Interventional medical system

Abstract

Provided is an interventional medical system (140, 200), which comprises a processor (110) and an operation execution end (240), wherein the operation execution end (240) comprises a surgical execution system (241), and the processor (110) is configured for: performing spatial registration on the interventional medical system (140, 200) to acquire registration information (910); acquiring related information and surgical information of a patient, and determining an operation plan of the surgical execution system (241) on the basis of the registration information, the related information, and the surgical information (920); and controlling the surgical execution system (241) to perform an operation on the basis of the surgical information and the operation plan (930).

Description

An interventional medical system Cross-references

[0001] This specification claims priority to Chinese application No. 202410494718.4, filed on April 23, 2024, and Chinese application No. 202411383994.X, filed on September 29, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This manual relates to the field of medical device technology, and in particular to an interventional medical system. Background Technology

[0003] Interventional radiology, based on imaging diagnostics and guided by images, is used for non-surgical treatment of diseases such as lung cancer, liver cancer, and transverse and mediastinal tumors, or to obtain histological, physiological, and biochemical materials to clarify the nature of the lesion. It includes puncture biopsy, ablation, and particle implantation. Puncture biopsy is the gold standard for tumor diagnosis, while ablation and particle implantation offer advantages such as being minimally invasive and having good prognostic outcomes for tumor treatment. However, traditional interventional radiology requires repeated scanning and adjustment of the position, resulting in low puncture precision.

[0004] Therefore, we hope to provide an interventional medical system that can improve the precision of surgical procedures and reduce the difficulty of surgical procedures. Summary of the Invention

[0005] This specification provides an interventional medical system, including a processor and an operation execution terminal. The operation execution terminal includes a surgical execution system. The processor is configured to: perform spatial registration of the interventional medical system and obtain registration information; obtain relevant patient information and surgical information; determine an operation plan for the surgical execution system based on the registration information, the relevant information, and the surgical information; and control the surgical execution system to perform operations based on the surgical information and the operation plan.

[0006] This specification also provides an interventional medical system, including a processor, for use in conjunction with a medical imaging system, the medical imaging system including a scanning bed, the processor being configured to: in response to a start signal, spatially register the interventional medical system; in response to the completion of the spatial registration, control the scanning bed to move to a second position toward the imaging area of ​​the medical imaging system, the second position being the position of the scanning bed when the medical imaging system scans a patient; and in response to the completion of the medical imaging system scanning the patient, control the scanning bed to move to an execution position, where the patient receives an operation.

[0007] This specification also provides an interventional medical system, including a processor and an operation execution terminal. The operation execution terminal includes a surgical execution system. The processor is configured to: acquire relevant patient information and surgical information; determine an operation plan based at least on the relevant information and the surgical information; and control the surgical execution system to perform the operation based on the surgical information and the operation plan. The surgical information includes a surgical mode, the operation plan includes navigation positioning points, the operation includes surgical operations, and the surgical execution system includes a surgical operation component. Controlling the surgical execution system to perform the operation based on the surgical information and the operation plan includes: controlling the surgical operation component to move to the navigation positioning point; and after the surgical operation component moves to the navigation positioning point, controlling the surgical operation component to perform the surgical operation based on the surgical mode. Attached Figure Description

[0008] This specification will be further described by way of exemplary embodiments, which will be described in detail with reference to the accompanying drawings. These embodiments are not limiting; in these embodiments, the same reference numerals denote the same structures, wherein:

[0009] Figure 1 is a schematic diagram of an exemplary application scenario of an interventional medical system according to some embodiments of this specification;

[0010] Figure 2 is a schematic diagram of the modules of an interventional medical system according to some embodiments of this specification;

[0011] Figure 3A is a schematic diagram of the active control terminal of an interventional medical system according to some embodiments of this specification;

[0012] Figure 3B is a schematic diagram of the operation execution end of an interventional medical system according to some embodiments of this specification;

[0013] Figure 4 is a schematic diagram of the main operator according to some embodiments of this specification;

[0014] Figure 5 is a schematic diagram of the structure of a surgical arm according to some embodiments of this specification;

[0015] Figure 6 is a partial structural schematic diagram of the base according to some embodiments of this specification;

[0016] Figure 7A is a schematic diagram of the reference coordinate systems of the operation execution end according to some embodiments of this specification;

[0017] Figure 7B is another schematic diagram of the reference coordinate systems of the operation execution end according to some embodiments of this specification;

[0018] Figure 8 is a schematic diagram of the transformation of various reference coordinate systems according to some embodiments of this specification;

[0019] Figure 9 is a schematic diagram of an exemplary workflow of an interventional medical system according to some embodiments of this specification;

[0020] Figures 10 and 11 are schematic flowcharts illustrating the determination of a first mapping relationship according to some embodiments of this specification;

[0021] Figure 12 is a schematic diagram of the operation interface of the optical imaging system for imaging a patient according to some embodiments of this specification;

[0022] Figure 13 is a flowchart illustrating the determination of target joint parameters according to some embodiments of this specification;

[0023] Figure 14 is a flowchart illustrating the determination of an executable path according to some embodiments of this specification;

[0024] Figure 15 is a flowchart illustrating the process of determining the initial planned surgical pose according to some embodiments of this specification;

[0025] Figure 16 is a flowchart illustrating the determination of the initial planning auxiliary pose according to some embodiments of this specification;

[0026] Figure 17 is a flowchart illustrating a surgical execution system based on control commands according to some embodiments of this specification;

[0027] Figure 18 is a feedback diagram of master-slave control according to some embodiments of this specification;

[0028] Figure 19 is a schematic diagram of the operation interface for auxiliary operations according to some embodiments of this specification;

[0029] Figure 20 is a schematic diagram of the operation interface for surgical preparation according to some embodiments of this specification;

[0030] Figure 21 is a schematic diagram of the operation interface of the manual control mode according to some embodiments of this specification;

[0031] Figure 22 is a schematic diagram of the operation interface when the master operator controls the surgical execution system according to some embodiments of this specification;

[0032] Figure 23 is an exemplary flowchart illustrating the operation performed by a user-controlled interventional medical system according to some embodiments of this specification. Detailed Implementation

[0033] To more clearly illustrate the technical solutions of the embodiments in this specification, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are merely some examples or embodiments of this specification. For those skilled in the art, these drawings can be applied to other similar scenarios without creative effort. Unless obvious from the context or otherwise specified, the same reference numerals in the drawings represent the same structures or operations.

[0034] It should be understood that the terms “system,” “device,” “unit,” and / or “module” used herein are one way to distinguish different components, elements, parts, sections, or assemblies at different levels. However, if other terms can achieve the same purpose, they may be replaced by other expressions.

[0035] As indicated in this specification and claims, unless the context clearly indicates otherwise, the words "a," "an," "an," and / or "the" are not specifically singular and may include the plural. Generally, the terms "comprising" and "including" only indicate the inclusion of expressly identified steps and elements, which do not constitute an exclusive list, and the method or apparatus may also include other steps or elements. Definitions of other terms will be given in the description below.

[0036] Flowcharts are used in this specification to illustrate the operations performed by the system according to embodiments of this specification. It should be understood that the preceding or following operations are not necessarily performed in exact order. Instead, the steps can be processed in reverse order or simultaneously. Furthermore, other operations can be added to these processes, or one or more steps can be removed from them.

[0037] Figure 1 is a schematic diagram of an exemplary application scenario of an interventional medical system according to some embodiments of this specification.

[0038] In some embodiments, the interventional medical system application scenario 100 may include a processor 110, a signal transmission device 120, a memory 130, an interventional medical system 140, and a terminal device 150. In some embodiments, the processor 110 may be connected to the memory 130, the interventional medical system 140, and / or the terminal device 150 via the signal transmission device 120 to access and / or receive data and information. For example, the processor 110 may receive relevant information about the interventional medical system 140 (e.g., operation plans, control commands, enable information, etc.) via the signal transmission device 120. Application scenario 100 may control the operation of the interventional medical system 140 by implementing the methods and / or processes disclosed in this specification.

[0039] Processor 110 can be used to process data and / or information from at least one component of application scenario 100 or an external data source (e.g., a cloud data center). Processor 110 can be connected to memory 130, interventional medical system 140, and / or terminal device 150 via signal transmission device 120 to access and / or receive data and information. For example, processor 110 can receive information related to the operation control of interventional medical system 140 (e.g., operation plan, control commands, enable information, etc.) via signal transmission device 120. In other embodiments, processor 110 can send parameters related to the operation control of interventional medical system 140 (e.g., first optical image, second optical image, target joint parameters, auxiliary operation control parameters, etc.) to terminal device 150 via signal transmission device 120.

[0040] In some embodiments, processor 110 is included in interventional medical system 140. In some embodiments, processor 110 can be used to perform spatial registration of interventional medical system 200 and obtain registration information. In some embodiments, processor 110 can be used to obtain patient-related information and surgical information. In some embodiments, processor 100 can also be used to determine an operation plan based on registration information, related information, and surgical information. In some embodiments, processor 110 can also be used to control the surgical execution system to perform operations based on the operation plan and surgical information. In some embodiments, processor 110 can also be used to obtain control commands from the active control terminal in interventional medical system 140 and control the surgical execution system to perform operations based on the control commands.

[0041] In some embodiments, processor 110 may include one or more processing engines (e.g., a single-chip processing engine or a multi-chip processing engine). By way of example only, processor 110 may include a central processing unit (CPU). Processor 110 may process data, information and / or processing results obtained from other devices or system components, and execute program instructions based on such data, information and / or processing results to perform one or more functions described in this specification.

[0042] Signal transmission device 120 can connect various components of application scenario 100 (e.g., memory 130, interventional medical system 140, terminal device 150, etc.) and / or connect application scenario 100 to external resources. Signal transmission device 120 enables communication between the components and with other parts outside application scenario 100, facilitating the exchange of data and / or information. In some embodiments, memory 130 can be connected to signal transmission device 120 to communicate with one or more components of application scenario 100 (e.g., processor 110, interventional medical system 140, terminal device 150). In some embodiments, signal transmission device 120 may also include a network. In some embodiments, the network may include a local area network (LAN), a wide area network (WAN), a wired network, a wireless network, etc. FIG1 exemplarily illustrates signal transmission device 120 including a network, which is for illustrative purposes only and does not constitute a limitation on the embodiments of this specification. It is understood that signal transmission device 120 can transmit signals through other media. For example, signal transmission device 120 may include data transmission cables.

[0043] The memory 130 may be used to store data and / or instructions. In some embodiments, the memory 130 may store data and / or instructions used by the processor 110 to perform or use in order to complete the exemplary methods described herein. For example, the memory 130 may store information output by the interventional medical system 140 (e.g., operation plans, etc.).

[0044] In some embodiments, memory 130 may be part of processor 110. In some embodiments, memory 130 may include mass storage, removable storage, volatile read-write memory, read-only memory (ROM), etc. In some embodiments, memory 130 may be implemented on a cloud platform. In some embodiments, memory 130 may be connected to signal transmission device 120 to communicate with one or more components of application scenario 100 (e.g., processor 110, interventional medical system 140, terminal device 150).

[0045] In some embodiments, the interventional medical system 140 can be used to operate on a patient to perform surgery. In some embodiments, the interventional medical system 140 is used in conjunction with a medical imaging system. In some embodiments, the interventional medical system 140 may include a surgical execution system. The interventional medical system 140 can acquire medical images of the patient through the medical imaging system, and the interventional medical system 140 can also control the surgical execution system to perform corresponding operations on the patient. In some embodiments, the processor 110 may be part of the interventional medical system 140. For more details about the interventional medical system 140, please refer to Figures 2, 3A, and 3B and their related descriptions, which will not be repeated here.

[0046] Terminal device 150 may include one or more terminal devices or software. In some embodiments, terminal device 150 may include a mobile phone, tablet computer, laptop computer, display, etc. In some embodiments, a user may view information and / or input data and / or instructions through terminal device 150. In some embodiments, terminal device 150 may include a signal transmitter and a signal receiver, configured to communicate with interventional medical system 140 to obtain relevant information about the observed object and to image it.

[0047] In some embodiments, the terminal device 150 may be fixed and / or mobile. For example, the terminal device 150 may be directly mounted on the processor 110 and / or the interventional medical system 140, becoming part of the processor 110 and / or the interventional medical system 140. Alternatively, the terminal device 150 may be a mobile device that a user can carry to a location relatively far from the processor 110 and the interventional medical system 140. The terminal device 150 may connect to and / or communicate with the processor 110 and the interventional medical system 140 via the signal transmission device 120.

[0048] It should be noted that the above description of the application scenarios of the interventional medical system is for convenience only and should not be construed as limiting this specification to the scope of the embodiments described. It is understood that those skilled in the art, after understanding the principle of the system, may arbitrarily combine the various components or connect sub-components with other components without departing from this principle. In some embodiments, the processor and memory disclosed in FIG1 may be different units within a single component, or a single part may implement the functions of two or more parts described above. For example, the various components may share a single storage unit, or each component may have its own separate storage unit. Such variations are all within the scope of protection of this specification.

[0049] Figure 2 is a schematic diagram of the modules of an interventional medical system according to some embodiments of this specification; Figure 3A is a schematic diagram of the active control end of an interventional medical system according to some embodiments of this specification; Figure 3B is a schematic diagram of the operation execution end of an interventional medical system according to some embodiments of this specification; and Figure 4 is a schematic diagram of the structure of the main operator according to some embodiments of this specification.

[0050] Please refer to Figures 2, 3A, and 3B. This specification provides an interventional medical system 200 according to some embodiments. In some embodiments, the interventional medical system 200 can be used in conjunction with a medical imaging system 220.

[0051] An interventional medical system 200 is used to perform operations on a patient. In some embodiments, the interventional medical system 200 may include an active control terminal 230 and an operation execution terminal 240 connected by information. A user (e.g., medical personnel) can control the operation execution terminal 240 to perform corresponding operations to conduct surgery on the patient via the active control terminal 230. In some embodiments, the active control terminal 230 and the operation execution terminal 240 can be connected via control signals, the types of which may include, but are not limited to, electrical signals, optical signals, and acoustic signals. In some embodiments, the interventional medical system 200 may also include a processor. The processor is configured to perform at least the following operations: spatial registration of the interventional medical system 200 and acquisition of registration information; acquisition of relevant patient information and surgical information, and determination of an operation plan based on the registration information, relevant information, and surgical information; and control the surgical execution system 241 to perform the operation based on the operation plan and surgical information. In some embodiments, the processor is further configured to perform the following operations: acquisition of control commands from the active control terminal 230, and control the surgical execution system 241 to perform the operation based on the control commands.

