Interventional medical system and control method therefor

Abstract

Embodiments of the present application provide an interventional medical system and a control method therefor. The system comprises an interventional surgical robot and a processor. The interventional surgical robot comprises a mechanical arm and an end effector. The processor is configured to: acquire surgical plan information in an intervention mode, and on the basis of the surgical plan information, plan a moving path of the end effector in the intervention mode. The intervention mode is any one of an online mode and an offline mode, and the surgical plan information at least comprises a plurality of operation positions.

Description

Interventional medical system and control method thereof CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims priority to Chinese patent application No. 202410361767.0 filed on March 27, 2024 and Chinese patent application No. 202410361493.5 filed on March 27, 2024, the entire contents of which are fully incorporated herein by reference. Technical Field

[0002] This specification relates to the field of medicine, and in particular to an interventional medical system and a control method thereof. Background Art

[0003] Interventional procedures are a common technique in modern surgery, particularly in the field of minimally invasive surgery. For example, in interventional puncture procedures, guided by imaging or other methods, a needle is inserted into the target soft tissue lesion to perform procedures such as medication, biopsy, local anesthesia, radiation therapy, and ablation. Interventional procedures are widely used in the diagnosis and treatment of organs and tissues such as the prostate, lungs, liver, kidneys, and spine.

[0004] Traditional interventional surgery has disadvantages such as the need for multiple scan verifications, long operation time, high technical requirements for doctors, and poor repeatability. In addition, there are many problems such as direct exposure of doctors to radiation and limited operating space. Currently, the end effector carried by the interventional surgery robot can assist or replace the doctor in performing interventional surgery. However, interventional surgery usually requires performing interventional operations at multiple operating positions (also called intervention positions, i.e., needle tracks). The movement path planning of the end effector is relatively difficult, and medical devices (e.g., puncture needles) may be left on the patient's body after the operation.

[0005] Therefore, it is desirable to provide an interventional medical system and a control method thereof to improve the success rate of interventional surgery robot-assisted or performed interventional surgery. Summary of the Invention

[0006] One embodiment of this specification provides an interventional medical system. The system includes an interventional surgical robot and a processor, wherein the interventional surgical robot includes a robotic arm and an end effector. The processor is configured to obtain surgical planning information in an interventional mode. The interventional mode is either an online mode or an offline mode, and the surgical planning information includes at least a plurality of operating positions. The processor is further configured to plan a movement path of the end effector in the interventional mode based on the surgical planning information.

[0007] One embodiment of this specification provides a method for an interventional medical system. The interventional medical system includes an interventional surgical robot and a processor, wherein the interventional surgical robot includes a robotic arm and an end effector. The method includes obtaining surgical plan information in an interventional mode. The interventional mode is either an online mode or an offline mode, and the surgical plan information includes at least a plurality of operating positions. The method further includes planning a movement path of the end effector in the interventional mode based on the surgical plan information.

[0008] One embodiment of this specification provides a control method for an interventional medical system. The interventional medical system includes an interventional surgical robot and a processor, and the interventional surgical robot includes a robotic arm and an end effector. The method includes determining an interventional mode of the interventional medical system. The method also includes configuring the end effector based on the interventional mode. The method also includes determining surgical plan information for the interventional mode. The method further includes planning a movement path of the end effector in the interventional mode based on the surgical plan information.

[0009] One of the embodiments of this specification provides a path planning method for an interventional surgical robot. The interventional surgical robot includes a robotic arm and an end effector connected to the end of the robotic arm. The method includes obtaining multiple operating positions in surgical plan information. The method also includes determining multiple path planning sub-areas extending along a first straight line direction. The multiple path planning sub-areas fully cover the multiple operating positions, and each path planning sub-area covers at least part of the multiple operating positions. The method further includes planning the movement path of the end effector based on the path planning sub-areas.

[0010] One of the embodiments of this specification provides an interventional medical system, wherein a data connection exists between the interventional medical system and a medical imaging system. The medical imaging system includes a scanning device and a scanning bed. The interventional medical system includes an interventional surgical robot and a processor, and the interventional surgical robot includes a robotic arm and an end effector. The processor is configured to obtain first position information of the scanning device, second position information of the scanning bed, and surgical plan information. The surgical plan information includes multiple operating positions and multiple operating channels corresponding to the operating positions. The processor is also configured to plan the movement path of the end effector based on the first position information, the second position information, and the surgical plan information. The processor is further configured to determine target surgical plan information in response to successful planning of the movement path of the end effector.

[0011] One embodiment of the present specification provides an interventional medical system, wherein a data connection exists between the interventional medical system and a medical imaging system. The medical imaging system includes a scanning device and a scanning bed. The interventional medical system includes an interventional surgical robot and a processor, wherein the interventional surgical robot includes a robotic arm and an end effector. The processor is configured to obtain first position information of the scanning device, second position information of the scanning bed, and target surgical plan information to be performed. The target surgical plan information includes multiple target operation positions and multiple target operation channels corresponding to the multiple target operation positions. The processor is further configured to sequentially plan and execute an execution subpath between each group of adjacent target operation positions. At least a portion of each execution subpath is executed within the scanning cavity of the scanning device. The sequential planning and execution of the execution subpath between each group of adjacent target operation positions includes controlling the scanning device, the scanning bed, and the robotic arm to execute the subpath in a coordinated manner based on the inclination of the target operation channels corresponding to the target operation positions included in the execution subpath to be executed relative to a second direction.

[0012] One of the embodiments of this specification provides a computer-readable storage medium, which stores computer instructions. When a computer reads the computer instructions in the storage medium, the computer executes the method applied to the interventional medical system. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] This specification will be further described in the form of exemplary embodiments, which will be described in detail with reference to the accompanying drawings. These embodiments are not limiting, and in these embodiments, the same numbers represent the same structures, wherein:

[0014] FIG1 is a schematic diagram of an exemplary interventional medical system according to some embodiments of the present specification;

[0015] 2 and 3 are schematic diagrams of exemplary interventional medical systems according to some embodiments of the present specification;

[0016] FIG4 is a block diagram of an exemplary interventional medical system according to some embodiments of the present specification;

[0017] FIG5 is a flowchart of path planning for an interventional surgical robot in an exemplary interventional medical system according to some embodiments of this specification;

[0018] FIG6 is a flowchart of path planning for an interventional surgical robot in an exemplary interventional medical system according to some embodiments of the present specification;

[0019] 7A and 7B are schematic diagrams of exemplary sequencing of multiple operating positions according to some embodiments of this specification;

[0020] FIG8 is a schematic diagram of exemplary sequencing of multiple operating positions according to some embodiments of this specification;

[0021] FIG9 is a schematic diagram of an end effector of an exemplary interventional surgery robot corresponding to multiple operating positions in FIG8 according to some embodiments of the present specification;

[0022] FIG10A is a flowchart illustrating an exemplary method of sorting multiple operating positions according to some embodiments of the present specification;

[0023] FIG10B is a schematic diagram of an end effector of an exemplary interventional surgery robot corresponding to multiple operating positions in FIG10A according to some embodiments of the present specification;

[0024] FIG11 is a flowchart of performing sub-path planning in an exemplary interventional medical system according to some embodiments of the present specification;

[0025] FIG12 is a schematic diagram of overall path planning in an exemplary interventional medical system according to some embodiments of the present specification;

[0026] FIG13 is a schematic diagram of the end effector of an exemplary interventional surgery robot retracting according to some embodiments of the present specification;

[0027] FIG14 is a schematic diagram of a front view of an exemplary interventional surgical robot when an end effector is retracted according to some embodiments of the present specification;

[0028] FIG15 is a schematic diagram of the retraction direction of the end effector of an exemplary interventional surgical robot when the end effector retracts according to some embodiments of this specification;

[0029] FIG16 is a flowchart of performing sub-path planning in an exemplary interventional medical system according to some embodiments of the present specification;

[0030] FIG17 is a flowchart of overall path planning in an exemplary interventional medical system according to some embodiments of the present specification;

[0031] FIG18 is a diagram showing an overall workflow of an exemplary interventional medical system during an interventional procedure according to some embodiments of the present specification;

[0032] FIG19 is a schematic diagram of overall path planning in an exemplary interventional medical system according to some embodiments of the present specification;

[0033] FIG20 is a flowchart of performing path planning for an interventional surgical robot in an exemplary interventional medical system according to some embodiments of the present specification;

[0034] FIG21 is a flowchart of path planning for an interventional surgical robot in an exemplary interventional medical system according to some embodiments of the present specification;

[0035] FIG22A is a schematic diagram illustrating a collision between an exemplary robotic arm end model and a patient model, resulting in a failure in path planning according to some embodiments of the present specification;

[0036] FIG22B is a schematic diagram illustrating an exemplary adjustment of the needle path after the path planning of FIG22A fails according to some embodiments of the present specification;

[0037] FIG23A is a schematic diagram illustrating a collision between an exemplary robot end model and a scanning device model, resulting in a failure in path planning according to some embodiments of the present specification;

[0038] FIG23B is a schematic diagram illustrating an exemplary adjustment of the needle path after the path planning of FIG23A fails according to some embodiments of the present specification;

[0039] FIG24A is a schematic diagram illustrating a collision between an exemplary robot arm end model and a surgical instrument model, resulting in a failure in path planning according to some embodiments of the present specification;

[0040] FIG24B is a schematic diagram illustrating an exemplary adjustment of the needle path after the path planning of FIG24A fails according to some embodiments of the present specification;

[0041] FIG25 is a schematic diagram of an exemplary needle tract for puncturing the head and foot without tilting the CT gantry according to some embodiments of the present specification;

[0042] FIG26 is a schematic diagram of an exemplary CT gantry tilt angle calculation according to some embodiments of the present specification;

[0043] FIG27 is a schematic diagram of an exemplary calculation of the vertical movement amount of a CT bed according to some embodiments of this specification;

[0044] FIG28 is a schematic diagram of an exemplary calculation of the horizontal movement amount of a CT bed according to some embodiments of this specification;

[0045] FIG. 29 is a flowchart of an exemplary method for controlling an interventional medical system according to some embodiments of the present specification. DETAILED DESCRIPTION

[0046] To more clearly illustrate the technical solutions of the embodiments of this specification, the following briefly describes the drawings required for describing the embodiments. Obviously, the drawings described below are merely examples or embodiments of this specification. Those skilled in the art can apply this specification to other similar scenarios based on these drawings without inventive effort. Unless otherwise apparent from the context or otherwise noted, the same reference numerals in the figures represent the same structure or operation.

[0047] It should be understood that the terms "system," "device," "unit," and / or "module" used herein are a method for distinguishing different components, elements, parts, portions, or assemblies at different levels. However, if other terms can achieve the same purpose, the terms may be replaced by other expressions.

[0048] As used in this specification and claims, unless the context clearly indicates otherwise, the words "a," "an," "an," and / or "the" do not refer to the singular but also include the plural. Generally speaking, the terms "comprises" and "include" only indicate the inclusion of the steps and elements specifically identified, and these steps and elements do not constitute an exclusive list. A method or apparatus may also include other steps or elements.

[0049] Flowcharts are used throughout this specification to illustrate the operations performed by systems according to embodiments of this specification. It should be understood that preceding or following operations do not necessarily need to be performed in exact order. Instead, the steps may be processed in reverse order or simultaneously. Furthermore, other operations may be added to these processes, or one or more operations may be removed from these processes.

[0050] Interventional surgery involves the introduction of surgical instruments (e.g., puncture needles) into a patient's body for diagnosis and localized treatment. In some embodiments, interventional multi-needle puncture procedures are performed under the guidance of medical imaging within the scanning cavity (also known as the scanning bore) of a scanning device, such as a computed tomography (CT) scanner or a magnetic resonance imaging (MRI) device.

[0051] Interventional mode refers to the way interventional surgery is performed. Interventional mode includes online mode and offline mode. Online mode refers to interventional surgery that requires real-time guidance from medical imaging equipment, that is, during the interventional surgery, under the guidance of real-time scanning images from medical imaging equipment, the doctor actively controls the puncture or the puncture is controlled by a robotic arm. Offline mode refers to interventional surgery that does not require real-time guidance from medical imaging equipment, that is, during the interventional surgery, the doctor performs manual puncture with the assistance of an offline end effector, and medical imaging equipment is used for preoperative simulation, that is, surgical path planning. Taking CT equipment as an example, in online mode or offline mode, it is necessary to perform a preoperative simulation to determine the needle track position and plan the path of the surgical robot after a CT scan of the patient's position. In online mode, during the operation, the end effector of the robotic arm holds the puncture needle and moves it along the planned path to the interventional puncture position (needle insertion point). The CT is exposed in real time, and the doctor can see the entire needle insertion process outside the CT room through the real-time exposure of CT. The doctor actively controls the end effector at the end of the robotic arm (for example, an auxiliary locator, an end clamp, etc.) to make the puncture needle perform puncture, or the robotic arm automatically controls the end effector to make the puncture needle perform puncture. In offline mode, during the operation, the doctor controls the puncture needle according to the planned path with the help of the end effector at the end of the robotic arm. In online mode, the end effector at the end of the robotic arm is controlled to make the puncture needle perform puncture. That is to say, in both online and offline modes, the puncture needle and the end effector can move together between different puncture positions. Therefore, path planning for the surgical robot is essentially planning the movement path of the end effector of the robotic arm. However, since the effectiveness of preoperative simulation is difficult to guarantee, during actual surgery, the end of the robotic arm may easily collide with other objects, such as patients, existing puncture needles, scanning equipment, and other objects; and during real-time exposure, in some cases, the puncture needle's insertion trajectory cannot be seen. For example, when performing chest or abdominal puncture surgeries, the needle path is tilted to the head and foot, which makes the operation more difficult and affects the surgical effect.

[0052] An embodiment of the present application provides an interventional medical system, comprising an interventional surgical robot and a processor. The interventional surgical robot comprises a robotic arm and an end effector. The processor is configured to obtain surgical plan information in an interventional mode. The interventional mode is either an online mode or an offline mode, and the surgical plan information includes at least a plurality of operating positions. The processor is further configured to plan a movement path of the end effector in the interventional mode based on the surgical plan information.

[0053] It should be noted that the method for path planning for the end effector of an interventional surgical robot in the embodiments of this specification can be applied to both real-time interventional surgery (online mode) and offline interventional surgery (offline mode). By planning the path of the surgical robot based on multiple operating positions (puncture points) in the surgical plan information before the operation, it is possible to avoid collisions between the end effector and other objects during the operation, and to avoid collisions between multiple puncture needles, thereby improving the effect of interventional multi-needle puncture surgery.

[0054] FIG1 is a schematic diagram of an exemplary interventional medical system according to some embodiments of this specification. In some embodiments, the interventional medical system 100 (referred to as system 100 ) includes a medical imaging system 110 , an interventional surgical robot 120 , a processing device 130 , a terminal 140 , a storage device 150 , and a network 160 .

[0055] The medical imaging system 110 is a system capable of reproducing internal structures of the human body as images. In some embodiments, the medical imaging system 110 includes a scanning device and a scanning table. The scanning device is any medical imaging device capable of imaging or treating a designated body part of a target subject (e.g., a patient or phantom), such as a CT device, an MR device, a positron emission tomography (PET) device, a single-photon emission computed tomography (SPECT) device, or an ultrasound device. The scanning table can be used to position the patient. In some embodiments, the scanning device obtains medical images by scanning the patient, including medical radiographs and ultrasound scans. Medical radiographs include CT images, MR images, and PET images. This specification will hereinafter use a CT scanning device as an example. In some embodiments, the medical imaging system 110 exchanges data and / or information with other components of the system 100 (e.g., the interventional surgical robot 120, the processing device 130, the storage device 150, and the terminal 140) via the network 160. In some embodiments, the medical imaging system 110 is directly connected to other components in the system 100. In some embodiments, one or more components in the system 100 (eg, the processing device 130, the storage device 150) are included within the medical imaging system 110.

[0056] The interventional surgery robot 120 refers to a medical robot capable of performing surgical treatment on a patient. The interventional surgery robot 120 includes various types of surgical robots for performing interventional surgery, such as percutaneous puncture surgery robots, etc. In some embodiments, the interventional surgery robot 120 is used in medical fields that require complex operations, such as real-time interventional surgery (interventional surgery in online mode) and offline interventional surgery (interventional surgery in offline mode). In some embodiments, the interventional surgery robot 120 is provided with a camera to capture images of the robot and its environment, and send the images to the processing device 130 and / or the terminal 140. In some embodiments, the interventional surgery robot 120 includes a robotic arm, which is used to position the surgical instrument between the patient, and the robotic arm is connected to the surgical instrument through an end effector. The end effector is a device used to position the surgical instrument and / or connect the robotic arm to the surgical instrument, such as an end gripper, an end assistor, etc. In some embodiments, the end effector fixes the surgical instrument to the end of the robotic arm in the surgical robot system so that its position is fixed relative to the robotic arm. Surgical instruments are instruments used to perform surgery on patients and can include various types, such as puncture needles, scalpels, laser transmitters, etc. In some embodiments, because surgical instruments can be connected to an end effector, the end portion of the robotic arm, the end effector, and the surgical instrument connected to the robotic arm via the end effector are considered as a whole, collectively referred to as the robotic arm end. In some embodiments, when a surgical instrument is connected to the end effector, the movement path of the end effector can also represent the movement path of the surgical instrument.

[0057] The processing device 130 is capable of processing data and / or information obtained from other devices or system components. Based on this data, information, and / or processing results, the processing device 130 executes the surgical path planning methods described in some embodiments of this specification to perform one or more functions described in some embodiments of this specification. For example, the processing device 130 plans the movement path of the end effector based on surgical plan information and / or position information of the scanning device and the scanning bed in the medical imaging system 110 to determine the target surgical plan. In another example, if path planning fails, the processing device 130 prompts the user. For another example, during chest or abdominal puncture procedures, for a cranio-pedis-tilted needle path, the processing device 130 tilts the scanning device's gantry so that the user can see the needle's insertion trajectory during real-time exposure of the scanning device. In some embodiments, the processing device 130 sends the processed data, such as the target surgical plan and the ranking results of target operating positions, to the storage device 150 for storage. In some embodiments, the processing device 130 retrieves pre-stored data and / or information, such as surgical plan information, component location information, etc., from the storage device 150 to execute the path planning methods described in some embodiments of this specification. In some embodiments, the processing device 130 includes one or more sub-processing devices (e.g., a single-core processing device or a multi-core multi-core processing device). By way of example only, the processing device 130 includes a central processing unit (CPU), an application-specific integrated circuit (ASIC), an application-specific instruction set processor (ASIP), a graphics processing unit (GPU), a digital signal processor (DSP), a field-programmable gate array (FPGA), a reduced instruction set computer (RISC), a microprocessor, or any combination thereof.

[0058] Terminal 140 is capable of controlling surgical procedures. In some embodiments, a physician issues operational instructions to medical imaging system 110 via terminal 140, causing medical imaging system 110 to perform a designated operation, such as irradiating and imaging a designated part of a patient's body. A physician issues operational instructions to interventional surgical robot 120 via terminal 140, causing interventional surgical robot 120 to perform a designated operation, such as executing a targeted surgical plan and performing surgery on a patient. In some embodiments, terminal 140 issues instructions to processing device 130, causing the interventional surgical robot path planning method described in some embodiments of this specification to be executed. In some embodiments, terminal 140 includes a display component, through which processing device 130 displays prompt information to the user, such as information indicating failure and / or success of surgical path planning. In some embodiments, terminal 140 is one or any combination of devices with input and / or output capabilities, such as mobile device 140-1, tablet computer 140-2, laptop computer 140-3, and desktop computer 140-4.

[0059] Storage device 150 can store data or information generated by other devices. In some embodiments, storage device 150 stores data and / or information acquired by medical imaging system 110, such as scanned images of target objects such as phantoms and patients. In some embodiments, storage device 150 stores data and / or information processed by processing device 130, such as target surgical plans and parameters for scanning device gantry tilt. Storage device 150 includes one or more storage components, each of which can be a standalone device or part of another device. Storage device 150 can be local or cloud-based.

