Automatic water-jet scalpel optimization control method and device

Abstract

Disclosed in the present application is an automatic water-jet scalpel optimization control method, which is used for a water-jet scalpel system. The water-jet scalpel system comprises an integrated instrument formed by a guide sheath, an effector instrument and an endoscope mechanism, which are arranged in parallel in an axial direction, wherein the effector instrument comprises a water-jet scalpel rod body and a hole used for a radial water jet. The method comprises the following steps: determining a planned motion trajectory of a water jet, wherein planned parameters include a linear-motion start position, a linear-motion stop position, a linear-motion velocity, a rotary-motion start position, a rotary-motion end position and a rotary-motion velocity of each motion step; and within any motion step, with respect to the water-jet scalpel rod body and in response to the rotary-motion start position and / or the rotary-motion end position being within the coverage range of the guide sheath, controlling the integrated instrument to rotate with the axial direction of the water-jet scalpel rod body as a center, so as to eliminate the obstruction of the guide sheath at the rotary-motion start position and / or the rotary-motion end position. The present application further includes a device for implementing the method.

Description

Automatic water jet optimization control method and device Technical Field

[0001] The present application relates to the field of medical device technology, and in particular to an automatic water jet optimization control method and device. Background Art

[0002] A typical water jet system includes a guide sheath, an actuator, an endoscope, etc. The guide sheath is used to provide a pre-established channel and support for the movement of the actuator. The actuator (water jet) can be controlled to move in various directions to release the water jet, and the endoscope is used to monitor the movement of the actuator before and during surgery. The structural design and principle of the above components generally cause the following problems for the key parameters of water jet cutting: the cutting range (angle and depth): the guide sheath, which serves to establish a channel and provide support, will limit the angle of the water jet. That is, when the actuator rotates, the guide sheath will block the water jet's exit path, preventing the water jet from completely removing 360 degrees. For the continuous boundary position trajectory pre-planned by the doctor on the medical image, it is necessary to fit and generate a motion control position trajectory so that the actuator moves according to the motion control position trajectory. However, due to the occlusion of the guide sheath, the water jet cannot reach the planned position. Therefore, it is necessary to optimize the motion control position trajectory. Summary of the Invention

[0003] The present application proposes an automatic water jet optimization control method and device to solve the problem that the guide sheath blocks the water jet and thus limits the resection range.

[0004] In a first aspect, embodiments of the present application provide an automatic water jet optimization control method for a water jet system, wherein the water jet system includes an integrated device consisting of a guide sheath, an actuator, and an endoscope mechanism arranged axially parallel to each other, wherein the actuator includes a water jet rod and a hole for radially ejecting a water jet. The method comprises the following steps:

[0005] Determining a planned motion trajectory and planning parameters of the water jet, wherein the planning parameters include a linear motion starting position, a linear motion stopping position, a linear motion speed, a rotational motion starting position, a rotational motion stopping position, and a rotational motion speed for each motion step;

[0006] Within any movement step, relative to the water knife rod body, in response to the starting position of the rotational movement and / or the stopping position of the rotational movement being within the coverage range of the guide sheath, the rotation of the entire instrument is controlled with the axial direction of the water knife rod body as the center, eliminating the obstruction of the starting position of the rotational movement and / or the stopping position of the rotational movement by the guide sheath.

[0007] In one embodiment of the present application, controlling the rotation of the entire instrument to eliminate the guide sheath's obstruction of the rotational movement starting position and / or rotational movement stopping position further includes: determining a basic angle and rotating the entire instrument according to the basic angle.

[0008] In one embodiment of the present application, the following steps are further included: relative to the basic angle, further determining the rotation angle of the execution device so that the water jet action range covers the starting position and the stopping position of the rotation movement.

[0009] In one embodiment of the present application, controlling the rotation of the entire instrument to eliminate the obstruction of the guide sheath to the starting position and / or the stopping position of the rotational movement further includes: rotating the entire instrument and independently rotating the execution instrument around the axial direction of the water jet rod as the center, so that the water jet action range covers the starting position and the stopping position of the rotational movement.

[0010] In one embodiment of the present application, controlling the rotation of the entire instrument to eliminate the obstruction of the guide sheath to the starting position and / or the stopping position of the rotational movement further includes: after the rotating entire instrument reaches a basic angle, rotating the execution instrument around the axial direction of the water jet rod as the center, so that the water jet action range covers the starting position and the stopping position of the rotational movement.

[0011] In one embodiment of the present application, within any movement step, the cutting range between the rotational movement start position and the rotational movement stop position is partitioned. Preferably, within any movement step, in response to the planned rotational movement speed being greater than a set threshold, the cutting range between the rotational movement start position and the rotational movement stop position is partitioned, and within any partition, the rotational movement speed is set to be less than the set threshold.

[0012] In one embodiment of the present application, the cutting range between the starting position and the stopping position of the rotational movement is divided into zones, and within one or more zones, the entire instrument is rotated around the axial direction of the water jet rod to eliminate the obstruction of the guide sheath to the zones.

[0013] In one embodiment of the present application, the cutting range between the rotational movement starting position and the rotational movement stopping position is divided into zones, and adjacent zones have overlapping angles.