[0052] In some embodiments, the processor may include at least one of a first processor disposed at the active control terminal 230 and a second processor disposed at the operation execution terminal 240. The first processor and the second processor may cooperate to perform the above operations, or the first processor or the second processor may perform the above operations independently.

[0053] In some embodiments, the first processor and the second processor may cooperate to perform the following operations: spatial registration of the interventional medical system 200 and acquisition of registration information; acquisition of relevant patient information and surgical information, and determination of an operation plan based on the registration information, relevant information, and surgical information. For example, the first processor may acquire the first coordinates of a reference point of the operation execution end 240 (e.g., the reference point integrated into the execution end 2412, mentioned later) in the coordinate system corresponding to the medical X-ray imaging system 220 (e.g., the second coordinate system O2, mentioned later); the second processor acquires the pose information of the operation execution end 240 (e.g., the joint angle of the surgical execution arm 2411, etc.) to calculate the second coordinates of the reference point in the coordinate system corresponding to the operation execution end 240 (e.g., the third coordinate system O3, etc.); the first processor sends the first coordinates to the second processor; and the second processor performs spatial registration calculations based on the first and second coordinates. The second processor eliminates the need for the first processor to directly acquire the position information of the surgical execution system 241, reducing the number of connecting cables between the active control terminal 230 and the operation execution terminal 240. This allows for a more flexible and adaptable position design for the active control terminal 230, enabling remote configuration and operation control by the user.

[0054] In some embodiments, the first processor may also be configured to: acquire relevant patient information and surgical information, and determine an operation plan based on registration information, relevant information, and surgical information. In some embodiments, the second processor may also be configured to: control the surgical execution system 241 to perform operations based on the operation plan and surgical information; acquire control commands from the active control terminal 230, and control the surgical execution system 241 to perform operations based on the control commands.

[0055] In some embodiments, the active control terminal 230 may be located away from the operation execution terminal 240 to avoid the operation execution terminal 240 or its working environment from affecting the user. For example, the operation execution terminal 240 may be located in a radiation room, and the active control terminal 230 may be located outside the radiation room or in a room next to it, thereby preventing the user from being exposed to radiation released by the medical X-ray imaging system 220 during the imaging of the patient.

[0056] The active control terminal 230 is used to control the operation execution terminal 240. In some embodiments, the active control terminal 230 may be an integrated configuration of the processor 110, memory 130, and terminal device 150. In some embodiments, the active control terminal 230 may include an execution host 231, and a first processor may be located on the execution host 231. The first processor may be configured to: acquire relevant patient information and surgical information, and determine an operation plan based on registration information, relevant information, and surgical information. In some embodiments, the medical imaging system 220 may be signal-connected to the imaging host 221, and the active control terminal 230 may be signal-connected to the imaging host 221. A second processor may be located on the imaging host 221, or simultaneously located on the operation execution terminal 240 and the imaging host 221. The second processor may also be configured to: acquire control commands from the main operator 232, and control the surgical execution system 241 to perform surgical operations based on the control commands. For details regarding the imaging host 221, please refer to the subsequent description related to the imaging host 221.

[0057] In some embodiments, the active control terminal 230 may further include an execution display 233 (e.g., terminal device 150), through which a user can view information and / or input data and / or instructions to control the interventional medical system 200. For example, a user can input surgical information through the execution display 233. Another example is that a user can view a first optical image through the execution display 233. Yet another example is that a user can input control commands through the execution display 233. In some embodiments, the execution display 233 may include an input device, such as a keyboard or a touchscreen.

[0058] In some embodiments, the active control terminal 230 may further include a master operator 232, which is signal-connected to the surgical execution system 241 of the operation execution terminal 240. The master operator 232 is configured to receive user operations to generate control commands. The user can control the master operator 232 to generate corresponding control commands, thereby controlling the surgical execution system 241 (e.g., surgical execution arm 2411 and execution end effector 2412, etc.) to perform corresponding operations.

[0059] Referring to Figure 4, in some embodiments, the main manipulator 232 is provided with a release button 2321, which can be used to quickly release the surgical instrument of the surgical operation component after the surgical operation is completed.

[0060] In some embodiments, the active control terminal 230 may further include an exposure switch 223, which is configured to issue a first enable message upon user operation. The first enable message can be used to control the exposure of the medical imaging system 220, enabling the medical imaging system 220 to image the patient. For example, when the surgical mode is real-time control mode, when the user presses the exposure switch 223, the exposure switch 223 issues the first enable message, causing the medical imaging system 220 to scan the patient in real time and acquire a real-time image of the patient; when the user releases the exposure switch 223, the exposure switch 223 stops issuing the first enable message, and the medical imaging system 220 stops real-time scanning of the patient.

[0061] In some embodiments, the exposure switch 223 can be independently configured or integrated with the active control terminal 230. The exposure switch 223 allows the user to control the operating state of the medical imaging system 220 from a suitable location, preventing the user from being exposed to radiation from the medical imaging system 220. Simultaneously, the exposure switch 223 also allows the user to conveniently and quickly control the start and stop of the medical imaging system 220, thus eliminating the need for continuous exposure to continuously image the patient, thereby reducing the patient's exposure to additional radiation.

[0062] In some embodiments, the exposure switch 223 may be an exposure foot pedal. In some embodiments, when the surgical mode is a real-time control mode, the processor may also be configured to: acquire first enable information emitted by the exposure switch 223, and based on the real-time control mode and the first enable information, scan the patient in real time through the medical X-ray imaging system 220 to acquire real-time images of the patient.

[0063] In some embodiments, the main operator 232 is further provided with a control enable button 2324, which is configured to issue a second enable message upon user operation. For example, when the user presses the control enable button 2324, the control enable button 2324 issues the second enable message; when the user releases the control enable button 2324, the control enable button 2324 stops issuing the second enable message. In some embodiments, the control enable button is configured to allow or disable the main operator 232 from controlling the surgical execution system 241 to perform operations. That is, the second enable message can activate and enable the control command of the main operator 232. In some embodiments, the control enable button 2324 can control whether the surgical execution system 241 is locked or not; that is, the second enable message output by the control enable button 2324 can unlock the surgical execution system 241, allowing the surgical execution system 241 to move. In some embodiments, the control enable button 2324 can control whether the main operator 232 is locked or not; that is, the second enable information output by the control enable button 2324 can unlock the main operator 232, enabling it to operate. For example, in real-time control mode, the second enable information enables control commands to take effect. In other words, in real-time control mode, the main operator 232 can control the surgical execution system 241 via control commands only when the user operates the control enable button 2324.

[0064] In some embodiments, the processor is further configured to acquire a control command from the active control terminal 230 in response to the acquisition of both the first and second enable information. In other words, the control command from the master operator 232 can only take effect when the processor acquires both the first and second enable information.

[0065] In some embodiments, the first enabling information can activate the second enabling information. That is, after the user operates the first enabling information issued by the exposure switch 223, the first enabling information activates the second enabling information, thereby activating the control command of the main operator 232 and allowing the main operator 232 to control the surgical execution system 241 to perform operations. This avoids the user operating the main operator 232 without the patient's field of vision (e.g., the patient's medical images), thus avoiding additional harm to the patient.

[0066] In some embodiments, since there is a delay between the triggering of the first enabling information and the output of medical images by the medical imaging system 220 after scanning the patient, if the second enabling information is activated directly after the first enabling information is triggered, the user may operate the main operator 232 during the period before the medical imaging system 220 outputs the patient's medical images, resulting in blind puncture and potentially causing additional harm to the patient. In some embodiments, the patient's medical images output by the medical imaging system 220 can serve as the third enabling information. The second enabling information can only be activated when the first enabling information and the third enabling information work together. That is, after the user operates the first enabling information issued by the exposure switch 223, the medical imaging system 220 scans the patient, and after the medical imaging system 220 outputs the patient's medical images (the third enabling information), the control command of the main operator 232 is activated. In some embodiments, when the second enabling information is not output, the first enabling information can only control the exposure of the medical imaging system 220, enabling the medical imaging system 220 to scan the patient and output the patient's medical images. That is, the user can operate the exposure switch 223 independently to view the patient's medical images.

[0067] In some embodiments, the first enabling information indirectly activates the control commands of the main operator 232. Specifically, the user's operation of the exposure switch 223 generates the first enabling information, which in turn activates the second enabling information generated by the control enable button 2324. This second enabling information then activates the control commands generated by the main operator 232. That is, only when the user simultaneously operates both the control enable button 2324 and the exposure switch 223 will the exposure switch 223 generate the first enabling information, which in turn activates the second enabling information generated by the control enable button 2324. This second enabling information then activates the control commands generated by the main operator 232, allowing the main operator 232 to control the surgical execution system 241 to perform operations. When the user does not operate the exposure switch 223 and / or the control enable button 2324, the main operator 232 is prohibited from controlling the surgical execution system 241 to operate.

[0068] In other embodiments, when the surgical mode is real-time control mode, the second enabling information can also enable the first enabling information. In other words, in real-time control mode, the processor can scan the patient in real time through the medical imaging system 220 to obtain real-time images of the patient only when the user operates the control enabling button 2324. In some embodiments, in real-time control mode, when the user presses the control enabling button 2324 and issues the second enabling information, it indicates that the surgical operation is still in progress. In order to improve the accuracy of operation, the second enabling information enables the first enabling information, thereby scanning and imaging the patient through the medical imaging system 220 during the surgical operation; when the user releases the control enabling button 2324 and the control enabling button 2324 no longer issues the second enabling information, it indicates that the surgical operation has stopped (e.g., completed or paused). In order to reduce the radiation received by the patient, scanning and imaging the patient through the medical imaging system 220 should be avoided as much as possible when the surgical operation is stopped, and the first enabling information is invalid.

[0069] In some embodiments, when the surgical mode is a breakpoint control mode, the execution end 2412 may include a clamping structure that clamps the execution instrument. When the surgical mode is a breakpoint control mode, the second enable information issued by the control enable button 2324 can be used to control the clamping state of the clamping structure on the execution instrument. For more information on the clamping structure and the execution instrument, please refer to the subsequent detailed description of the clamping structure. In some embodiments, when the surgical mode is a breakpoint control mode, the processor is further configured to: acquire the second enable information issued by the control enable button 2324, and control the clamping structure to adjust to a clamping state based on the second enable information. The second enable information enables the control command.

[0070] In some embodiments, in breakpoint control mode, the processor is further configured to: acquire a scan signal, scan the patient using the medical imaging system 220 to obtain surgical images; and, based on the breakpoint control mode and the surgical images, control the actuator 24122 via the main operator 232 to perform a portion of the surgical operation corresponding to the surgical images. The scan signal is a signal manually input by the user. For example, the user can input the scan signal through the operating interface, through the control buttons on the main operator 232, or directly through the imaging host 221. In breakpoint control mode, the processor can control the medical imaging system 220 to scan the patient according to preset parameters based on the scan signal via the imaging host 221 to obtain surgical images. The preset parameters may include scanning time, scanning area, etc. The preset parameters can be pre-input parameters or historical parameters. In some embodiments, in breakpoint control mode, when the user presses the control enable button 2324 to issue a second enable message, it indicates that the surgical operation is still in progress. To reduce the radiation received by the patient, the medical imaging system 220 should be avoided from scanning the patient during the surgical operation. At this time, the user does not input a scan signal. When the user releases the control enable button 2324, it indicates that the current part of the surgical operation is paused or completed. The control enable button 2324 no longer issues a second enable message. At this time, the user can input a scan signal, and the medical X-ray imaging system 220 scans the patient to generate the corresponding surgical image. This facilitates scanning and imaging between different parts of the surgical operation in breakpoint control mode, and makes it easy to perform the corresponding part of the surgical operation based on the obtained surgical image.

[0071] In some embodiments, the active control terminal 230 may further include a selection unit (not shown in the figure), which can be used to adjust the working mode of the main manipulator 232. When the main manipulator 232 is in different working modes, it can control the surgical execution system 241 to perform corresponding operations. In some embodiments, the working mode of the main manipulator 232 may include an execution mode and a posture adjustment mode. Specifically, when the main manipulator 232 is in execution mode, it can control the movement of the end effector 2412 and the instrument to perform corresponding surgical operations; for example, when the instrument of the end effector 2412 includes a puncture needle, the main manipulator 232 can control the puncture needle to move linearly along its extension direction to puncture the patient. When the main manipulator 232 is in posture adjustment mode, it can control the movement of the surgical execution arm 2411 to adjust the posture of the surgical execution arm 2411 and the end effector 2412. In some embodiments, to improve operational accuracy, the main manipulator 232 cannot operate simultaneously in execution mode and orientation adjustment mode; that is, the main manipulator 232 cannot simultaneously control the movement of the surgical execution arm 2411 and the end effector 2412. In execution mode, the main manipulator 232 can only control the movement of the end effector 2412, while the surgical execution arm 2411 is locked to maintain the orientation of the surgical execution arm 2411 and the end effector 2412, reducing the operational error of the end effector 2412. In orientation adjustment mode, the main manipulator 232 can only control the movement of the surgical execution arm 2411, while the end effector 2412 is locked.

[0072] In some embodiments, the posture adjustment mode may include a first posture adjustment mode and a second posture adjustment mode. When the main manipulator 232 is in the first posture adjustment mode, it can control the surgical execution arm 2411 to move within the patient's cutting surface (horizontal plane) to adjust the posture; this first posture adjustment mode can also be called an intra-layer posture adjustment mode. When the main manipulator 232 is in the second posture adjustment mode, it can control the surgical execution arm 2411 to move within the patient's sagittal plane to adjust the posture; this second posture adjustment mode can also be called an inter-layer posture adjustment mode. In some embodiments, when the selection unit selects a posture adjustment mode, it can only select either the first or the second posture adjustment mode. In some embodiments, when the selection unit selects a posture adjustment mode, it can also select both the first and second posture adjustment modes simultaneously.

[0073] In some embodiments, to reduce operational complexity, the main manipulator 232 may also include a free mode. When the main manipulator 232 is in free mode, it can control the movement of the end effector 2412 while controlling the movement of the surgical arm 2411 in a first direction and within a first plane.

[0074] In some embodiments, the selection unit may further include a speed control module (not shown in the figure), which can be used to control the movement speed of the surgical execution system 241 in different working modes of the main manipulator 232. For example, in free mode, the movement speed of the surgical execution system 241 can be faster, allowing the user to quickly and freely control the movement and operation of the surgical execution system 241; in posture adjustment mode, the movement speed of the surgical execution arm 2411 can be relatively slower, allowing the user to precisely adjust the position and posture of the surgical execution arm 2411; in execution mode, the movement speed of the execution end 2412 can be relatively slow, allowing the user to precisely control the execution end 2412 to perform the corresponding surgical operation. In some embodiments, the corresponding movement speed of the surgical execution system 241 in different working modes of the main manipulator 232 can be manually input or a preset speed can be used.