[0060] The network 160 can connect the various components of the system and / or connect the system to external resources. The network 160 enables communication between the various components and with other components outside the system, facilitating the exchange of data and / or information. In some embodiments, one or more components in the system 100 (e.g., the medical imaging system 110, the interventional surgical robot 120, the processing device 130, the storage device 150, the terminal 140) transmit data and / or information to other components via the network 160. In some embodiments, the network 160 is any one or more of a wired network and a wireless network.

[0061] In some embodiments, the interventional medical system comprises an interventional surgical robot 120 and a processing device 130, which is data-connected to the medical imaging system 110 via a network 160. During the interventional procedure, based on medical images and surgical planning information acquired by a scanning device in the medical imaging system 110, the processing device 130 executes the interventional surgical robot path planning method described in some embodiments of this specification to plan and execute the movement path of the end effector of the interventional surgical robot 120 in the interventional mode.

[0062] It should be noted that the above description is provided for illustrative purposes only and is not intended to limit the scope of this specification. For those skilled in the art, various changes and modifications can be made under the guidance of the contents of this specification. The features, structures, methods and other features of the exemplary embodiments described in this specification can be combined in various ways to obtain additional and / or alternative exemplary embodiments. For example, the processing device 130 can be based on a cloud computing platform, such as a public cloud, a private cloud, a community and a hybrid cloud. However, these changes and modifications do not deviate from the scope of this specification.

[0063] 2 and 3 are schematic diagrams of exemplary interventional medical systems according to some embodiments of the present specification.

[0064] As shown in Figures 2 and 3, in some embodiments, the medical imaging system 110 in Figure 1 includes a scanning device 111 and a scanning bed 112. For example only, in Figure 2, the scanning device 111 is a CT machine, and the scanning bed 112 is an operating table (an operating table corresponding to a CT machine may also be referred to as a CT bed). The CT machine performs scanning, imaging, and / or treatment on a patient placed on the operating table.

[0065] As shown in FIG2 , scanning device 111 includes a gantry (not shown in FIG2 ) and a scanning cavity 113 . The scanning cavity is located in the center of the gantry and is a hole-like structure formed by the inner side of the gantry. A scanning bed 112 is used to support a patient. When scanning a patient, the patient is placed on the scanning bed 112. The rotation of the gantry and the movement of the scanning bed 112 place the patient's scan area within the scanning cavity. In some embodiments, the scanning cavity comprises the cavity of a single medical imaging device or a cavity formed by a combination of multiple medical imaging devices.

[0066] As shown in Figures 2 and 3, the interventional surgery robot 120 includes a robotic arm 121, an end effector 122, and a robotic arm base 123. The robotic arm 121 is connected to the robotic arm base 123, and the end effector 122 is connected to the end of the robotic arm 121. The robotic arm base 123 can be a fixed base or a movable base (e.g., a trolley). In some embodiments, the robotic arm 121 includes at least two connecting rods that are movably connected in sequence. When the robotic arm 121 receives data or instructions from other devices or other components of the system 100, the joints connected to the connecting rods on the robotic arm 121 move to move the robotic arm 121 to the position indicated by the instructions, thereby moving the end effector 122 to the position indicated by the instructions. In some embodiments, the end of the robotic arm 121 is a connecting rod at the farthest end of the robotic arm 121 (the end closest to the patient), which is used to clamp the end effector 122. The end effector 122 is connected to the puncture needle, and the interventional surgery robot 120 performs interventional puncture surgery on the patient on the operating table using the puncture needle fixed to its end. In some embodiments, the interventional surgery robot 120 performs surgery on the patient based on the target surgery plan developed by the processing device 130, such as interventional multi-needle puncture surgery.

[0067] As shown in FIG3 , the end effector 122 is an auxiliary locator. An auxiliary locator coordinate system (i.e., the end effector coordinate system when the end effector is an auxiliary locator) is established with the origin of the end effector 122 (e.g., point O2 in FIG15 ). The position and posture of the end effector 122 are represented by the end effector coordinate system and the modeling parameters of the end effector 122. In some embodiments, the origin of the end effector 122 is the end position on the end effector 122. For more information about the end effector coordinate system, see the relevant description of FIG12 .

[0068] As an example only, as shown in FIG3 , the process of an interventional multi-needle puncture surgery is as follows: the patient lies on the scanning bed 112, and the scanning bed 112 carries the patient and moves into the scanning chamber of the scanning device 111, and a CT scan is performed on the surgical site of the patient on the scanning bed 112; after the scan, the user (e.g., a doctor) determines multiple puncture positions and needle tracks on the interface, and sorts these puncture positions and needle tracks; a needle track simulation verification is performed; after the needle track simulation verification passes, the scanning bed 112 moves to the planned position, and the frame of the scanning device 111 tilts to the planned angle corresponding to the position; the end effector 122 on the interventional surgical robot 120 clamps the puncture needle and moves to the corresponding puncture needle track position according to the planned path, and the CT real-time exposure guides the user to perform the interventional puncture surgery. In some embodiments, during the interventional surgery, the end effector 122 on the interventional surgical robot 120 moves to the first puncture position (i.e., the operating position) for auxiliary positioning, and the user can perform the interventional action (e.g., inserting the puncture needle from the patient's body surface to the lesion location in a preset posture through the guidance of the auxiliary positioner). After completing an interventional procedure, the end effector 122 will retract a certain distance and then move to the next puncture location until the interventional procedures at all puncture locations are completed. During the operation, the robotic arm 121 and end effector 122 of the interventional surgery robot 120 need to avoid the scanning device 111, the patient's body, and surgical instruments (e.g., puncture needles) on the patient's body.

[0069] FIG4 is a block diagram of an exemplary interventional medical system according to some embodiments of this specification. As shown in FIG4 , interventional medical system 400 (referred to as system 400 ) includes a plan acquisition module 410 and a path planning module 420 . In some embodiments, each module of system 400 is implemented by processing device 130 .

[0070] Plan acquisition module 410 is used to obtain surgical plan information in interventional mode. Interventional mode can be either online or offline. The surgical plan information includes at least multiple operating positions. For more information on how to obtain surgical plan information, see step S510.

[0071] The path planning module 420 is used to plan the movement path of the end effector (eg, the end effector 122 ) in the interventional mode based on the surgical plan information. For more information on how to plan the movement path of the end effector in the interventional mode, see step S520 .

[0072] In some embodiments, the system 400 further includes a path execution module 430. In response to a successful end effector path planning, the path execution module 430 sequentially plans and executes execution sub-paths between each set of adjacent target operating positions based on the planned end effector path in the intervention mode. For more information on how to plan and execute sub-paths, see step S550. In response to a failure in the end effector path planning, the path execution module 430 replans the end effector path. For more information on how to replan the end effector path, see step S540.

[0073] In some embodiments, the system 400 further includes a planning prompt module 440. In response to failure or success of the end effector's movement path planning, the planning prompt module 440 outputs a prompt message. For more information on how to output the prompt message, see step S530.

[0074] FIG5 is a flowchart illustrating path planning for an interventional surgical robot in an exemplary interventional medical system according to some embodiments of this specification. As shown in FIG5 , process 500 includes the following steps. In some embodiments, processing device 130 or various modules of system 400 plan and execute a movement path for an end effector (e.g., end effector 122) in an interventional medical system (e.g., system 100) in an interventional mode by executing at least some of the steps in process 200.

[0075] Step S510 , obtaining surgical plan information in the interventional mode. In some embodiments, step S510 is performed by the plan obtaining module 410 .

[0076] A surgical plan refers to a plan for an operation that requires path planning, wherein the operation may include various types of operations, such as vascular surgery, puncture surgery, etc. Surgical plan information refers to information that can represent the surgical plan, such as the type of operation, the time of the operation, the operator of the operation, the object of the operation, the site of the operation, the patient's medical condition information, the location of the lesion, etc. In some embodiments, the patient's medical condition information includes information such as the patient's name, gender, height, weight, medical history, and the location of the lesion to be treated in this interventional operation. Interventional mode refers to the way in which interventional surgery is performed. In some embodiments, the interventional mode includes any one of an online mode and an offline mode. It can be understood that the surgical plan and surgical plan information correspond to a specific interventional mode, that is, for the online mode and the offline mode, there are their respective corresponding surgical plans and surgical plan information, and these surgical plans and surgical plan information can be the same or different.

[0077] The operating position refers to the position on the body of the target object (i.e., the surgical object, for example, the patient) where the surgical operation is performed during the execution of the operation, such as the needle entry point in puncture surgery (the point where the surgical instrument contacts the patient's skin), etc. In some embodiments, the surgical plan information includes at least multiple operating positions. For example, multiple needle entry points. The operating channel refers to the surgical path of the surgical instrument corresponding to the operating position, for example, the needle track including the needle entry point and the target point in puncture surgery, etc. The needle track refers to the surgical instrument channel formed from the needle entry point of the surgical instrument to the lesion target that the surgical instrument needs to reach. In some embodiments, the number of operating channels can correspond to the number of operating positions, for example, one-to-one, many-to-one, etc. In some embodiments, in online mode, the surgical plan information also includes multiple operating channels corresponding to multiple operating positions. Unless otherwise specified, the operations in this specification refer to multi-needle puncture surgeries, and the operating positions refer to the needle entry points (puncture positions).

[0078] The end effector at the end of the robotic arm (e.g., end effector 122) needs to perform the corresponding surgery along the corresponding operating channels at multiple operating positions included in the surgical plan information. Therefore, it is necessary to determine the movement order of the end effector between these operating positions, that is, the movement path, so as to ensure the maximum movement space of the robotic arm. The movement path of the end effector determines the movement order of the surgical instruments connected to the end effector (e.g., the puncture order of the puncture needle). Since the end effector is driven by the movement of the robotic arm, in some embodiments, the movement path of the end effector is determined by the movement path of each joint angle of the robotic arm. In some embodiments, the processing device 130 obtains multiple operating positions in the surgical plan information.

[0079] In some embodiments, the surgical planning information also includes other information, such as three-dimensional information of the medical imaging device, the initial surgical position of the scanning device and the scanning bed at the beginning of the operation, and at least one of the positions that the scanning device and the scanning bed should reach during the operation.

[0080] The first position is the position of the scanning device (e.g., scanning device 111). The first position information refers to information indicating the first position of the scanning device, including various information such as the horizontal and vertical positions of the scanning device gantry and the tilt angle of the scanning device gantry. The second position refers to the position of the scanning bed. The second position information refers to information indicating the second position of the scanning bed, including various information such as the vertical position (bed height) and horizontal position of the scanning bed. In some embodiments, the first position includes the initial position and / or real-time position of the scanning device. In some embodiments, the second position includes the initial position and / or real-time position of the scanning bed. In some embodiments, the processing device 130 further obtains the first position of the scanning device and the second position of the scanning bed to determine the starting position of the scanning device and the scanning bed in the planned surgical path. For example, the processing device 130 may directly use the first position of the scanning device and the second position of the scanning bed as the starting position. In another example, the processing device 130 may add a preset offset to the first position of the scanning device and the second position of the scanning bed as the starting position.

[0081] In some embodiments, the surgical planning information includes an initial surgical position, i.e., the position of the scanning device, scanning table, etc., at the start of the surgery. The first position and the second position may be the same as or different from their respective initial surgical positions. In some embodiments, the first position and the second position include the initial surgical positions of the scanning device and scanning table in the surgical planning information, and the processing device 130 obtains the initial surgical positions of the scanning device and scanning table from the surgical planning information. In some embodiments, the first position and the second position are preset position information. For example, the scanning device and the scanning table are each pre-set to a fixed position as their respective initial surgical positions, and the processing device 130 obtains this preset position information by reading a configuration file, for example.

[0082] In some embodiments, the first position and the second position include the current positions of the scanning device and the scanning bed. The processing device 130 obtains the current positions of the scanning device and the scanning bed through various means, such as sensors on the scanning device and the scanning bed, images captured by an external camera, etc. In some embodiments, the processing device 130 obtains the current positions of the scanning device and the scanning bed at any time (e.g., during the entire procedure or a portion of the procedure) as the first position and the second position.

[0083] The three-dimensional information of a medical imaging device (e.g., medical imaging system 110) refers to the three-dimensional information of the device's external contours. In some embodiments, processing device 130 generates a three-dimensional model of the medical imaging device through photographing or three-dimensional scanning, and stores the three-dimensional information of the medical imaging device in a storage device (e.g., storage device 150). When performing path planning for an interventional surgical robot, the three-dimensional information of the medical imaging device can serve as obstacle avoidance information for the robot's robotic arm and end effector.

[0084] The processing device 130 obtains the intervention mode and surgical plan information in various ways, for example, from a storage device (eg, storage device 150 ), etc. This specification does not impose any limitation on this.

[0085] In some embodiments, in response to acquiring the intervention mode, the processing device 130 outputs first to-be-confirmed information, where the first to-be-confirmed information indicates whether the configuration of the end effector is completed.

[0086] In some embodiments, in response to obtaining an interventional mode, processing device 130 determines and outputs recommended configuration information for the end effector, where the recommended configuration information includes a recommended end effector and a recommended configuration method for the end effector. Specifically, processing device 130 obtains the patient's medical information (e.g., condition information, lesion location, etc.) and determines the recommended configuration information based on the medical information and the interventional mode.

[0087] Step S520 , planning a movement path of the end effector in the interventional mode based on the surgical plan information. In some embodiments, step S520 is performed by the path planning module 420 .

[0088] In either offline or online mode, the processing device 130 determines a plurality of path planning subregions extending along a first direction based on the plurality of operating positions in the acquired surgical plan information. The plurality of path planning subregions covers the plurality of operating positions, and each path planning subregion covers at least a portion of the plurality of operating positions. The processing device 130 determines a first ranking result for the plurality of operating positions based on the path planning subregions, and plans a movement path for the end effector based on the first ranking result. For details on how to determine the path planning subregions and plan the movement path of the end effector based on the path planning subregions, see the relevant content in FIG.

[0089] In some embodiments, in online mode, the surgical plan information also includes multiple operating channels corresponding to multiple operating positions. The processing device 130 obtains the first position information of the scanning device and the second position information of the scanning table, and plans the movement path of the end effector based on the first position information, the second position information, and the surgical plan information. For more information on how to plan the movement path of the end effector based on the first position information, the second position information, and the surgical plan information, see the relevant content of Figure 20.

[0090] A patient model is a model used to simulate the patient entity and its motion trajectory, and is implemented through various methods, such as a physical phantom or a computer-simulated patient body. In some embodiments, the patient model is determined based on the patient's positional information and appearance profile at different times. A scanning device model is a model used to simulate the scanning device entity and its motion trajectory, and is implemented through various methods, such as scanning device motion simulation or computer-simulated scanning device motion. In some embodiments, the scanning device model is determined based on the positional information and appearance profile of the scanning device as a whole or a portion thereof (e.g., the scanning cavity) at different times. A robotic arm end model is a model used to simulate the robotic arm end and the surgical instruments connected thereto, as well as the motion trajectories of these objects. It includes the robotic arm end portion, the end effector, and the surgical instruments. The surgical instruments are connected to the robotic arm via the end effector; therefore, the robotic arm end portion, the end effector, and the surgical instruments can be considered as a whole. A collision model is a model used to simulate whether multiple objects will collide during their relative motion. It can simulate various types of objects, such as the robotic arm, the end effector, the patient, the scanning device, and the surgical instruments connected to the robotic arm. In some embodiments, the collision model includes a patient model, a scanning device model, and a robotic arm end model.

[0091] In some embodiments, in the online mode, the processing device 130 determines the collision model based on the first position information and the second position information. For more information on how to determine the collision model based on the first position information and the second position information, see the relevant content of step S2020.

[0092] In some embodiments, the processing device 130 also plans the movement path of the end effector in interventional mode based on the collision model. During interventional multi-needle puncture procedures, puncture needles from previous punctures may remain on the patient's body surface. These needles need to be taken into account when planning the end effector's movement path to avoid collision and interference with these needles while the end effector moves along the planned movement path. Therefore, the models corresponding to these needles need to be added to the collision model at appropriate times. In some embodiments, in addition to the patient model, the scanning device model, and the robotic arm end model, the collision model also includes surgical instrument models for the surgical instruments inserted into the patient's body. The processing device 130 updates the collision model by adding surgical instrument models for certain operating positions to the collision model. For example, when planning a sub-path of a movement path, the processing device 130 updates the collision model by adding the surgical instrument model corresponding to the previous operating position in a group of adjacent operating positions to the collision model, and then plans the sub-path based on the updated collision model. For more information on how to plan a movement path based on the collision model, see the relevant content of steps S1120 and S2020.

[0093] Step S530 : In response to the end effector's movement path planning failure, output a prompt message. In some embodiments, step S530 is executed by the planning prompt module 440 .

[0094] When the movement path planning of the end effector fails, the processing device 130 outputs prompt information to the user (for example, a doctor, etc.) in various ways, wherein the prompt information is determined according to the cause of the planning failure, including at least one of the user's failure cause and solution suggestions.

[0095] When planning a movement path, some anomalies (e.g., collisions between the end effector and the patient, scanning equipment, surgical instruments, etc.) may occur, causing planning failure. If the end effector's movement path planning fails, the processing device 130 outputs a prompt message to the user (e.g., a doctor) in various ways. The prompt message is determined based on the cause of the planning failure and includes at least one of the reason for the failure and a solution suggestion. For more information about the prompt message, see step S2030.

[0096] In some embodiments, the processing device 130 executes step S530 to replan the movement path of the end effector based on prompt information, human experience, etc. For example, a user (e.g., a doctor) can manually or automatically drag the robotic arm to a safe position by the processing device 130, adjust the surgical plan information to obtain multiple new puncture locations, and re-plan the movement path of the end effector 122 based on the adjusted surgical plan information until all sub-path plans are successful.

[0097] Step S540 , replanning the movement path of the end effector. In some embodiments, step S540 is performed by the path planning module 420 .

[0098] Based on the prompt information in step S530, the processing device 130 replans the movement path of the end effector. Alternatively, if the end effector's movement path planning fails, the processing device 130 directly replans the movement path of the end effector. The path planning method is the same or similar to that of step S520 and will not be repeated here. In some embodiments, the processing device 130 adjusts the operation position and corresponding operation channel in the planned movement path based on the prompt information, or the user manually adjusts the operation position and corresponding operation channel in the planned movement path based on human experience.

[0099] The processing device 130 reacquires at least one of the second position information of the scanning bed and the surgical plan information in the same or similar manner as in step S510, wherein the reacquired surgical plan information includes at least one adjusted operating position and an adjusted operating channel corresponding to the adjusted operating position. The processing device 130 replans the movement path of the end effector based on the reacquired second position information and / or the reacquired surgical plan information. For example, in offline mode, the processing device 130 reacquires the surgical plan information and replans the movement path of the end effector based on the reacquired surgical plan information. For another example, in online mode, the processing device 130 reacquires the second position information and the surgical plan information of the scanning bed and replans the movement path of the end effector based on the reacquired second position information and the reacquired surgical plan information.

[0100] After the path is re-planned successfully, the processing device 130 continues to execute step S550; if the path is re-planned unsuccessfully, the processing device 130 returns to execute step S530 and re-plans the path again.

[0101] In step S550 , in response to the successful planning of the end effector's movement path, sequentially plan and execute each execution sub-path between a group of adjacent target operation positions. In some embodiments, step S550 is executed by the path execution module 430 .

[0102] When the movement path planning of the end effector is successful, the processing device 130 determines the target surgical plan information and the sorting results of the multiple target operation positions in the target surgical plan information, which is also called the second sorting result. After the planning is successful, the operation positions and corresponding operation channels in the surgical plan information are verified and can meet the requirements of normal surgery. The processing device 130 determines the surgical plan information after the planning is successful as the target surgical plan information. The second sorting result of the multiple target operation positions in the target surgical plan information is the sorting result of the multiple operation positions in the surgical plan information (i.e., the first sorting result). The sorting result of the target operation position determines the execution order of these target operation positions during the operation. In some embodiments, the target surgical plan information includes surgical plan information to be executed. For example, surgical plan information executed in the actual operation or surgical simulation stage.