[0014] In one embodiment of the present application, the cutting range between the rotational movement starting position and the rotational movement stopping position is divided into zones, and in at least one zone, the entire instrument does not rotate.

[0015] In one embodiment of the present application, the cutting range between the rotational motion starting position and the rotational motion stopping position is partitioned, and within any step length, the water jet cutting trajectory is controlled to be continuous between the rotational motion starting position and the rotational motion stopping position.

[0016] In one embodiment of the present application, in an area where the planned cutting range is not blocked by the guide sheath, the execution instrument is rotated around the axial direction of the water knife rod body, and the entire instrument is not rotated; and / or, in an area where the planned cutting range is blocked by the guide sheath, the entire instrument is rotated around the axial direction of the water knife rod body, and the execution instrument is not rotated, so that the water jet action range covers the starting position and the stopping position of the rotational movement.

[0017] In a second aspect, an embodiment of the present application further provides an automatic water jet optimization control device for implementing the method described in any embodiment of the first aspect of the present application, the device comprising an execution device motion module, an overall device motion module, and a motion control module;

[0018] The actuator motion module is used to drive the actuator to rotate around the axial direction of the water jet rod;

[0019] The overall instrument motion module is used to drive the overall instrument to rotate around the axis of the water jet rod;

[0020] The motion control module is used to determine the planned motion trajectory and planning parameters of the water jet; within any motion step, relative to the water jet rod body, in response to the rotational motion starting position and / or rotational motion stopping position being within the coverage range of the guide sheath, the rotation of the entire instrument is controlled with the axial direction of the water jet rod body as the center, eliminating the obstruction of the guide sheath to the rotational motion starting position and / or rotational motion stopping position.

[0021] In a third aspect, an embodiment of the present application further proposes a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in any embodiment of the first aspect of the present application.

[0022] In a fourth aspect, an embodiment of the present application further proposes an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the method described in any embodiment of the first aspect of the present application is implemented.

[0023] At least one of the above technical solutions adopted in the embodiments of the present application can achieve the following beneficial effects:

[0024] It can achieve complete 360-degree resection without dead angles. With the support of the guide sheath, the guide sheath itself will not block or hinder the resection range of the water jet, allowing the water jet to achieve cutting within any planned angle range. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0026] FIG1 is a schematic structural diagram of the water jet system of the present application;

[0027] FIG2 is a flow chart of an embodiment of the method of the present application;

[0028] FIG3 is a schematic cross-sectional view of the distal end portion of the overall device;

[0029] FIG4 is a schematic diagram of a scenario in which the water jet action range is within the guide sheath coverage range;

[0030] FIG5 is a schematic diagram of a scene in which a portion of the water jet action range is within the guide sheath coverage range;

[0031] FIG6 is a schematic diagram of a scenario in which multiple parts of the water jet action range are within the coverage range of the guide sheath;

[0032] Figure 7 is a schematic diagram of the combined motion of the overall apparatus and the executing apparatus;

[0033] FIG8 is an embodiment of a motion control module of the device of the present application;

[0034] FIG9 is a schematic structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0035] To make the purpose, technical solutions, and advantages of this application more clear, the technical solutions of this application will be clearly and completely described below in conjunction with the specific embodiments of this application and the corresponding drawings. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0036] The following describes in detail the technical solutions provided by various embodiments of the present application in conjunction with the accompanying drawings.

[0037] Figure 1 is a schematic diagram of the waterjet system of the present application. The waterjet system comprises a guide sheath, an actuator, and an optional endoscope mechanism, arranged axially parallel to each other. The actuator comprises a waterjet shaft and an aperture for radially ejecting a water jet. The guide sheath provides a surgical channel and supports the surgical procedure. During conventional waterjet operation, the guide sheath is typically pre-inserted into the surgical area. The guide sheath has a linear motion range of MN, while the actuator has a maximum linear motion range of WN.

[0038] The water jet system also includes an actuator motion module, an overall instrument motion module, and optionally, a guide sheath motion module and an endoscope motion module. The actuator motion module is configured to drive the actuator to rotate about the axis of the water jet shaft and to drive the actuator to move linearly along the axis of the water jet shaft. The guide sheath motion module is configured to drive the guide sheath to move linearly along the axis of the water jet shaft, and the endoscope motion module is configured to drive at least the endoscope to move linearly along the axis of the water jet shaft.

[0039] When the constraints of the above-mentioned linear working range are met, the working range of the actuator in the rotational direction is limited by the guide sheath. As shown in Figure 3, the guide sheath is located on the upper side of the actuator, S and E are the boundary positions on both sides of the guide sheath, and O is the axial center of the water jet rod. The energy action range of the actuator is the downward fan-shaped SOE area. The upward fan-shaped SOE area is blocked by the guide sheath, and the energy cannot be released to the cutting object.

[0040] Based on the existing technology, the present application adds an overall instrument motion module, which includes a module for controlling the overall instrument (i.e., the overall instrument including at least a guide sheath and an actuator) to perform at least rotational motion. Preferably, the overall instrument motion module can drive the overall instrument to rotate around the axial direction of the water knife rod.