[0075] In some embodiments, the selection unit may include a selection button 2322 disposed on the main operator 232, so that the user can switch the working mode of the main operator 232 while operating the main operator 232. In some embodiments, the selection unit may also include an operation interface displayed on the execution display 233, so that the user can intuitively and conveniently select the working mode of the main operator 232. In some embodiments, the operation interface is configured to perform at least one of the following: displaying and processing relevant patient information and surgical information; displaying and inputting operation plans; and displaying prompt information. In some embodiments, the operation interface may display the working mode of the main operator 232 and the pose of the surgical execution system 241, so as to improve the accuracy of the user's control and adjustment of the surgical execution system 241 through the main operator 232. In some embodiments, the operation interface may also display the speed selection of the surgical execution system 241 by the speed control module, so as to facilitate the user's control of the surgical execution system 241 through the main operator 242. In some embodiments, the operation interface may also be integrated into the execution host 231.

[0076] In some embodiments, the main operator 232 may also be provided with a quick switch button 2323. The quick switch button 2323 can be used to quickly switch the main operator 232 from the posture adjustment mode to the execution mode, quickly lock the posture of the surgical execution system 241 and control the execution end 2412 to perform operations, so as to improve efficiency and reduce surgical time.

[0077] In some embodiments, the operation execution terminal 240 may include a surgical execution system 241, which can be used to perform corresponding surgical operations on the patient. In some embodiments, the surgical execution system 241 may include surgical operation components and auxiliary operation components.

[0078] Figure 5 is a schematic diagram of the structure of a surgical arm according to some embodiments of this specification.

[0079] Referring to Figures 2-5, in some embodiments, the surgical operation component may include a surgical execution arm 2411, an execution end effector 2412, and an execution instrument 24122. The execution end effector 2412 may be disposed at the end of the surgical execution arm 2411, and the execution instrument 24122 may be disposed at the execution end effector 2412. The surgical execution arm 2411 and the execution end effector 2412 cooperate to control the execution instrument 24122 to perform corresponding surgical operations. The surgical operation component is configured to at least receive and execute input control commands. In some embodiments, the control commands may be issued by an active control terminal 230 (e.g., a master operator 232, an execution display 233, etc.). In some embodiments, when the surgical execution system 241 performs different surgical operations, it can select the corresponding type of execution end effector 2412 and execution instrument 24122.

[0080] In some embodiments, the surgical execution arm 2411 may include a first articulated arm 24111, a second articulated arm 24112, a third articulated arm 24113, a fourth articulated arm 24114, and a fifth articulated arm 24115. One end of the first articulated arm 24111 is connected to a base (e.g., base 2415) of the surgical execution arm 24111, and the other end of the first articulated arm 24111 is connected to one end of the second articulated arm 24112. The second articulated arm 24112 includes a first extension segment 241121 perpendicular to the axial direction of the first articulated arm 24111, and the other end of the second articulated arm 24112 is connected to one end of the third articulated arm 24113. The two ends of the second articulated arm 24112 are respectively located at the two ends of the axial direction of the first extension segment 241121. The other end of the third articulated arm 24113 is connected to one end of the fourth articulated arm 24114. The third articulated arm 24113 includes a second extension 241131 perpendicular to the axial direction of the first extension 241121. The other end of the second articulated arm 24112 can be connected to the second extension 241131. The fourth articulated arm 24114 is perpendicular to the axial direction of the second extension 241131. The other end of the fourth articulated arm 24114 is connected to one end of the fifth articulated arm 24115. The other end of the fifth articulated arm 24115 is connected to the end effector 2412. In some embodiments, the first articulated arm 24111 is provided with a first articulated axis N1, which has a translational degree of freedom along the axial direction of the first articulated arm 24111; a second articulated axis N2 is provided between the first articulated arm 24111 and the second articulated arm 24112, which has a rotational degree of freedom about the axial direction of the first articulated arm 24111; a third articulated axis N3 is provided between the second articulated arm 24112 and the third articulated arm 24113, which has a rotational degree of freedom about the axial direction of the second extension segment 241131; a fourth articulated axis N4 is provided between the third articulated arm 24113 and the fourth articulated arm 24114, which has a rotational degree of freedom about the axial direction of the fourth articulated arm 241114; and a fifth articulated axis N5 is provided between the fourth articulated arm 24114 and the fifth articulated arm 24115, which has a rotational degree of freedom relative to the end of the fourth articulated arm 24114. The position and orientation of the surgical arm 2411 can be adjusted by regulating the joint axis N1, joint axis N2, joint axis N3, joint axis N4, and joint axis N5. In some embodiments, each of the joint axes N1, N2, N3, N4, and N5 is equipped with a servo controller (not shown in the figure), a dual-channel position encoder (not shown in the figure), a motor (not shown in the figure), and a brake (not shown in the figure).Servo controllers can be used to control the movement of joints, thereby controlling the joint parameters of the corresponding joints (such as translation distance, rotation angle, etc.); dual-channel position encoders can be used to read the joint parameters of the corresponding joints; motors can be used to provide power for the movement of the corresponding joints; brakes can lock the corresponding joints to stop the movement of the corresponding joints in an emergency.

[0081] In some embodiments, the execution end 2412 may include an execution mounting base 24121 for mounting an execution instrument 24122. The execution instrument 24122 may be an external component or a component of the execution end 2412. The execution mounting base 24121 is connected to the end of the surgical execution arm 2411 (the end of the fifth articulated arm 24115 furthest from the fourth articulated arm 24114), and the execution instrument 24122 is mounted on the execution mounting base 24121. The execution mounting base 24121 can be used to determine the position of the execution instrument 24122.

[0082] In some embodiments, the execution mount 24121 can be detachably connected to the surgical execution arm 2411 (e.g., snap-fit) to facilitate the selection of different execution ends 2412 according to different surgical operations. In some embodiments, the execution mount 24121 is connected to the surgical execution arm 2411 before spatial registration to establish a fourth coordinate system O4 for the execution end 2412 during spatial registration. In some embodiments, the execution mount 24121 can be drive-connected to the surgical execution arm 2411 (e.g., via a universal joint), and the execution mount 24121 can move relative to the fifth articulated arm 24115 at the end of the surgical execution arm 2411, meaning the execution mount 24121 can be individually posture-adjusted, allowing the execution end 2412 to fine-tune its posture. It should be noted that during the posture adjustment process of the execution end 2412, the surgical execution arm 2411 can remain stationary, and the position of the connection between the execution end 2412 and the surgical execution arm 2411 remains unchanged.

[0083] In some embodiments, the actuator 24122 is detachably fixed to the actuator mounting base 24121. This detachable design of the actuator 24122 allows the end effector 2412 to select the appropriate type of actuator 24122 when the surgical execution system 241 performs different surgical procedures. Furthermore, the detachable design of the actuator 24122 allows the end effector 24122 to be installed before surgery and removed after surgery, thus preventing harm to the user, patient, or others. In some embodiments, the actuator 24122 may include, but is not limited to, puncture needles, ablation needles, etc.

[0084] In some embodiments, the actuator mounting base 24121 may be provided with a drive mechanism, which can be used to drive the actuator 24122 to perform surgical operations. The type of drive mechanism can be matched with the actuator 24122. For example, when the actuator 24122 is a puncture instrument (e.g., a puncture needle), the drive mechanism can be a puncture mechanism (e.g., a linear motion mechanism).

[0085] In some embodiments, the actuator end 2412 may include a clamping structure (not shown in the figure), which may be disposed on the actuator mounting base 24121, and the actuator 24122 may be mounted on the actuator mounting base 24121 via the clamping structure. The clamping structure can hold the actuator 24122. In some embodiments, the clamping structure is configured such that: when the user presses the control enable button 2324, the clamping structure clamps and fixes the actuator; when the user releases the control enable button 2324, the clamping structure adjusts to a semi-released state, allowing the actuator 24122 to have the freedom of movement relative to the clamping structure while restricting the actuator 24122 from detaching from the clamping structure. Exemplarily, the clamping structure may include two arc-shaped jaws, one end of which is hinged to each other, and the other end serving as a free end that can open and close. When the clamping structure is in the clamped state, the size of the area restricted between the two jaws corresponds to the size of the actuator 24122 (i.e., the two jaws directly contact and clamp the actuator 24122), thereby fixing the actuator 24122. When the clamping structure is in the semi-released state, the size of the area restricted between the two jaws is larger than the size of the actuator 24122, and the opening size of the free ends of the two jaws is smaller than the size of the actuator 24122. This allows the actuator 24122 to move within the restricted area between the two jaws while preventing the actuator 24122 from detaching from the clamping structure through the notch between the free ends of the two jaws. In some embodiments, the clamping structure further includes two limiting blocks arranged along the axial direction of the actuator 24122. The two limiting blocks are respectively arranged on both sides of the plane where the two jaws are located along the axial direction of the actuator 24122, thereby preventing the actuator 24122 from detaching from the clamping structure along its axial direction when the clamping structure is in the semi-released state.

[0086] In some embodiments, the actuator mounting base 24121 is further provided with an instrument confirmation control (not shown in the figure). In some embodiments, the instrument confirmation control is configured to output a confirmation signal in response to the completion of the installation of the actuator 24122. The confirmation signal is used to confirm that the actuator 24122 on the actuator mounting base 24121 has been installed, facilitating subsequent operations. In some embodiments, the processor is configured to: control the instrument confirmation control to output a confirmation signal in response to the completion of the installation of the actuator 24122; and control the surgical arm 2411 to adjust to the operating position based on the confirmation signal.

[0087] In some embodiments, the mounting base 24121 may be provided with a manual control 24123, which can be used to control the clamping structure to clamp or release the actuator 24122. That is, the manual control 24123 can keep the clamping structure clamping and fixing the actuator 24122, keeping the actuator 24122 in a clamped state to complete the installation of the actuator 24122; or it can release the clamping structure from fixing the actuator 24122, allowing the actuator 24122 to be disassembled or detached from the actuator end 2412. The manual control 24123 allows the actuator 24122 to be released or disassembled from the actuator end 2412 in emergency situations (such as power failure, loss of power, etc.), thereby improving safety. In some embodiments, the specific form of the manual control 24123 may include, but is not limited to, buttons, knobs, etc.

[0088] In some embodiments, the auxiliary operation component includes an auxiliary indicator 244. The auxiliary indicator 244 is configured to indicate auxiliary operations. In some embodiments, the auxiliary indicator 244 may include a linear laser to indicate the operation via laser beam. In some embodiments, the auxiliary indicator 244 may also include a projector to indicate the operation via projection. In some embodiments, the auxiliary indicator 244 may also include a display screen to indicate the operation by displaying a real-time image of the area where the target location is located and marking the target location on the real-time image. In some embodiments, the auxiliary indicator 244 may be used to indicate the needle insertion point of the auxiliary operation. In some embodiments, the auxiliary indicator 244 may also be used to indicate the needle insertion path of the auxiliary operation. For example, when the auxiliary indicator 244 is a linear laser, the laser irradiation path can indicate the needle insertion path. In other embodiments, when the surgical mode is manual control mode, the auxiliary indicator 244 may also be used to indicate the surgical operation, indicating the needle insertion point and / or needle insertion path, allowing the user to perform the surgical operation according to the indications of the auxiliary indicator 244.

[0089] In some embodiments, the auxiliary indicator 244 can be disposed on the surgical execution arm 2411 or the execution end 2412. By adjusting the position of the surgical execution arm 2411, the indication area of ​​the auxiliary indicator 244 can be directly adjusted without the need for separate adjustment of the auxiliary indicator 244. Furthermore, the surgical execution arm 2411 has a large range of motion, thereby making the indicative area of ​​the auxiliary indicator 244 large.

[0090] In some embodiments, the auxiliary operation components further include a navigation support arm 2413, and an auxiliary indicator 244 may also be disposed on the navigation support arm 2413. In some embodiments, the navigation support arm 2413 may be fixed to the base (e.g., base 2415) of the surgical execution system 241. In other embodiments, the navigation support arm 2413 may be fixed to an external support platform or a medical imaging system 220. The navigation support arm 2413 may be used to support the mounting of the auxiliary indicator 244.

[0091] In some embodiments, the navigation support arm 2413 has a retracted state and an extended state. When the navigation support arm 2413 is in the retracted state, the auxiliary indicator 244 is not operational. When the navigation support arm 2413 is in the extended state, the auxiliary indicator 244 can adjust its position to indicate operations. That is, when the navigation support arm 2413 is extended and fixed, the auxiliary indicator 244 can slide and rotate within a preset range (for example, the navigation support arm 2413 is provided with a slider that can slide relative to it, and the auxiliary indicator 244 can be hinged to the slider). In some embodiments, to avoid interference between the navigation support arm 2413 and the auxiliary indicator 244, the auxiliary indicator 244 can be located at the bottom end of the navigation support arm 2413 (as shown in FIG. 3B). In other embodiments, the auxiliary indicator 244 can also be located at other positions on the navigation support arm 2413 and can be connected in other ways; this specification does not impose excessive restrictions on this.

[0092] In some embodiments, the surgical execution system 241 may further include a touch display 2414, which can be used to display the operation plan (e.g., operation pose) of the surgical execution system 241, so as to facilitate user control of the surgical execution system 241 and improve operation accuracy.

[0093] Figure 6 is a partial structural schematic diagram of the base according to some embodiments of this specification.

[0094] Referring to Figures 3B and 6, in some embodiments, the surgical execution system 241 may further include a base 2415. Surgical operation components and auxiliary operation components can be disposed on the base 2415, which provides a platform for mounting and fixing the surgical operation components and auxiliary operation components. In some embodiments, the base 2415 may be fixed in a predetermined position (e.g., near the medical imaging system 220) to facilitate surgery. In some embodiments, the base 2415 may also be movable, allowing it to be moved to a target location (e.g., near the medical imaging system 220) when needed to facilitate surgery; after use, it can be moved away from the target location to avoid obstruction. Exemplarily, the base 2415 may be a fixed table, a surgical cart, etc.