[0103] The movement path also includes an execution path, which is composed of one or more execution sub-paths. In some embodiments, the execution path includes an execution sub-path between each set of adjacent operating positions in the second sorting result, where each execution sub-path includes one or more path segments. The complete movement path of the end effector may include multiple continuous execution sub-paths. Specifically, the processing device 130 can control the movement of the robotic arm end effector along the execution sub-path through instructions, etc.

[0104] After determining the target surgical plan information, in a preset environment, the processing device 130 sequentially plans and executes the execution subpaths between each group of adjacent target operation positions in the second sorting result based on the target surgical plan information. The preset environment includes at least one of the actual surgical stage, the surgical simulation stage, etc. For example, in an offline mode, the processing device 130 sequentially plans and executes the execution subpaths between each group of adjacent target operation positions in the second sorting result based on the target surgical plan information. For another example, in an online mode, the processing device 130 sequentially plans and executes the execution subpaths between each group of adjacent target operation positions in the second sorting result based on the first position information, the second position information, and the target surgical plan information. For more information on how to plan and execute the execution subpaths, see Figures 11, 16, step S1870, step S2070, and steps S2120-step S2160.

[0105] In some embodiments, the online mode includes at least one of a real-time control mode and a breakpoint control mode. In the online mode, the processing device 130 also plans an execution path based on an image acquired by a scanning device.

[0106] In some embodiments, the online mode includes a real-time control mode, where the execution path is also planned based on real-time images. Real-time images are acquired by a fully operational scanning device during the interventional procedure. For example, in real-time control mode, CT images provide real-time guidance throughout the entire puncture phase of the procedure.

[0107] In some embodiments, the online mode includes a breakpoint control mode, where the execution path is also planned based on breakpoint images. Breakpoint images are images acquired by intermittently activating the scanning device during the interventional procedure. For example, in breakpoint control mode, the entire puncture phase of the puncture procedure is a cycle of scanning and puncturing. That is, the CT machine does not scan while the puncture is in progress, and vice versa, the puncture is not performed while the CT machine is scanning.

[0108] In some embodiments, the online mode includes a real-time control mode and a breakpoint control mode, and the real-time control mode and the breakpoint control mode are switchable. For example, during a puncture procedure, in the breakpoint control mode, the doctor can switch the scanning and puncture cycle to real-time guidance of the scan during the puncture at any time, that is, switch to the real-time control mode.

[0109] In some embodiments, steps S510 - S540 are performed during a preoperative phase of surgery, and step S550 is performed during an intraoperative phase of surgery.

[0110] In some embodiments of this specification, by planning and executing the movement path of the interventional surgical robot's end effector based on surgical planning information under different interventional modes, the path can be planned in advance before the operation, improving the accuracy of path planning and avoiding collisions between the end effector and other objects (e.g., the patient, existing puncture needles, scanning equipment, etc.) during the operation. By providing prompts to the user when planning fails and providing solutions, the user can accurately and quickly determine the cause of the failure and make corresponding adjustments to the plan in a timely manner, ensuring the effectiveness of the planned path.

[0111] Figure 6 is a flowchart illustrating path planning for an interventional surgical robot in an exemplary interventional medical system, according to some embodiments of this specification. As shown in Figure 6 , process 600 includes the following steps. In some embodiments, processing device 130 or path planning module 420 executes process 600 to implement step S520, namely, planning the movement path of the end effector in the interventional mode of the interventional medical system based on surgical plan information. Process 600 is applicable to both offline and online modes.

[0112] Step S610: Determine a plurality of path planning sub-areas extending along a first direction.

[0113] Because a multi-needle puncture procedure involves multiple puncture locations (operation locations), these puncture locations are widely distributed, and each puncture location requires surgical instrument intervention. After the intervention is completed, the surgical instrument (e.g., the puncture needle) will remain on the patient's body surface. The surgical instrument after intervention will become an obstacle in the movement path of the end effector. Therefore, the processing device 130 can divide the multiple operation locations into multiple path planning sub-areas. The path planning sub-areas cover multiple operation locations, and each path planning sub-area covers at least part of the multiple operation locations.

[0114] In some embodiments, the processing device 130 establishes a CT bed coordinate system in the following manner: with a point on the CT bed as the origin, the short axis of the CT bed as the X-axis, with the positive X-axis pointing to the right; the direction perpendicular to the CT bed surface as the Y-axis, with the positive Y-axis pointing from the bottom surface of the CT bed to the top surface; and the long axis of the CT bed as the Z-axis, with the positive Z-axis pointing in the direction the CT bed enters the scanning cavity. In some embodiments, the processing device 130 establishes the CT bed coordinate system in the following manner: the CT bed is moved into the scanning cavity. When the bed code value displayed on the CT device operation interface becomes 0, the CT isocenter and the origin of the CT bed coordinate system coincide. The position of the CT isocenter relative to the CT bed at this time is the position of the origin of the CT bed coordinate system.

[0115] In some embodiments, the first direction is parallel to the short axis direction of the scanning bed (e.g., scanning bed 112). As an example only, Figures 7A, 7B, and 10A are schematic diagrams of exemplary sorting of multiple operating positions according to some embodiments of this specification. As shown in Figures 7A, 7B, and 10A, the first direction is parallel to the short axis direction of the scanning bed (the X-axis of the CT bed coordinate system), and the puncture area is divided into multiple strip-shaped path planning sub-areas, and the dots in the puncture area represent the puncture positions. The multiple path planning sub-areas are divided into multiple strip-shaped areas of equal width in the Z-axis direction of the CT bed coordinate system, and the width of each strip-shaped path planning sub-area can be configured as a. The multiple strip-shaped path planning sub-areas in Figures 7A, 7B, and 10A are referred to as multiple-row path planning sub-areas. The width w of the path planning sub-area can be manually set by the doctor based on the size of the surgical instrument, the shape of the end effector 122, and the density of the multiple puncture positions. In some embodiments, when the end effector 122 is I-shaped, it is more appropriate to define the first direction as the X-axis direction of the CT bed coordinate system. For more details, see the relevant content in step S620. In some embodiments, the multiple path planning sub-regions can also be divided into multiple strips of varying widths along the first direction, which is suitable for situations where the multiple operating positions are unevenly distributed. For example, an area with relatively dense needle entry points can be divided into strips of smaller widths, while an area with relatively sparse needle entry points can be divided into strips of larger widths.

[0116] In some embodiments, the first direction is parallel to the long axis of the scanning bed. As an example only, FIG8 is a schematic diagram of an exemplary sorting of multiple operating positions according to some embodiments of this specification. As shown in FIG8 , the first direction is parallel to the long axis of the scanning bed (the Z axis of the CT bed coordinate system), and the puncture area is divided into multiple strip-shaped path planning sub-areas, and the dots in the puncture area represent the puncture positions. The multiple path planning sub-areas are divided into multiple strip-shaped areas of the same width in the X-axis direction of the CT bed coordinate system. The width of each strip-shaped path planning sub-area can be configured as a, which is suitable for situations where multiple needle tracks are relatively evenly distributed. The multiple strip-shaped path planning sub-areas in FIG8 are called multi-column path planning sub-areas. In some embodiments, when the shape of the end effector 122 is L-shaped, it is more appropriate to set the first direction as the Z axis direction of the CT bed coordinate system. For specific reasons, please refer to the relevant content in step S620.

[0117] Step S620 : planning a moving path of the end effector based on the path planning sub-area.

[0118] The processing device 130 determines a first ranking result of the plurality of operation positions based on the path planning sub-areas.

[0119] In some embodiments, the processing device 130 sorts the multiple path planning sub-areas along a preset direction to obtain a first intermediate sorting result, wherein the preset direction is parallel to the horizontal plane and perpendicular to the first direction. In some embodiments, the processing device 130 sorts the operation positions covered by each path planning sub-area to obtain a second intermediate sorting result. The sorting of the multiple path planning sub-areas and the sorting of the operation positions in each path planning sub-area can be performed sequentially or simultaneously. In some embodiments, the processing device 130 obtains the first sorting result based on the first intermediate sorting result and the multiple second intermediate sorting results.

[0120] In some embodiments, the processing device 130 determines the ranking characteristic value of each path planning sub-area, and then sorts these areas along a preset direction based on the ranking characteristic values ​​of all path planning sub-areas. In some embodiments, the ranking characteristic value of a path planning sub-area includes the extreme value of the operation position characteristic value in the area, for example, the maximum or minimum value. In some embodiments, the ranking characteristic value of a path planning sub-area is other values ​​related to the operation position characteristic value in the area, for example, the average value of all characteristic values. In some embodiments, the processing device 130 determines the ranking characteristic value of a path planning sub-area in various ways. For example, the operation position characteristic value ranked first / last in the second intermediate sorting result of the path planning sub-area is used as the ranking characteristic value. For another example, the extreme value of the operation position characteristic value in the path planning sub-area is directly obtained as its ranking characteristic value.

[0121] In some embodiments, the preset direction is determined based on the position of the path planning sub-area relative to the robotic arm base. For example, as shown in FIG8 , if the first direction is parallel to the long axis of the scanning bed (i.e., the Z-axis direction of the CT bed coordinate system), and the path planning sub-area is on the left side of the robotic arm base, the preset direction can be the direction of the X-coordinate values ​​of the CT bed coordinate system from smallest to largest (the positive X-axis direction). For another example, if the first direction is parallel to the long axis of the scanning bed (i.e., the Z-axis direction of the CT bed coordinate system), and the path planning sub-area is on the right side of the robotic arm base, the preset direction can be the direction of the X-coordinate values ​​of the CT bed coordinate system from largest to smallest (the negative X-axis direction). For another example, as shown in FIG8 , if the first direction is parallel to the long axis of the scanning bed (i.e., the Z-axis direction of the CT bed coordinate system), the path planning sub-areas can be sorted from farther away from the robotic arm base 795 to closer to the robotic arm base 795, or from closer to the robotic arm base 795 to farther away from the robotic arm base 795.

[0122] In some embodiments, the preset direction is determined based on the position of the path planning sub-region relative to the scanning device. For example, as shown in Figures 7A and 7B, the first direction is parallel to the short axis of the scanning bed (i.e., the X-axis direction of the CT bed coordinate system). The path planning sub-regions can be sorted in the order from inside the scanning cavity aperture of the scanning device to outside the scanning cavity aperture along the Z-axis direction of the CT bed coordinate system. In other words, the preset direction can be the negative Z-axis direction of the CT bed coordinate system. For another example, the preset direction can be the positive Z-axis direction of the CT bed coordinate system. In other words, the path planning sub-regions can be sorted in the order from outside the scanning cavity aperture of the scanning device to inside the scanning cavity aperture along the Z-axis direction.

[0123] In some embodiments, the end effector may include an end clamp (e.g., a clamping claw), which is used to clamp the puncture needle, and the preset direction is determined based on the opening orientation of the end clamp. Specifically, the processing device 130 determines the opening orientation of the end clamp at multiple operating positions, and determines the preset direction based on the opening orientation. In some embodiments, the preset direction is the direction opposite to the opening orientation of the end clamp at most operating positions. For example, when the opening orientation of the end clamp at most needle entry points is toward the inside of the scanning cavity aperture of the scanning device, the preset direction is the direction away from the aperture (i.e., toward the outside of the aperture). For another example, when the opening orientation of the end clamp at most needle entry points is toward the outside of the scanning cavity aperture of the scanning device, the preset direction is the direction toward the aperture (i.e., toward the inside of the aperture).

[0124] The second intermediate sorting result is the sorting of all operating positions in a single area. In each of the multiple path planning sub-areas, the processing device 130 sorts the operating positions according to the preset sorting rules to obtain the second intermediate sorting result. There are many preset sorting rules. For example, the preset sorting rules include any one of sorting along a first direction, sorting based on the characteristic values ​​of the operating positions, sorting according to the shape of the end effector at the end of the robotic arm, etc. By sorting the operating positions covered by each path planning sub-area, it is possible to avoid collisions between surgical instruments that have punctured and remained on the patient's body surface and the end effector, thereby improving the rationality and accuracy of path planning.

[0125] In some embodiments, within each path planning sub-region, the processing device 130 sorts the operation positions covered by the path planning sub-region along a first direction to obtain a second intermediate sorting result. For example, as shown in Figures 7A and 7B, the first direction is parallel to the short axis of the scanning bed, i.e., the X-axis of the CT bed coordinate system. Within each path planning sub-region, the needle entry points are sorted in the direction of increasing X-coordinate values ​​(Figure 7A) or decreasing X-coordinate values ​​(Figure 7B).

[0126] In some embodiments, the processing device 130 performs sorting based on characteristic values ​​of the operating position, where the characteristic values ​​of the operating position may include various values ​​that can represent the operating position, such as the coordinate value of the operating position (for example, the coordinate value along the first direction or the second direction, etc.), a measurement value of the importance of the operating position, etc.

[0127] In some embodiments, the processing device 130 determines the preset sorting rule based on the shape of the end effector at the end of the robotic arm. For example, the processing device 130 determines the sorting rule based on the shape of the auxiliary positioner, the opening direction of the end gripper, etc.

[0128] In some embodiments, the end effector is an auxiliary positioner that can assist the puncture needle in puncture. The preset sorting rules are determined by the shape of the auxiliary positioner. For example only, FIG9 is a schematic diagram of an exemplary end effector of an interventional surgical robot corresponding to the multiple operating positions in FIG8 according to some embodiments of this specification. As shown in FIG9 , the end effector is L-shaped. When the end effector is L-shaped, as shown in FIG8 , in each path planning sub-region in the Z-axis direction of the CT bed coordinate system, the needle entry points are sorted from outside the scanning cavity aperture to inside the aperture (for example, when the positive Z-axis direction points inside the aperture, the puncture positions are sorted in ascending order based on their Z coordinate values). Simultaneously, for the sorting of multiple path planning sub-regions, the puncture positions in adjacent path planning sub-regions are sorted from farther away from the robot arm base 795 to closer to the robot arm base 795 (that is, the puncture positions are sorted in ascending order based on their X coordinate values). This sorting method is referred to as an N-shaped sorting method. As another example, FIG10B is a schematic diagram of an exemplary end effector of an interventional surgical robot corresponding to the multiple operating positions in FIG10A according to some embodiments of the present specification. As shown in FIG10B , the end effector is I-shaped. When the end effector is I-shaped, as shown in FIG10A , in each path planning sub-region in the X-axis direction of the CT bed coordinate system, the needle entry points are sorted from farther away from the robot arm base 795 to closer to the robot arm base 795 (for example, when the positive direction of the X-axis points toward the base, the needle entry points are sorted in ascending order based on their X coordinate values). Simultaneously, for sorting multiple path planning sub-regions, the needle entry points in adjacent path planning sub-regions are sorted from within the scanning device's scanning cavity aperture to outside the aperture (i.e., the needle entry points are sorted in descending order based on their Z coordinate values). This sorting method can be referred to as a quasi-Z-shaped sorting method.

[0129] In some embodiments, the end effector includes an end gripper (e.g., a gripper), and the preset sorting rule is determined based on the opening orientation of the end gripper. Specifically, the processing device 130 determines the opening orientation of the end gripper at multiple operating positions, and determines the sorting of the operating positions covered by each path planning sub-area based on the opening orientation. Taking the end gripper as an example, the processing device 130 first determines the opening orientation of the gripper at multiple needle entry points, and determines the sorting of the needle entry points covered by one or more path planning sub-areas based on the opening orientation. For example, the puncture area includes multiple needle entry points, each of which corresponds to a gripper opening orientation. Several needle entry points on each path planning sub-area correspond to several gripper opening orientations. If most of the gripper opening orientations in the puncture area are toward the inside of the scanning cavity aperture, the preset sorting rule is to sort in the order from inside the scanning cavity aperture to outside the scanning cavity aperture of the scanning device (for example, when the positive direction of the Z axis points into the scanning cavity aperture, the needle entry points are sorted in descending order based on their Z coordinate values). If most of the jaw openings in the puncture area are facing outside the scanning cavity aperture, the preset sorting rule is to sort in the order from outside the scanning cavity aperture of the scanning device to inside the scanning cavity aperture of the scanning device (for example, when the positive direction of the Z axis points to inside the scanning cavity aperture, sort in ascending order according to the Z coordinate value of the needle entry point).

[0130] In some embodiments, the opening orientation of the end gripper of the robotic arm is determined by the following method: based on the needle entry point and the target point, the position of the origin of the end effector coordinate system (for example, the coordinate system composed of X2, Y2, and Z2 in Figures 9 and 10B, established with the end point of the end effector away from the robotic arm 790 as the origin) and the orientation of the Z2 axis in the end effector coordinate system are determined. Any direction in a plane passing through the origin of the end effector coordinate system and perpendicular to its Z2 axis is taken as the orientation of its Y2 axis. The orientation of its X2 axis is determined based on the orientation of its Z2 and Y2 axes. The rationality of the end effector coordinate system (before the end effector is retracted) is verified using inverse kinematics. If it is not rational, the Z2 axis of the end effector coordinate system is rotated by the end of the robotic arm to continue to search for a new orientation of the end effector coordinate system. If it is rational, the position and posture of the end effector coordinate system are determined, and the X2 axis of the end effector coordinate system is the opening orientation of the end gripper assembly.

[0131] In some embodiments, processing device 130 may sort the operation positions based on the first intermediate sorting result and the plurality of second intermediate sorting results to obtain a sorting result of the plurality of operation positions, i.e., a first sorting result. For example only, processing device 130 may arrange the second intermediate sorting result for each path planning sub-region along a preset direction according to the sorting result of the path planning sub-region (the first intermediate sorting result) to obtain the first sorting result.

[0132] In some embodiments, the above sorting can use any sorting algorithm, for example, sorting by the coordinate value of the operation position along a certain direction. In some embodiments, the sorting method can also be user-selected, or can be sorted using a sorting algorithm combined with user-selected methods.

[0133] In some embodiments, the processing device 130 also uses a trained machine learning model for path planning, where the model can be trained using a large amount of historical path planning sample data.

[0134] In some embodiments, the path planning algorithm used in this specification can be the joint linear interpolation algorithm MoveJ, or an algorithm based on sampling search (for example, PRM algorithm, RRT algorithm, etc.), or an intelligent bionic path planning algorithm (for example, neural network algorithm, ant colony algorithm, genetic algorithm, etc.), or other path planning algorithms (for example, A* algorithm, Dijkstra algorithm, D algorithm, artificial potential field method, etc.), and this specification does not limit this.

[0135] As an example, when planning the puncture sequence for a puncture needle, since the entry points for all needle tracts are known, assuming the coordinates of the entry points are located in the CT bed coordinate system, the processing device 130 can select the entry point with the smallest / largest Z-axis coordinate value. Based on the X-axis / Z-axis coordinate values ​​of this point, the space is divided into multiple parallel regions in the X-axis / Z-axis directions. The spacing between these regions can be equal or unequal, and all the entry points are located in these regions. The following uses the division of regions in the Z-axis direction as an example to illustrate. For different entry points in the same region, the needle tracts corresponding to the entry points farther from the robotic arm are prioritized for planning. That is, within each region, all entry points are sorted from smallest to largest X-axis coordinate values. All regions are sorted based on the entry point with the smallest / largest Z-axis coordinate value in each region, prioritizing the planning of needle tracts corresponding to entry points in regions with smaller / larger Z-axis coordinate values. Specifically, the minimum / maximum Z-axis coordinate value of the entry points in each region can be used as the Z-axis coordinate value of that region, and each region is planned sequentially based on the region coordinate value sorting results (small to large or large to small).