[0041] The water jet system may further include a motion control module. The motion control module proposed in the present application is used to control the rotation of the entire instrument around the axial direction of the water jet rod body in response to the starting position and / or stopping position of the rotational movement being within the coverage range of the guide sheath within any motion step, thereby eliminating the obstruction of the starting position and / or stopping position of the rotational movement by the guide sheath relative to the water jet rod body.

[0042] FIG2 is a flow chart of an embodiment of the method of the present application. The embodiment of the present application proposes an automatic water jet optimization control method for the water jet system, comprising the following steps 10 to 40:

[0043] Step 10: Determine the planned motion trajectory and planning parameters of the water jet, where the planning parameters include the linear motion starting position, linear motion stopping position, linear motion speed, rotational motion starting position, rotational motion stopping position, and rotational motion speed of each motion step.

[0044] Obtain the planned motion trajectory of the water jet and convert it into a motion control position trajectory. The motion control position trajectory is defined by the planning parameters, which can be expressed as follows:

[0045] [{stepNO,line_start,line_stop,line_vel,rotate_start,rotate_end,rotate_vel,depth}]

[0046] Among them, stepNO is the step number, line_start is the starting position of the linear motion of the actuator within the step, line_stop is the ending position of the linear motion of the actuator within the step, rotate_start is the starting position of the rotational motion of the actuator within the step, rotate_end is the stopping position of the rotational motion of the actuator within the step, line_vel is the linear motion speed, rotate_vel is the rotational motion speed, and depth is the resection depth.

[0047] Step 20: In one embodiment of the present application, the cutting range between the rotational movement start position and the rotational movement stop position is divided into zones.

[0048] In one embodiment of the present application, in response to the planned rotational speed being greater than a set threshold within any motion step, the cutting range between the rotational start position and the rotational stop position is partitioned, and the rotational speed within any partition is reduced to less than the set threshold. Within a step, the position and speed of the linear motion determine the duration of the step. Therefore, within the rotational range of the resection trajectory, the rotational speed can be determined based on the duration. After partitioning, the step is executed within each partition according to the duration. Since the partitioning reduces the rotational range, the rotational speed within the partition is reduced.

[0049] In one embodiment of the present application, the partitioning is independent of speed and can be performed regardless of the speed. The impact of speed is that when the planned speed exceeds the maximum rotational speed of the entire device, step 30C below is not recommended to ensure that the water jet can complete the planned trajectory at the planned speed.

[0050] In one embodiment of the present application, the cutting range between the rotational movement start position and the rotational movement stop position is divided into zones, and adjacent zones have overlapping angles to ensure complete removal of the zone critical parts when each zone is executed separately.

[0051] It should be noted that step 20 is not necessary. In other embodiments, the technical solution of step 30 is directly executed.

[0052] Step 30. Within any movement step, relative to the water knife rod body, in response to the rotational movement starting position and / or rotational movement stopping position being within the guide sheath coverage range, the rotation of the entire instrument is controlled with the axial direction of the water knife rod body as the center to eliminate the guide sheath's obstruction of the rotational movement starting position and / or rotational movement stopping position.

[0053] According to the cutting angle in each step of the planned motion trajectory and the maximum cutting range of the water jet, an optimized and achievable motion control position trajectory is generated: [{stepNO, line_start, line_stop, line_vel, rotate_start', rotate_end', base_rotate, rotate_vel, depth}], where the calculation method of rotate_start', rotate_end', and base_rotate is specifically shown in the embodiments of Figures 4 to 7:

[0054] base_rotate is the base angle, which means the angle at which the whole device motion module controls the rotation of the whole device. The initial default value is 0, which is the vertical line CF, and the vertical line CF passes through the axial center O of the water jet rod.

[0055] With the axial center O of the waterjet rod as the origin and the ray OC as the starting edge, the counterclockwise rotation angle is a positive angle, and the clockwise rotation angle is a negative angle.

[0056] rotate_start' and rotate_end' are the starting and ending angles of the water jet relative to base_rotate. Counterclockwise rotation angles are relatively positive, while clockwise rotation angles are relatively negative.

[0057] In one embodiment of the present application, rotating the entire instrument to eliminate the guide sheath's obstruction of the rotational movement starting position and / or the rotational movement stopping position further includes: determining a basic angle, and rotating the entire instrument according to the basic angle.

[0058] In one embodiment of the present application, the following steps are further included: relative to the basic angle, further determining the rotation angle of the execution device so that the water jet action range covers the starting position and the stopping position of the rotation movement.

[0059] In one embodiment of the present application, the cutting range between the starting position and the stopping position of the rotational movement is divided into zones, and within one or more zones, the entire instrument is rotated around the axial direction of the water jet rod to eliminate the obstruction of the guide sheath to the zones.

[0060] The whole device and the execution device can both rotate about the axis of the water jet shaft, and the two rotational motions are independently controlled. Specifically, the whole device and the execution device can rotate synchronously as in step 30A, or asynchronously as in step 30B or step 30C.