[0095] In some embodiments, the base 2415 may include a positioning indicator 2415-1, and a preset position may include a positioning mark 2415-2. The positioning indicator 2415-1 and the positioning mark 2415-2 cooperate to indicate that the base 2415 is located at the preset position. For example, the positioning indicator 2415-1 may include laser lights disposed on at least two adjacent sides of the base 2415, and the positioning mark 2415-2 may include ground markings corresponding to the laser lights. When the laser lights disposed on at least two adjacent sides of the base 2415 illuminate a light strip on the ground that coincides with the corresponding ground marking, it indicates that the base 2415 is located at the preset position.

[0096] In some embodiments, the base 2415 may further include a locking mechanism 2415-3, which can be used to lock the position of the base 2415. Specifically, the base 2415 may include the locking mechanism 2415-3 and a support member 2415-4. When the locking mechanism 2415-3 is activated, the support member 2415-4 can support the base 2415, causing the base 2415 to lift off the ground. For example, the locking mechanism 2415-3 may include a ground brake pedal, and the support member 2415-4 may include a ground brake support leg. When the base 2415 moves to a preset area, the user can depress the ground brake pedal to lower or extend the ground brake support leg, thereby supporting the base 2415 (e.g., the rollers of the base 2415) and lifting it off the ground, thus locking the position of the base 2415 in the preset position.

[0097] It should be noted that when the base 2415 is fixed and cannot move, the base 2415 can be initially set in the preset position without the need for structures such as the positioning indicator 2415-1, positioning mark 2415-2, locking mechanism 2415-3, and support member 2415-4.

[0098] In some embodiments, the operation execution end 240 may further include a scanning bed 242 (as shown in Figure 3B), which provides a supine space for the patient to adjust their posture for subsequent surgical procedures. In some embodiments, the scanning bed 242 may also cooperate with a medical imaging system 220, and the scanning bed 242 may enter or exit the medical imaging system 220 via a movable support. When the scanning bed 242 is moved out of the medical imaging system 220, the patient can get on and off the scanning bed 242; when the scanning bed 242 is moved into the medical imaging system 220, the medical imaging system 220 can image the patient on the scanning bed 242 to form a medical image of the patient. In some embodiments, the scanning bed 242 may also be a structural module of the medical imaging system 220.

[0099] In some embodiments, the operation execution terminal 240 may further include an input device, which can be used to input at least one of instructions or information to the surgical execution system 241. In some embodiments, a touch display 2414 may serve as an input device, through which a user can input at least one of instructions or information to the surgical execution system 241. In some embodiments, the execution display 233 may also serve as an input device.

[0100] In some embodiments, the surgical manipulation component may further include a motion enable switch 245, which is configured to allow or disable movement of the surgical execution arm 2411. In some embodiments, when the user operates the motion enable switch 245, movement of the surgical execution arm 2411 is allowed; when the user does not operate the motion enable switch 245, movement of the surgical execution arm 2411 is disabled to prevent the surgical execution arm 2411 from shifting on its own.

[0101] In some embodiments, the medical imaging system 220 is primarily used to scan and image a patient, forming a medical image of the patient. In some embodiments, the medical imaging system 220 may include, but is not limited to, a CT imaging system, an MR (Magnetic Resonance) imaging system, an ultrasound imaging system, or a DSA (Digital Subtraction Angiography) imaging system. In some embodiments, the medical imaging system 220 may be an external device or an internal component module of the interventional medical system 200.

[0102] In some embodiments, the medical imaging system 220 is signal-connected to the imaging host 221. The imaging host 221 is configured to: control the exposure of the medical imaging system 220; acquire the patient's medical images from the medical imaging system 220; and transmit the medical images to the execution host 231. In some embodiments, during surgery, the medical imaging system 220 can scan the patient in real time, and the execution display 233 can display the patient's medical images in real time. The user can perform surgical operations (e.g., puncture) based on the real-time displayed patient medical images, improving the accuracy of the surgical operation and reducing the difficulty of the surgical operation. In some embodiments, after the imaging host 221 transmits the patient's medical images to the execution host 231, the execution host 231 can archive and store the medical images for later retrieval. In some embodiments, the medical imaging system 220 may further include an image controller 222, which can adjust the generated patient medical images. In some embodiments, the imaging host 221 and / or the image controller 222 may be independently configured with the medical imaging system 220, or they may be integrated with the active control terminal 230.

[0103] Figure 7A is a schematic diagram of the reference coordinate systems of the operation execution terminal according to some embodiments of this specification; Figure 7B is another schematic diagram of the reference coordinate systems of the operation execution terminal according to some embodiments of this specification; and Figure 8 is a schematic diagram of the transformation of the reference coordinate systems according to some embodiments of this specification. The reference coordinate systems of the operation execution terminal 240 will be described below with reference to Figures 7A, 7B, and 8.

[0104] As shown in Figures 7A, 7B and 8, in some embodiments, when the patient lies on the scanning bed 242, a patient coordinate system O0 is established based on the patient's position (e.g., the patient's surgical area).

[0105] In some embodiments, a first coordinate system O1 for the surgical execution arm 2411 can be established based on its position. In some embodiments, during the surgical operation performed by the surgical execution system 241, the position of the connection between the surgical execution arm 2411 and the base 2415 remains relatively constant. The reference position of the first coordinate system O1 can be the corresponding position on the ground of the connection between the surgical execution arm 2411 and the base 2415, as shown in Figures 7A and 7B. In some embodiments, the reference position of the first coordinate system O1 can be any other position relative to the base 2415, as long as the relative position of the surgical execution arm 2411 and the base 2415 can be clearly defined, such as the connection position between the surgical execution arm 2411 and the base 2415.

[0106] In some embodiments, a second coordinate system O2 of the medical imaging system 220 is established based on the position of the medical imaging system 220. In some embodiments, the medical imaging system 220 may include a scanning gantry 224, and the image scanning surface S of the medical imaging system 220 is located within the scanning gantry 224. In some embodiments, the reference position of the second coordinate system O2 may be located on the image scanning surface S. In some embodiments, the medical imaging system 220 may also include a scanning bed 242, and the second coordinate system O2 may also be established based on the position of the scanning bed 242.

[0107] In some embodiments, a third coordinate system O3 can be established using a reference point located near the end of the surgical arm 2411 as a reference. The third coordinate system O3, in conjunction with the first coordinate system O1, can accurately represent the position and orientation of the surgical arm 2411. In some embodiments, the end effector 2412 integrates a reference point (e.g., a marker ball).

[0108] In some embodiments, the reference point may be located on the surgical execution arm 2411, for example, at the end of the surgical execution arm 2411 (i.e., the connection point between the surgical execution arm 2411 and the execution end 2412). In some embodiments, the reference point may also be located on the execution mounting base 24121 of the execution end 2412, and accordingly, the processor may be configured to perform spatial registration of the interventional medical system 200 after the execution mounting base 24121 is mounted to the surgical execution arm 2411. In some embodiments, the reference point may also be located on the execution device 24122, and accordingly, the processor may be configured to perform spatial registration of the interventional medical system 200 after the execution mounting base 24121 is mounted to the surgical execution arm 2411 and the execution device 24122 is mounted to the execution mounting base 24121. In some embodiments, the reference point may also be located on a registration fixture, which is used for registration during spatial registration of the interventional medical system 200. The registration fixture is detachably connected to the execution mounting base 24121. The registration tool is installed on the execution mount 24121 before spatial registration and removed from the execution mount 24121 after spatial registration is completed. Accordingly, the processor can also be configured to perform spatial registration on the interventional medical system 200 after the execution mount 24121 is installed on the surgical execution arm 2411 and the registration tool is installed on the execution mount 24121.

[0109] In some embodiments, the end of the execution end 2412 furthest from the surgical execution arm 2411 is the end for performing surgical operations. Using the end of the execution end 2412 furthest from the surgical execution arm 2411 as a reference, a fourth coordinate system O4 for the execution end 2412 can be established. The fourth coordinate system O4, in conjunction with the third coordinate system O3, can accurately represent the position and orientation of the execution end 2412.

[0110] In some embodiments, a fifth coordinate system O5 for the auxiliary operation component can be established based on the position of the auxiliary indicator 244. It should be noted that when the auxiliary indicator 244 is located on the surgical execution arm 2411 or the execution end 2412, the fifth coordinate system O5 can be directly established based on the position of the auxiliary indicator 244; when the auxiliary indicator 244 is located on the navigation support arm 2413, the fifth coordinate system O5 is established based on the position of the auxiliary indicator 244 when the navigation support arm 2413 is in the deployed state.

[0111] In some embodiments, the interventional medical system 200 may further include an optical imaging system 250, which can be used to perform optical imaging on the patient to form a first optical image of the patient, in conjunction with the medical imaging system 220 forming a medical image of the patient, thereby improving the positioning accuracy of each position (e.g., each reference coordinate system) of the operation execution end 240 (e.g., the surgical execution system 241), thereby improving the precision of the surgical operation and reducing the difficulty of the surgical operation. In some embodiments, the optical imaging system 250 may include a camera, video camera, etc. In some embodiments, the optical imaging system 250 may be disposed at the end of the navigation support arm 2413 (i.e., the end of the navigation support arm 2413 away from the base 2415) to facilitate imaging of the patient's surgical area. In some embodiments, a sixth coordinate system O6 of the optical imaging system 250 may be established based on the position of the optical imaging system 250 when the navigation support arm 2413 is in the deployed state.

[0112] The following describes the workflow of the interventional medical system 200 in conjunction with the various reference coordinate systems of the operation execution terminal 240.

[0113] Figure 9 is a schematic diagram of an exemplary workflow of an interventional medical system according to some embodiments of this specification. In some embodiments, process 900 may be executed by interventional medical system 200 or processor 110. For example, process 900 may be implemented as a set of instructions (e.g., an application program) stored in active control terminal 230 (e.g., execution host 231) or processor 110 of interventional medical system 200, or in memory (e.g., memory 130) external to active control terminal 230 or processor 110 and accessible by active control terminal 230 or processor 110. Active control terminal 230 or processor 110 may execute the instruction set and, when executing the instructions, may be configured to execute process 900. The operational intent of process 900 presented below is illustrative. In some embodiments, the process may be accomplished using one or more additional operations not described and / or one or more operations not discussed. Additionally, the order of operations of process 900 shown in Figure 9 and described below is not intended to be limiting.

[0114] In some embodiments, process 900 may include steps 910, 920 and 930.

[0115] Step 910: Perform spatial registration on the interventional medical system 200 and obtain registration information.

[0116] In some embodiments, the processor can perform spatial registration based on the relevant location information of the interventional medical system 200. The location information of the interventional medical system 200 may include the location information of the surgical execution arm 2411, the medical imaging system 220, the reference point, the end effector 2412, the auxiliary indicator 244, the optical imaging system 250, etc. Spatial registration of the interventional medical system 200 may include establishing corresponding coordinate systems based on the aforementioned location information. For example, a first coordinate system O1 for the surgical execution arm 2411, a second coordinate system O2 for the medical imaging system 220, a third coordinate system O3 for the reference point, a fourth coordinate system O4 for the end effector 2412, a fifth coordinate system O5 for the auxiliary operation components (auxiliary indicator 244), and a sixth coordinate system O6 for the optical imaging system 250, etc.

[0117] In some embodiments, before the interventional medical system 200 is activated, the base 2415 needs to be moved to a preset position to facilitate subsequent operations on the patient. The preset position may be located near the medical imaging system 220 to facilitate operations on the patient in conjunction with the medical imaging system 220. In some embodiments, the preset position may also be located near the scanning bed 242.

[0118] In some embodiments, when the base 2415 is movable (e.g., when the base 2415 includes casters), the user can move the base 2415 to a preset position before activating the interventional medical system 200. In some embodiments, when the base 2415 is not movable, i.e., when the base 2415 is initially in a preset position, the position of the base 2415 does not need to be adjusted before activating the interventional medical system 200.

[0119] In some embodiments, the processor can be configured to start the interventional medical system 200 at least after the execution mount 24121 is installed onto the surgical execution arm 2411. Once the execution mount 24121 is installed, the interventional medical system 200 can be started, and its various structures enter the operational state. At this time, the processor of the interventional medical system 200 can check the installation status of the execution mount 24121 to confirm whether it is installed correctly. After confirming that the execution mount 24121 is installed correctly, the position of the execution end 2412 can be confirmed through the execution mount 24121.

[0120] In some embodiments, the processor is further configured to: when the interventional medical system 200 meets preset conditions, perform spatial registration on the interventional medical system 200 and obtain registration information.

[0121] In some embodiments, the preset conditions may include the positional conditions of each component of the interventional medical system 200, system conditions, etc. For example, the positional conditions may include, but are not limited to: the base 2415 being in a preset position and the locking mechanism 2415-3 being locked; the execution end 2412 (e.g., the execution mounting base 24121) being installed at the end of the surgical execution arm 2411; and the navigation support arm 2413 being in an extended state. System conditions include, but are not limited to: all cables being connected; the interventional medical system 200 being started and completing a self-test; account login; and selection of a surgical mode. When the interventional medical system 200 meets the preset conditions, the processor can perform spatial registration of the interventional medical system 200 and obtain registration information.

[0122] In some embodiments, the registration information can be known parameters that can be directly obtained. For example, when the relative positions of the medical imaging system 220 and the surgical execution system 241 are fixed or unchanged, the registration information is a known parameter that can be directly obtained. Specifically, when the medical imaging system 220 and the surgical execution system 241 are respectively fixedly set (i.e., the bases 2415 of the medical imaging system 220 and the surgical execution system 241 are respectively fixedly set), the registration information is a fixed parameter; when at least one of the medical imaging system 220 or the surgical execution system 241 has a degree of freedom of movement, the registration information corresponding to the relative position can be obtained based on the relative position of the two. In some embodiments, the registration information can be obtained from the processor or input from an external source.

[0123] In some embodiments, the registration information may be unknown parameters that need to be retrieved again. In some embodiments, the relevant location information of the interventional medical system 200 can be determined for spatial registration to obtain registration information. In some embodiments, the relevant location information may include the location information of the surgical execution arm 2411, the medical imaging system 220, the reference point, the execution end effector 2412, the auxiliary indicator 244, the optical imaging system 250, etc. Spatial registration of the interventional medical system 200 may include establishing corresponding coordinate systems based on the above-mentioned location information. For example, the first coordinate system O1 of the surgical execution arm 2411, the second coordinate system O2 of the medical imaging system 220, the third coordinate system O3 of the reference point, the fourth coordinate system O4 of the execution end effector 2412, the fifth coordinate system O5 of the auxiliary operation component (auxiliary indicator 244), and the sixth coordinate system O6 of the optical imaging system 250, etc. The registration information may include the position information of the first coordinate system O1 of the surgical execution arm 2411 (base 2415), the second coordinate system O2 of the medical X-ray imaging system 220, the third coordinate system O3 of the reference point, the fourth coordinate system O4 of the execution end 2412, the fifth coordinate system O5 of the auxiliary operation component (auxiliary indicator 244), and the sixth coordinate system O6 of the optical imaging system 250, as well as the corresponding mapping relationships (e.g., the first mapping relationship between the first coordinate system O1 and the second coordinate system O2, the third mapping relationship between the fourth coordinate system O4 and the first coordinate system O1, and the fifth mapping relationship between the sixth coordinate system O6 and the first coordinate system O1, etc.).

