the CT image space.

[0130] (4) Acquire real-time electromagnetic data from the second electromagnetic sensor and calculate the respiratory coefficient F, and change the size and position of the three-dimensional models of the pleura and diaphragm. Changing the size and position of the three-dimensional models of the pleura and diaphragm is similar to obtaining anatomical models associated with different respiratory coefficients in steps S131 to S134 above, and will not be repeated here. The difference is that the maximum contraction ratio of the pleura and diaphragm is calculated by calculating the ratio of the surface area of ​​the three-dimensional model surface in the expiratory state to the inspiratory state, that is, using the surface area instead of the geodesic distance.

[0131] (5) The respiratory status is determined based on the respiratory coefficient F. If the respiratory coefficient is less than 0, that is, the patient is in the exhalation state, the operating software prompts the doctor to perform the percutaneous puncture operation; if the patient's respiratory coefficient is greater than 0, that is, the patient is in the inhalation state, the operating software prompts the doctor to suspend the operation.

[0132] (6) During the puncture process, the operating software will prompt the distance between the puncture needle and the pleura and kidney in real time. If the puncture needle is too close to the pleura, such as less than 5 mm, the software will prompt the doctor to suspend the operation, thereby improving the safety and accuracy of the puncture during the operation.

[0133] Therefore, the method of the present application eliminates the influence of anatomical structure caused by breathing, and can be applied to a urinary catheter robot to perform supracostal percutaneous nephroscopic puncture under the guidance of CT images.

[0134] In another embodiment, referring to FIG3 , after step S13 , the method further includes:

[0135] Step S14: Acquire a plurality of actual path points sensed by the first sensor in the anatomical structure, and acquire a simulated path point cloud based on the plurality of actual path points.

[0136] The first sensor collects and stores multiple actual path points of the catheter end in the anatomical structure to obtain the movement state of the catheter during intraoperative navigation, which includes the shape of the catheter and the position of the catheter end. During the intraoperative navigation process, the first sensor senses the EM (electromagnetic) data of the catheter end in real time. The EM data can also be called an actual path point. An actual path point reflects the position of the catheter end / instrument end when the first sensor feeds back. The actual path points obtained by multiple feedbacks from the same first sensor are arranged according to the feedback time to obtain the movement path of the catheter end and / or the instrument end. The set of these actual path points can be called a path point set or a path point cloud.

[0137] The simulated path points of the catheter corresponding to the actual path points in the first anatomical model or the second anatomical model are obtained according to the first transformation matrix. The first transformation matrix can be a transformation matrix between the world coordinate system and the anatomical model. According to the first transformation matrix, the actual path points can be transformed from the world coordinate system to the coordinate system of the anatomical model to obtain the simulated path points. That is, according to the first transformation matrix, the simulated path points of the catheter corresponding to the actual path points in the first anatomical model or the second anatomical model are obtained, and then a simulated path point cloud can be obtained based on multiple simulated path points. The simulated path points reflect the position of the catheter end / instrument end in the first anatomical model. Combined with the display parameters of the surgical site, the position of the catheter end / instrument end in the displayed surgical site can be obtained, thereby integrating the displayed surgical site with the catheter / instrument therein to achieve intraoperative navigation.

[0138] Obtain a target path point cloud for the planned path. The planned path represents the navigation path of the catheter to the target tissue. The target path point cloud includes multiple target path points. Deduplication is performed on the simulated path point cloud based on the target path point cloud to obtain a valid simulated path point cloud. Because the catheter may repeatedly move within the anatomical structure as it reaches the target tissue, preprocessing of the simulated path point cloud is required to reduce computational complexity. This preprocessing includes data deduplication and denoising.

[0139] In some embodiments, the data deduplication process includes: collecting a simulated path point cloud at the end of the catheter via a first sensor, finding matching points in a target path point cloud, the simulated path point cloud comprising multiple simulated path point subsets; and if any of the simulated path point subsets matches the same matching point on the planned path, performing a mean operation on the simulated path point subset to obtain a valid simulated path point cloud. For example, if a simulated path point subset at the end of the catheter comprises point Q1 (X1, Y1, Z1) and point Q2 (X2, Y2, Z2), and the corresponding points with the closest Euclidean distance on the planned path are both K points, i.e., points Q1 and Q2 in the simulated path point subset have matching points K in the target path point cloud, then taking the mean of points Q1 and Q2 yields a valid simulated path point C, where C = 1 / 2*(X1+X2, Y1+Y2, Z1+Z2). As shown in Figure 10, the left image shows a simulated path point cloud 60 of the catheter's repetitive motion, while the right image shows an effective simulated path point cloud 61. This effective simulated path point cloud 61 represents the catheter's motion path after deduplication. The catheter's motion path can be used to simulate the catheter's shape. By capturing the simulated path point cloud at the catheter's end using a first sensor, the catheter's shape can be fitted in real time based on a spatial and temporal sampling algorithm.