[0061] Step 30A, in one embodiment of the present application, rotating the entire instrument to eliminate the guide sheath's obstruction of the rotational motion starting position and / or the rotational motion stopping position further includes: rotating the entire instrument, and at the same time, independently rotating the executing instrument with the water jet rod body as the center, so that the water jet action range covers the rotational motion starting position and the rotational motion stopping position.

[0062] Step 30B, in one embodiment of the present application, rotating the entire instrument to eliminate the guide sheath's obstruction of the rotational motion starting position and / or the rotational motion stopping position further includes: after the rotation of the entire instrument reaches a basic angle, rotating the execution instrument around the axial direction of the water jet rod as the center, so that the water jet action range covers the rotational motion starting position and the rotational motion stopping position.

[0063] Step 30C, in one embodiment of the present application, rotating the entire instrument to eliminate the obstruction of the guide sheath to the starting position and / or the stopping position of the rotational movement, further includes: in the area of ​​the planned cutting range not obstructed by the guide sheath, rotating the execution instrument around the axial direction of the water knife rod body without rotating the entire instrument; and in the area of ​​the planned cutting range obstructed by the guide sheath, rotating the entire instrument around the axial direction of the water knife rod body without rotating the execution instrument, so that the water jet action range covers the starting position and the stopping position of the rotational movement.

[0064] Furthermore, the planned cutting range may be partitioned, for example, into an area blocked by the guide sheath and an area not blocked by the guide sheath, and different control strategies may be executed for different partitions.

[0065] Step 40: Control the water jet cutting trajectory to be continuous between the rotational motion starting position and the rotational motion stopping position.

[0066] In one embodiment of the present application, the cutting range between the rotational start position and the rotational stop position is partitioned. Within at least one partition, the entire device does not rotate. Furthermore, within one or more partitions, the entire device is rotated about the axis of the water jet shaft to eliminate obstruction of the one or more partitions by the guide sheath. In this case, when motion trajectory planning is performed separately within the multiple partitions, the water jet cutting trajectory is controlled to be continuous between the rotational start position and the rotational stop position within any step length.

[0067] It should be noted that step 40 is not necessary and is based on the partitioning in step 20.

[0068] Preferably, when there is a mutation between the calculated step lengths, a step for eliminating residual pressure needs to be added. Keep the linear direction of the water jet implement unchanged and rotate the rotational direction back to the cavity range that has been cut in the previous step, and wait for a time t, which is obtained through experiments. That is, the residual pressure elimination time is different for different cutting depths.

[0069] Figure 3 is a schematic cross-sectional view of the distal end of the overall implement, where the distal end refers to the end that is relatively farther from the operator and closer to the surgical area. Through the device and method of the present application, calculate the angle between the SOE fan-shaped area and the perpendicular line CF. The perpendicular line CF is generally the initial working range of the water jet needle relative to the ultrasonic probe (for example, in the scenario of prostate resection surgery, the water jet and the ultrasonic probe are parallel, the water jet is above, the ultrasonic probe is below, and the line where the jet hole of the water jet is directly opposite to the ultrasonic probe is the perpendicular line CF). S and E are the two side boundary positions of the guide sheath, and {∠COS, ∠COE} can define the maximum cutting range of the water jet when the overall implement does not rotate.

[0070] Define the rotation of the water jet from rotate_start to rotate_end, that is, the angle range defined by {rotate_start, rotate_end}. rotate_start and rotate_end take the axial center O of the water jet rod as the origin, take the ray OC as the initial side, and the counterclockwise rotation angle is a positive angle, and the clockwise rotation angle is a negative angle.

[0071] Figure 4 is a schematic view of the scenario where the water jet action range is within the range covered by the guide sheath. For example, when rotate_start < rotate_end < ∠COS, that is, the planned water jet resection range {rotate_start, rotate_end} is entirely in the area outside the maximum cutting range of the water jet, that is, the guide sheath occlusion area on the left side in Figure 4. At this time, it is necessary to control the rotation of the overall implement of this patent to achieve the resection of the area outside the maximum cutting range of the water jet.

[0072] Specifically, in one embodiment, control the rotation of the overall implement base_rotate, and base_rotate = (rotate_start + rotate_end) / 2.

[0073] base_rotate is the base angle, and this mechanism rotates the entire instrument according to the base angle. As the entire instrument rotates, the execution instrument, which is a part of the entire instrument, also rotates the base angle. In order for the execution instrument to achieve the planned water jet action range, it is also necessary to update the rotation angle of the execution instrument, that is, based on the base angle, further determine the updated water jet rotation start position rotate_start' and the rotation stop position rotate_end', so that the water jet action range covers the rotation start position and the rotation stop position. The updated water jet rotation start position rotate_start' and the rotation stop position rotate_end' are based on the base angle of the entire instrument, that is, the rotation angle of the water jet determined with the ray Obase_rotate as the starting edge. At this time, in order to achieve the excision of the updated planned range {rotate_start', rotate_end'}, the entire instrument can be rotated to the base_rotate position by the entire instrument rotation mechanism of this patent first, and then the water jet rotation mechanism can be used to control the water jet to complete the excision of the range according to the updated rotate_start' and rotate_end' parameters. Among them, rotate_start'=rotate_start-base_rotate, rotate_end'=rotate_end-base_rotate.