[0136] The following uses Figures 7A and 7B as examples to illustrate how to sort needle tracks. In Figure 7A, the robotic arm 590, mounted on the robotic arm base, is positioned on the right side of the CT scanning cavity; in Figure 7B, the robotic arm 590 is positioned on the left side of the CT scanning cavity. In Figures 7A and 7B, the X-axis of the CT bed coordinate system represents the short axis of the CT bed, with the positive direction of the X-axis pointing to the right. The Z-axis represents the long axis of the CT bed, with the positive direction of the Z-axis pointing toward the direction of the CT bed entering the scanning cavity, i.e., the direction of the CT bed entering the aperture. 710, 720, 730, 740, 750, 750, 760, 770, and 780 are all needle entry points, i.e., multiple operation positions in the surgical plan information.

[0137] As shown in Figure 7A, assuming the line spacing is set to a when dividing the regions, the first step is to find the entry point 720 with the largest Z-axis coordinate value among all the entry points in the CT bed coordinate system. Then, a dividing plane of ±a / 2 is divided through point 720, with the distance between the two dividing planes being a. Path planning sub-regions are then divided into equidistant (line spacing a) sub-regions in the negative direction of the Z axis. Each entry point is divided into a specific path planning sub-region. Within the same path planning sub-region, entry points farthest from the robotic arm 790 are prioritized. That is, the entry points are planned in order of distance from the robotic arm 790, from farthest to closest. In the region between 710 and 720, 710 and 720 are planned in that order; in the region between 730-750, 730, 740, and 750 are planned in that order; and in the region between 760-580, 760, 770, and 780 are planned in that order. All path planning sub-areas are sorted by the entry point with the smallest / largest Z-axis coordinate value in each path planning sub-area. The path planning sub-areas with the entry point with the largest Z-axis coordinate value are prioritized. That is, from front to back, the following areas are planned: 710 and 720, 730-750, and 760-780. The final planned entry points are in the following order: 710, 720, 730, 740, 750, 750, 760, 770, and 780.

[0138] As shown in Figure 7B , the primary difference from Figure 7A is that robotic arm 790 is positioned to the left of the CT scanning chamber. Therefore, after being divided into the same path planning sub-areas as in Figure 7A , the ranking results for each area are also the same. However, when sorting the needle entry points within each path planning sub-area, the entry points are planned sequentially from farthest to closest distance from robotic arm 790. For example, in the area containing 710 and 720, 720 and 710 are planned sequentially; in the area containing 730-750, 750, 740, and 730 are planned sequentially; and in the area containing 760-780, 780, 770, and 760 are planned sequentially. Therefore, the final planned order of the needle entry points, from earliest to latest, is: 720, 710, 750, 740, 730, 750, 780, 770, and 760.

[0139] In some embodiments, when the scenario is real-time image-guided online puncture (online mode) or offline puncture (offline mode), the processing device 130 sorts the punctures in order from farthest to closest to the robotic arm to obtain a first sorting result, thereby increasing the plannable space. In some embodiments, when the scenario is offline puncture (offline mode), the processing device 130 sorts the punctures in order from closest to farthest from the robotic arm to obtain a first sorting result, thereby facilitating the doctor's operation.

[0140] Processing device 130 plans the movement path of the end effector based on the first sorting result. The order of the operating positions on the movement path corresponds to the order in which the operating positions are performed during surgery. By sorting the operating positions and planning the path based on the first sorting result, the success rate of path planning is improved.

[0141] The processing device 130 connects the various operating positions (eg, needle entry points, etc.) with line segments according to the first sorting result, thereby forming a planned movement path of the end effector.

[0142] In some embodiments, the planned movement path of the end effector includes one or more sub-paths between adjacent operating positions, wherein the path between every two adjacent operating positions can be regarded as a sub-path, and adjacent operating positions refer to two operating positions that are sequentially adjacent in the sorting results (e.g., the first sorting result, the second intermediate sorting result). For each group of adjacent operating positions, the processing device 130 plans an avoidance point based on the front operating position in the adjacent operating positions, and plans a displacement path segment based on the front operating position and the avoidance point. The displacement path segment is the path segment between the front operating position and the avoidance point. The processing device 130 also plans an avoidance path segment between the avoidance point and the rear operating position in the adjacent operating positions. The avoidance path segment and the displacement path segment constitute a sub-path. For more information on how to plan avoidance path segments and displacement path segments, see Figures 11 and 12.

[0143] In some embodiments, the movement path of the end effector includes a verification path, and the path that needs to be verified is the verification path. The verification path includes one or more verification sub-paths, and the verification sub-path consists of a verification shift path segment and a verification avoidance path segment. After determining the sorting results of multiple operating positions (for example, the first sorting result), the processing device 130 performs a simulation operation according to the movement path of the end effector obtained based on the sorting result planning, that is, verifies the planning of the overall movement path. This operation process is called path verification. For the planned movement path, it is necessary to ensure that the overall path can smoothly reach all operating positions in sequence. The overall movement path needs to pass all the path verifications at one time before it is allowed to enter the subsequent intraoperative stage (that is, formally enter the interventional surgery). Planning the verification path includes sequentially planning the verification sub-paths between each group of adjacent operating positions in the sorting results. The method of planning the verification sub-path is similar to the method of planning the sub-path, see Figures 11 and 12.

[0144] In some embodiments, in addition to verifying the planned end effector movement path, the processing device 130 may also perform other verifications related to the surgical operation, such as verifying at least one of whether the operating channel (e.g., the needle track, etc.) interferes with important tissue, whether the operating channel is drawn incorrectly, and whether the operating channel length meets the corresponding instrument requirements. In some embodiments, if at least one of these other verifications fails, the processing device 130 may also determine that the end effector movement path planning has failed. In some embodiments, if the planned end effector movement path verification succeeds and all other verifications are also successful, the processing device 130 may determine that the end effector movement path planning has succeeded.

[0145] In some embodiments, after the end effector's movement path is successfully planned, processing device 130 determines the target surgical plan information and a ranking result of the multiple target operation positions within the target surgical plan information, i.e., a second ranking result. For details on how to determine the second ranking result, see the relevant content of step S550. In some embodiments, determining the target surgical plan information is performed after the path verification has passed.

[0146] FIG11 is a flowchart illustrating sub-path planning in an exemplary interventional medical system according to some embodiments of this specification. As shown in FIG11 , process 1100 includes the following steps. In some embodiments, processing device 130 or path planning module 420 plans displacement and avoidance path segments within a sub-path of an end effector by executing at least a portion of process 1100. The method illustrated in process 1100 is applicable to at least one of verifying a sub-path and executing a sub-path plan.

[0147] Step S1110 : For each group of adjacent operating positions, an avoidance point is planned based on a preceding operating position among the adjacent operating positions, and a displacement path segment is planned based on the preceding operating position and the avoidance point.

[0148] Adjacent operation positions refer to the two consecutive operation positions in the sorted results of multiple operation positions (for example, the first sorted result and the second sorted result), with no other operation positions between them in the sorted results. A preceding operation position refers to the operation position that comes first in the sorted results among a group of adjacent operation positions. Correspondingly, a following operation position refers to the operation position that comes last in the sorted results among a group of adjacent operation positions.

[0149] In order to prevent uncontrollable interference and collision between the end effector and surgical instruments (e.g., puncture needles) left on the patient's body surface during interventional surgery, the processing device 130 moves from the front operating position to the rear operating position in adjacent operating positions at the beginning of the path to allow the end effector to retract horizontally for a distance. This operation is called end retraction, and the retraction path is the displacement path segment.

[0150] As an example only, Figure 13 is a schematic diagram illustrating the end effector retraction of an exemplary interventional surgical robot according to some embodiments of this specification. As shown in Figure 13, sub-figures (a) to (c) illustrate the end effector retraction process from a frontal perspective. Sub-figure (a) illustrates the state of end effector 1313 (e.g., an auxiliary positioner) when it reaches the target position. End effector 1313 is clamped to the end of robotic arm 1312. End effector 1313 is an auxiliary positioner with a positioning slot at its end, which is used to position the needle path during puncture with a surgical instrument (e.g., a puncture needle). Sub-figure (b) illustrates the state of end effector 1313 during end retraction. After the surgical instrument completes puncture, end effector 1313 is horizontally retracted a distance in the direction opposite to the opening of the positioning slot (i.e., the end retraction direction in sub-figure (b)) to avoid collision between end effector 1313 and the surgical instrument remaining on the patient's body surface. This retraction path is referred to as the displacement path segment. Sub-figure (c) is a state diagram after the end effector 1313 completes the end retraction and a puncture needle model (surgical mechanical model) is added to the front puncture position (front operating position).

[0151] In some embodiments, when the end effector moves in the displacement path segment, the posture of the end effector at the end of the robotic arm remains unchanged, and the position of the end effector moves horizontally for a distance. For example, as shown in Figure 13, end effector 1313 is an auxiliary locator. During the displacement path segment, end effector 1313 moves horizontally for a distance in the opposite direction of the projection of coordinate axis X2 of the end effector coordinate system (a coordinate system composed of X2, Y2, and Z2) in the horizontal plane (opposite to the opening of the positioning slot), and the posture remains unchanged during the movement.

[0152] In some embodiments, the processing device 130 determines an avoidance point on the path between the front operating position and the rear operating position, and the avoidance point is a retraction point set in the sub-path to avoid interference between the end effector (or its model) and the surgical instrument (or its model) remaining in the front operating position. The path between the front operating position and the avoidance point is the displacement path segment. As an example only, Figure 12 is a schematic diagram of overall path planning in an exemplary interventional medical system according to some embodiments of this specification. As shown in Figure 12, 1214 represents a surgical instrument remaining on the patient's body surface, the position of the end effector 1213 is a avoidance point, and the position of the end effector 1213-1 is the position after the end of the end effector 1213 is retracted. The path segments represented by arrows 3, 5, 7 and 9 in Figure 12 are all displacement path segments.

[0153] In some embodiments, the processing device 130 pre-sets the retraction distance of the end effector, and then obtains the conversion relationship between the end effector coordinate system and the robotic arm coordinate system after the retraction based on the retraction distance and the conversion relationship between the end effector coordinate system before the retraction (such as the coordinate system composed of X2, Y2 and Z2 in Figure 13) and the robotic arm coordinate system (such as the robotic arm coordinate system composed of X1, Y1 and Z1 in Figures 12 and 13), and then obtains the position of the verification avoidance point based on the conversion relationship, that is, the coordinates of the verification avoidance point in the robotic arm coordinate system.

[0154] In some embodiments, when planning the displacement path segment of the end effector using the joint linear interpolation algorithm, it is necessary to first determine the position of the avoidance point.

[0155] As an example only, FIG14 is a schematic diagram of the front view angle of the end effector of the exemplary interventional surgical robot shown in some embodiments of this specification when the end effector is retracted. FIG15 is a schematic diagram of the retraction direction of the end effector of the exemplary interventional surgical robot shown in some embodiments of this specification when the end effector is retracted. In conjunction with FIG14 and FIG15 , the retraction direction of the end effector (e.g., end effector 1513) is the opposite direction of the projection p direction of the X2 axis of the end effector coordinate system (the coordinate system composed of X2, Y2, and Z2 shown in FIG14 and FIG15 ) in the horizontal plane, and the end retraction distance (i.e., the distance of the displacement path segment) is defined as dis.

[0156] The calculation of the displacement path segment is described below using the end effector coordinate system composed of X2, Y2, and Z2 and the manipulator coordinate system composed of X1, Y1, and Z1 shown in Figures 14 and 15 as examples. In some embodiments, the calculation principle of the displacement path segment is as follows: Assume that before the end effector performs the avoidance, the transformation matrix of the end effector coordinate system relative to the manipulator coordinate system is as shown in the following formula (1): Among them, the transformation matrix T BaseToClutch It represents the homogeneous transformation matrix of the end effector coordinate system relative to the manipulator coordinate system before the end effector verifies the displacement path segment. In formula (1), a x 、a y 、a z They represent the projection components of the X2-axis unit vector of the end effector coordinate system on the X1, Y1, and Z1 axes of the robot base coordinate system; b x 、b y 、b z They represent the projection components of the Y2-axis unit vector of the end effector coordinate system on the X1, Y1, and Z1 axes of the robot base coordinate system respectively; c x 、c y 、c zThey represent the projection components of the Z2-axis unit vector of the end effector coordinate system on the X1, Y1, and Z1 axes of the robot base coordinate system respectively; and p x 、p y 、p z Represents the coordinate value of the origin O2 of the end effector coordinate system in the robot base coordinate system.

[0157] The horizontal plane is the plane formed by the X1 axis and Y1 axis of the robot coordinate system. The end effector avoids the distance Δ in the X1 axis direction. x and the avoidance distance Δ in the Y1 axis direction y As shown in the following formula (2) and formula (3): Where dis is the end retracement distance (i.e. the distance of the shift path segment).

[0158] Based on formulas (1) to (3), after the end effector is retracted, that is, after it moves along the displacement path segment, the transformation matrix of the end effector coordinate system (in Figure 15, the coordinate system composed of X'2, Y'2 and Z'2 represents the end effector coordinate system after the end is retracted) relative to the robot coordinate system is shown in the following formula (4): Among them, the transformation matrix T′BaseToClutch represents the homogeneous transformation matrix of the end effector coordinate system relative to the robot base coordinate system after the end effector retreats along the displacement path segment; a x 、a y 、a z 、b x 、b y 、b z 、c x 、c y 、c z 、p x 、p y 、p z The meaning is the same as in formula (1) to formula (3).

[0159] The processing device 130 calculates the inverse solution of T′BaseToClutch after the end effector has retracted, obtaining the target joint angle data for the end effector. The calculated target joint angle data represents the location of the avoidance point. The processing device 130 then performs path planning for the displacement path segment, starting from the previous operating position and targeting the avoidance point.

[0160] In some embodiments, the planning of the displacement path segment is verified using a joint linear interpolation algorithm (i.e., the MoveJ algorithm). This algorithm connects a straight line path from the starting point (i.e., the previous operating position) to the target point (i.e., the avoidance point). If there is no obstacle between the starting point and the target point, the displacement path segment planning is successful. If there is an obstacle between the starting point and the target point, the displacement path segment planning fails.

[0161] Step S1120 : planning an avoidance path segment between the avoidance point and a subsequent operating position in the adjacent operating positions.

[0162] After planning the avoidance point, the processing device 130 plans an avoidance path segment between the avoidance point and the subsequent operating position among the adjacent operating positions, wherein the shift path segment and the avoidance path segment constitute a subpath. For example, as shown in FIG12 , the avoidance path segment between the avoidance point and the subsequent puncture position among the adjacent puncture positions is a path segment composed of a first avoidance path segment (indicated by arrow 4), a second avoidance path segment (indicated by arrow 6), and a third avoidance path segment (indicated by arrow 8). The avoidance path segment and the shift path segment constitute a subpath, and thus, the subpath represents the movement path from the previous operating position to the subsequent operating position among the adjacent operating positions.

[0163] The processing device 130 may plan an avoidance path segment in a similar manner to planning an avoidance path segment. For example, the processing device 130 may also use a joint linear interpolation algorithm (i.e., the MoveJ algorithm) to plan an avoidance path segment. In this case, the algorithm may connect a straight line path from the starting point (i.e., the avoidance point) to the target point (i.e., the post-operation position). If there is no obstacle between the starting point and the target point, the avoidance path segment planning is successful. If there is an obstacle between the starting point and the target point, the avoidance path segment planning fails.

[0164] In some embodiments, after the end effector moves along the displacement path segment, the processing device 130 adds the surgical instrument model corresponding to the previous operating position to the collision model to update the collision model. The surgical instrument model is used to simulate the physical form and motion trajectory of surgical instruments (e.g., puncture needles) left on the patient's body during interventional surgery. Because these surgical instruments are fixed relative to the patient, their motion can be equated with that of the patient model.

[0165] In some embodiments, the processing device 130 plans an avoidance path segment between the avoidance point and a subsequent operating position in the adjacent operating positions based on the updated collision model, wherein the shift path segment and the avoidance path segment constitute a sub-path.

[0166] Taking planning a verification subpath as an example, for any verification subpath, the processing device 130 can verify through simulation whether the end effector in the updated collision model will collide with at least one of the following: the surgical instrument model, the patient model, the scanning device model, etc. If the simulation result shows that the end effector will collide with any one or more of these three objects, verification of this verification subpath fails, and the end effector's movement path planning is determined to have failed. If the simulation result shows that the end effector will not collide with any of these three objects, verification of this verification subpath succeeds, and verification of the next verification subpath is performed. Once all verification subpaths have been successfully verified, the entire end effector's movement path planning is successful.

[0167] In some embodiments of the present specification, the end effector is retracted so that the surgical instrument remaining on the patient's body and the clamping jaws of the end effector can be separated by a certain distance first, thereby avoiding interference and collision between the end effector and the surgical instrument remaining on the patient's body, avoiding safety risks, and at the same time, the surgical instrument model in the previous operating position can be added to the collision model at the avoidance point.

[0168] In some embodiments, the subpath includes an execution subpath, the avoidance point includes an execution avoidance point, the displacement path segment includes an execution displacement path segment, the avoidance path segment includes an execution avoidance path segment, and the execution subpath is composed of the execution displacement path segment and the execution avoidance path segment.

[0169] For each set of adjacent operating positions, the processing device 130 plans an execution avoidance point based on the front operating position among the adjacent operating positions, and plans an execution shift path segment based on the front operating position and the execution avoidance point. The processing device 130 executes the planned execution shift path segment to move the end effector to the execution avoidance point. The processing device 130 plans an execution avoidance path segment between the execution avoidance point and the rear operating position among the adjacent operating positions. The processing device 130 executes the planned execution avoidance path segment to move the end effector to the rear operating position among the adjacent operating positions. The method by which the processing device 130 plans the execution shift path segment, the execution avoidance point, and the execution avoidance path segment is similar to the corresponding method in planning the verification sub-path, and will not be repeated here.

[0170] In some embodiments, the processing device 130 adds the surgical instrument model corresponding to the preceding operating position among the adjacent operating positions to the collision model to update the collision model. Based on the updated collision model, the processing device 130 plans an avoidance path segment between the avoidance point and the following operating position among the adjacent operating positions. The operation method of this step is similar to the corresponding method for planning the verification sub-path and will not be repeated here.

[0171] In some embodiments, in online mode, the execution subpath is planned intraoperatively, i.e., the subpath is planned and executed based on real-time imaging. For more information on how to plan and execute the execution subpath in online mode, see steps S2070 and S2120-S2160.

[0172] FIG16 is a flowchart illustrating execution sub-path planning in an exemplary interventional medical system according to some embodiments of this specification. As shown in FIG16 , process 1600 includes the following steps. In some embodiments, after a sub-path planning failure occurs, the processing device 130 or the path execution module 430 replans the execution sub-path by executing at least a portion of process 1600.

[0173] Step S1610: Acquire a first calibration position of the end effector.

[0174] In some embodiments, when planning for a displacement path segment fails during sub-path planning, the processing device 130 obtains a first correction position of the end effector. The processing device 130 automatically or manually drags the end effector to a new, relatively safe position as the first correction position.

[0175] After acquiring the first corrected position of the end effector, the processing device 130 executes any one of steps S1620 - S1640 to plan and execute a displacement path segment.

[0176] Step S1620: Planning a displacement path segment based on the first corrected position and the avoidance point.

[0177] In some embodiments, after obtaining the first calibration position, the processing device 130 directly plans an execution displacement path segment based on the first calibration position and the planned execution avoidance point, so as to move the end effector from the first calibration position to the planned execution avoidance point along the execution displacement path segment. For example, the processing device 130 uses the first calibration position as the front operating position and plans the execution displacement path segment from the first calibration position to the planned execution avoidance point.

[0178] Step S1630: replanning an execution avoidance point based on the first corrected position, and planning an execution shift path segment based on the first corrected position and the replanned execution avoidance point.