[0140] Step S15 : obtaining a model point cloud, wherein the model point cloud includes a plurality of skeleton points of the pipeline centerline of the third anatomical model and / or a plurality of vertices of the pipeline wall.

[0141] A model point cloud is obtained from the third anatomical model. The model point cloud includes multiple skeleton points of the pipeline centerline of the third anatomical model and / or multiple pipeline wall vertices. The skeleton points can be obtained, for example, by first extracting the pipeline centerline from the third anatomical model and then discretizing the pipeline centerline to obtain the skeleton points. The pipeline wall vertices can be obtained, for example, by first extracting the pipeline wall from the third anatomical model and then discretizing the pipeline wall to obtain the wall vertices.

[0142] Step S16: registering the simulation path point cloud and the model point cloud.

[0143] In step S16, as shown in FIG11 , registering the simulation path point cloud with the model point cloud includes:

[0144] S161, identifying a simulated path point cloud belonging to a first area in the simulated path point cloud, deleting the simulated path point cloud belonging to the first area, and retaining the simulated path point cloud belonging to the second area.

[0145] In some embodiments, taking the anatomical structure of a bronchus as an example, the bronchus includes a first region and a second region, where the first region includes the main bronchus region and the second region includes the terminal branch bronchus region. For example, the entire third anatomical model can be divided into zones, where tubes with a diameter greater than 5 mm are divided into the first region, and tubes with a diameter less than 5 mm are divided into the second region.

[0146] The method for identifying whether the simulated path point cloud of the catheter end belongs to the first region or the second region is to determine the matching points between the simulated path point cloud of the catheter end and the third anatomical model. If the corresponding matching points on the third anatomical model belong to the main bronchus region, then the simulated path point cloud of the catheter end belongs to the first region. As shown in Figure 12, the left figure shows the effective simulated path point cloud 61 of the catheter simulated path point cloud 60 after deduplication. The effective simulated path point cloud 61 includes the effective simulated path point cloud 611 of the first region and the effective simulated path point cloud 612 of the second region. The right figure shows the effective simulated path point cloud 611 of the catheter belonging to the first region after deleting it, while retaining the effective simulated path point cloud 612 of the second region.

[0147] S162 , acquiring a model point cloud of the second region based on the third anatomical model, that is, acquiring a model point cloud of the terminal branch bronchus region based on the third anatomical model.

[0148] S163: Determine a second transformation matrix between the model point cloud and the simulation path point cloud.

[0149] The ICP algorithm is used to determine the second transformation matrix between the model point cloud and the simulated path point cloud. The ICP algorithm is an iterative closest point (ICP) algorithm used in point cloud registration. Its core idea is to minimize the distance between two point sets, bringing them closer together through iteration. The following briefly describes the principles of ICP.

[0150] The basic ICP method consists of two steps: first, matching point clouds Q and P to find corresponding point pairs between them; second, calculating the transformation matrix between point clouds Q and P based on the corresponding point pairs. A corresponding point pair consists of two points, one from point cloud P and the other from point cloud Q, that are matched points of each other and are considered corresponding, meaning they are essentially equivalent.

[0151] If the real and accurate corresponding point pairs can be found directly, then the above process only needs to be performed once to directly calculate a sufficiently accurate transformation matrix. However, in practical applications, it is difficult to directly find accurate corresponding point pairs, so ICP will match according to the principle of the closest distance (generally Euclidean distance), that is, for each point in the point cloud P, find the point closest to it in the point cloud Q as its matching point. Then calculate a transformation matrix based on these point pairs. After completing a round of calculations, ICP will determine whether the iteration stop condition is met. If not, the transformation matrix obtained by this round of calculations will be used to transform and update the point cloud P, and then the point cloud Q and the transformed point cloud P will be used to repeat the above process until the iteration stops. For example, the default condition for stopping the iteration is that the difference in error between the two iterations is less than 0.01, but sometimes the difference between the point clouds is so large that the convergence condition cannot be met, so it is necessary to set an upper limit on the number of iterations, for example, it can be set to 500.