[0074] It should be noted that when rotate_start > rotate_end > ∠COE, the entire planned area lies within the guide sheath obstruction area on the right side of Figure 4. The calculation method is similar. Specifically, the entire instrument is rotated using base_rotate, where base_rotate = (rotate_start + rotate_end) / 2. The water jet rotation mechanism then controls the water jet to complete the resection within this area according to the updated rotate_start' and rotate_end' parameters. Here, rotate_start' = rotate_start - base_rotate, and rotate_end' = rotate_end - base_rotate.

[0075] The above only provides an embodiment for determining base_rotate. It should be understood that the method for determining base_rotate is not limited thereto, as long as the obstruction of the partition by the guide sheath can be eliminated.

[0076] FIG. 5 is a schematic diagram of a scenario where a part of the planned resection area is within the coverage of the guide sheath. As shown in the figure, when -360° + ∠COE < rotate_start < ∠COS and ∠COS < rotate_end < ∠COE, that is, when the planned rotate_start is in the angular range of ∠SOE outside the maximum cutting range of the water jet, it is also necessary to control the rotation of the overall instrument mechanism of this patent to achieve the resection of the area outside the maximum cutting range of the water jet.

[0077] In one embodiment, for example, the unobstructed area and the obstructed area can be combined. For example, while controlling the rotation of the overall instrument, the rotation of the water jet is controlled, and the combined rotational movement of the two is used to achieve an enlarged cutting range.

[0078] In other embodiments, the planned cutting area can also be partitioned. For example, the planned cutting area is divided into an unobstructed area and an obstructed area, and different control strategies are adopted for the unobstructed area and the obstructed area respectively. For example, in the unobstructed area, the water jet is controlled to execute at the original planned speed until the boundary position, and in the obstructed area, while controlling the rotation of the overall instrument, the rotation of the water jet is controlled, and the combined rotational movement of the two is used to perform the resection.

[0079] In one embodiment, when the planned rotate_vel is less than the upper limit value of the rotation speed of the overall instrument, the water jet can be first controlled to rotate at the preset rotate_vel within the range of {rotate_end, ∠COS} to complete the cutting action. When the water jet rotation is about to reach the guide sheath boundary position point S, the water jet rotation mechanism is controlled to stop rotating, and the overall instrument rotation mechanism is started to rotate. The overall instrument rotation mechanism rotates at the preset rotate_vel until base_rotate = rotate_start - ∠COS. During this process, the water jet rotation mechanism does not move, that is, rotate_start’ = rotate_end’ = ∠COS, and the water jet and the overall instrument rotate synchronously to complete the cutting.

[0080] In another embodiment, when a part of the planned resection area is within the coverage of the guide sheath and a part is within the maximum cutting range, the planned resection area needs to be split, that is, divided into the first partition (rotate_end, ∠COS) and the second partition (∠COS, rotate_start) of the resection area angle.

[0081] The base angle of the first partition (rotate_end, ∠COS) can take the original position, that is, base_rotate = 0, rotate_start’ = ∠COS, rotate_end’ = rotate_end.

[0082] First, control the water jet to rotate at the preset rotate_vel and complete the cutting action within the first partition (rotate_end, ∠COS). When the water jet rotation is about to reach the guide sheath boundary position point S, control the water jet rotation mechanism to stop rotating, and start the overall instrument rotation mechanism to rotate until base_rotate = (∠COS + rotate_start) / 2.

[0083] For the second partition (∠COS, rotate_start), a new planning step size can be added. The base angle of this step size and the updated parameters are, for example:

[0084] base_rotate = (∠COS + rotate_start) / 2,

[0085] rotate_start’ = rotate_start - base_rotate,

[0086] rotate_end’ = ∠COS - base_rotate + delta,

[0087] Within the newly added planning step size, the overall instrument rotation base angle is base_rotate, and the water jet rotates according to the updated rotation movement start position rotate_start’ and the updated rotation movement stop position rotate_end’.

[0088] In the above formula, delta is the compensation cutting coefficient. By setting the compensation cutting coefficient, partial overlap between the first partition and the second partition is achieved, avoiding the formation of an uncut thin wall at S.

[0089] Preferably, the newly added planning step size Step is placed at the end of the plan. If there are multiple newly added planning step sizes Step, all newly added planning step sizes are merged. After all the original planning step sizes are completed, the newly added planning step sizes are then executed, which helps to reduce the number of overall instrument rotation movements and ensure the continuity of the water jet cutting trajectory.

[0090] It should be noted that when ∠COS < rotate_start < ∠COE and ∠COE < rotate_end < ∠COS + 360°, that is, the planned rotate_end is in the angular SOE range outside the maximum cutting range of the water jet. At this time, the calculation method is similar.

[0091] The above is only one embodiment of determining base_rotate. It should be understood that the method of determining base_rotate is not limited to this, as long as the guide sheath can eliminate the obstruction of the partition. For example, base_rotate can be determined as base_rotate=rotate_srart-∠COS to obtain the minimum overall instrument rotation angle.