[0179] In some embodiments, after obtaining the first calibration position, since the position of the end effector has now changed to the first calibration position, to avoid a collision, the processing device 130 replans an execution avoidance point and plans an execution displacement path segment based on the first calibration position and the replanned execution avoidance point, so as to move the end effector from the first calibration position to the replanned execution avoidance point along the execution displacement path segment. For example, the processing device 130 uses the first calibration position as the front operating position and plans an execution displacement path segment from the first calibration position to the replanned execution avoidance point.

[0180] Step S1640: Determine the first corrected position as the re-planned avoidance point.

[0181] In some embodiments, after obtaining the first calibration position, the processing device 130 determines whether a usable path can be directly planned from the first calibration position to the rear operating position without interfering with the medical device in the front operating position. If a usable path can be directly planned from the first calibration position to the rear operating position without interfering with the medical device in the front operating position, the processing device 130 determines the first calibration position as a re-planned execution avoidance point for subsequent path planning. In this case, it is not necessary to plan the execution displacement path segment.

[0182] Step S1650: Acquire the second calibration position of the end effector.

[0183] In some embodiments, during the sub-path planning process, if planning for an avoidance path segment fails, the processing device 130 obtains a second corrected position of the end effector. The processing device 130 automatically or manually drags the end effector to a new, relatively safe position as the second corrected position.

[0184] After acquiring the second corrected position of the end effector, the processing device 130 executes step S1660 to plan and execute an avoidance path segment.

[0185] Step S1660: planning and executing an avoidance path segment based on the second correction position and the subsequent operation position among the adjacent operation positions.

[0186] After acquiring the second corrected position of the end effector, the processing device 130 uses the second corrected position as a new avoidance point and uses the path segment from the second corrected position to the rear operating position as an avoidance path segment.

[0187] In actual operation scenarios, the failure to plan and execute the shift path segment and the failure to plan and execute the avoidance path segment can occur simultaneously, or one of them can occur alone. In some embodiments, when both occur at the same time, the processing device 130 first processes the failure to plan and execute the shift path segment by executing steps S1610-S1640, thereby planning the shift path segment. Then, the processing device 130 processes the failure to plan and execute the avoidance path segment, and plans the avoidance path segment by executing steps S1650-S1660. In some embodiments, for the case where one of them occurs alone, the processing device 130 executes steps S1610-S1640 or steps S1650-S1660.

[0188] FIG17 is a flowchart illustrating overall path planning in an exemplary interventional medical system according to some embodiments of this specification. As shown in FIG17 , process 1700 includes the following steps. In some embodiments, processing device 130 or path planning module 420 implements step S520 by executing at least part of process 1700 to plan the movement path of the end effector in the interventional mode based on the surgical plan information.

[0189] Step S1710, obtaining a safe location.

[0190] The safe position, also known as an external safety point, refers to a position where no interference occurs between any of the medical imaging device, scanning table, robotic arm, surgical instrument, and end effector. The safe position is a pre-designated point located outside the scanning chamber of the medical imaging device (e.g., scanning device 111). The safe position is determined based on the three-dimensional information of the medical imaging device. In some embodiments, the processing device 130 presets the safe position as the mounting point for the end effector. Mounting an end effector refers to the act of attaching and securing the end effector to the end effector via the end of the robotic arm. In some embodiments, in online mode, the processing device 130 presets the safe position as the mounting point for the surgical instrument. Mounting a surgical instrument refers to the act of attaching the end effector to the surgical instrument. In some embodiments, the safe position is set before each interventional procedure and remains fixed throughout the interventional procedure. In some embodiments, the safe position is a transitional position used to control the movement of the end effector from a distance from the operating position to a proximity position, referred to as the first transition point. In some embodiments, the safe position is a transitional position used to control the movement of the end effector from a proximity position to a distance from the operating position, referred to as the second transition point. In some embodiments, the safe position is the initial position of the robotic arm and end effector at the start of surgery. In some embodiments, the safe position is the initial position of the scanning table at the start of surgery. The safe position in different embodiments can be the same position or different positions.

[0191] In some embodiments, in online mode, during the interventional medical system preparation phase, the end effector is installed, followed by the surgical instrument. The processing device 130 controls the robotic arm to move to the operating position, i.e., the intervention point. For example, both the end effector and the surgical instrument can be installed in a safe position. In another example, the safe position can serve as a transition point, with at least one of the end effector and the surgical instrument installed in a position other than the safe position.

[0192] In some embodiments, in offline mode, the auxiliary positioner is first installed. The processing device 130 automatically controls, or the user manually controls, the robotic arm to move to the intervention point and install the surgical instrument. For example, the end effector may be installed in the safe position, and the surgical instrument may be installed after the robotic arm moves to the operating position. In another example, the safe position may serve as a transition point, with the end effector installed in a position other than the safe position, and the surgical instrument installed after the robotic arm moves to the operating position.

[0193] In some embodiments, the processing device 130 determines a safe position based on the end effector's posture information. In either offline or online mode, the safe position is the first transition point. The safe position in steps S1720 through S1730 is the first transition point. However, the external space of medical imaging equipment is large, and the range of safe positions available is wide. Determining a safe position based on the end effector's posture information can improve the ease of installation of the end effector and surgical instruments.

[0194] As an example, let's assume the end effector in the safe position is approximately 1500mm horizontally away from the outer wall of the medical imaging device. The safe position is relatively far from the medical imaging device. The vertical distance between the lowest point of the end effector in the safe position and the scanning bed exceeds 500mm, which is much greater than the thickness of a lying patient. Therefore, this safe position is sufficiently safe for the end effector, effectively preventing collisions with patients, medical imaging devices, and other environmental objects when the end effector is mounted on the robotic arm.

[0195] Step S1720 : Based on the initial position and the safety position of the end effector, a first movement subpath from the initial position to the safety position is planned.

[0196] Processing device 130 uses the initial location as the starting point and the safe location as the end point to plan a first movement sub-path from the initial location to the safe location. For example, the first movement sub-path may be the path segment indicated by arrow 1 in FIG. 12 or arrow 1 in FIG. 19 . Planning the first movement sub-path is similar to planning sub-paths and is not further described here.

[0197] In some embodiments, the processing device 130 plans a first movement subpath from the initial position of the end effector to the safe position based on the collision model. The method of planning the first movement subpath based on the collision model is similar to the method of planning the subpath, which will not be repeated here.

[0198] Step S1730 : Based on the safety position and any one of the multiple operating positions, a second movement sub-path between the safety position and any one of the multiple operating positions is planned.

[0199] The processing device 130 uses the safe location as a starting point and any one of the multiple operating locations as an end point to plan a second movement sub-path from the safe location to any one of the operating locations (e.g., the first operating location in the first or second sorting results). For example, the second movement sub-path may be the path segment indicated by arrow 2 in Figures 12 and 19. Planning the second movement sub-path is similar to planning the sub-path and is not further described here.

[0200] In some embodiments, the processing device 130 plans a second movement subpath between the initial safety position of the end effector and any operating position based on the collision model. The method of planning the second movement subpath based on the collision model is similar to the method of planning the subpath, and will not be repeated here.

[0201] By way of example only, FIG19 is a schematic diagram illustrating overall path planning in an exemplary interventional medical system according to some embodiments of this specification. As shown in FIG19 , 1920 is a safe position, 1922 is the initial position of the end effector, 1920 is a CT machine (medical imaging equipment), the path segment indicated by arrow 1 is the first movement subpath, the path segment indicated by arrow 2 is the second movement subpath, and 1, 2, 3, and 4 in the puncture area represent four puncture positions. Before the interventional procedure, the robotic arm can be located at the initial point 1922 (referred to as the Home point). During the interventional procedure, the robotic arm moves from the initial point 1922 to the OS point, i.e., the safe position 1921. At the safe position 1921, after the end effector is attached to the end of the robotic arm, the end effector moves along the second movement subpath to the first puncture position 1 in the puncture area. The surgeon then, guided by the end effector, performs the interventional procedure using the surgical instrument (e.g., a puncture needle) in the order of puncture positions 1, 2, 3, and 4. After the interventional procedure is completed, the processing device 130 continues to plan and execute the subsequent movement path of the end effector until the surgical instrument's interventional movements are completed at all puncture locations, and the robotic arm drives the end effector back to a safe position 1921. Finally, the robotic arm returns to the initial position 1922, and the procedure is completed.

[0202] As another example, Figure 13 shows a four-needle puncture scenario. Planning is performed from left to right based on the sorting results. The path segment indicated by arrow 1 is the first movement subpath, and the path segment indicated by arrow 2 is the second movement subpath. The robotic arm first moves along the first movement subpath from its initial position to a safe position. After installing the end effector at the safe position, the robotic arm moves along the second movement subpath to the first needle's puncture position. In online mode, after installing the end effector, surgical instruments can be installed at the safe position. In offline mode, after the robotic arm moves to the first needle's puncture position, surgical instruments are installed. After completing the first needle puncture, end effector 1213 retracts along the path indicated by arrow 3. The retracted end effector is end effector 1213-1. Next, the processing device 130 plans and executes the path to the second needle's puncture position (path indicated by arrow 4), and then uses this path to plan the paths for the next three puncture needles (paths indicated by arrows 5-8). After the last puncture needle is inserted, the end effector arm retracts along the path indicated by arrow 9. Finally, the end effector moves to its initial position along the path indicated by arrow 10. The entire movement path of the end effector consists of 10 paths indicated by arrows 1 to 10. All 10 paths must be planned successfully at one time before entering the intraoperative execution phase. If any path planning fails, the system will return to failure and prompt the user to adjust the needle path and continue to plan and verify the overall path until it succeeds.

[0203] In some embodiments of the present specification, by using a safe position on the overall moving path of the end effector to transition the overall path, part of the moving path (for example, from the initial position of the end effector to the first operating position, and from the last operating position to the initial position of the end effector) is ensured to be relatively fixed, and path planning is also made faster and more accurate.

[0204] Figure 18 is a flowchart illustrating the overall workflow of an exemplary interventional medical system during an interventional procedure, according to some embodiments of this specification. As shown in Figure 18 , process 1800 includes the following steps. In some embodiments, the processing device 130 or each module in the system 400 implements process 500 by executing at least part of process 1800 to plan the movement path of the end effector in the interventional mode. The method illustrated in process 1800 is applicable to both offline and online modes.

[0205] In step S1810 , the interventional procedure begins, and a medical imaging device (eg, scanning device 111 ) scans and images the patient.

[0206] Step S1820: Determine multiple operation positions based on medical images. Medical images include medical radiographic images, ultrasonic scanning images, etc. Medical radiographic images include CT images, MR images, PET images, etc.

[0207] Step S1830: Determine a plurality of path planning sub-areas extending along a first direction.

[0208] Step S1840: determining a first sorting result of the plurality of operation positions based on the path planning sub-area.

[0209] Step S1850 : planning a moving path of the end effector based on the first sorting result.

[0210] Step S1860: Verify the moving path plan. If the plan verification fails, the processing device 130 returns to step S1820 and continues until the plan verification succeeds, then executing step S1870.

[0211] Step S1870 , intraoperatively planning and executing the end effector execution sub-path to perform the surgical instrument intervention operation.

[0212] Step S1880: All operation positions have completed the surgical instrument intervention operation and the operation is ended.

[0213] For the specific operation methods in steps S1820-S1880, please refer to Figures 5, 6, 11, 16, 17, 20 and 21.

[0214] FIG20 is a flowchart of performing path planning for an interventional surgical robot in an exemplary interventional medical system according to some embodiments of this specification. As shown in FIG20 , process 2000 includes the following steps. In some embodiments, the modules in the processing device 130 or the system 400 implement at least part of process 500 by executing at least part of process 2000 to plan the movement path of the end effector in the interventional mode based on the surgical plan information. The method shown in process 2000 is applicable to the online mode. In the online mode, the surgical plan information also includes multiple operating channels corresponding to multiple operating positions, and there is a data connection between the interventional medical system and the medical imaging system, which includes a scanning device and a scanning bed. In some embodiments, at least part of process 2000 is applicable to the offline mode. For example, part or all of steps S2010 to S2060. For another example, the preoperative head-to-foot tilt operation of the gantry in step S2070.

[0215] Step S2010: Acquire first position information of the scanning device, second position information of the scanning bed, and surgical plan information. In some embodiments, step S2010 is performed by the plan acquisition module 410. Step S2010 refers to step S510.

[0216] Step S2020 , planning a movement path of the end effector based on the first position information, the second position information, and the surgical plan information. In some embodiments, step S2020 is performed by the path planning module 420 .

[0217] The processing device 130 sorts the multiple operation positions in the surgical plan information, obtains a first sorting result, and plans the movement path of the end effector based on the first sorting result. For details on how to plan the movement path of the end effector based on the first sorting result, see the relevant content of Figure 6.

[0218] In some embodiments, processing device 130 determines the collision model based on the first position information and the second position information. Specifically, because the patient is placed on a scanning table and is fixed relative to the table, processing device 130 determines the relative position of the scanning table and the table at any moment based on their real-time positions. This means that the relative position of the scanning table and the patient at any moment is also determined. Therefore, when a patient model is used to represent the patient and a scanning device model is used to represent the scanning device, processing device 130 determines the collision model based on the relative position of the scanning device and the patient at any moment.

[0219] In some embodiments, based on the inclination of one or more operating channels (for example, the needle track of the puncture in an interventional puncture surgery) relative to a second direction, the processing device 130 determines the rotation information of the scanning device in the second direction, wherein the second direction is parallel to the long axis direction of the scanning bed. Since the head-to-foot direction of the patient on the scanning bed is parallel to the long axis direction of the scanning bed, the rotation of the scanning device in the second direction is equivalent to the tilting of the collimation center line of the scanning device in the head-to-foot direction, thereby facilitating the observation of the needle track tilted in the head-to-foot direction. In this specification, the head-to-foot tilt refers to the tilt relative to the head-to-foot direction of the patient. The processing device 130 obtains the inclination angle of one or more operating channels relative to the long axis direction of the scanning bed, which can be referred to as the inclination angle of the needle track in the head-to-foot direction in the puncture surgery. Based on the inclination angle of the needle track in the head-to-foot direction, the processing device 130 determines the rotation angle of the scanning device in the second direction, that is, the angle between the collimation center line of the scanning device and the long axis direction of the scanning bed, wherein the angle is referred to as the tilt angle of the scanning device. The scanning device tilt angle and the needle track cranio-foot tilt angle can be equal, or the difference between the two can meet a preset condition, where the preset condition is that the operating channel is within the scanning range of the scanning device. When the scanning device is a CT scanner, the rotation of the scanning device is equivalent to the rotation of the CT gantry. Therefore, the scanning device tilt angle in this case is called the CT gantry tilt angle.

[0220] In some embodiments, the scanning bed moves (e.g., along the second and / or third directions), and the processing device 130 determines the movement information of the scanning bed based on the rotation information of the scanning device in the second direction. For details on how to determine the movement information of the scanning bed, see the description of step S2150.

[0221] In some embodiments, when planning a path between an operating position and an adjacent operating position for one or more operating channels, the processing device 130 determines a scanning device model based on the first position information and the rotation information, and determines a patient model based on the second position information and the movement information. Because the position of the scanning device changes after the scanning device rotates in the second direction, the processing device 130 determines the scanning device model after the rotation in the second direction based on the scanning device's original position information (i.e., the first position information) and the position change information (i.e., the rotation information). Because the patient's position changes after the scanning bed moves, the processing device 130 determines the patient model after the movement based on the scanning bed's original position information (i.e., the second position information) and the position change information (i.e., the movement information).

[0222] In some embodiments of the present specification, by tilting the frame of the scanning equipment (e.g., a CT machine, etc.) toward the head and foot sides, it is easier to observe the entire needle track during surgery, especially the needle track tilted toward the head and foot sides, thereby reducing the difficulty of the surgery and shortening the surgery time.

[0223] In some embodiments, the processing device 130 plans the movement path of the end effector based on the collision model and the first sorting result. Specifically, the processing device 130 plans an initial movement path of the end effector based on the first sorting result and then verifies the movement path through simulation based on the collision model. If, during the verification process, the end effector collides with another object (e.g., at least one of the scanning device, the patient, and the surgical instrument), the verification fails and the path planning fails; otherwise, the verification succeeds and the path planning succeeds.

[0224] In some embodiments of the present specification, the movement path of the terminal path is planned based on the collision model and the sorting results of all operation positions (for example, needle entry points, etc.), so that the path planning is more practical, the planned path is more reasonable, and the risk of path adjustment during surgery is avoided.

[0225] After the scanning bed moves, each operating position changes relative to the position before the scanning bed moves. In some embodiments, the processing device 130 updates one or more operating positions based on the movement information of the scanning bed, and then plans the movement path of the end effector based on the updated one or more operating positions.

[0226] In some embodiments, after planning the end effector's movement path based on the first sorting results, the processing device 130 performs a path verification on the movement path. This involves simulating the movement path of the end effector based on the collision model and the planned movement path. The collision model is then used to determine whether the end effector can reach the operation positions in the order of the first sorting results. If the path verification succeeds, the movement path planning is determined to be successful; if the path verification fails, the movement path planning is determined to be unsuccessful. The entire movement path must pass all verifications at once before proceeding to the subsequent intraoperative phase.

[0227] In some embodiments, the movement path may include a check path, which may include one or more check sub-paths. Processing device 130 sequentially plans a check sub-path between each set of adjacent operating positions in the first sorting result. For details on how to plan the check sub-paths, see FIG. 11 .

[0228] When the planned movement path of the end effector is successfully verified, the processing device 130 determines that the movement path planning of the end effector is successful; when the planned movement path of the end effector is failed to be verified, the processing device 130 determines that the movement path planning of the end effector is failed.

[0229] In some embodiments, in addition to verifying the planned end effector movement path, the processing device 130 may also perform other verifications related to the surgical procedure, such as verifying at least one of whether the operating channel (e.g., the needle track, etc.) interferes with vital tissue, whether the operating channel is drawn incorrectly, and whether the operating channel length meets the requirements of the corresponding instrument. If at least one of these other verifications fails, the processing device 130 also determines that the end effector movement path planning has failed. If the planned end effector movement path verification succeeds and all other verifications are also successful, the processing device 130 determines that the end effector movement path planning has succeeded.

[0230] In some embodiments, after the movement path planning of the end effector fails, the processing device 130 executes steps S2030-S2050 to issue a prompt to the user and re-plan the movement path; after the movement path planning of the end effector is successful, the processing device 130 executes steps S2060-S2070 to perform surgery according to the planned movement path.

[0231] Step S2030 : In response to the end effector's movement path planning failure, output a prompt message. In some embodiments, step S2030 is performed by the planning prompt module 440 .

[0232] When the end effector's movement path planning fails, the processing device 130 outputs a prompt message to the user (e.g., a doctor) in various ways. The prompt message is determined based on the cause of the planning failure. The cause of the planning failure includes at least one of the following: collision between the end effector and the patient model, collision between the end effector and the scanning device model, collision between the end effector and the instrument model, etc.

[0233] In some embodiments, the processing device 130 adjusts the operating position and the corresponding operating channel based on the prompt information, and uses the adjusted operating position and corresponding operating channel information to update the surgical plan information, so that subsequent re-path planning after the adjustment can be successful. Adjustments can be made in various ways, such as based on adjustment suggestions, based on experience, etc.

[0234] As an example only, as shown in Table 1 below, the prompt information includes the reason for the path planning failure and adjustment suggestions (for example, adjustment suggestions for the needle track, etc.), and the processing device 130 makes adjustments based on at least one of the reason and the adjustment suggestion.