[0152] In this embodiment, the model point cloud P of the third anatomical model is matched with the simulated path point cloud Q of the catheter, and the ICP algorithm can be used to determine the second transformation matrix MatrixBrToTube between the model point cloud and the simulated path point cloud.

[0153] S164 , registering the simulation path point cloud and the model point cloud according to the second transformation matrix, so that the model point cloud and the simulation path point cloud overlap.

[0154] In one embodiment, the second region is easily deformed by being squeezed by the catheter because of its small diameter, softness, and similar shape to the catheter body, while the first region is less affected by the movement of the catheter. Therefore, it is allowed to only obtain the second transformation matrix between the simulated path point cloud of the second region and the model point cloud of the second region, and align the simulated path point cloud of the second region and the model point cloud of the second region so that the model point cloud of the second region coincides with the simulated path point cloud of the second region.

[0155] As shown in Figures 13 and 14, there is an effective simulated path point cloud 612 for the second region of the catheter and a model point cloud 614 for the second region of the third anatomical model. Model point cloud 614 includes multiple skeleton points 613 along the catheter centerline. As shown in the left figure of Figure 13, due to intraoperative catheter movement, the effective simulated path point cloud 612 for the second region of the catheter deviates from the multiple skeleton points 613 along the catheter centerline in the second region of the third anatomical model. Therefore, a second transformation matrix, MatrixBrToTube, is required to rigidly transform the multiple skeleton points 613 along the catheter centerline in the second region of the third anatomical model. Specifically, in the three-dimensional model, each vertex in the second region of the third anatomical model is translated and rotated using the second transformation matrix, MatrixBrToTube. As shown in the right figure of Figure 13, after applying the second transformation matrix, the multiple skeleton points 613 along the catheter centerline in the second region of the third anatomical model substantially coincide with the effective simulated path point cloud 612 for the second region of the catheter. Furthermore, as shown in the left figure of Figure 14, due to intraoperative catheter movement, the effective simulated path point cloud 612 for the second region of the catheter deviates from the model point cloud 614 for the second region of the third anatomical model. After transforming the model point cloud 614 of the second region of the third anatomical model according to the second transformation matrix MatrixBrToTube, as shown in the right figure of FIG14 , the effective simulated path point cloud 612 of the second region of the catheter is substantially within the second region of the third anatomical model. That is, the model point cloud of the second region of the third anatomical model substantially overlaps with the simulated path point cloud of the second region of the catheter. Therefore, it can be understood that by dynamically modifying the position and shape of the model point cloud 614 of the second region of the third anatomical model according to the effective simulated path point cloud 612 of the second region of the catheter, the third anatomical model better reflects the actual state of the patient's anatomical structure.

[0156] S17, determining whether the catheter has reached the vicinity of the target tissue position. If the catheter has not reached the vicinity of the target tissue position, repeat the above steps S13 to S16; otherwise, execute S18 to end the navigation.

[0157] The method of the present application has the following beneficial effects:

[0158] On the one hand, the present application can obtain a dynamic and accurate third anatomical model by eliminating the effects of breathing and catheter movement on the anatomical structure and target tissue. The doctor can also accurately know the shape of the catheter and the anatomical structure in real time, so that the third anatomical model better reflects the actual state of the patient's anatomical structure and improves the success rate of the operation. On the other hand, the third anatomical model of the present application can replace part of the DR image, assist the doctor in judging the distance between the catheter and the target tissue, reduce the number of DR or CBCT images, and reduce the amount of radiation intake by the patient. In addition, the third anatomical model of the present application can also provide guidance for the movement direction of the subsequent catheter, better adjust the angle of the catheter, align the center of the target tissue, and improve the success rate of the operation.

[0159] This application introduces a respiratory coefficient F to represent the patient's respiratory state: based on the area measured by the second sensor, the area is dynamically converted into a respiratory coefficient in the interval [-1, 1] in real time, where -1 represents the second state of complete exhalation and 1 represents the second state of complete inhalation. The degree of inhalation or exhalation can be represented by the coefficient. The respiratory coefficient can be used to more accurately interpolate a dynamic third anatomical model between inhalation and exhalation.