[0092] Figure 6 is a schematic diagram of a scenario where multiple parts of the water jet's action range are within the guide sheath's coverage. As shown in Figure 6, when rotate_start <∠COS and rotate_end >∠COE, the following can be executed:

[0093] In one embodiment, for example, the unobstructed area and the obstructed area can be combined, for example, by controlling the rotation of the entire instrument while controlling the rotation of the water jet, so as to achieve an expanded cutting range through the combined rotational motion of the two.

[0094] In other embodiments, the planned cutting area can also be partitioned. For example, the planned cutting area can be divided into an unobstructed area and two obstructed areas, and different control strategies can be implemented for the unobstructed area and the two obstructed areas. For example, in the unobstructed area, the water jet is controlled to execute to the boundary position according to the original planned speed. In the obstructed area, the water jet is controlled to rotate while controlling the rotation of the entire instrument, and the resection is performed by the composite rotation motion of the two.

[0095] When the partitioning scheme is adopted, two new partitions need to be added at this time. The specific principle is the same as the above embodiment. Correspondingly, when the scheme of adding planning steps is adopted, two new steps need to be added in this case:

[0096] The first step length added is: base_rotate1 = (∠COS + rotate_start) / 2, rotate_start1' = rotate_start - base_rotate1, rotate_end1' = ∠COS - base_rotate1 + delta.

[0097] The newly added second step length is: base_rotate2 = (rotate_end + ∠COE) / 2, rotate_start2' = ∠COE - base_rotate2 - delta, rotate_end2' = rotate_end - base_rotate2.

[0098] Where delta is the compensation cutting coefficient to avoid the formation of uncut thin walls and cavities at S and E, which may cause subsequent collapse. Delta is also variable based on the cutting angle. The original step size is updated to base_rotate = 0, rotate_start' = ∠COS, and rotate_end' = ∠COE.

[0099] Preferably, the two newly added steps are placed at the end of the plan, and the newly added steps are merged and executed after all the original planned steps are executed. When merging all the newly added steps, in order to reduce the number and amplitude of the overall instrument rotation movement, the base_rotate, rotate_start', and rotate_end' parameters of all or some of the newly added steps can be merged and set to a unified base_rotate, which can effectively reduce the movement frequency and better protect the surrounding cutting objects.

[0100] In the embodiments of Figures 4 to 6, the recalculated planned cutting range is calculated as the actual motion control trajectory of the motor, that is, each step is planned according to the Z-shaped actual cutting trajectory. At this time, the rotate_start and rotate_end of each step need to be judged:

[0101] When (rotate_start, rotate_end) is within the downward fan-shaped SOE defined area, the overall instrument of the present application does not need to rotate during the cutting process, and a fixed base_rotate angle is sufficient.

[0102] When (rotate_start, rotate_end) is not in or partially in the downward fan-shaped SOE limited area, the overall instrument of the present application needs to rotate during the cutting process to cooperate with the rotary cutting movement of the water jet actuator so that the water jet can reach the planned cutting range.

[0103] Figure 7 is a schematic diagram of the combined motion of the overall instrument and the actuator. In this embodiment, controlling the rotation of the overall instrument to eliminate the obstruction of the guide sheath from the starting position and / or the stopping position of the rotational motion further includes: rotating the overall instrument while independently rotating the actuator about the axial direction of the water jet shaft, so that the water jet's range of action covers the starting position and the stopping position of the rotational motion. As shown in the figure, when the overall instrument (with ON as the reference direction) is fixed, the actuator (with OM as the reference direction) rotates about O as the center to produce the resection effect. Due to the restriction of the guide sheath SFE, it can only move within the SCE area.

[0104] In this embodiment, the overall instrument and the actuator are controlled to rotate simultaneously. That is, while the water jet OM rotates around O as the center, the actuator ON also rotates around O as the center. This can expand the rotational resection range of a single actuator. At this time, the constraint that the resection effect produced at the point of contact between the water jet and the object to be cut (i.e., the linear velocity of the water jet end) is the same as the resection effect when the water jet moves alone must be met. That is, the linear velocity of the combined motion of the overall instrument and the actuator must be the same as the linear velocity of the water jet axis moving alone. When it is detected that the starting position and / or the stopping position of the rotational motion are within the coverage range of the guide sheath, the two axis motors controlling the overall instrument and the actuator calculate and update the angular velocities of the two axes in each synchronization cycle based on the motor angular velocity sent to the motor driver in the previous cycle. The superposition of the two axis angular velocities must satisfy the requirement that the linear velocity of the final water jet end is the same as the linear velocity of the water jet end calculated based on the angular velocity rotate_vel given in the planning step size and the cutting depth depth.

[0105] When the above-mentioned method provided in the present application is applied in a surgical scenario, the surgical planning scheme is not restricted and the resection effect can be optimized. It should be noted that the device and method process of the present application are not necessarily related to the surgical process. The device and method process of the present application focus on how to eliminate the obstruction of the water jet of the water jet system. It is based on the response of the equipment's own working conditions and works independently without relying on the existence of the object to be cut. It can also be used in non-surgical scenarios.