[0124] In some embodiments, after the interventional medical system 200 is started, the operation interface of the touch display 2414 and the execution display 233 is opened. The operation interface displays the registration information of the interventional medical system 200, that is, the operation interface can display the relevant position information of each structure of the interventional medical system 200 (e.g., the first coordinate system O1 of the surgical execution arm 2411, the second coordinate system O2 of the medical X-ray imaging system 220, the third coordinate system O3 of the reference point, the fourth coordinate system O4 of the execution end 2412, the fifth coordinate system O5 of the auxiliary operation component, i.e., the auxiliary indicator 244, and the sixth coordinate system O6 of the optical imaging system 250) and display the corresponding mapping relationship (e.g., the first mapping relationship between the first coordinate system O1 and the second coordinate system O2, the third mapping relationship between the fourth coordinate system O4 and the first coordinate system O1, the fifth mapping relationship between the sixth coordinate system O6 and the first coordinate system O1, etc.).

[0125] Figures 10 and 11 are schematic flowcharts illustrating the determination of a first mapping relationship according to some embodiments of this specification. Referring to Figure 10, in some embodiments, step 910 may include sub-steps 911 and 912.

[0126] Step 911: Establish the first coordinate system O1 of the base 2415, the second coordinate system O2 of the medical X-ray imaging system 220, and the third coordinate system O3 of the reference point.

[0127] In some embodiments, the specific contents of the first coordinate system O1, the second coordinate system O2 and the third coordinate system O3 are shown in Figures 7A-8 and their related descriptions, and will not be repeated here.

[0128] Step 912: Determine the first mapping relationship between the first coordinate system O1 and the second coordinate system O2 based on the mapping relationship between the first coordinate system O1 and the third coordinate system O3 and the mapping relationship between the second coordinate system O2 and the third coordinate system O3.

[0129] In some embodiments, the reference point can be used as the origin of the third coordinate system O3. Based on the position information of the reference point, combined with its coordinates in the first coordinate system O1 and the second coordinate system O2, the mapping relationship between the first coordinate system O1 and the third coordinate system O3 can be determined (i.e., And the mapping relationship between the second coordinate system O2 and the third coordinate system O3 (i.e.) This determines the first mapping relationship between the first coordinate system O1 and the second coordinate system O2.

[0130] Referring to Figure 11, in some embodiments, step 912 may include: sub-step 9121, controlling the surgical execution arm 2411 to move from an initial pose into the scanning area of ​​the medical X-ray imaging system 220, and obtaining multiple position information of reference points on the execution end 2412 by changing the pose of the execution end 2412; sub-step 9122, determining multiple coordinate pairs of reference points in the first coordinate system O1 and the second coordinate system O2 based on the multiple position information; sub-step 9123, determining a first mapping relationship between the first coordinate system O1 and the second coordinate system O2 based on the multiple coordinate pairs.

[0131] In some embodiments, the initial pose of the surgical execution arm 2411 may be the pose of the surgical execution arm 2411 at the start of spatial registration. In some embodiments, the initial pose of the surgical execution arm 2411 may be determined by sensors on the surgical execution arm 2411. In some embodiments, when the surgical execution arm 2411 is in the initial pose, the execution end effector 2412 is mounted to the surgical execution arm 2411, that is, the initial pose of the surgical execution arm 2411 may correspond to the initial pose of the execution end effector 2412.

[0132] The surgical arm 2411 moves into the scanning area of ​​the medical imaging system 220, enabling the medical imaging system 220 to scan and locate the reference point, obtaining the reference point's position information. In some embodiments, the medical imaging system 220 scans and images the surgical arm 2411 once each time its pose changes, thereby obtaining new position information for the reference point. In some embodiments, by changing the pose of the end effector 2412, the position information of the reference point can also change accordingly, and the coordinates of the reference point in the first coordinate system O1 and the second coordinate system O2 also change accordingly. In some embodiments, the position information of the reference point can be obtained by acquiring the pose of the surgical arm 2411 (e.g., acquiring the position information of the encoder at each joint of the surgical arm 2411 and performing forward kinematics calculations), or it can be obtained by scanning with the medical imaging system 220. In some embodiments, the position information of the reference point can be obtained once each time the position and orientation of the surgical arm 2411 changes. By changing the position and orientation of the surgical arm 2411, multiple (e.g., n, where n is not less than 3) position information of the reference point can be obtained.

[0133] In some embodiments, after multiple position information of the reference point is acquired, the surgical arm 2411 can move back to its initial pose to facilitate positioning of the surgical arm 2411 and subsequent control operations.

[0134] In some embodiments, the coordinates of the reference point in the first coordinate system O1 can be determined using the position information of the reference point. (i.e., the mapping relationship between the third coordinate system O3 and the first coordinate system O1), and the coordinates of the reference point in the second coordinate system O2. (That is, the mapping relationship between the third coordinate system O3 and the second coordinate system O2). In some embodiments, by obtaining the position information of the encoder at each joint of the surgical execution arm 2411 and performing forward kinematics calculations (i.e., calculating the position and orientation of the end effector of the surgical execution arm 2411 based on the angles of each joint of the surgical execution arm 2411), the position information of the reference point can be determined, and the coordinates of the reference point in the first coordinate system O1 can be obtained. In some embodiments, by scanning the position and orientation of the surgical arm 2411 using the medical imaging system 220, the position information of the reference point can also be determined, and the coordinates of the reference point in the second coordinate system O2 can be obtained simultaneously. For the same location information of the reference point, its corresponding coordinates in the first coordinate system O1 Coordinates in the second coordinate system This forms a coordinate pair. By transforming the position and orientation of the surgical arm 2411, a set of coordinate pairs of the reference points in the first coordinate system O1 and the second coordinate system O2 can be obtained n times (e.g., n is not less than 3). Where i = 1...n.

[0135] In some embodiments, during the process of changing the position and orientation of the surgical arm 2411 and determining the coordinate pair Γ of the reference point in the first coordinate system O1 and the second coordinate system O2, the images scanned by the medical imaging system 220 can be transmitted to the imaging host 221 for display. Further, the imaging host 221 can transmit the scanned images to the execution host 231 for archiving, facilitating subsequent determination of planning information, reducing the manual import of patient scan images (medical images), and simplifying the surgical workflow. In some embodiments, the medical imaging system 220 scans once each time the position and orientation of the surgical arm 2411 changes. In some embodiments, the medical imaging system 220 can continuously scan during multiple changes in the position and orientation of the surgical arm 2411.

[0136] In some embodiments, the first mapping relationship between the first coordinate system O1 and the second coordinate system O2 can be calculated using the ICP (Iterative Closest Point) algorithm. The ICP algorithm allows direct calculation of the transformation matrix between the first coordinate system O1 and the second coordinate system O2. That is, the first mapping relationship is In some embodiments, setting multiple sets of coordinate pairs (e.g., at least three) can reduce errors, improve the calculation accuracy of the first mapping relationship, and thus improve surgical accuracy.

[0137] In some embodiments, step 910 may further include: obtaining the patient's patient coordinate system O0, and determining a second mapping relationship between the patient's patient coordinate system O0 and the second coordinate system O2.

[0138] In some embodiments, during the preoperative scanning phase, the patient lies on the scanning table 242 and a patient coordinate system O0 is established using the medical X-ray imaging system 220, while simultaneously determining a second mapping relationship between the patient coordinate system O0 and the second coordinate system O2. For more information on the patient coordinate system O0 and the second coordinate system O2, please refer to Figures 7A and 7B and their related descriptions, which will not be repeated here. In some embodiments, the second mapping relationship between the patient coordinate system O0 and the second coordinate system O2 refers to the corresponding coordinate transformation relationship between the patient coordinate system O0 and the second coordinate system O2. The second mapping relationship can represent the relative positional relationship between the patient and the medical X-ray imaging system 220.

[0139] It is important to note that the patient's posture may change depending on their position, and the corresponding second mapping relationship may also differ. In some embodiments, assuming the patient is in the HFS (Head First-Supine) position during surgery, the standard second mapping relationship is as follows: It is an identity matrix.

[0140] In some embodiments, step 910 may further include: establishing a fourth coordinate system O4 for the execution end 2412 (execution mounting base 24121), and determining a third mapping relationship between the fourth coordinate system O4 and the first coordinate system O1. For more details regarding the fourth coordinate system O4 and the first coordinate system O1, please refer to Figures 7A and 7B and their related descriptions; they will not be repeated here. In some embodiments, the third mapping relationship between the fourth coordinate system O4 and the first coordinate system O1 refers to the corresponding coordinate transformation relationship between the fourth coordinate system O4 and the first coordinate system O1. Through the third mapping relationship, the relative positional relationship between the execution end 2412 and the surgical execution system 241 can be represented, facilitating the determination of the position and orientation of the execution end 2412, improving the accuracy of the positioning of the operation pose of the execution end 2412, thereby improving the precision of the surgery and reducing the difficulty of the surgery. The operation pose of the execution end 2412 refers to the pose of the execution end 2412 when performing an operation.

[0141] In some embodiments, the third mapping relationship between the fourth coordinate system O4 and the first coordinate system O1 can be directly determined by the execution host 231. In some embodiments, the third mapping relationship between the fourth coordinate system O4 and the first coordinate system O1 can be determined by obtaining the position information of the encoder at each joint axis of the surgical execution arm 2411 and combining it with forward kinematics calculations to determine the pose information of the connecting end of the execution end 2412 (i.e., the end closer to the surgical execution arm 2411, the reference point); then, by combining the offset between the third coordinate system O3 and the fourth coordinate system O4, the pose information of the free end of the execution end 2412 (i.e., the end farther from the surgical execution arm 2411) can be determined, and the coordinates of the free end of the execution end 2412 in the first coordinate system O1 can be obtained, thereby obtaining the third mapping relationship between the fourth coordinate system O4 and the first coordinate system O1. In some embodiments, the offset between the third coordinate system O3 and the fourth coordinate system O4 is the offset from the connecting end of the execution end 2412 to the free end.

[0142] In some embodiments, the processor is further configured to: establish a fifth coordinate system O5 for the auxiliary indicator 244 and determine a fourth mapping relationship between the fifth coordinate system O5 and the first coordinate system O1. The fourth mapping relationship between the fifth coordinate system O5 and the first coordinate system O1 refers to the corresponding coordinate transformation relationship between the fifth coordinate system O5 and the first coordinate system O1. This fourth mapping relationship can represent the relative positional relationship between the auxiliary operation component and the surgical execution arm 2411, facilitating the determination of the pose of the auxiliary operation component and improving the accuracy of the auxiliary operation component when performing auxiliary operations. In some embodiments, the fourth mapping relationship between the fifth coordinate system O5 and the first coordinate system O1 can be determined based on the design parameters of the surgical execution system 241 (e.g., the parameters of the mechanical linkage between the auxiliary indicator 244 and the surgical execution arm 2411), wherein the design parameters of the surgical execution system 241 can be obtained by consulting literature or by measurement.

[0143] In some embodiments, the processor is further configured to: establish a sixth coordinate system O6 of the optical imaging system 250, and determine a fifth mapping relationship between the sixth coordinate system O6 and the first coordinate system O1.

[0144] For more information on the sixth coordinate system O6 and the first coordinate system O1, please refer to Figures 7A and 7B and their related descriptions; they will not be repeated here. In some embodiments, the fifth mapping relationship between the sixth coordinate system O6 and the first coordinate system O1... This refers to the coordinate transformation relationship between the sixth coordinate system O6 and the first coordinate system O1. This is achieved through the fifth mapping relationship. It can represent the relative positional relationship between the optical imaging system 250 and the surgical execution system 241 in order to determine the pose of the optical imaging system 250 and improve the accuracy and effect of the imaging by the optical imaging system 250.

[0145] In some embodiments, the fifth mapping relationship between the sixth coordinate system O6 and the first coordinate system O1 This can be established through "hand-eye" calibration. For example, the surgical arm 2411 can be used as a "hand-eye" calibration board. For the pose S0 of the surgical arm 2411, a point cloud model C1 in the first coordinate system O1 can be obtained through a design model. When the surgical arm 2411 moves to the pose S0, the optical imaging system 250 takes a picture of the surgical arm 2411 to obtain point cloud C2. For point clouds C1 and C2, the transformation matrix (fifth mapping relationship) between the sixth coordinate system O6 and the first coordinate system O1 can be calculated using the ICP algorithm. Right now The optical imaging system 250 is mounted on the navigation support arm 2413. When the interventional medical system 200 is started, the navigation support arm 2413 is adjusted from the retracted state to the extended state so that the medical X-ray imaging system 250 can work.

[0146] In some embodiments, when the interventional medical system 200 is activated, the operation interface of the touch display 2414 and / or the execution display 233 can display the status of the navigation support arm 2413. When the navigation support arm 2413 is in the retracted state, the operation interface can display a prompt message to remind the user to extend the navigation support arm 2413.

[0147] In some embodiments, when the interventional medical system 200 is started and remains powered on, since the base 2415 is locked in a preset position and the position of the medical imaging system 220 remains essentially unchanged, the relative position between the medical imaging system 220 and the base 2415 remains unchanged; that is, the first mapping relationship between the first coordinate system O1 and the second coordinate system O2 remains unchanged. Since the initial pose of the surgical execution arm 2411 is known, when the surgical execution arm 2411 is in its initial pose, the relative positions of the surgical execution arm 2411, the reference point, the execution end 2412, and the base 2415 remain unchanged; that is, the third mapping relationship between the fourth coordinate system O4 and the first coordinate system O1 remains unchanged. Since the deployed state of the navigation support arm 2413 is known, when the navigation support arm 2413 is in the pose corresponding to its deployed state, the relative position between the optical imaging system 250 mounted on the navigation support arm 2413 and the base 2415 remains unchanged; that is, the fifth mapping relationship between the sixth coordinate system O6 and the first coordinate system O1 remains unchanged. When the auxiliary indicator 244 is installed on the surgical execution arm 2411, since the initial pose of the surgical execution arm 2411 is known, the relative position of the auxiliary indicator 244 and the base 2415 remains unchanged when the surgical execution arm 2411 is in the initial pose; that is, the fourth mapping relationship between the fifth coordinate system O5 and the first coordinate system O1 remains unchanged. When the auxiliary indicator 244 is installed on the navigation support arm 2413, since the deployed state of the navigation support arm 2413 is known, the relative position of the auxiliary indicator 244 installed on the navigation support arm 2413 and the base 2415 remains unchanged when the navigation support arm 2413 is in the pose corresponding to the deployed state; that is, the fourth mapping relationship between the fifth coordinate system O5 and the first coordinate system O1 remains unchanged.