[0160] By eliminating the effects of breathing and catheter movement on anatomical structures and target tissues, the present application can, on the one hand, obtain a dynamic and accurate third anatomical model, thereby improving the accuracy of the registration algorithm. The position of the catheter end and / or instrument end displayed on the third anatomical model is closer to the actual position. The higher accuracy is helpful in judging whether the catheter end or instrument end (such as a biopsy needle) has reached the lesion, reducing the number of DR or CBCT scans during surgery, and reducing the radiation intake of doctors and patients.

[0161] Furthermore, the shape of the catheter and the anatomical structure can be accurately determined in real time, guiding the subsequent movement of the catheter, allowing for better adjustment of the catheter angle and alignment with the center of the target tissue, thereby improving the success rate of the procedure. Furthermore, in one embodiment of the present application, only three general-purpose electromagnetic sensors are required for the second sensor; and for inferring the catheter shape, only one electromagnetic sensor is required at the catheter tip, reducing hardware costs compared to existing shape sensing methods.

[0162] FIG15 shows an application of the present application, which is a schematic diagram of a user interface 800 for a physician to guide the distal end of a catheter inserted into a bronchus and / or the distal end of an instrument to reach a target tissue through a visualization system. The user interface 800 may display a camera view window 810, a local anatomical model view 820, a global anatomical model view 830, an indicator window 840, and a control window 850.

[0163] The camera view window 810 displays camera data captured by the visualization system of the medical device. For example, the camera data may include camera image fields or camera video data captured by a stereo camera or a monoscopic camera mounted on an endoscope at the end of a catheter.

[0164] One or more indicator windows 840 can display the current operation prompt and screen recording button, and can also display the status of the catheter, such as the inner bend angle or outer bend angle information of the catheter, and prompt the doctor to perform the surgical operation or pause the surgical operation.

[0165] The control window 850 may display the status of each device connection, such as the operating handle, catheter, magnetic navigation, suction, flushing, and locked or activated status.

[0166] In some embodiments, the local anatomical model view 820 displays an image of the local anatomical model corresponding to the catheter tip, simulating an endoscope's field of view. When the anatomical model is a bronchus, the local anatomical model can be a local virtual bronchial model. The virtual bronchial model image data can be generated by the virtual visualization system using, for example, preoperative CT images. The virtual bronchial model image data can display the real-time position of the catheter within the patient's bronchus.

[0167] In some embodiments, global anatomical model view 830 displays a global perspective of the complete anatomical model. For example, the physician can observe the position of the catheter within the bronchial model from the perspective of the entire bronchial model. The catheter device and apparatus of the present application, as well as the method for improving registration thereof, enable real-time adaptation of the distal end position of the third anatomical model in global anatomical model view 830 to the patient's varying respiratory status during intraoperative navigation, enabling the third anatomical model to better reflect the actual state of the patient's anatomy and thereby improve surgical success rates.

[0168] Although FIG. 15 depicts five simultaneously viewable windows on a single screen, it should be understood that the user interface 800 may display an appropriate number of windows according to user needs.

[0169] The present application also provides a control device for a catheter robot. Please refer to Figure 16 , which illustrates a schematic diagram of the structure of a control device for a catheter system provided in one embodiment of the present application. As shown in Figure 16 , the control device 600 includes a processor 70 , a memory 71 , a bus 72 , and a communication interface 73 . The processor 70 , communication interface 73 , and memory 71 are connected via bus 72 . The memory 71 stores computer program instructions executable by the processor 70 . When the processor 70 executes these computer program instructions, it can specifically perform the steps described in the aforementioned method embodiment.

[0170] The memory 71 may include high-speed random access memory (RAM) and may also include non-volatile memory, such as at least one disk storage. The communication connection between the device network element and at least one other network element is achieved through at least one communication interface 73 (which may be wired or wireless), and may use the Internet, a wide area network, a local area network, a metropolitan area network, etc.

[0171] The bus 72 may be an ISA bus, a PCI bus, or an EISA bus. The bus may be divided into an address bus, a data bus, a control bus, and the like. The memory 71 is used to store programs, and the processor 70 executes the programs upon receiving execution instructions. The catheter robot registration method disclosed in any of the aforementioned embodiments of the present application may be applied to or implemented by the processor 70.