[0235] In some embodiments, in response to a collision between the robotic arm end model and the patient model, resulting in a path planning failure, the processing device 130 outputs a first prompt message. The first prompt message at least instructs the user to adjust one or more operating positions in the surgical plan information. As an example only, FIG22A is a schematic diagram illustrating an exemplary collision between the robotic arm end model and the patient model, resulting in path planning failure, according to some embodiments of this specification. As shown in FIG22A , when the planned end effector movement path is verified using the collision model, a collision is detected between the robotic arm end 2220 (i.e., the end effector) and the phantom 2230 (i.e., the patient model) at the needle entry point 2210 in the robotic arm end model, resulting in verification failure. In this case, the processing device 130 displays a first prompt message to the user. For example, the prompt message corresponding to sequence number 1 in Table 1 below includes the reason for the failure and adjustment suggestions. In some embodiments, the processing device 130 adjusts the needle entry point (i.e., the operating position) and / or the corresponding needle track (i.e., the operating channel) at the point where verification failed, based on the suggestions in the first prompt message. For example, the needle track can be tilted toward the head and foot side according to suggestion ② of the prompt information corresponding to serial number 1 in Table 1. In some embodiments, the processing device 130 changes the relative position between the end of the robotic arm and the patient by adjusting at least one of the robotic arm and the scanning bed, thereby adjusting the operating position and / or the corresponding operating channel. As an example only, Figure 22B is a schematic diagram of adjusting the needle track after the path planning of Figure 22A fails according to some embodiments of this specification. As shown in Figure 22B, the processing device 130 adjusts the needle entry point 2010 through the movement of the robotic arm according to the prompt information corresponding to serial number 1 in the table, forming a needle track tilted toward the head and foot side, so that at the adjusted needle entry point 2010, the end of the robotic arm 2020 and the phantom 2030 no longer collide.

[0236] In some embodiments, in response to a collision between the robotic arm end model and the scanning device model, resulting in a path planning failure, the processing device 130 outputs a second prompt message. The second prompt message instructs the user to adjust one or more operating positions in the surgical plan information or adjust the position of the scanning table. As an example only, FIG23A is a schematic diagram illustrating an exemplary collision between the robotic arm end model and the scanning device model, resulting in a path planning failure, according to some embodiments of this specification. As shown in FIG23A , when the planned end effector movement path is verified using the collision model, it is detected that at the needle entry point 2310, the robotic arm end 2320 (i.e., the end effector) in the robotic arm end model collides with the inner wall of the scanning cavity of the CT machine 2330 (i.e., the scanning device model), resulting in verification failure. At this point, the processing device 130 displays a second prompt message to the user. For example, the prompt message corresponding to sequence number 2 in Table 1 below includes the reason for the failure and adjustment suggestions. In some embodiments, the processing device 130 adjusts the needle entry point (i.e., the operating position) and / or the corresponding needle track (i.e., the operating channel) at the verification failure point based on the suggestions in the second prompt message. For example, according to the suggestion ① of the prompt information corresponding to sequence number 2 in Table 1, the needle entry point 1210 can be adjusted to a position closer to the middle of the patient's body. In some embodiments, the processing device 130 adjusts the operating position or adjusts the position of the scanning bed by adjusting at least one of the robotic arm and the scanning bed, thereby changing the relative position between the end of the robotic arm and the patient. As an example only, Figure 23B is a schematic diagram of adjusting the needle track after the path planning of Figure 23A fails according to some embodiments of this specification. As shown in Figure 23B, the processing device 130 moves the end of the robotic arm 2320 a distance toward the middle of the patient's body according to the prompt information corresponding to sequence number 2 in the table, so that at the adjusted needle entry point 2310, the end of the robotic arm 2320 and the CT machine 2330 no longer collide.

[0237] In some embodiments, in response to a collision between the robotic arm end model and the surgical instrument model, resulting in a path planning failure, a third prompt message is output. The third prompt message at least instructs the user to adjust one or more operating positions in the surgical plan information along the longitudinal axis of the scanning table. As an example only, FIG24A is a schematic diagram illustrating an exemplary collision between the robotic arm end model and the surgical instrument model, resulting in path planning failure, according to some embodiments of this specification. As shown in FIG24A , when the planned end effector movement path is verified using the collision model, a collision is detected between the robotic arm end 2420 (i.e., the end effector) and the puncture needle 2430 (i.e., the surgical instrument model) in the robotic arm end model at the needle entry point 2410, resulting in verification failure. At this point, the processing device 130 displays a third prompt message to the user. For example, the prompt message corresponding to sequence number 3 in Table 1 below includes the reason for the failure and adjustment suggestions. In some embodiments, the processing device 130 adjusts the needle entry point (i.e., the operating position) and / or the corresponding needle track (i.e., the operating channel) at the point where verification failed, based on the suggestions in the third prompt message. For example, since the needle track corresponding to the post-operation position (needle entry point 1410) (i.e., needle track X in the prompt information in Table 1 below) and the needle track of the puncture needle 1430 (i.e., needle track A in the prompt information in Table 1 below, the operation order of needle track A is before needle track X) are in different scanning layers, the spacing between the operation positions (needle entry points) of the two needle tracks is increased according to suggestion ② of the prompt information corresponding to sequence number 3 in Table 1. In some embodiments, the processing device 130 changes the relative position between the end of the robotic arm and the surgical instrument on the patient's surface by adjusting at least one of the robotic arm and the scanning bed, thereby adjusting the operation position and / or the corresponding operation channel at least along the long axis direction of the scanning bed. For example, Figure 24B is a schematic diagram of adjusting the needle track after the path planning of Figure 24A fails according to some embodiments of this specification. As shown in FIG24B , the processing device 130 adjusts the needle track (needle track X in the prompt information of Table 1 below) corresponding to the needle entry point 2410 along the long axis direction of the scanning bed through the movement of the robotic arm according to the prompt information corresponding to serial number 3 in the table, that is, increases the left and right side inclination angles of the needle track so that the inclination angles are greater than the left and right side inclination angles of the needle track of the puncture needle 2430, so that at the adjusted needle entry point 2410, the robotic arm end 2420 and the puncture needle 2430 will no longer collide.

[0238] In some embodiments, the reasons for planning failure may include other reasons, such as interference between the operating channel and important tissues, errors in drawing the operating channel, and the operating channel length not meeting the requirements of the corresponding instrument. The processing device 130 makes corresponding adjustments based on the prompt information corresponding to these reasons.

[0239] The output mode of the prompt information may include multiple ways, for example, one of text, sound, image, video, animation, etc. or any combination thereof. In some embodiments, the processing device 130 displays the text prompt information to the user through a display device (for example, a display component of the terminal 140). For example, as shown in Table 1: Table 1 Sequence number 1 corresponds to the collision between the robot end model and the patient model, sequence number 2 corresponds to the collision between the robot end model and the scanning device model, and sequence number 3 corresponds to the collision between the robot end model and the surgical instrument model. Needle track A is operated before needle track X.

[0240] In some embodiments of this specification, by outputting a prompt message after path planning fails, it is convenient for the user to find the cause of the failure and to select an adjustment strategy more effectively.

[0241] Step S2040 , reacquire the second position information of the scanning bed and / or the surgical plan information. In some embodiments, step S2040 is performed by the plan acquisition module 410 .

[0242] After adjusting the operating position and corresponding operating channel in the planned movement path, processing device 130 reacquires the second position information of the scanning table and / or surgical plan information. The adjustment is based on at least one of prompt information, user experience, etc. The reacquired surgical plan information includes at least one adjusted operating position and an adjusted operating channel corresponding to the adjusted operating position. The acquisition method is the same or similar to step S2010.

[0243] Step S2050 : replanning the movement path of the end effector based on the reacquired second position information and / or the reacquired surgical plan information. In some embodiments, step S2050 is performed by the path planning module 420 .

[0244] The processing device 130 plans the movement path of the end effector again based on the re-acquired second position information and / or the re-acquired surgical plan information. The method of planning the path is the same as or similar to step S2020.

[0245] When the movement path of the end effector is successfully planned again, the processing device 130 executes steps S2060 and S2070 to perform surgery based on the successfully planned movement path; when the planning fails again, the processing device 130 returns to execute steps S2030-S2050.

[0246] In step S2060, in response to the successful planning of the end effector's movement path, target surgical plan information and a second ranking result of the plurality of target operation positions in the target surgical plan information are determined. In some embodiments, step S2060 is performed by the path execution module 430. For details regarding step S2060, see the relevant content of step S550.

[0247] Step S2070 , sequentially planning and executing execution sub-paths between each group of adjacent target operation positions in the second sorting result. In some embodiments, step S2070 is executed by the path execution module 430 .

[0248] In a preset environment, processing device 130, based on the acquired first position information, second position information, and target surgical plan information, sequentially plans and executes an execution subpath between each set of adjacent target operation positions in the second sorted result. The preset environment includes at least one of an actual surgical stage, a surgical simulation stage, and the like. Specifically, processing device 130 controls the movement of the robotic arm end effector along the execution subpath through instructions, etc. In some embodiments, steps S2010-S2060 are performed during the preoperative phase of the surgery, and step S2070 is performed during the intraoperative phase.

[0249] In some embodiments, path planning and path execution are performed by the same or different processors. For example, the path planning operations in steps S2010-S2070 are performed by a first processor (e.g., a processor on a master terminal), and the path execution operations in step S2070 are performed by a second processor different from the first processor (e.g., a processor on a slave terminal), wherein the first processor and the second processor are included in processing device 130. For another example, the path planning and path execution operations in steps S2010-S2070 are performed by a single processor in processing device 130.

[0250] In online mode, to monitor the accuracy of surgical procedures during the procedure, real-time imaging is performed by a scanning device to observe operations related to the operating position and operating channel. For example, during an online interventional puncture procedure, as the robotic arm grips the puncture needle and moves to the interventional puncture point, the doctor monitors the entire needle insertion process through real-time CT exposure. In some embodiments, at least a portion of each execution subpath is executed within the scanning chamber of the scanning device. This enables the scanning device to capture real-time images of the patient and monitor the surgical process, thereby ensuring a smooth operation.

[0251] In some embodiments, the processing device 130 tilts the scanning device frame, i.e., tilts the frame toward the head-foot side (i.e., the second direction), so that the target operating channel is located within the scanning range of the scanning device, so that the surgical process can be fully and accurately monitored in real time through the scanning device.

[0252] In some embodiments, if the target operation channel corresponding to the target operation position included in the execution sub-path to be executed is tilted relative to the second direction, the processing device 130 controls the scanning device, the scanning bed and the robotic arm to execute the sub-path in a coordinated manner.

[0253] In some embodiments, the target operating position ranked first in the second sorting result is referred to as the first target operating position. The processing device 130 tilts the scanning device gantry and performs the surgery by the following steps: when the target operating channel corresponding to the first target operating position is tilted relative to the second direction, the processing device 130 controls the scanning device to rotate in the second direction, tilting the scanning cavity of the scanning device by a first angle relative to the second direction, wherein the first angle corresponds to the tilt angle of the target operating channel corresponding to the first target operating position relative to the second direction, and the second direction is parallel to the long axis of the scanning bed. The processing device 130 controls the scanning bed to move along the second direction and a third direction, from its initial position at the start of the surgery, into the scanning cavity of the scanning device, so that the target operating channel corresponding to the first target operating position is within the scanning range of the scanning device. The third direction is a direction perpendicular to the scanning bed, and the initial position of the scanning bed at the start of the surgery is a position that prevents the scanning bed from colliding with or interfering with other objects. The processing device 130 plans and controls the robotic arm and end effector to execute an execution subpath from a safe position to a first target operating position. The safe position is the initial position of the robotic arm and end effector at the start of a procedure. This initial position is set to prevent the robotic arm and end effector from colliding with the scanning device and the scanning table during tilt adjustment. In some embodiments, the first angle is equal to or approximately equal to the tilt angle of the target operating channel corresponding to the first target operating position relative to the second direction. In some embodiments, controlling the movement of the scanning table into the scanning chamber may include movement only in the second direction.

[0254] In some embodiments, the processing device 130 tilts the scanning device gantry and performs surgery by following the steps below: Based on the tilt of the rear target operating channel corresponding to the rear target operating position among the adjacent target operating positions relative to a second direction, the processing device 130 controls the robotic arm and end effector to withdraw from the scanning chamber of the scanning device to a safe position from the front target operating position among the adjacent target operating positions. The second direction is parallel to the long axis of the scanning bed. The safe position is a second transition point, i.e., a transition point for controlling the end effector to move from the proximal operating position to the distal operating position. The processing device 130 controls the scanning bed to withdraw from the scanning chamber of the scanning device and then controls the scanning device to rotate in a second direction, tilting the scanning chamber of the scanning device by a second angle relative to the second direction. The second angle corresponds to the tilt angle of the rear target operating channel relative to the second direction. The processing device 130 controls the scanning bed to move along the second and third directions, entering the scanning chamber of the scanning device, so that the rear target operating channel is within the scanning range of the scanning device. The third direction can be perpendicular to the scanning bed. The processing device 130 plans and controls the robotic arm and end effector to execute an execution subpath from the safe position to the rear target operating position. The front target operating position is the target operating position that is ranked first among the adjacent target operating positions, and the rear target operating position is the target operating position that is ranked last among the adjacent target operating positions. In some embodiments, the second angle is equal to or approximately equal to the tilt angle of the rear target operating channel relative to the second direction. In some embodiments, when controlling the movement of the scanning bed into the scanning chamber, only movement along the second direction is included. For example, if the front target operating position is the first target operating position, the rear target operating channel is tilted relative to the second direction, and the front target operating channel and the rear target operating channel are located on different scanning layers, then after tilting the scanning device frame and controlling the robotic arm and end effector to execute the execution subpath from the safe position to the front target operating position, the processing device 130 adjusts the position of the frame and / or the scanning bed in the above manner so that the rear target operating channel is within the scanning range of the scanning device, and then plans and controls the robotic arm and end effector to execute the execution subpath from the front target operating position to the rear target operating position. For another example, if the front target operating position is not the first target operating position and the rear target operating channel is tilted relative to the second direction, the processing device 130 adjusts the position of the gantry and / or the scanning bed in the above manner so that the rear target operating channel is within the scanning range of the scanning device, and then plans and controls the robotic arm and the end effector to execute the execution sub-path from the front target operating position to the rear target operating position.

[0255] In some embodiments, if the rear target operating channel corresponding to the rear target operating position among adjacent target operating positions is tilted relative to a second direction, and the front target operating channel and the rear target operating channel are located on different scanning layers, the processing device 130 tilts the scanning device gantry and performs the surgery by performing the following steps: the processing device 130 controls the scanning device to rotate in the second direction, tilting the scanning cavity of the scanning device by a second angle relative to the second direction. The processing device 130 controls the scanning bed to move in the second and third directions, so that the rear target operating channel is within the scanning range of the scanning device. The processing device 130 plans and controls the robotic arm and end effector to execute an execution subpath from the front target operating position to the rear target operating position. For example, if the front target operating position is the first target operating position, after tilting the scanning device frame and controlling the robotic arm and end effector to execute the execution sub-path from the safe position to the front target operating position, if the front target operating channel and the rear target operating channel are located at different scanning layers, the processing device 130 adjusts the position of the frame and / or the scanning bed in the above manner so that the rear target operating channel is within the scanning range of the scanning device, and then plans and controls the robotic arm and end effector to execute the execution sub-path from the front target operating position to the rear target operating position.

[0256] In some embodiments, if the rear target operation channel corresponding to the rear target operation position among the adjacent target operation positions is tilted relative to the second direction, and the front target operation channel and the rear target operation channel corresponding to the front target operation position among the adjacent target operation positions are located on the same scanning layer, the processing device 130 plans and controls the manipulator and end effector to execute an execution subpath from the front target operation position to the rear target operation position. For example, if the front target operation position is the first target operation position, then after tilting the scanning device gantry and controlling the manipulator and end effector to execute the execution subpath from the safe position to the front target operation position, the tilt angle of the front target operation channel corresponding to the front target position relative to the second direction is the first angle. If the first angle and the second angle are equal or unequal, and the front target operation channel and the rear target operation channel are located on the same scanning layer, the processing device 130 does not adjust the position of the gantry and the scanning bed, and directly plans and controls the manipulator and end effector to execute the execution subpath from the front target operation position to the rear target operation position.

[0257] In some embodiments, if the rear target operating channel corresponding to the rear target operating position among adjacent target operating positions is tilted relative to a second direction, and the front target operating channel and the rear target operating channel corresponding to the front target operating position among adjacent target operating positions are located on the same scanning layer, and the tilt angles of the front target operating channel and the rear target operating channel relative to the second direction are unequal, the processing device 130 tilts the scanning device gantry and performs the surgery by the following steps: the processing device 130 controls the scanning device to rotate in the second direction, tilting the scanning cavity of the scanning device by a second angle relative to the second direction, so that the rear target operating channel is within the scanning range of the scanning device. The processing device 130 plans and controls the robotic arm and end effector to execute an execution subpath from the front target operating position to the rear target operating position. In some embodiments, before or after controlling the scanning device to rotate in the second direction, the processing device 130 also controls the scanning bed to move in the second and third directions. For example, if the front target operating position is the first target operating position, then after tilting the scanning device gantry and controlling the robotic arm and end effector to execute the execution sub-path from the safe position to the front target operating position, the tilt angle of the front target operating channel corresponding to the front target position relative to the second direction is the first angle. If the first angle and the second angle are not equal, and the front target operating channel and the rear target operating channel are located on the same scanning layer, the processing device 130 adjusts the position of the gantry and / or the scanning bed in the above manner to place the rear target operating channel within the scanning range of the scanning device, and then plans and controls the robotic arm and end effector to execute the execution sub-path from the front target operating position to the rear target operating position. In some embodiments, the processing device 130 controls the movement of the scanning bed only in the second direction.

[0258] In some embodiments, if the scanning device gantry is tilted at the front target position among the adjacent target operating positions, the processing device 130 controls the scanning device to perform a gantry zeroing operation, and then controls the scanning device to rotate so that the scanning device's scanning cavity is tilted by a second angle relative to a second direction. In some embodiments, the gantry zeroing operation includes controlling the scanning device to rotate in the second direction so that the scanning device's scanning cavity is parallel to the second direction. For example, if the front target operating position is the first target operating position, after tilting the scanning device gantry and controlling the robotic arm and end effector to execute the execution sub-path from the safe position to the front target operating position, the processing device 130 controls the scanning device to rotate in the opposite direction of the second direction by a first angle so that the scanning device's scanning cavity is parallel to the second direction, i.e., the scanning device gantry returns to its initial position at the start of the procedure.

[0259] In some embodiments, after controlling the rotation of the scanning device and / or the movement of the scanning bed, the processing device 130 updates the collision model and the positional information of the rear target operation position, and plans the execution sub-path based on the updated collision model and the positional information of the rear target operation position. For details on how to plan the execution sub-path based on the updated collision model and the positional information of the rear target operation position, refer to the relevant description in step S2020 and will not be repeated here.

[0260] For more details on how to tilt the scanning device frame and perform surgery through the above steps, please refer to the relevant description of steps S2130-S2160, which will not be repeated here.

[0261] In some embodiments of the present specification, the accuracy of path planning is improved and guaranteed by planning and simulation verification of the movement path of the robot end effector (for example, a puncture needle, etc.) before surgery; by scanning the tilt of the equipment rack during surgery, the surgical process can be completely and accurately monitored in real time, reducing the difficulty of surgical operation; the above method saves the user's surgical time, reduces the difficulty of using the system, and improves the user experience.

[0262] Figure 21 is a flowchart illustrating path planning for an interventional surgical robot in an exemplary interventional medical system, according to some embodiments of this specification. As shown in Figure 21 , process 2100 includes the following steps. In some embodiments, each module in processing device 130 or system 400 implements at least portions of processes 500 and 2000 by executing at least portions of process 2100 to plan the movement path of the end effector in an interventional mode based on surgical planning information. The method illustrated in process 2100 is applicable to an online mode.

[0263] Step S2110: Acquire first position information of the scanning device, second position information of the scanning bed, and target surgical plan information to be performed, wherein the target surgical plan information includes multiple target operating positions and multiple target operating channels corresponding to the target operating positions.