[0148] Therefore, when the interventional medical system 200 performs multiple surgeries, provided the system remains powered on and the base 2415 is stationary, only one confirmation is needed when the system starts up: the first mapping relationship between the first coordinate system O1 and the second coordinate system O2, the third mapping relationship between the fourth coordinate system O4 and the first coordinate system O1, the fourth mapping relationship between the fifth coordinate system O5 and the first coordinate system O1, and the fifth mapping relationship between the sixth coordinate system O6 and the first coordinate system O1. This confirmation is unnecessary for each subsequent surgery. In other words, when the interventional medical system 200 performs multiple surgeries, provided the system remains powered on and the base 2415 is stationary, only one spatial registration and registration information is needed upon system startup. Subsequent surgeries do not require re-registration; the aforementioned registration information can be directly used, reducing surgical steps, simplifying procedures, and improving efficiency.

[0149] Step 920: Obtain patient-related information and surgical information, and determine the operation plan of surgical execution system 241 based on registration information, related information and surgical information.

[0150] In some embodiments, patient-related information may include, but is not limited to, the patient's medical images, optical images, etc. Surgical information may include, but is not limited to, surgical type (e.g., puncture biopsy, gold nanoparticle placement, guidewire implantation, particle implantation, catheter drainage, ablation therapy, etc.), surgical area (e.g., chest, abdomen, etc.), surgical mode (e.g., different control modes, etc.). Patient-related and surgical information can be obtained directly from the processor or manually entered by the user (e.g., medical personnel). The operation plan refers to the planned surgical procedure, such as the operating pose of the surgical execution system 241, the executable path, etc. In some embodiments, based on registration information, patient-related information, and surgical information, the execution host 231 can determine the operation plan of the surgical execution system 241. For example, based on the patient's first medical and optical images, a contour model of the patient is determined, where the contour model includes the patient's lesion area, thereby determining the initial planned pose of the surgical execution system 241, and verifying the initial planned pose, etc. For example, based on the patient's contour model and registration information, a mapping model of the patient in the corresponding coordinate system (e.g., a first coordinate system O1 with the surgical execution arm 2411 as the reference) can be determined, and the initial planned pose can be verified based on the mapping model. In some embodiments, the operation plan can also be manually input by the user (e.g., medical staff) through the execution display 233 based on the registration information, relevant patient information, and surgical information.

[0151] In some embodiments, step 920 may include: acquiring medical images of the patient from the medical X-ray imaging system 220; and controlling the optical imaging system 250 to acquire a first optical image of the patient.

[0152] The patient's medical images can be obtained by scanning the patient using a medical X-ray imaging system 220. The medical X-ray imaging system 220 can transmit the scanned medical images to an imaging host 221. The imaging host 221 can display the patient's medical images and transmit them to an execution host 231 for archiving, facilitating observation, improving the accuracy of surgical procedures, and reducing the difficulty of surgical procedures. In some embodiments, an optical imaging system 250 acquires a first optical image of the patient by performing contour point cloud acquisition.

[0153] In some embodiments, after the interventional medical system 200 completes spatial registration, the patient can lie on the scanning bed 242, and the optical imaging system 250 captures the patient to obtain a first optical image. The patient then lies on the scanning bed 242 and enters the scanning area of ​​the medical imaging system 220, which scans the patient to obtain a medical image. During both the optical imaging system 250 and the medical imaging system 220 image the patient, the patient's position on the scanning bed 242 remains the same and unchanged to improve imaging accuracy and facilitate the combination of the two images. In some embodiments, both the medical image and the first optical image include the patient's surgical area to facilitate subsequent surgery.

[0154] Figure 12 is a schematic diagram of the operation interface of the optical imaging system for imaging a patient according to some embodiments of this specification.

[0155] Referring to Figure 12, in some embodiments, the lesion region P1 of the patient can be determined based on the patient's initial examination image. The initial examination image refers to the scan image taken during the patient's first examination for that specific course of the disease, such as a contrast-enhanced CT image or an MR image.

[0156] During the process of acquiring the first optical image of the patient using the optical imaging system 250, after the patient lies on the scanning bed 242, the user can control the imaging of the optical imaging system 250 on the operation interface displayed on the touch display 2414 or the execution display 233. In some embodiments, the operation interface can display the imaging field of view P2 of the optical imaging system 250. The operation interface can display relevant prompts, such as "Please move the patient's lesion area P1 to the center of the imaging field of view P2". Based on the displayed image and prompts on the operation interface, the user can control the movement of the scanning bed 242 to adjust the patient's position within the imaging field of view (imaging area) of the optical imaging system 250. In some embodiments, the operation interface may also include a confirmation option. When conditions are met (e.g., after the patient's lesion area P1 is moved to the center of the imaging field of view P2), the user can select the confirmation option to control the optical imaging system 250 to capture and acquire the patient's first optical image. The first optical image is the image displayed on the operation interface when the user selects the confirmation option.

[0157] During the process of acquiring medical images of a patient by scanning a patient using the medical imaging system 220, once the patient lies on the scanning bed 242 and enters the scanning area of ​​the medical imaging system 220, the user can control the scanning of the medical imaging system 220 through the operation interface. In some embodiments, the operation interface can display the scanning field of view of the medical imaging system 220. The operation interface can display relevant prompts, such as "Please move the patient's lesion area P1 into the scanning field of view," etc. Based on the displayed image and prompts on the operation interface, the user can control the movement of the scanning bed 242 to adjust the patient's position within the scanning field of view (scanning area) of the medical imaging system 220. In some embodiments, the operation interface may also include a confirmation option. When conditions are met (e.g., after the patient's lesion area P1 has moved into the scanning field of view), the user can select the confirmation option, thereby scanning the patient and acquiring the patient's medical images through the medical imaging system 220. The medical images are the images displayed on the operation interface when the user selects the confirmation option.

[0158] In some embodiments, the medical X-ray imaging system 220 can transmit the scanned medical images of the patient to the imaging host 221, which can display the patient's medical images and transmit them to the execution host 231 for archiving, facilitating observation, improving the precision of surgical procedures, and reducing the difficulty of surgical procedures. In some embodiments, the optical imaging system 250 can transmit the patient's first optical image to the execution host 231 for processing, facilitating subsequent surgical procedures.

[0159] In some embodiments, during the preoperative scanning phase, the patient lies on the scanning table 242 and a patient coordinate system O0 is established using the medical X-ray imaging system 220, while simultaneously determining a second mapping relationship between the patient coordinate system O0 and the second coordinate system O2.

[0160] Figure 13 is a schematic flowchart illustrating the determination of target joint parameters according to some embodiments of this specification.

[0161] In some embodiments, step 920 may include sub-steps 921, 922, and 923.

[0162] Step 921: Determine the operation position based on relevant information and surgical information.

[0163] In some embodiments, based on patient-related information (e.g., medical images, target points, needle insertion points, etc.) and surgical information (e.g., surgical area, etc.), the operating area of ​​the execution end 2412 can be determined, thereby determining the operating pose of the execution end 2412. The operating pose is the pose in which the execution end 2412 can perform operations on the patient within the operating area under theoretical conditions.

[0164] Step 922: Determine the target joint parameters of the surgical execution arm 2411 based on the operating pose. In some embodiments, the target joint parameters may refer to the target parameters of each joint of the surgical execution arm 2411, such as the target angle. In some embodiments, the execution host 231 can determine the pose of each component of the surgical execution arm 2411 according to the operating pose of the surgical execution arm 2411, thereby determining the target joint parameters of the surgical execution arm 2411, so that the surgical execution system 241 can move to the planned pose to facilitate the execution of subsequent surgical operations.

[0165] In some embodiments, based on relevant information, the coordinates of the target point in the patient coordinate system O0 can be determined as T(X). t Y t Z t The coordinates of the needle insertion point in the patient coordinate system O0 are E(X). e Y e Z e The target point T corresponds to the coordinate T' in the first coordinate system O1, and the needle insertion point E0 corresponds to the coordinate E' in the first coordinate system O1. For more details on the target point and needle insertion point, please refer to the following related instructions.

[0166] In some embodiments, based on the third mapping relationship between the fourth coordinate system O and the first coordinate system O1, the second solution function for the target joint parameters can be determined. Based on the third mapping relationship, the coordinates of the free end of the end effector 2412 (i.e., the end furthest from the surgical arm 2411) in the first coordinate system O1 can be determined, thereby determining the position and orientation corresponding to the operating pose of the end effector 2412. By using the position and orientation of the end effector 2412, inverse kinematics calculations are performed to determine the second solution function IK1 for the target joint parameters corresponding to the first coordinate system O1. In some embodiments, based on the corresponding coordinates E' of the needle insertion point E in the first coordinate system O1, the corresponding coordinates T' of the target point T in the first coordinate system O1, and the second solution function IK1, inverse kinematics calculations are performed to determine the target joint parameter Q. t =IK1(E',T').

[0167] Step 923: Determine the executable path based at least on the target joint parameters.

[0168] In some embodiments, the executable path of the surgical execution system 241 (surgical execution arm 2411) refers to the movement path of the surgical execution system 241 during the process of adjusting to the operating pose. In some embodiments, after determining the target joint parameters, the theoretical change in the pose of the surgical operation components (surgical execution arm 2411 and execution end effector 2412) can be determined by combining the initial pose of the surgical operation components, thereby determining the executable path of the surgical execution arm 2411. Since the surgical execution system 241 needs to move to the operating pose, each joint of the surgical execution arm 2411 needs to be adjusted to a preset angle. To avoid collisions between the surgical execution system 241 and the patient during the movement and adjustment process, the executable path of the surgical execution system 241 needs to be planned and calculated.

[0169] Figure 14 is a flowchart illustrating the determination of an executable path according to some embodiments of this specification.

[0170] In some embodiments, step 920 (step 923) may include sub-steps 9231, 9232, 9233, and 9234.

[0171] Step 9231: Based on medical images and the first optical image, determine the patient's contour model.

[0172] In some embodiments, both the medical image and the first optical image include the patient's lesion area. By combining the medical image and the first optical image, the lesion area and the surrounding body tissues of the patient can be displayed more clearly, thereby determining the patient's contour model.

[0173] In some embodiments, the first optical image includes a first image covering the lesion area of ​​the patient, and the medical image covers the lesion area of ​​the patient. Step 921 may include replacing the first image in the first optical image with the medical image to determine the patient's contour model. In some embodiments, the optical imaging system 250 acquires the patient's first optical image by performing contour point cloud acquisition, and the acquired data is denoted as Λ6. By replacing the data corresponding to the first image in the first optical image Λ6 with the data from the medical image, the patient's contour model Λ can be obtained. ′ 6.

[0174] In some embodiments, based on the mapping relationship between the contour model and registration information, the mapping model of the patient's contour model in the corresponding coordinate system can be determined. For example, based on the contour model Λ ′ 6 and the fifth mapping relationship The patient's contour model Λ can be determined in the sixth coordinate system O6. ′ 6. Transform the mapping model to the first coordinate system O1. The patient's mapping model is as follows: Regarding the fifth mapping relationship For details, please refer to the aforementioned description of the coordinate system; it will not be repeated here.

[0175] In the contour model obtained through replacement and stitching, the image of the area corresponding to the patient's lesion is obtained by scanning with a medical X-ray imaging system 220, which offers higher accuracy and clarity, facilitating subsequent surgery. The images of areas not corresponding to the patient's lesion are captured by an optical imaging system 250, which is easier to capture and obtain. In the contour model, the image of the area corresponding to the patient's lesion is positioned in the center, providing a better view and easier observation for the user. In some embodiments, step 921 can be performed by the execution host 231, and the obtained contour model can be displayed on the execution display 233.

[0176] Step 9232: Determine the initial planned pose based on the contour model and surgical information.

[0177] In some embodiments, based on the patient's contour model and surgical information, the operating area of ​​the end effector 2412 can be determined, thereby determining the initial planned pose of the surgical arm 2411 and the end effector 2412. The initial planned pose is the pose in which, under theoretical conditions, the end effector 2412 can perform operations on the patient within the operating area.

[0178] In some embodiments, the location of the patient's lesion can be determined based on a contour model. Combined with surgical information, the operating area for the execution terminal 2412 to operate on different regions corresponding to the lesion on the patient's body can be determined. Different surgical information may result in different operating areas for the execution terminal 2412. For example, when the surgical type is a puncture biopsy, the execution terminal 2412 can operate from above the lesion location. Or, when the surgical type is catheter drainage, the execution terminal 2412 can operate from below the lesion location. Different operating areas of the execution terminal 2412 may lead to different initial planned poses and corresponding simulated execution paths. For example, different surgical areas may result in different operating areas of the execution terminal 2412, leading to different initial planned poses and simulated execution paths. For example, when the surgical area is located on the side of the patient facing the base 2415, the surgical area is close to the base 2415, there are fewer obstacles between the surgical area and the base 2415, and the simulated execution path may be simpler; when the surgical area is located on the side of the patient away from the base 2415, there are more obstacles between the surgical area and the base 2415, and the simulated execution path may be more tortuous and complex.

[0179] In some embodiments, step 9232 may include: determining the needle insertion point and target point based on the contour model and surgical information; and determining the initial planned pose based on the needle insertion point and target point.

[0180] In some embodiments, based on a contour model, the lesion area of ​​the patient can be determined, thereby determining the target point, and then determining the needle insertion point corresponding to the target point.

[0181] In some embodiments, the initial planned posture can be determined based on the needle insertion point and the target point. For example, in the patient coordinate system O0, the target point coordinates T(x) on the patient can be determined. t y t , z t ) and the coordinates of the needle entry point E(x) e y e , z e Based on the second mapping relationship between the patient coordinate system O0 and the second coordinate system O2. And the first mapping relationship between the first coordinate system O1 and the second coordinate system O2 The coordinates T'(x) of the target point in the first coordinate system O1 can be determined. t ',y t ',z t '), and the coordinates of the needle entry point in the first coordinate system O1 are E'(x). e ',y e ',z e'). Therefore, the attitude vector corresponding to the initial planned pose of the execution end 2412 at the needle entry point is determined to be η' = (x t '-x e ',y t '-y e ',z t '-z e ').