[0172] The processor 70 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The various methods, steps and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The one or more processors included in the control device can be processors of the same type, such as one or more CPUs, or one or more GPUs; or they can be processors of different types, such as one or more CPUs and one or more GPUs.

[0173] The control device of the catheter robot provided in the embodiment of the present application and the alignment method of the catheter robot provided in the embodiment of the present application are based on the same inventive concept and have the same beneficial effects as the methods adopted, operated or implemented therein.

[0174] The present application also provides a computer-readable storage medium corresponding to the catheter robot registration method provided in the aforementioned embodiment, on which computer program instructions are stored. When the computer program instructions are executed by a processor, the catheter robot registration method provided in any of the aforementioned embodiments is implemented. It should be noted that examples of the computer-readable storage medium may include, but are not limited to, optical disks, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory, or other optical or magnetic storage media, which are not listed here one by one.

[0175] The computer-readable storage medium provided in the above-mentioned embodiment of the present application and the catheter robot registration method provided in the embodiment of the present application are based on the same inventive concept and have the same beneficial effects as the method adopted, run or implemented by the application program stored therein.

[0176] An embodiment of the present application provides a computer program product. When the computer program product is run on a mobile terminal, the mobile terminal can implement the steps in the above-mentioned various method embodiments when executing the computer program product.

[0177] It should be noted that:

[0178] In the description provided herein, a large number of specific details are described. However, it is understood that the embodiments of the present application can be practiced without these specific details. In some instances, well-known structures and technologies are not shown in detail so as not to obscure the understanding of this description.

[0179] Similarly, it should be understood that in order to streamline the present application and aid in understanding one or more of the various inventive aspects, in the above description of the exemplary embodiments of the present application, various features of the present application are sometimes grouped together into a single embodiment, figure, or description thereof. However, this disclosed method should not be interpreted as reflecting the following schematic diagram: the claimed application requires more features than the features expressly recited in each claim. Rather, as reflected in the claims below, inventive aspects lie in less than all the features of the individual embodiments disclosed above. Therefore, the claims following the detailed description are hereby expressly incorporated into the detailed description, with each claim itself serving as a separate embodiment of the present application.

[0180] Furthermore, those skilled in the art will appreciate that although some embodiments described herein include certain features included in other embodiments but not other features, combinations of features from different embodiments are intended to be within the scope of this application and to form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.

[0181] The above description is merely a preferred embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

[0182] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules based on needs, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0183] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0184] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel 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.

[0185] In the embodiments provided in this application, it should be understood that the disclosed devices / terminal equipment and methods can be implemented in other ways. For example, the device / terminal equipment embodiments described above are merely illustrative. For example, the division of the modules or units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0186] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected based on actual needs to achieve the purpose of this embodiment.

[0187] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0188] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the process in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and when the computer program is executed by the processor, it can implement the steps of the above-mentioned various method embodiments. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased based on the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, based on legislation and patent practice, computer-readable media does not include electric carrier signals and telecommunication signals.

[0189] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or collections thereof.

[0190] It will also be understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0191] As used in this specification and the appended claims, the term "if" can be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrases "if it is determined" or "if the described condition or event is detected" can be interpreted as meaning "upon determination" or "in response to determining" or "upon detection of the described condition or event" or "in response to detecting the described condition or event," depending on the context.

[0192] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0193] References to "one embodiment" or "some embodiments" in this specification mean that a particular feature, structure, or characteristic described in conjunction with that embodiment is included in one or more embodiments of the present application. Thus, phrases such as "in one embodiment," "in some embodiments," "in other embodiments," and "in other embodiments" appearing in various places in this specification do not necessarily refer to the same embodiment, but rather mean "one or more but not all embodiments," unless otherwise specifically emphasized. The terms "including," "comprising," "having," and variations thereof all mean "including but not limited to," unless otherwise specifically emphasized.