[0106] Figure 8 is an embodiment of the motion control module of the device of the present application. The embodiment of the present application also provides an automatic water jet optimization control device for implementing the method described in any embodiment of the first aspect of the present application, the device comprising an execution device motion module, an overall device motion module and a motion control module.

[0107] The actuator motion module is used to drive the actuator to rotate around the axial direction of the water jet rod.

[0108] The overall instrument motion module is used to drive the overall instrument to rotate around the axial direction of the water jet rod.

[0109] The motion control module is used to determine the planned motion trajectory of the water jet; within any motion step, relative to the water jet rod body, in response to the rotational motion starting position and / or rotational motion stopping position being within the coverage range of the guide sheath, the rotation of the entire instrument is controlled with the axial direction of the water jet rod body as the center, eliminating the obstruction of the guide sheath to the rotational motion starting position and / or rotational motion stopping position.

[0110] In one embodiment of the present application, a guide sheath motion module is further included, wherein the guide sheath motion module is used to drive the guide sheath to move linearly along the axial direction of the water knife rod body.

[0111] In one embodiment of the present application, the motion control module further includes a first acquisition unit 511, which is used to acquire and determine the planned motion trajectory and planning parameters of the water jet, and the planning parameters include the linear motion starting position, linear motion stopping position, linear motion speed, rotational motion starting position, rotational motion stopping position, and rotational motion speed of each motion step.

[0112] In one embodiment of the present application, the motion control module further includes a first rotation control unit 521, which controls the rotation of the entire instrument with the axial direction of the water knife rod as the center in response to the starting position and / or the stopping position of the rotational movement being within the coverage range of the guide sheath, thereby eliminating the obstruction of the starting position and / or the stopping position of the rotational movement by the guide sheath.

[0113] In one embodiment of the present application, the motion control module further includes a first determination unit 531, which is used to determine a basic angle and rotate the entire device according to the basic angle.

[0114] In one embodiment of the present application, the motion control module further includes a second rotation control unit 522, which is used to further determine the rotation angle of the execution device relative to the basic angle so that the water jet action range covers the starting position and the stopping position of the rotation motion.

[0115] In one embodiment of the present application, the entire device is rotated, and the execution device is independently rotated around the axial direction of the water jet rod, so that the water jet action range covers the starting position and the stopping position of the rotation movement.

[0116] In one embodiment of the present application, after the rotating whole device reaches a basic angle, the executing device is rotated around the axial direction of the water jet rod body so that the water jet action range covers the starting position and the stopping position of the rotation movement.

[0117] In one embodiment of the present application, the motion control module further includes a second determination unit 532, which partitions the cutting range between the starting position of the rotational movement and the stopping position of the rotational movement. Preferably, within any motion step, in response to the planned rotational movement speed being greater than a set threshold, the cutting range between the starting position of the rotational movement and the stopping position of the rotational movement is partitioned, and the rotational movement speed is made less than the set threshold in any partition.

[0118] In one embodiment of the present application, the cutting range between the starting position and the stopping position of the rotational movement is divided into zones, and within one or more zones, the entire instrument is rotated around the axial direction of the water jet rod to eliminate the obstruction of the guide sheath to the zones.

[0119] In one embodiment of the present application, the cutting range between the rotational movement starting position and the rotational movement stopping position is divided into zones, and adjacent zones have overlapping angles.

[0120] In one embodiment of the present application, the cutting range between the rotational movement starting position and the rotational movement stopping position is divided into zones, and in at least one zone, the entire instrument does not rotate.

[0121] In one embodiment of the present application, the cutting range between the rotational motion starting position and the rotational motion stopping position is partitioned, and within any step length, the water jet cutting trajectory is controlled to be continuous between the rotational motion starting position and the rotational motion stopping position.

[0122] In one embodiment of the present application, the motion control module further includes a first linear control unit 541 for controlling the endoscope motion module to drive the endoscope to move linearly along the axial direction of the water jet rod from the observation position to the position of the covering hole.

[0123] In one embodiment of the present application, the motion control module further includes a second linear control unit 542 for controlling the actuator motion module to drive the actuator to move linearly along the axial direction of the water jet rod.

[0124] It will be understood by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0125] Therefore, the present application also proposes a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in any embodiment of the present application.

[0126] The present invention is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0127] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a product including an instruction device that implements the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0128] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0129] Furthermore, the present application also proposes an electronic device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor implements the method described in any embodiment of the present application when executing the computer program. In a typical configuration, the electronic device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory. The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM), and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0130] FIG9 is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. The electronic device 600 shown is merely an example and should not impose any limitations on the functions and scope of use of the embodiments of the present application. It includes: one or more processors 620; a storage device 610 for storing one or more programs. When the one or more programs are run by the one or more processors 620, the one or more processors 620 implement the method of any embodiment of the first aspect of the present application. The steps of the method are such as steps 10 to 30 of the embodiment, which will not be repeated here.

[0131] The electronic device 600 further includes an input device 630 and an output device 640 ; the processor 620 , storage device 610 , input device 630 and output device 640 in the electronic device can be connected via a bus or other means, with the figure taking the connection via bus 650 as an example.