[0182] Step 9233: Determine the simulated execution path of the surgical arm 2411 based on the initial planned pose.

[0183] In some embodiments, after determining the initial planned pose, the theoretical changes in the pose of the surgical manipulation components (surgical arm 2411 and end effector 2412) can be determined by combining the initial pose of the surgical manipulation components, thereby determining the simulated execution path of the surgical arm 2411. That is, through the simulated execution path, the surgical arm 2411 can theoretically drive the end effector 2412 to reach the initial planned pose.

[0184] In some embodiments, it needs to be verified whether the surgical arm 2411 can drive the end effector 2412 to theoretically reach the initial planned pose through the simulated execution path.

[0185] Step 9234: Verify the execution path based on the contour model and the initial planned pose.

[0186] In some embodiments, based on the patient’s contour model (or mapping model) and the initial planned pose, the position and orientation of the execution end 2412 in the operating area can be determined, thereby verifying whether the surgical execution arm 2411 can reach the position of the surgical area of ​​the execution end 2412 without obstacles through the simulated execution path.

[0187] When the surgical arm 2411 can drive the end effector 2412 to theoretically reach the initial planned pose through the simulated execution path, and there is no interference or collision with the patient on the simulated execution path, it means that the initial planned pose and the simulated execution path have been verified, the initial planned pose of the end effector 2412 can correspond to the operation pose, and the simulated execution path can correspond to the executable path.

[0188] The operating posture refers to the operating position and corresponding operating posture of the end effector 2412 when the surgical arm 2411 performs an operation. In some embodiments, the operating posture may include the operating position and the operating posture, and the operating posture can be determined based on the operating position. In some embodiments, the operating position may be a position determined with the patient coordinate system O0 as the reference coordinate system. Based on the mapping relationship between the patient coordinate system O0 and the first coordinate system O1, the position corresponding to the operating position in the first coordinate system O1 can be determined. In some embodiments, the operating position may include the needle insertion point E located on the patient's body surface, and the needle insertion point E corresponds to the target point T located in the lesion area of ​​the patient. Both the target point T and the needle insertion point E are determined with reference to the patient's body, and the operating posture may include the operating posture of the end effector 2412 at the needle insertion point E.

[0189] A target point refers to a location on the patient's body corresponding to the lesion area. In some embodiments, the target point can be directly determined based on the patient's medical images. In some embodiments, the target point can be a location selected or input by a user (e.g., a medical professional) on the operating interface of the execution display 233 or touch display 2414. A needle insertion point refers to the actual location on the patient's body where the procedure is performed. For example, the target point can be located inside the patient's body, and the needle insertion point can be located on the patient's body surface. The execution terminal 2412 performs the procedure at the needle insertion point, ultimately achieving a surgical effect on the target point. In some embodiments, the distance between the needle insertion point and the corresponding target point should not be too large to avoid failing to perform an effective surgical procedure on the lesion. In some embodiments, the distance between the needle insertion point and the corresponding target point can be no greater than 5 cm, that is, the target point can be located within a circular area with a radius of 5 cm centered at the needle insertion point. In some embodiments, the specific distance between the needle insertion point and the corresponding target point can be determined according to actual circumstances.

[0190] In some embodiments, the initial planned pose may include an initial planned position and an initial planned posture. The initial planned position includes a needle insertion point located on the patient's body surface, corresponding to a target point located in the lesion area of ​​the patient. When validation is successful, the initial planned position is determined as the operating position, and the initial planned posture is determined as the operating posture.

[0191] Figure 15 is a schematic flowchart illustrating the process of determining the initial planned surgical pose according to some embodiments of this specification.

[0192] In some embodiments, the scanning bed 242 has translational degrees of freedom to move relative to the imaging area of ​​the medical imaging system 220. The imaging area of ​​the medical imaging system 220 refers to the medical scanning area of ​​the medical imaging system 220. In some embodiments, the aforementioned translational degrees of freedom may include horizontal and vertical degrees of freedom. The horizontal degree of freedom may refer to the freedom of the scanning bed 242 to move horizontally towards or away from the imaging area of ​​the medical imaging system 220, allowing the scanning bed 242 to enter or exit the imaging area; the vertical degree of freedom may refer to the freedom of the scanning bed 242 to move vertically within the imaging area of ​​the medical imaging system 220, adjusting the position of the scanning bed 242 within the imaging area. In some embodiments, the relative height between the scanning bed 242 and the medical imaging system 220 is fixed; that is, when the scanning bed 242 translates in the vertical direction (e.g., the height direction of the scanning bed 242), the medical imaging system 220 (e.g., the scanning gantry 224) translates synchronously, and the corresponding vertical degree of freedom can be ignored, with only the horizontal degree of freedom of the scanning bed 242 considered. In some embodiments, the relative height between the scanning bed 242 and the medical imaging system 220 is variable. The scanning bed 242 can move vertically relative to the medical imaging system 220 (e.g., the scanning bed 242), requiring consideration of both the horizontal and vertical degrees of freedom of the scanning bed 242. When the scanning bed 242 moves, the relative position between the patient coordinate system O0 and the second coordinate system O2 changes.

[0193] In some embodiments, the operation includes a surgical operation. The operation pose of the surgical execution arm 2411 includes the surgical operation pose of the surgical execution arm 2411, which includes the surgical operation position and the surgical operation posture. The initial planned pose includes the initial planned surgical pose, which includes the initial planned surgical position and the initial planned surgical posture. The simulated execution path includes the simulated surgical execution path, and the executable path includes the surgical executable path. When step 9234 passes the verification, the initial planned surgical pose is determined as the surgical operation pose, the operation position includes the surgical operation position, and the operation posture includes the surgical operation posture.

[0194] The sub-step "determine the initial planned pose based on the needle entry point and the target point" of the aforementioned step 9232 may include sub-steps 1501, 1502, 1503, and 1504.

[0195] Step 1501: Obtain the first position information when the scanning bed 242 is in the first position.

[0196] In some embodiments, when the patient's scanning position remains unchanged, since the patient lies on the scanning bed 242 and the scanning bed 242 has translational freedom to move relative to the imaging area of ​​the medical X-ray imaging system 220, the scanning bed 242 can translate in the horizontal plane along a direction perpendicular to the image scanning surface S to enter or exit the medical X-ray imaging system 220. In some embodiments, the scanning bed 242 can also translate along the height direction of the scanning bed 242 to adjust the patient's position within the imaging area. Therefore, the relative position change between the patient coordinate system O0 and the second coordinate system O2 can exist in the direction of horizontal movement of the scanning bed 242, or in the direction of vertical movement of the scanning bed 242.

[0197] In some embodiments, the first position may refer to the initial position of the scanning bed 242, such as the position of the scanning bed 242 when the interventional medical system 200 performs spatial registration. In some embodiments, the first position may be located outside the imaging area of ​​the medical X-ray imaging system 220 to facilitate the patient's mounting and dismounting from the scanning bed. In some embodiments, when the surgical execution system 241 performs spatial registration, it may simultaneously acquire the first position information of the scanning bed 242 when it is in the first position. Based on the first position information, the patient coordinate system O0 is determined. The first position information refers to the position coordinates of the scanning bed 242 in the relevant reference coordinate system when it is in the first position. In some embodiments, the first position information refers to the coordinate position (0, Y) of the scanning bed 242 in the second coordinate system O2. cr Z cr ).

[0198] Step 1502: Obtain the fourth position information when the scanning bed 242 is in the fourth position.

[0199] In some embodiments, the fourth position is the position of the scanning bed 242 when the patient undergoes surgical procedures. In some embodiments, the fourth position is determined based on the target point. In some embodiments, the fourth position is the position of the scanning bed 242 when the target point T is located within the imaging area of ​​the medical imaging system 220 (e.g., when the surgical mode is real-time control mode or breakpoint control mode), so as to facilitate the surgical execution system 241 to perform surgical procedures on the patient's lesion according to the relevant image. In some embodiments, the fourth position may also be the position of the scanning bed 242 when the target point T is located outside the imaging area of ​​the medical imaging system 220 (e.g., when the surgical mode is manual control mode), so as to facilitate the user (medical staff) to perform surgical procedures on the patient. In some embodiments, the fourth position information refers to the position coordinates of the scanning bed 242 in the relevant reference coordinate system when it is located in the fourth position. In some embodiments, when the surgical mode is real-time control mode or breakpoint control mode, the target point T corresponding to the fourth position information of the scanning bed 242 is located at the collimation center line of the image scanning plane S. In some embodiments, when the surgical mode is manual control mode, the target point T corresponding to the fourth position information of the scanning bed 242 is located outside the imaging area of ​​the medical X-ray imaging system 220. In some embodiments, the scanning bed 242 moves in the horizontal plane along a direction perpendicular to the image scanning plane S, and the fourth position information refers to the coordinate position (0, Y) of the scanning bed 242 in the second coordinate system O2. t Z t ).

[0200] Step 1503: Determine the first translation information based on the first position information and the fourth position information.

[0201] In some embodiments, based on the first position information and the fourth position information, the position change of the scanning bed 242 in the second coordinate system can be determined, that is, the first translation information of the scanning bed 242 is (0, Y). cr -Y t Z cr -Z t When the relative height between the scanning bed 242 and the medical X-ray imaging system 220 is fixed, Y cr -Y t The value is 0.

[0202] Step 1504: Determine the initial planned surgical pose based on the needle insertion point, target point, first translation information, first mapping relationship, second mapping relationship, and third mapping relationship.

[0203] In some embodiments, based on the needle insertion point E, the target point T, the first mapping relationship, the second mapping relationship, the third mapping relationship, and the first translation information, the coordinates of the target point T in the second coordinate system O2 for the initially planned surgical pose can be determined. The coordinates of the needle insertion point E in the second coordinate system O2 for the initial planned surgical pose By combining this with the first mapping relationship, the coordinates of the target point T in the first coordinate system O1 can be determined. The coordinates of the needle insertion point E in the first coordinate system O1 for the initial planned surgical pose For details regarding the first, second, and third mapping relationships, please refer to the relevant descriptions above; they will not be repeated here. Based on the coordinates of the target point T' and the needle insertion point E', the initial planned surgical position of the surgical execution arm 2411 can be determined, thereby determining the initial planned surgical posture of the surgical execution arm 2411 when it is located at the needle insertion point.

[0204] In some embodiments, step 923 may include: determining an initial positioning point based on the needle insertion point and the initial planned surgical pose, wherein, when the verification is successful, the initial positioning point is determined as a navigation positioning point; and determining a simulated surgical execution path based on the navigation positioning point and the initial planned surgical pose.

[0205] In some embodiments, the navigation positioning point refers to the safe position of the surgical manipulation component before performing the surgical operation. In some embodiments, the navigation positioning point can be determined based on the needle insertion point. For example, the navigation positioning point can have a preset safe distance from the needle insertion point, so that when the execution end 2412 of the surgical manipulation component is located at the navigation positioning point, the execution end 2412 (e.g., the execution instrument 24122) can maintain a safe distance from the needle insertion point, avoiding damage to the patient's skin by the execution end 2412 before the surgical operation. It should be noted that, in this specification, the surgical manipulation component (or surgical execution arm 2411) being located or moved to the navigation positioning point means that the end of the execution end 2412 of the surgical manipulation component (or surgical execution arm 2411) (e.g., the end of the execution instrument 24122) is located or moved to the navigation positioning point.

[0206] In some embodiments, the safe distance between the initial positioning point (navigation positioning point) and the needle insertion point is D. s Then the coordinates E of the initial positioning point (navigation positioning point) are... s =E'-η'D s The posture of the execution end 2412 when it is at the needle insertion point is the same as the posture when it is at the navigation positioning point (initial positioning point), both of which correspond to the initial planned surgical posture (surgical operation posture).

[0207] In some embodiments, based on the navigation positioning point (initial positioning point) E sThe initial planned surgical posture (surgical operation posture) of the surgical arm 2411 at the navigation positioning point can be determined by the posture vector η' of the initial planned surgical posture (surgical operation posture) of the end effector 2412 when it is located at the needle insertion point. Combining the initial planned surgical position (navigation positioning point), the initial planned surgical posture of the surgical arm 2411 at the navigation positioning point, and the initial pose of the surgical operation components (surgical arm 2411 and end effector 2412), the spatial position commands of each joint of the surgical arm 2411 can be obtained through inverse kinematics calculation, thus obtaining the simulated surgical execution path from the initial pose to the navigation positioning point. When verification is successful, the simulated surgical execution path is determined as the executable surgical path, and the initial positioning point is determined as the navigation positioning point.

[0208] In some embodiments, during the process of determining the operation plan, the medical X-ray imaging system 220 can transmit the patient's medical images to the execution host 231. The execution host 231 can segment, fuse, and register the patient's initial image and medical images, fuse the blood vessels and organs segmented from the initial image with the medical images, and transmit them to the execution display 233 for display, providing the user with detailed and visualized tissue information of the patient and assisting the user in surgical planning.

[0209] In some embodiments, the left-hand area of ​​the operation interface of the touch display 2414 or the execution display 233 can serve as an auxiliary imaging interface, displaying the patient's three-dimensional images, coronal images, sagittal images, etc.; the middle area of ​​the operation interface of the execution display 233 can serve as the primary imaging interface, displaying the patient's transect (horizontal) images. Through multi-view image display, detailed and visualized patient tissue information is provided to the user, assisting the user in surgical planning. The patient's three-dimensional images, coronal images, sagittal images, and transect (horizontal) images can all be obtained from the images obtained by fusing the aforementioned initial examination image with medical images.

[0210] In some embodiments, the right-hand area of ​​the operation interface can serve as a parameter area, displaying surgical information and operation plans. For example, the right-hand area of ​​the operation interface can display the surgical type, surgical area, surgical mode, operating area of ​​the actuator 24122, and operating posture of the actuator 24122.

[0211] In some embodiments, users can perform operations such as zooming in, zooming out, flipping, rotating, and stacking on the relevant images on the operation interface based on actual needs. They can also change data such as the type of surgery, surgical area, surgical mode, operating area of ​​the actuator 24122, and operating pose of the actuator 24122.

[0212] In some embodiments, the relevant images can also be processed on the operation interface to simulate and display the operation path of the execution end 2412 when it is in the operation pose.

[0213] Figure 16 is a flowchart illustrating the process of determining the initial planning auxiliary pose according to some embodiments of this specification.