[0194] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A catheter robot, characterized in that: include: catheter; A first sensor, disposed on the catheter, for sensing the position of the distal end of the catheter; A second sensor is disposed on the patient's body surface and is used to obtain the patient's body surface data; and A control device, coupled to the first sensor and configured to: Acquire a first medical image of an anatomical structure of a patient in a first state and generate a first anatomical model based on the first medical image; Acquire a second medical image of the patient's anatomical structure in a second state and generate a second anatomical model based on the second medical image; Acquire body surface data sensed by the second sensor, and determine a breathing coefficient of a current state based on the body surface data; Based on the breathing coefficient and the first anatomical model, acquiring a third anatomical model associated with the breathing coefficient, or, based on the breathing coefficient and the second anatomical model, acquiring a third anatomical model associated with the breathing coefficient; Acquire a plurality of actual path points sensed by the first sensor in the anatomical structure, and acquire a simulated path point cloud based on the plurality of actual path points; Acquire a model point cloud, wherein the model point cloud includes a plurality of skeleton points of a pipeline centerline of the third anatomical model and / or a plurality of vertices of a pipeline wall; The simulation path point cloud is registered with the model point cloud.

2. The catheter robot according to claim 1, characterized in that: The first state includes an inhalation state, and the second state includes an exhalation state.

3. The catheter robot according to claim 1, characterized in that: The number of the second sensors is at least three, the body surface data includes body surface data sensed by the second sensors in at least one respiratory cycle, and the determining of the respiratory coefficient of the current state includes: Determine the area of ​​the figure enclosed by the second sensor according to the body surface data, the area includes a first area, a second area and a third area, the first area includes the area of ​​the figure enclosed by the second sensor in a first state, the second area includes the area of ​​the figure enclosed by the second sensor in a second state, and the third area is the area of ​​the figure enclosed by the second sensor in a current state; A breathing coefficient of a current state is determined according to the area.

4. The catheter robot according to claim 3, characterized in that: The first area includes a maximum area of ​​a figure enclosed by the second sensors in a first state, and the second area includes a minimum area of ​​a figure enclosed by the second sensors in a second state.

5. The catheter robot according to claim 1, characterized in that: The obtaining of the third anatomical model associated with the breathing coefficient comprises: Acquire a first geodesic distance of the first anatomical model and a second geodesic distance of the second anatomical model; determining a maximum shrinkage ratio of the first anatomical model or the second anatomical model according to the first geodesic distance and the second geodesic distance; Determining a scaling ratio of the first anatomical model or the second anatomical model according to the breathing coefficient and the maximum contraction ratio; scaling the first anatomical model or the second anatomical model based on the scaling ratio; The scaled first anatomical model or the second anatomical model is translated to obtain a third anatomical model associated with the breathing coefficient.

6. The catheter robot according to claim 5, characterized in that: The scaling of the first anatomical model or the second anatomical model comprises: Acquire a first centroid of the first anatomical model and a second centroid of the second anatomical model; The first anatomical model is scaled proportionally based on the scaling ratio with the first mass center as the center; or the second anatomical model is scaled proportionally based on the scaling ratio with the second mass center as the center.

7. The catheter robot according to claim 5, characterized in that: The step of translating the scaled first anatomical model or the second anatomical model comprises: Acquire a first centroid of the first anatomical model and a second centroid of the second anatomical model; determining a motion offset vector between the first anatomical model and the second anatomical model according to the first mass center and the second mass center; Determining a translation vector of the scaled first anatomical model or the second anatomical model according to the breathing coefficient and the motion offset vector; The scaled first anatomical model or the second anatomical model is translated according to the translation vector.

8. The catheter robot according to claim 1, characterized in that: The acquiring of a simulated path point cloud based on the multiple actual path points comprises: acquiring a plurality of actual path points of the catheter in the anatomical structure sensed by the first sensor; The simulated path points of the catheter corresponding to the actual path points in the first anatomical model or the second anatomical model are acquired according to the first transformation matrix, and a simulated path point cloud is acquired based on the plurality of simulated path points.

9. The catheter robot according to claim 8, characterized in that: The simulated path point cloud also includes a valid simulated path point cloud, and the registering the simulated path point cloud with the model point cloud includes: Registering the effective simulation path point cloud with the model point cloud; wherein obtaining the model point cloud comprises: Acquire a target path point cloud of a planned path, wherein the planned path is a navigation path of the catheter to reach a target tissue, and the target path point cloud includes a plurality of target path points; The simulated path point cloud is deduplicated based on the target path point cloud to obtain a valid simulated path point cloud.