[0264] The operation of step S2110 is similar to that of step S2010, wherein the target surgical plan information to be executed can be equivalent to the surgical plan information in step S2010. The difference is that the surgical plan corresponding to the target surgical plan information to be executed includes a directly executable end effector movement path, while the surgical plan information in step S2010 requires path planning and verification. For more details on the operation of step S2110, see step S2010.

[0265] Step S2120: sequentially plan and execute execution sub-paths between each set of adjacent target operation positions. At least a portion of each execution sub-path is executed within the scanning chamber of the scanning device. The operation of step S2120 is similar to step S2070.

[0266] In step S2130, based on the inclination of the rear target operating channel corresponding to the rear target operating position among the adjacent target operating positions relative to a second direction, the robotic arm and end effector are controlled to withdraw from the scanning chamber of the scanning device from the front target operating position among the adjacent target operating positions to a safe position. The second direction is parallel to the long axis of the scanning bed, and the safe position is a second transition point, i.e., a position used for transitioning the end effector from the approaching operating position to the distal operating position.

[0267] During interventional punctures and other surgeries on the chest or abdomen, the needle track (i.e., the complete needle track) cannot be seen under real-time exposure for a needle track tilted toward the head and foot, making the surgery difficult. For example, FIG25 is a schematic diagram of an exemplary needle track tilted toward the head and foot without tilting the CT gantry, according to some embodiments of this specification. As shown in FIG25 , the CT gantry is not tilted, and the needle track in FIG25 is a needle track tilted toward the head and foot. When the CT machine is exposed in real time, the complete needle track cannot be seen because the exposure direction is not parallel to the layer where the needle track is located.

[0268] The processing device 130 tilts the scanning device (e.g., a CT machine, an MRI machine, etc.) by tilting the gantry to allow visualization of the puncture needle's insertion trajectory during real-time exposure, thereby reducing the difficulty of the procedure to a certain extent. For example, as shown in Figures 26-28 , based on the CT gantry shown in Figure 25 , the CT gantry is tilted toward the cephalad and pedala (i.e., the second direction) so that the CT exposure direction is parallel to the layer where the needle track is located, thereby allowing visualization of the complete cephalad and pedala tilted needle track.

[0269] In some embodiments, the tilted scanning device may also be applicable to other surgeries, such as vascular surgery.

[0270] During the process of tilting the scanning device, the robot arm and the end effector need to be moved out of the scanning chamber of the scanning device first. Based on the inclination of the rear target operation channel corresponding to the rear target operation position in the adjacent target operation positions relative to the second direction, the processing device 130 controls the robot arm and the end effector to withdraw from the scanning chamber of the scanning device to a safe position from the front target operation position in the adjacent target operation positions, wherein the second direction is parallel to the long axis direction of the scanning bed. Taking interventional multi-needle puncture surgery as an example, the front target position can correspond to the current needle entry point, and the rear target position can correspond to the next needle entry point to be performed. The target operation channel corresponding to the rear target operation position in the adjacent target operation positions is tilted toward the second direction, indicating that the target operation channel is a head-foot side tilted needle channel, that is, the next needle entry point corresponds to a head-foot side tilted needle channel. The processing device 130 controls the robot arm and the puncture needle to withdraw from the current needle entry point to a safe position from the scanning chamber of the CT machine.

[0271] Processing device 130 tilts the scanning device by executing step S2140 and moves the scanning bed by executing step S2150, so that the target operating position is within the scanning range of the scanning device. Taking a CT scanner as an example, processing device 130 rotates the CT gantry to tilt it by executing step S2140 and moves the scanning bed by executing step S2150, so that the target point and the needle entry point are within the scanning range defined by the CT scanning boundary. In some embodiments, the target point and the needle entry point are located on the collimation centerline of the CT scanner.

[0272] Step S2140: Control the scanning bed to withdraw from the scanning chamber of the scanning device, and then control the scanning device to rotate in a second direction, so that the scanning chamber of the scanning device is tilted at a second angle relative to the second direction. The second angle corresponds to the tilt angle of the rear target operating channel relative to the second direction.

[0273] After controlling the robot arm and the end effector to withdraw to a safe position, the processing device 130 controls the scanning bed to withdraw from the scanning chamber of the scanning device so that there is enough space for the tilting of the scanning device.

[0274] After the robotic arm, the end effector, and the scanning bed have all exited the scanning chamber of the scanning device, the processing device 130 controls the tilt of the scanning device, i.e., controls the scanning device to rotate in the second direction (i.e., the head-foot side direction) so that the scanning chamber of the scanning device is tilted relative to the second direction.

[0275] The rotation angle (e.g., the first angle, the second angle) of the scanning device in the second direction is equal to or similar to the tilt angle of the target operating channel in the second direction. The processing device 130 determines the rotation angle by determining a first vector of the target operating channel based on the target surgical plan information, and determining the rotation angle based on the first vector. The first vector is a vector representing the spatial direction of the target operating channel. For example, in a puncture procedure, the first vector can be a vector pointing from the needle entry point to the target point. In some embodiments, the tilt of the scanning device is equivalent to the tilt of the gantry. Therefore, the tilt angle of the scanning device gantry is used as the rotation angle of the scanning device in the second direction.

[0276] FIG26 is a schematic diagram of an exemplary CT gantry tilt angle calculation according to some embodiments of this specification. As shown in FIG26 , the scanning device is a CT gantry and the scanning bed is a CT bed. During the preoperative scanning phase, when the CT machine scans the cavity to locate the puncture point, the target layer is positioned at the collimation center line by moving the bed. At this time, the needle point is recorded as E(x e ,y e ,z e ), the target is T(x t ,y t ,z t ), which is the needle entry point and target point value in the target surgical plan information. The needle entry point and target point are both expressed in the CT bed coordinate system (also called the patient coordinate system). In some embodiments, the vector from the needle entry point E to the target point T is As shown in the following formula (5):

[0277] The X-axis direction vector of the CT bed coordinate system is recorded as Then the vector and The vector after cross product is shown in the following formula (6):

[0278] If the Z-axis reverse direction vector of the CT bed coordinate system is recorded as Then the vector and The included angle θ is the inclination angle of the needle track in the head-foot direction (equal to the inclination angle of the CT gantry), and the included angle θ is shown in the following formula (7):

[0279] Step S2150: Control the scanning bed to move at least along the second direction and enter the scanning cavity of the scanning device so that the rear target operation channel is within the scanning range of the scanning device.

[0280] After the scanning device completes the head-to-foot tilt, the processing device 130 controls the scanning bed to move along the second and third directions, entering the scanning cavity of the scanning device and placing the rear target operating channel within the scanning device's scanning range. The third direction is perpendicular to the scanning bed, i.e., perpendicular to the plane containing the first and second directions. Therefore, the second direction is horizontal, and the third direction is vertical. Controlling the scanning bed to move along the second and third directions, i.e., controlling the scanning bed to move horizontally and vertically, allows the bed to re-enter the scanning cavity of the scanning device. In some embodiments, when the scanning device is tilted and there is no possibility of interference between the scanning bed and the scanning device, the processing device 130 controls the scanning bed to move only along the second direction, i.e., only horizontally.

[0281] After the scanning device is tilted, the tilt angle of the scanning device frame corresponds to a minimum scanning bed height. The processing device 130 moves the scanning bed up and down to avoid interference between the scanning bed and the scanning device, and moves the scanning bed left and right to make the target scanning position fall within the scanning range enclosed by the scanning boundary of the scanning device.

[0282] The amount of table movement is determined as follows: the processing device 130 obtains the minimum table height of the scanning device at a first angle and determines the vertical amount of table movement based on this minimum table height. After vertical movement, the processing device 130 determines the relative position of the target point with respect to the isocenter of the scanning device and, based on this relative position, determines the horizontal direction and amount of table movement.

[0283] FIG27 is a schematic diagram of an exemplary calculation of the vertical movement amount of a CT bed according to some embodiments of this specification. As shown in FIG27 , the scanning device is a CT gantry and the scanning bed is a CT bed. FIG27 is a diagram of vertical movement of the CT bed based on the tilting of the CT gantry as shown in FIG26 . For a specific model of CT, each tilt angle corresponds to a minimum scanning bed height, which can be obtained by querying the parameters of the CT. As shown in FIG27 , assuming that the gantry tilt angle is (Equal to the inclination angle θ in the head-foot direction of the needle track in Figure 26), the minimum scanning bed height of the CT in Figure 27 corresponding to this inclination angle is h min .

[0284] Assume that the bed height when the frame is not tilted is h0, then the vertical bed movement distance Δ h As shown in the following formula: The bed height after the frame tilts Need to be set to

[0285] FIG28 is a schematic diagram of calculating the horizontal movement amount of the CT bed according to some embodiments of this specification. FIG28 is a diagram of horizontal movement of the CT bed based on the vertical movement of the CT bed as shown in FIG27. As shown in FIG27, after the vertical movement, the CT bed coordinate system moves upward by Δ h , set the needle insertion point after upward movement as E ′ (x e ,y e ,z e ), the target is T ′ (x t ,y t ,z t ), then in Figure 28, the needle insertion point after the bed is moved horizontally is E″, and the target point is T″. The coordinates of the isocenter point O in the target surgical plan information in the CT bed coordinate system during the preoperative scan are O(x o ,y o ,z o ), then the coordinate of the isocenter O in the CT bed coordinate system after the bed is moved in the vertical direction is O(x o ,y o +Δ h ,z o The isocenter is the center of rotation of the CT gantry and does not change when the gantry is tilted or the scanning table is moved.

[0286] When the target point T after vertically moving the bed ′ Y coordinate y t Greater than the Y coordinate (y o +Δ h ), the bed moves horizontally toward the inside of the scanning cavity; otherwise, the bed moves horizontally toward the outside of the scanning cavity. Assuming the horizontal bed moving direction is horDir, the horizontal bed moving direction is horDir as shown in the following formula (9):

[0287] Horizontal bed movement amount Δ z As shown in the following formula (10): z =horDir*OT′*tanθ=horDir*abs(y t -(y o +Δ h ))*tanθ (10) Wherein, OT′ represents the distance between the isocenter O and the target point T′; abs represents the absolute value operation; θ has the same meaning as in formula (7), which represents the inclination angle of the needle path in the head-foot direction, which is related to the gantry inclination angle equal.

[0288] As shown in Figure 28, the Y coordinate y of the target point T' after the bed is moved vertically tGreater than the Y coordinate (y o +Δ h ), therefore, the bed is moved horizontally toward the scanning cavity. At this time, horDir=1. Substituting horDir=1 into formula (10) yields the horizontal bed movement amount Δ z .

[0289] Step S2160 , planning and controlling the robotic arm and the end effector to execute an execution subpath from the safe position to the rear target operation position.

[0290] After the scanning bed moves vertically and horizontally, the position reached by the robotic arm also needs to change. After step 450, the processing device 130 plans and controls the robotic arm and end effector to execute the execution subpath from the safe position to the subsequent target operating position. Specifically, the processing device 130 repositions the robotic arm and plans its arrival position so that the robotic arm can continue to execute the execution subpath from the safe position to the subsequent target operating position (i.e., the next operating position).

[0291] Because the relative position of the scanning bed and the scanning device changes after the gantry tilt, the position information of the needle entry point and the target point also changes. The position information of the needle entry point and the target point can be represented by coordinates in the robotic arm coordinate system. The processing device 130 determines the position information of the needle entry point and the target point after the gantry tilt by: determining a first transformation matrix based on the horizontal and vertical movement amounts of the scanning bed; obtaining the transformation relationship between the coordinate systems at the needle entry point and the target point in the robotic arm coordinate system; and determining the transformation relationship between the coordinate systems at the needle entry point and the target point in the robotic arm coordinate system based on this transformation relationship and the first transformation matrix.

[0292] In some embodiments, the positive direction of the Y coordinate axis of the CT bed is vertically downward, and the positive direction of the Z axis is from the foot side of the CT bed to the head side of the CT bed. After the gantry is tilted, the CT bed coordinate system moves -Δ along the Y coordinate axis relative to the preoperative scan. h , that is, move upward in the vertical direction Δ h , move -Δ along the Z coordinate axis z , that is, move from the CT bed head side to the CT bed foot side Δ z , then the transformation relationship of the CT bed coordinate system before and after movement (transformation matrix ) is shown in the following formula (11):

[0293] Assume that during preoperative scanning, the transformation relationship between the needle insertion point and the target point coordinate system in the robotic arm coordinate system is: After the gantry is tilted, the positions of the needle entry point and target point in the robotic arm coordinate system need to consider the above transformation relationship. The needle entry point and target point are converted to the robotic arm coordinate system as shown in the following formulas (12) and (13): Among them, E′ robot Indicates the coordinates of the needle insertion point in the robot arm coordinate system after the frame is tilted; T′ robot Indicates the coordinates of the target in the robot coordinate system after the frame is tilted.

[0294] In some embodiments, the processing device 130 determines a collision model based on the first position information and the second position information acquired in step S2110. For details on how to determine the collision model, refer to the relevant description in step S2020.

[0295] After the scanning device is tilted, the scanning device model also needs to be updated. Because the bed moves vertically and horizontally, the patient model (including the surgical instrument models already present on the patient's body) also needs to be updated in real time. In some embodiments, after step S2150, the processing device 130 updates the collision model and the position information of the post-target operation position.

[0296] The processing device 130 updates the scanning device model by the following method: obtaining the transformation relationship between the scanning bed coordinate system and the robotic arm coordinate system before the scanning device is tilted; determining a second transformation matrix of the scanning bed coordinate system based on the rotation angle of the scanning device in the second direction, and updating the transformation relationship between the scanning bed coordinate system and the robotic arm coordinate system based on the second transformation matrix to update the scanning device model.

[0297] Assume that during preoperative scanning, the transformation relationship between the CT bed coordinate system and the robotic arm coordinate system is: Set the rack to tilt Afterwards, the CT bed coordinate system is transformed relative to the preoperative scan (transformation matrix ) is shown in the following formula (14):

[0298] The pose of the CT collision detection model (i.e., the scanning device model) in the robotic arm coordinate system after the CT gantry is tilted needs to consider the above transformation relationship. The pose is updated to

[0299] The processing device 130 updates the patient model by: obtaining the transformation relationship between the patient coordinate system and the robotic arm coordinate system before the scanning device is tilted; determining a third transformation matrix of the patient coordinate system based on the movement amount of the scanning bed; and updating the transformation relationship between the patient coordinate system and the robotic arm coordinate system based on the third transformation matrix to update the patient model.

[0300] Assume that during preoperative scanning, the transformation relationship between the patient coordinate system and the robotic arm coordinate system is: Patient vertical movement Δ h , horizontal movement Δ zAfterwards, the patient collision detection model (i.e., the patient model) is transformed relative to the preoperative scan (transformation matrix ) is shown in the following formula (15):

[0301] The position of the patient collision detection model (i.e., the scanning equipment model) in the robotic arm coordinate system after the CT gantry tilt needs to consider the above transformation relationship. The position is updated as

[0302] The processing device 130 plans and executes the sub-path according to the updated collision model and the position information of the rear target operation position. For details on how to plan and execute the sub-path according to the collision model and the position information of the rear target operation position, please refer to the relevant description in step S2020.

[0303] FIG29 is a flow chart of an exemplary method for controlling an interventional medical system according to some embodiments of this specification. As shown in FIG29 , process 2900 includes the following steps. The method shown in process 2900 is applicable to an interventional medical system (e.g., system 100), wherein the interventional medical system includes an interventional surgical robot and a processor, and the interventional surgical robot includes a robotic arm and an end effector. In some embodiments, the processing device 130 or each module in the system 400 plans the movement path of the end effector in the interventional mode by executing at least part of process 2900.

[0304] Step S2910 , determining the intervention mode of the interventional medical system. In some embodiments, steps S2910 to S2930 are executed by the plan acquisition module 410 .

[0305] Processing device 130 determines the interventional mode based on a selection made by a user (e.g., a physician). For example, a physician may send an instruction via a terminal (e.g., terminal 140) to select either offline or online mode as the interventional mode for a multi-needle puncture procedure. For more information on how to determine the interventional mode, see step S510.

[0306] Step S2920: configuring the end effector based on the intervention mode.

[0307] Processing device 130 configures the end effector based on the specific interventional mode. For example, for various puncture procedures, the end effector is configured as an end clamp to facilitate gripping the puncture needle. Another example is to assist with puncture needle insertion, where the end effector is configured as an auxiliary positioner. For more information on configuring the end effector, see step S510.

[0308] Step S2930: Determine the surgical plan information in the intervention mode. Step S2910 refers to step S510.

[0309] Step S2940: Plan the movement path of the end effector in the interventional mode based on the surgical plan information. In some embodiments, step S2940 is performed by the path planning module 420. Step S2910 refers to step S520.

[0310] It should be noted that the above descriptions of process 500, process 600, process 1100, process 1600-process 1800, process 2000, process 2100 and process 2900 are merely for example and explanation, and do not limit the scope of application of this specification. For those skilled in the art, various modifications and changes can be made to process 500, process 600, process 1100, process 1600-process 1800, process 2000, process 2100 and process 2900 under the guidance of this specification. However, these modifications and changes are still within the scope of this specification. For example, in process 2000 and process 2100, the CT gantry tilt can be performed only when a tilted needle track on the head and foot side is detected during surgery, or the end effector movement path can be planned according to the CT gantry tilt at the beginning. In this way, adaptive planning can be made for situations such as tilted needle tracks on the hand and foot side at the beginning, avoiding adjustments during surgery and reducing surgical time.

[0311] While the basic concepts have been described above, it will be apparent to those skilled in the art that the detailed disclosure is merely illustrative and does not limit this specification. Although not explicitly stated herein, various modifications, improvements, and revisions to this specification may be made by those skilled in the art. Such modifications, improvements, and revisions are suggested in this specification and remain within the spirit and scope of the exemplary embodiments of this specification.

[0312] This specification also uses specific terms to describe the embodiments of this specification. For example, "one embodiment," "an embodiment," and / or "some embodiments" refer to a feature, structure, or characteristic associated with at least one embodiment of this specification. Therefore, it should be emphasized and noted that references to "one embodiment," "an embodiment," or "an alternative embodiment" two or more times in different locations in this specification do not necessarily refer to the same embodiment. Furthermore, certain features, structures, or characteristics of one or more embodiments of this specification may be appropriately combined.

[0313] In addition, unless expressly stated in the claims, the order of the processing elements and sequences, the use of alphanumeric characters, or the use of other names described in this specification are not intended to limit the order of the processes and methods of this specification. Although the above disclosure discusses some of the invention embodiments currently considered useful through various examples, it should be understood that such details are for illustrative purposes only, and the appended claims are not limited to the disclosed embodiments. On the contrary, the claims are intended to cover all modifications and equivalent combinations that are consistent with the spirit and scope of the embodiments of this specification. For example, although the system components described above can be implemented by hardware devices, they can also be implemented only by software solutions, such as installing the described system on an existing server or mobile device.

[0314] Similarly, it should be noted that, in order to simplify the presentation of this specification and thus facilitate understanding of one or more embodiments of the invention, the foregoing descriptions of the embodiments of this specification sometimes combine multiple features into a single embodiment, figure, or description thereof. However, this disclosure method does not imply that the subject matter of this specification requires more features than those recited in the claims. In fact, an embodiment may have fewer features than all of the features of a single disclosed embodiment.

[0315] In some embodiments, numbers are used to describe the quantity of components and attributes. It should be understood that such numbers used in the description of the embodiments are modified by the modifiers "about", "approximately" or "substantially" in some examples. Unless otherwise stated, "about", "approximately" or "substantially" indicate that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in the description and claims are approximate values, which may change according to the required characteristics of individual embodiments. In some embodiments, the numerical parameters should take into account the specified significant digits and adopt the general method of retaining digits. Although the numerical domains and parameters used to confirm the breadth of their range in some embodiments of this specification are approximate values, in specific embodiments, the settings of such numerical values ​​are as accurate as possible within the feasible range.