[0132] The storage device 610 is a computer-readable storage medium that can be used to store software programs, computer-executable programs, and module units. The storage device 610 may mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system and at least one application required for a function; the data storage area can store data created based on the use of the terminal, etc. In addition, the storage device 610 may include a high-speed random access memory and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some instances, the storage device 610 may further include a memory remotely located relative to the processor 620, and these remote memories may be connected via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0133] The input device 630 may be used to receive input numbers, character information or voice information, and generate key signal input related to user settings and function control of the electronic device. The output device 640 may include electronic devices such as a display screen and a speaker.

[0134] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0135] The foregoing is merely an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. An automatic water jet optimization control method for a water jet system, wherein the water jet system comprises an integral device consisting of a guide sheath, an actuator, and an endoscope mechanism arranged axially parallel to each other, wherein the actuator comprises a water jet rod and a hole for radially ejecting a water jet, characterized in that: The following steps are involved: Determine the planned motion trajectory and planning parameters of the water jet, the planning parameters including the linear motion starting position, linear motion stopping position, linear motion speed, rotational motion starting position, rotational motion stopping position, and rotational motion speed of each motion step; Within any movement step, relative to the water knife rod body, in response to the starting position of the rotational movement and / or the stopping position of the rotational movement being within the coverage range of the guide sheath, the rotation of the entire instrument is controlled with the axial direction of the water knife rod body as the center, eliminating the obstruction of the starting position of the rotational movement and / or the stopping position of the rotational movement by the guide sheath.

2. The automatic water jet optimization control method according to claim 1, characterized in that: Controlling the rotation of the entire instrument to eliminate the blocking of the guide sheath on the starting position and / or the stopping position of the rotational movement further comprises: determining a base angle, and rotating the entire instrument according to the base angle; Relative to the basic angle, the rotation angle of the executing device is further determined so that the water jet action range covers the starting position and the stopping position of the rotation movement.

3. The automatic water jet optimization control method according to claim 1, characterized in that: Controlling the rotation of the entire device to eliminate the blocking of the guide sheath on the starting position and / or the stopping position of the rotational movement further comprises: The whole device is rotated, and the executing device is rotated independently with the axial direction of the water jet rod as the center, so that the action range of the water jet covers the starting position and the stopping position of the rotation movement.

4. The automatic water jet optimization control method according to claim 1, characterized in that: Controlling the rotation of the entire device to eliminate the blocking of the guide sheath on the starting position and / or the stopping position of the rotational movement further comprises: After the rotating whole device reaches a basic angle, the executing device is rotated around the axial direction of the water jet rod body so that the water jet action range covers the starting position and the stopping position of the rotation movement.

5. The automatic water jet optimization control method according to claim 1, characterized in that: In any movement step, the cutting range between the rotational movement start position and the rotational movement stop position is partitioned.

6. The automatic water jet optimization control method according to claim 1, characterized in that: The cutting range between the starting position and the stopping position of the rotational movement is divided into sections, and within one or more sections, the entire instrument is rotated around the axial direction of the water jet rod body to eliminate the obstruction of the guide sheath to the sections.

7. The automatic water jet optimization control method according to claim 1, characterized in that: The cutting range between the rotational movement starting position and the rotational movement stopping position is divided into zones, and adjacent zones have overlapping angles.

8. The automatic water jet optimization control method according to claim 1, characterized in that: The cutting range between the rotational movement starting position and the rotational movement stopping position is divided into sections, and the entire instrument does not rotate in at least one section.

9. The automatic water jet optimization control method according to claim 1, characterized in that: The cutting range between the rotational motion starting position and the rotational motion stopping position is divided into sections, and within any step length, the water jet cutting trajectory is controlled to be continuous between the rotational motion starting position and the rotational motion stopping position.

10. The automatic water jet optimization control method according to claim 1, characterized in that: In the area of ​​the planned cutting range that is not blocked by the guide sheath, the executing instrument is rotated with the axial direction of the water jet rod as the center, and the entire instrument is not rotated; and / or, in the area of ​​the planned cutting range that is blocked by the guide sheath, the entire instrument is rotated with the axial direction of the water jet rod as the center, and the executing instrument is not rotated, so that the water jet action range covers the starting position and the stopping position of the rotational movement.

11. An automatic water jet optimization control device, used to implement the method according to any one of claims 1 to 10, characterized in that: It includes an execution device motion module, an overall device motion module and a motion control module; The actuator motion module is used to drive the actuator to rotate around the axial direction of the water jet rod; The overall instrument motion module is used to drive the overall instrument to rotate around the axis of the water jet rod; The motion control module is used to determine the planned motion trajectory and planning parameters of the water jet; within any motion step, relative to the water jet rod body, in response to the rotational motion starting position and / or rotational motion stopping position being within the coverage range of the guide sheath, the rotation of the entire instrument is controlled with the axial direction of the water jet rod body as the center, eliminating the obstruction of the guide sheath to the rotational motion starting position and / or rotational motion stopping position.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 10 is implemented.

13. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable by the processor, wherein: When the processor executes the computer program, the method according to any one of claims 1 to 10 is implemented.

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