10. The catheter robot according to claim 1, characterized in that: The registering the simulation path point cloud with the model point cloud comprises: Determining a second transformation matrix between the model point cloud and the simulation path point cloud; The simulation path point cloud and the model point cloud are registered according to the second transformation matrix so that the model point cloud and the simulation path point cloud overlap.

11. The catheter robot according to claim 10, characterized in that: The anatomical structure includes a bronchus, the bronchus includes a first region and a second region, the first region includes a main bronchus region, the second region includes a terminal branch bronchus region, and the registering the simulation path point cloud with the model point cloud includes: identifying a simulated path point cloud belonging to the first area in the simulated path point cloud; Deleting the simulated path point cloud belonging to the first area, and retaining the simulated path point cloud belonging to the second area; Acquire a model point cloud of the second region based on the third anatomical model; Acquire a second transformation matrix between the simulation path point cloud of the second area and the model point cloud of the second area; The simulated path point cloud of the second area is registered with the model point cloud of the second area according to the second transformation matrix, so that the model point cloud of the second area coincides with the simulated path point cloud of the second area.

12. The catheter robot according to claim 1, characterized in that: The control device is also configured to: A respiratory state of the patient is determined based on the respiratory coefficient, and movement of the catheter in the anatomical structure is enabled or disabled based on the respiratory state.

13. The catheter robot according to claim 12, characterized in that: Determining the patient's respiratory state based on the respiratory coefficient, and enabling or disabling movement of the catheter in the anatomical structure based on the respiratory state comprises: When the respiratory coefficient is a positive value, the respiratory state is determined to be an inhalation state, enabling the movement of the catheter in the anatomical structure; or, when the respiratory coefficient is a negative value, the respiratory state is determined to be an exhalation state, prohibiting the movement of the catheter in the anatomical structure.

14. The catheter robot according to claim 1, characterized in that: The control device is also configured to: A respiratory state of the patient is determined based on the respiratory coefficient, and a prompt is generated based on the respiratory state as to whether to allow movement of the catheter in the anatomical structure.

15. The catheter robot according to claim 14, characterized in that: The determining the patient's respiratory state based on the respiratory coefficient and generating a prompt of whether to allow the catheter to move in the anatomical structure based on the respiratory state comprises: When the respiratory coefficient is a positive value, the respiratory state is determined to be an inhalation state, and a prompt is generated to allow the movement of the catheter in the anatomical structure; or, when the respiratory coefficient is a negative value, the respiratory state is determined to be an exhalation state, and a prompt is generated to prohibit the movement of the catheter in the anatomical structure.

16. A catheter robot, characterized in that: include: catheter; A first sensor, disposed on the catheter, for sensing the position of the distal end of the catheter; A second sensor is disposed on the patient's body surface and is used to obtain the patient's body surface data; and A control device, coupled to the first sensor and configured to: Acquire a first medical image of an anatomical structure of a patient in a first state and generate a first anatomical model based on the first medical image; Acquire a second medical image of the patient's anatomical structure in a second state and generate a second anatomical model based on the second medical image; Acquire body surface data sensed by the second sensor, and determine a breathing coefficient of a current state based on the body surface data; Based on the breathing coefficient and the first anatomical model, a third anatomical model associated with the breathing coefficient is obtained; or, based on the breathing coefficient and the second anatomical model, a third anatomical model associated with the breathing coefficient is obtained.

17. A catheter robot registration method, characterized in that: include: Acquire a first medical image of an anatomical structure of a patient in a first state and generate a first anatomical model based on the first medical image; Acquire a second medical image of the patient's anatomical structure in a second state and generate a second anatomical model based on the second medical image; Acquire body surface data sensed by the second sensor, and determine a breathing coefficient of a current state based on the body surface data; Based on the breathing coefficient and the first anatomical model, acquiring a third anatomical model associated with the breathing coefficient, or, based on the breathing coefficient and the second anatomical model, acquiring a third anatomical model associated with the breathing coefficient; Acquire a plurality of actual path points sensed by the first sensor in the anatomical structure, and acquire a simulated path point cloud based on the plurality of actual path points; Acquire a model point cloud, wherein the model point cloud includes multiple points of the pipeline centerline of the third anatomical model. Skeleton points and / or multiple pipe wall vertices; The simulation path point cloud is registered with the model point cloud.

18. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and the computer program is configured to be loaded and executed by a processor to implement the steps of the method according to claim 17.

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