[0316] Each patent, patent application, patent application publication, and other materials, such as articles, books, specifications, publications, and documents, cited in this specification is hereby incorporated by reference in its entirety. This includes application history documents that are inconsistent with or conflict with the content of this specification, as well as documents (currently or subsequently attached to this specification) that limit the broadest scope of the claims of this specification. It should be noted that if the descriptions, definitions, and / or terminology used in the accompanying materials are inconsistent or conflicting with the content of this specification, the descriptions, definitions, and / or terminology used in this specification will control.

[0317] Finally, it should be understood that the embodiments described in this specification are intended only to illustrate the principles of the embodiments of this specification. Other variations may also fall within the scope of this specification. Therefore, by way of example and not limitation, alternative configurations of the embodiments of this specification may be considered consistent with the teachings of this specification. Accordingly, the embodiments of this specification are not limited to the embodiments explicitly described and illustrated in this specification.

Claims

1. An interventional medical system, comprising an interventional surgical robot and a processor, wherein the interventional surgical robot comprises a robotic arm and an end effector, and the processor is configured to: Acquiring surgical plan information in an interventional mode, the interventional mode being any one of an online mode and an offline mode, the surgical plan information including at least a plurality of operation positions; and A movement path of the end effector in the interventional mode is planned based on the surgical planning information.

2. The system of claim 1 , wherein planning a movement path of the end effector in the interventional mode based on the surgical plan information comprises: determining a plurality of path planning sub-areas extending along a first direction, wherein the plurality of path planning sub-areas cover the plurality of operating positions, and each of the path planning sub-areas covers at least a portion of the plurality of operating positions; and A moving path of the end effector is planned based on the path planning sub-area.

3. The system of claim 2, wherein planning the movement path of the end effector based on the path planning sub-area comprises: Determine a first ranking result of the plurality of operation positions based on the path planning sub-area; and A moving path of the end effector is planned based at least on the first sorting result.

4. The system of claim 3, wherein determining a first ranking result of the plurality of operation positions based on the path planning sub-area comprises: sorting the path planning sub-areas along a preset direction, where the preset direction is parallel to the horizontal plane and perpendicular to the first direction; and The operation positions covered by each of the path planning sub-areas are sorted.

5. The system of claim 4, wherein the end effector comprises an end gripper configured to grip a puncture needle, and wherein the first sorting result of the plurality of operation positions determined based on the path planning sub-region further comprises: determining an opening orientation of the end gripper at the plurality of operating positions; and The preset direction is determined based on the opening orientation.

6. The system of claim 4, wherein the step of sorting the operation positions covered by each of the path planning sub-areas comprises: In each of the path planning sub-areas, the operation positions covered by the path planning sub-area are sorted along the first direction.

7. The system of claim 4, wherein the end effector comprises an end gripper for gripping a puncture needle, and wherein the sorting of the operation positions covered by each of the path planning sub-areas comprises: determining an opening orientation of the end gripper at the plurality of operating positions; and The operation position order covered by the path planning sub-area is determined based on the opening orientation.

8. The system according to any one of claims 1 to 7, wherein the movement path includes one or more sub-paths between adjacent operating positions, and planning the movement path of the end effector in the interventional mode based on the surgical planning information includes: For each group of adjacent operating positions, planning an avoidance point based on a preceding operating position among the adjacent operating positions, and planning a displacement path segment based on the preceding operating position and the avoidance point, wherein the displacement path segment is a path segment between the preceding operating position and the avoidance point; and An avoidance path segment between the avoidance point and a subsequent operating position among the adjacent operating positions is planned, wherein the avoidance path segment and the displacement path segment constitute the sub-path.

9. The system of claim 8, wherein the subpath comprises an execution subpath, the avoidance point comprises an execution avoidance point, the displacement path segment comprises an execution displacement path segment, the avoidance path segment comprises an execution avoidance path segment, the execution subpath is composed of the execution displacement path segment and the execution avoidance path segment, and the processor is further configured to: In response to a failure in performing the planning of the displacement path segment, obtaining a first corrected position of the end effector; Planning an execution displacement path segment based on the first correction position and the execution avoidance point; or replanning an execution avoidance point based on the first corrected position, and planning the execution shift path segment based on the first corrected position and the replanned execution avoidance point; or determining the first corrected position as the re-planned avoidance point; and / or, In response to a failure in planning the execution of the avoidance path segment, obtaining a second corrected position of the end effector; An avoidance path segment is planned and executed based on the second correction position and a subsequent operating position among the adjacent operating positions.

10. The system of claim 1, wherein planning a movement path of the end effector in the interventional mode based on the surgical plan information further comprises: Planning a first movement subpath from the initial position to the safety position based on the initial position and the safety position of the end effector; and Based on the safety position and any one of the multiple operating positions, a second movement sub-path between the safety position and the any one operating position is planned.

11. The system according to any one of claims 1 to 10, wherein planning a movement path of the end effector in the interventional mode based on the surgical plan information comprises: The movement path is planned based on a collision model, wherein the collision model includes a patient model, a scanning device model and a robotic arm end model, or the collision model includes a patient model, a scanning device model, a robotic arm end model and a surgical instrument model of a surgical instrument inserted into the patient's body.

12. The system according to any one of claims 1 to 11, wherein in the online mode, the surgical plan information further includes multiple operating channels corresponding to the multiple operating positions, the interventional medical system is data-connected to a medical imaging system, the medical imaging system includes a scanning device and a scanning bed, and planning the movement path of the end effector in the interventional mode based on the surgical plan information comprises: Acquiring first position information of the scanning device and second position information of the scanning bed; planning the movement path based on the first position information, the second position information and the surgical plan information, wherein the movement path includes a verification path; and In response to the movement path planning of the end effector being successful, target surgical plan information is determined, where the target surgical plan information includes a plurality of target operating positions.

13. The system of claim 12, wherein the movement path further comprises an execution path, the execution path comprises one or more execution sub-paths, and the processor is further configured to: determining a second ranking result of the plurality of target operation positions; Sequentially plan and execute the execution subpaths between each group of adjacent target operation positions in the second sorting result, wherein: At least a portion of each execution sub-path is executed within a scanning cavity of the scanning device.

14. The system of claim 13, wherein the sequentially planning and executing the execution sub-paths between each group of adjacent target operation positions in the second sorting result comprises: Based on the inclination of the target operation channel corresponding to the target operation position included in the execution sub-path to be executed relative to the second direction, The scanning device, the scanning bed and the robotic arm are controlled to execute the sub-path in a coordinated manner.

15. The system of claim 14, wherein controlling the scanning device, the scanning bed, and the robotic arm to execute the sub-path in a coordinated manner comprises: controlling the robotic arm and the end effector to withdraw from the scanning cavity of the scanning device to the safe position from the front target operating position among the adjacent target operating positions based on an inclination of a rear target operating channel corresponding to the rear target operating position among the adjacent target operating positions relative to a second direction, wherein the second direction is parallel to the long axis of the scanning bed; controlling the scanning bed to withdraw from the scanning cavity of the scanning device, and then controlling the scanning device to rotate in the second direction so that the scanning cavity of the scanning device is tilted at a second angle relative to the second direction, where the second angle corresponds to the tilt angle of the rear target operating channel relative to the second direction; controlling the scanning bed to move at least along the second direction and enter the scanning cavity of the scanning device so that the rear target operation channel is within the scanning range of the scanning device; and The robot arm and the end effector are planned and controlled to execute the execution subpath from the safety position to the rear target operation position.

16. The system of claim 14, wherein controlling the scanning device, the scanning bed, and the robotic arm to execute the sub-path in a coordinated manner comprises: Based on the inclination of the target operating channel corresponding to the first target operating position in the second sorting result relative to a second direction, controlling the scanning device to rotate toward the second direction, so that the scanning cavity of the scanning device is inclined at a first angle relative to the second direction, the first angle corresponding to the inclination angle of the target operating channel corresponding to the first target operating position relative to the second direction, the second direction being parallel to the long axis of the scanning bed; Controlling the scanning bed to move at least along the second direction and enter the scanning cavity of the scanning device so that the target operation channel corresponding to the first target operation position is within the scanning range of the scanning device; and The robot arm and the end effector are planned and controlled to execute the execution sub-path from the safe position to the first target operation position.

17. The system according to claim 14, wherein controlling the scanning device, the scanning bed, and the robotic arm to execute the sub-path in a coordinated manner comprises: Based on the inclination of the rear target operation channel corresponding to the rear target operation position among the adjacent target operation positions relative to the second direction, the front target operation channel corresponding to the front target operation position among the adjacent target operation positions and the rear target operation channel are located in the same scanning layer, and the inclination angles of the front target operation channel and the rear target operation channel relative to the second direction are different, controlling the scanning device to rotate in the second direction so that the scanning cavity of the scanning device is tilted at a second angle relative to the second direction, so that the rear target operating channel is within a scanning range of the scanning device, wherein the second angle corresponds to an inclination angle of the rear target operating channel relative to the second direction, and the second direction is parallel to the long axis of the scanning bed; and The robot arm and the end effector are planned and controlled to execute the execution subpath from the front target operation position to the rear target operation position.

18. The system according to claim 15 or 17, wherein controlling the scanning device, the scanning bed, and the robotic arm to execute the sub-path in a coordinated manner further comprises: Before controlling the scanning device to rotate in the second direction so that the scanning cavity of the scanning device is tilted by a second angle relative to the second direction, the scanning device is controlled to perform a frame zeroing operation.

19. The system of claim 14, wherein controlling the scanning device, the scanning bed, and the robotic arm to execute the sub-path in a coordinated manner comprises: Based on the inclination of the rear target operation channel corresponding to the rear target operation position among the adjacent target operation positions relative to the second direction, and the front target operation channel corresponding to the front target operation position among the adjacent target operation positions and the rear target operation channel are located in the same scanning layer, The robot arm and the end effector are planned and controlled to execute the execution subpath from the front target operation position to the rear target operation position, wherein the second direction is parallel to the long axis direction of the scanning bed.

20. The system according to any one of claims 15 to 17 and claim 11, wherein controlling the scanning device, the scanning bed, and the robotic arm to execute the sub-path in a coordinated manner comprises: After controlling the scanning device to rotate and / or controlling the scanning bed to move, updating the collision model and the position information of the rear target operation position; and The execution sub-path is planned according to the updated collision model and the position information of the rear target operation position.

21. The system according to any one of claims 1-11, wherein in the online mode, the surgical plan information further includes multiple operating channels corresponding to the multiple operating positions, the interventional medical system is data-connected to a medical imaging system, the medical imaging system includes a scanning device and a scanning bed, and planning the movement path of the end effector in the interventional mode based on the surgical plan information comprises: Acquiring first position information of the scanning device and second position information of the scanning bed; and Based on the first position information, the second position information, and the surgical plan information, sequentially planning and executing an execution subpath between each group of adjacent target operation positions, where one or more execution subpaths constitute an execution path, and sequentially planning and executing the execution subpath between each group of adjacent target operation positions includes: Based on the inclination of the target operation channel corresponding to the target operation position included in the execution sub-path to be executed relative to the second direction, the scanning device, the scanning bed and the robotic arm are controlled to be linked to execute the sub-path.

22. The system of claim 21, wherein controlling the scanning device, the scanning bed, and the robotic arm to execute the sub-path in a coordinated manner comprises: controlling the robotic arm and the end effector to withdraw from the scanning cavity of the scanning device to the safe position from the front target operating position among the adjacent target operating positions based on an inclination of a rear target operating channel corresponding to the rear target operating position among the adjacent target operating positions relative to a second direction, wherein the second direction is parallel to the long axis of the scanning bed; controlling the scanning bed to withdraw from the scanning cavity of the scanning device, and then controlling the scanning device to rotate in the second direction so that the scanning cavity of the scanning device is tilted at a second angle relative to the second direction, where the second angle corresponds to the tilt angle of the rear target operating channel relative to the second direction; controlling the scanning bed to move at least along the second direction and enter the scanning cavity of the scanning device so that the rear target operation channel is within the scanning range of the scanning device; The robot arm and the end effector are planned and controlled to execute the execution subpath from the safety position to the rear target operation position.

23. The system of claim 21, wherein controlling the scanning device, the scanning bed, and the robotic arm to execute the sub-path in a coordinated manner comprises: Based on the inclination of a target operating channel corresponding to a first target operating position in the target surgical plan information relative to a second direction, controlling the scanning device to rotate toward the second direction, so that a scanning cavity of the scanning device is inclined at a first angle relative to the second direction, the first angle corresponding to the inclination angle of the target operating channel corresponding to the first target operating position relative to the second direction, the second direction being parallel to the long axis of the scanning bed; Controlling the scanning bed to move at least along the second direction into a scanning cavity of the scanning device so that the target operation channel corresponding to the first target operation position is within a scanning range of the scanning device; The robot arm and the end effector are planned and controlled to execute the execution sub-path from the safe position to the first target operation position.

24. The system of claim 21, wherein controlling the scanning device, the scanning bed, and the robotic arm to execute the sub-path in a coordinated manner comprises: Based on the inclination of the rear target operation channel corresponding to the rear target operation position among the adjacent target operation positions relative to the second direction, the front target operation channel corresponding to the front target operation position among the adjacent target operation positions and the rear target operation channel are located in the same scanning layer, and the inclination angles of the front target operation channel and the rear target operation channel relative to the second direction are different, controlling the scanning device to rotate in the second direction so that the scanning cavity of the scanning device is tilted at a second angle relative to the second direction, so that the rear target operating channel is within a scanning range of the scanning device, wherein the second angle corresponds to an inclination angle of the rear target operating channel relative to the second direction, and the second direction is parallel to the long axis of the scanning bed; The robot arm and the end effector are planned and controlled to execute the execution subpath from the front target operation position to the rear target operation position.

25. The system according to claim 22 or 24, wherein controlling the scanning device, the scanning bed, and the robotic arm to execute the sub-path in a coordinated manner comprises: Before controlling the scanning device to rotate in the second direction so that the scanning cavity of the scanning device is tilted by a second angle relative to the second direction, the scanning device is controlled to perform a frame zeroing operation.

26. The system of claim 21, wherein controlling the scanning device, the scanning bed, and the robotic arm to execute the sub-path in a coordinated manner comprises: Based on the inclination of the rear target operation channel corresponding to the rear target operation position among the adjacent target operation positions relative to the second direction, and the front target operation channel corresponding to the front target operation position among the adjacent target operation positions and the rear target operation channel are located in the same scanning layer, The robot arm and the end effector are planned and controlled to execute the execution subpath from the front target operation position to the rear target operation position, wherein the second direction is parallel to the long axis direction of the scanning bed.

27. The system according to claims 11 and 21, wherein controlling the scanning device, the scanning bed, and the robotic arm to execute the sub-path in a coordinated manner comprises: The collision model is determined based on the first position information and the second position information.

28. The system according to any one of claims 22 to 24 and claim 27, wherein controlling the scanning device, the scanning bed, and the robotic arm to execute the sub-path in a coordinated manner comprises: After controlling the scanning device to rotate and / or controlling the scanning bed to move, updating the collision model and position information of a subsequent target operating position in the adjacent target operating positions; The execution sub-path is planned according to the updated collision model and the position information of the rear target operation position.

29. The system according to claim 13 or 21, wherein the online mode includes a real-time control mode, and the execution path is also planned based on real-time images, and the real-time images are images obtained by fully turning on the scanning device during the interventional surgery.

30. The system according to claim 13 or 21, wherein the online mode includes a breakpoint control mode, and the execution path is further based on breakpoint image planning, wherein the breakpoint image is an image obtained by intermittently turning on the scanning device during the interventional surgery.

31. The system according to claim 13 or 21, wherein the online mode comprises a real-time control mode and a breakpoint control mode, and the real-time control mode and the breakpoint control mode are switchable.

32. The system of claim 12, wherein the processor is further configured to: In response to a failure in planning the movement path of the end effector, outputting a prompt message; reacquiring at least one of the second position information of the scanning bed and the surgical plan information, wherein the reacquired surgical plan information includes at least one adjusted operating position and an adjusted operating channel corresponding to the adjusted operating position; and The movement path of the end effector is replanned based on the reacquired second position information and / or the reacquired surgical planning information.

33. The system of claim 1 , wherein in the offline mode, the processor is further configured to: In response to a failure in planning the movement path of the end effector, outputting a prompt message; Reacquiring the surgical plan information, where the reacquired surgical plan information includes at least one adjusted operating position and an adjusted operating channel corresponding to the adjusted operating position; and The movement path of the end effector is replanned based on the reacquired surgical planning information.

34. The system according to claim 32 or 33, wherein the prompt information includes at least one of the following prompt information: first prompt information, the first prompt information being output in response to a path planning failure caused by a collision between the robot arm end model and the patient model, the first prompt information at least instructing the user to adjust multiple operation positions; second prompt information, the second prompt information being output in response to a path planning failure caused by a collision between the robot arm end model and the scanning device model, the second prompt information instructing the user to adjust the multiple operating positions or adjust the position of the scanning bed; A third prompt message is output in response to a failure in path planning caused by a collision between the robot arm end model and the surgical instrument model, and the third prompt message at least instructs the user to adjust the multiple operating positions along the long axis or short axis direction of the scanning bed.

35. A method, applied to an interventional medical system, the interventional medical system comprising an interventional surgical robot and a processor, the interventional surgical robot comprising a robotic arm and an end effector, the method comprising: Acquiring surgical plan information in an interventional mode, where the interventional mode is either an online mode or an offline mode, and the surgical plan information includes at least a plurality of operation positions; and A movement path of the end effector in the interventional mode is planned based on the surgical planning information.

36. A control method for an interventional medical system, the interventional medical system comprising an interventional surgical robot and a processor, the interventional surgical robot comprising a robotic arm and an end effector, the method comprising: determining an intervention mode of the interventional medical system; configuring the end effector based on the intervention mode; Determining surgical planning information under the interventional mode; and A movement path of the end effector in the interventional mode is planned based on the surgical planning information.

37. A path planning method for an interventional surgical robot, wherein the interventional surgical robot comprises a robotic arm and an end effector connected to an end of the robotic arm, characterized in that: The method comprises: Acquiring multiple operation positions in surgical plan information; determining a plurality of path planning sub-areas extending along a first direction, wherein the plurality of path planning sub-areas fully cover the plurality of operating positions, and each of the path planning sub-areas covers at least a portion of the plurality of operating positions; A moving path of the end effector is planned based on the path planning sub-area.

38. An interventional medical system having a data connection with a medical imaging system, wherein the medical imaging system includes a scanning device and a scanning bed, and the interventional medical system includes: An interventional surgery robot and a processor, wherein the interventional surgery robot includes a robotic arm and an end effector, and the processor is configured to: Acquiring first position information of the scanning device, second position information of the scanning bed, and surgical plan information, wherein the surgical plan information includes a plurality of operating positions and a plurality of operating channels corresponding to the plurality of operating positions; planning a movement path of the end effector based on the first position information, the second position information, and the surgical plan information; In response to the movement path planning of the end effector being successful, target surgical plan information is determined.

39. An interventional medical system having a data connection with a medical imaging system, wherein the medical imaging system includes a scanning device and a scanning bed, and the interventional medical system includes: An interventional surgery robot and a processor, wherein the interventional surgery robot includes a robotic arm and an end effector, and the processor is configured to: Acquiring first position information of the scanning device, second position information of the scanning bed, and target surgical plan information to be performed, wherein the target surgical plan information includes a plurality of target operating positions and a plurality of target operating channels corresponding to the plurality of target operating positions; sequentially planning and executing an execution subpath between each group of adjacent target operation positions, wherein at least a portion of each execution subpath is executed within a scanning cavity of the scanning device, and sequentially planning and executing an execution subpath between each group of adjacent target operation positions includes: Based on the inclination of the target operation channel corresponding to the target operation position included in the execution sub-path to be executed relative to the second direction, The scanning device, the scanning bed and the robotic arm are controlled to execute the sub-path in a coordinated manner.

Images