[0214] In some embodiments, the operation includes an auxiliary operation. An auxiliary indicator 244 is disposed on the surgical execution arm 2411 or the execution end 2412. The operation pose of the surgical execution arm 2411 includes the auxiliary operation pose of the surgical execution arm 2411, which includes an auxiliary operation position and an auxiliary operation posture. The initial planned pose includes the initial planned auxiliary pose, which includes the initial planned auxiliary position and the initial planned auxiliary posture. The simulated execution path includes the simulated auxiliary execution path, and the executable path includes the auxiliary executable path. When step 9234 passes the verification, the initial planned auxiliary pose is determined as the auxiliary operation pose, the operation position includes the auxiliary operation position, and the operation posture includes the auxiliary operation posture.

[0215] The sub-step "determine the initial planned pose based on the needle entry point and the target point" of the aforementioned step 9232 may include sub-steps 1601, 1602, 1603, and 1604.

[0216] Step 1601: Obtain the first position information when the scanning bed 242 is in the first position.

[0217] In some embodiments, the first position information refers to the coordinate position (0, Y) of the scanning bed 242 in the second coordinate system O2. cr Z cr The details of step 1601 can be found in step 1501 and will not be repeated here.

[0218] Step 1602: Obtain the third position information when the scanning bed 242 is in the third position.

[0219] In some embodiments, the third position is the position of the scanning bed 242 when the patient receives the auxiliary operation. In some embodiments, since the auxiliary operation has a certain effective area, the position of the auxiliary operation point can be located near the needle insertion point. For example, the auxiliary operation point can be located within a circular area with the needle insertion point as the center and a preset size as the radius. The specific distance between the auxiliary operation point and the needle insertion point (i.e., the aforementioned preset size) can be determined according to the actual situation. In some embodiments, the auxiliary operation point can coincide with the corresponding needle insertion point. In some embodiments, the third position is located within the indication area of ​​the auxiliary indicator 244. In some embodiments, the third position is the position of the scanning bed 242 when the needle insertion point E is located within the indication area of ​​the auxiliary indicator 244. In some embodiments, the third position information refers to the position coordinates of the scanning bed 242 in the relevant reference coordinate system when it is located in the third position. In some embodiments, the needle insertion point E corresponding to the third position information of the scanning bed 242 is located at the position corresponding to the zero position of the auxiliary indicator 244, so that the needle insertion point E and its surrounding area can fall within the indication area of ​​the auxiliary indicator 244 as much as possible, so that the auxiliary indicator 244 can provide indication. The zero position of the auxiliary indicator 244 can refer to the initial position of the auxiliary indicator 244.

[0220] In some embodiments, when the auxiliary indicator 244 is disposed on the surgical execution arm 2411 or the execution end 2412, the position of the auxiliary indicator 244 is outside the imaging area of ​​the medical X-ray imaging system 220 during the process of the auxiliary indicator 244 indicating the auxiliary operation.

[0221] For example, in the fifth coordinate system O5, the origin is the position of the auxiliary indicator 244 when it is at zero position, and the Z direction is the direction of entering or leaving the scanning carriage 224 in the horizontal direction, which is perpendicular to the image scanning surface S. Therefore, the Z coordinate of the needle entry point corresponding to the third position in the fifth coordinate system O5 is 0.

[0222] In some embodiments, the scanning bed 242 moves in a direction perpendicular to the image scanning surface S in the horizontal plane, and the third position information refers to the coordinate position (0, Y') of the scanning bed 242 in the second coordinate system O2. t Z' t ).

[0223] Step 1603: Determine the second translation information based on the first position information and the third position information.

[0224] In some embodiments, based on the first position information and the third position information, the position change of the scanning bed 242 in the second coordinate system can be determined, that is, the first translation information of the scanning bed 242 is (0, Y). cr -Y' t Z cr -Z't When the relative height between the scanning bed 242 and the medical X-ray imaging system 220 is fixed, Y cr -Y' t The value is 0.

[0225] Step 1604: Determine the initial planning auxiliary pose based on the needle entry point, target point, second translation information, first mapping relationship, second mapping relationship, and third mapping relationship.

[0226] Similar to step 1504, based on the needle insertion point E, target point T, first mapping relationship, second mapping relationship, third mapping relationship, and first translation information, the coordinates of the target point T and the needle insertion point E in the second coordinate system O2 for the initial planned auxiliary pose can be determined. Combining this with the first mapping relationship, the coordinates T' and E' of the target point T and needle insertion point E in the first coordinate system O1 can be determined. Based on the coordinates of the target point T' and the needle insertion point E', the initial planned auxiliary position of the surgical arm 2411 can be determined, thus determining the initial planned auxiliary posture of the surgical arm 2411 when it is located at the needle insertion point, and consequently, the initial planned auxiliary pose of the surgical arm 2411.

[0227] It should be noted that the principle for determining the target joint parameters corresponding to the initial planned surgical pose (surgical operation pose) when the surgical execution arm 2411 performs a surgical operation is the same as the principle for determining the target joint parameters corresponding to the initial planned auxiliary pose (auxiliary operation pose) when the surgical execution arm 2411 performs an auxiliary instruction.

[0228] In some embodiments, the operation includes auxiliary operations, with an auxiliary indicator 244 disposed on the navigation support arm 2413. Step 920, "determining the operation plan of the surgical execution system based on registration information, related information, and surgical information," further includes: determining the auxiliary indicator pose of the navigation support arm 2413 based on the surgical operation pose of the surgical execution arm 2411. Specifically, this may include the following steps: determining the third position of the scanning bed 242 based on the surgical operation pose of the surgical execution arm 2411, and acquiring third position information when the scanning bed 242 is in the third position; determining third translation information based on the fourth position information and the third position information; and determining the auxiliary indicator pose based on the fourth mapping relationship and the third translation information.

[0229] In some embodiments, the patient receives surgical procedures at the fourth position via the needle insertion point and receives auxiliary procedures at the third position via the needle insertion point. The auxiliary indicator 244 can indicate the needle insertion point during auxiliary procedures. In some embodiments, the needle insertion point E corresponding to the third position information of the scanning bed 242 is located at the position corresponding to the zero position of the auxiliary indicator 244. The zero position of the auxiliary indicator 244 can refer to the initial position of the auxiliary indicator 244. It should be noted that the positions of the auxiliary indicator 244 described above are all the positions of the auxiliary indicator 244 when the navigation support arm 2413 is in the deployed state.

[0230] For example, in the fifth coordinate system O5, the origin is the position of the auxiliary indicator 244 when it is at zero position, and the Z direction is the direction of entering or leaving the scanning carriage 224 in the horizontal direction, which is perpendicular to the image scanning surface S. Therefore, the Z coordinate of the needle entry point corresponding to the third position in the fifth coordinate system O5 is 0.

[0231] In some embodiments, the scanning bed 242 enters or exits the medical X-ray imaging system 220 in a direction perpendicular to the image scanning surface S in the horizontal plane. Therefore, based on the fourth position information and the third position information, the position change of the scanning bed 242 in the second coordinate system can be determined, thereby determining the third translation information of the scanning bed 242.

[0232] In some embodiments, based on the third translation information, the position change of the scanning bed 242 in the first coordinate system O1 can be determined. Then, combined with the fourth mapping relationship between the fifth coordinate system O5 and the first coordinate system O1, the coordinates of the needle insertion point E in the first coordinate system O1 when it is in the third position can be determined, thereby determining the position and attitude of the auxiliary indicator 244, and then determining the auxiliary indicator posture of the navigation support arm 2413.

[0233] In some embodiments, inverse kinematics calculations are performed based on the position and orientation of the navigation support arm 2413 (auxiliary indicator 244) to determine the auxiliary operation control parameters of the navigation support arm 2413 corresponding to the first solution function IK5 of the first coordinate system O1. In some embodiments, based on the position, orientation, and first solution function IK5 of the auxiliary indicator 244, inverse kinematics calculations are performed to determine the auxiliary operation control parameter θ = IK5(E, O5) of the navigation support arm 2413. By determining the auxiliary operation control parameter θ, the auxiliary indication pose of the auxiliary indicator 244 can be determined, so that the auxiliary indicator 244 indicates the specific location of the needle insertion point E for auxiliary operations (such as local anesthesia) on the patient's body according to the auxiliary indication pose, facilitating the execution of subsequent surgeries.

[0234] Step 930: Based on the surgical information and operation plan, control the surgical execution system 241 to perform the operation.

[0235] In some embodiments, based on surgical information and operation plan, the operation pose and executable path of the execution end 2412 can be determined, and the surgical execution system 241 can be controlled to adjust the execution end 2412 to the operation pose according to the executable path and perform corresponding operations for the corresponding needle insertion point.

[0236] In some embodiments, the surgical operation pose when the execution end 2412 performs the surgical operation can be determined based on the initial planned surgical pose and the second mapping relationship between the patient's patient coordinate system O0 and the second coordinate system O2.

[0237] In some embodiments, the procedures performed on the patient may include surgical procedures and auxiliary procedures. Step 930 may include: controlling the auxiliary indicator 244 to instruct auxiliary procedures based on surgical information and the procedure plan; and controlling the surgical procedure components to perform surgical procedures after the auxiliary procedures are completed.

[0238] Before performing surgical procedures on a patient, auxiliary procedures can be performed first to improve the safety of the surgery and avoid causing additional harm to the patient. For example, the surgical procedures can correspond to the type of surgery in the surgical information, and the auxiliary procedures can include procedures such as local anesthesia.

[0239] In some embodiments, before performing surgical procedures on the patient, the patient needs to be moved out of the imaging area to perform auxiliary operations (such as anesthesia). That is, the scanning bed 242 can be controlled to move to a third position. After the scanning bed 242 moves to the third position, the auxiliary indicator 244 provides indication based on the auxiliary operation pose of the surgical execution arm 2411 or the auxiliary operation control parameter θ of the navigation support arm 2413 to assist the user in performing auxiliary operations (such as local anesthesia) on the patient's surgical area (e.g., needle insertion point E0).

[0240] In some embodiments, step 930 may include: controlling the surgical manipulation component to move to a navigation positioning point; after the surgical manipulation component moves to the navigation positioning point, controlling the surgical manipulation component to perform surgical operations based on the surgical mode. For more information on "controlling the surgical manipulation component to perform surgical operations based on the surgical mode", please refer to the following description of "surgical modes".

[0241] In some embodiments, step 930, "controlling the surgical execution system 241 to perform operations based on surgical information and operation plan," may include: in response to spatial registration completion, controlling the scanning bed 242 to move to a second position, wherein the second position is the position of the scanning bed 242 when the medical imaging system 220 scans the patient; in response to the completion of the medical imaging system 220 scanning the patient, controlling the scanning bed 242 to move to a fourth position; in response to the scanning bed 242 moving to the fourth position, controlling the surgical execution arm 2411 to adjust to the surgical operation posture; and in response to the surgical execution arm 2411 adjusting to the surgical operation posture, controlling the execution end 2412 to perform the surgical operation.

[0242] In some embodiments, when the scanning bed 242 is in the second position, the medical imaging system 220 scans the patient to form a medical image of the patient. Based on the medical image, the positions of the target point T and the needle insertion point E in the patient coordinate system O0 can be determined, thereby determining a fourth position (e.g., the position when the scanning bed 242 is moved to the point where the target point T is located at the collimation center line of the image scanning plane S of the medical imaging system 220) and a third position (e.g., the position when the scanning bed 242 is moved to the point where the needle insertion point E is located at the zero position of the auxiliary indicator 244). In some embodiments, the second position and the fourth position may be the same or different.

[0243] In some embodiments, the aforementioned "controlling the surgical execution arm 2411 to adjust to the surgical operation posture in response to the scanning bed 242 moving to the fourth position" includes: (1) controlling the surgical execution arm 2411 to adjust to the mounting posture in response to the scanning bed 242 moving to the fourth position; (2) controlling the execution mounting base 24121 to install the execution instrument 24122 in response to the surgical execution arm 2411 being adjusted to the mounting posture; and (3) controlling the surgical execution arm 2411 to adjust to the surgical operation posture in response to the completion of the installation of the execution instrument 24122. Wherein, the mounting posture is any feasible posture in which the surgical execution arm 2411 avoids the patient and does not interfere with the patient.

[0244] In some embodiments, auxiliary procedures need to be performed on the patient before surgical procedures are performed. The aforementioned "in response to the completion of scanning of the patient on the scanning bed 242 located in the first position by the medical imaging system 220, controlling the scanning bed 242 to move to the fourth position" may include: in response to the completion of scanning of the patient by the medical imaging system 220, controlling the scanning bed 242 to move to the third position; in response to the scanning bed 242 moving to the third position, controlling the auxiliary indicator 244 to instruct the auxiliary procedures; and in response to the completion of the auxiliary procedures, controlling the scanning bed 242 to move to the fourth position.

[0245] In some embodiments, the auxiliary indicator 244 is disposed on the surgical execution arm 2411 or the execution end 2412, and the operation plan includes the auxiliary operation pose of the surgical execution arm 2411. The aforementioned "controlling the auxiliary indicator 244 to instruct the auxiliary operation in response to the scanning bed 242 moving to the third position" includes: controlling the surgical execution arm 2411 to adjust to the auxiliary operation pose in response to the scanning bed 242 moving to the third position; and controlling the auxiliary indicator 244 to instruct the auxiliary operation in response to the surgical execution arm 2411 adjusting to the auxiliary operation pose.

[0246] In some embodiments, the auxiliary indicator 244 provides a navigation support arm 2413, and the operation plan includes an auxiliary indication pose of the navigation support arm 2413. The aforementioned "controlling the auxiliary indicator 244 to indicate auxiliary operations in response to the scanning bed 242 moving to the third position" includes: controlling the navigation support arm 2413 to adjust to the auxiliary indication pose in response to the scanning bed 242 moving to the third position; and controlling the auxiliary indicator 244 to indicate auxiliary operations in response to the navigation support arm 2413 adjusting to the auxiliary indication pose.

[0247] In some embodiments, after the patient has completed part or all of the surgical procedure, the surgery can be paused or stopped. To facilitate the patient's movement on and off the scanning bed 242, the scanning bed 242 can be moved to a fifth position, which may be located outside the imaging area of ​​the medical X-ray imaging system 220. That is, step 930, "controlling the surgical execution system 241 to perform the operation based on surgical information and operation plan," may further include: in response to the completion of at least part of the surgical procedure, controlling the scanning bed 242 to move to the fifth position. The fifth position may be the same as or different from the third position.

[0248] In some embodiments, process 900 may further include step 940.

[0249] Step 940: Obtain control commands from the active control terminal 230, and control the surgical execution system 241 to perform operations based on the control commands.

[0250] In some embodiments, control commands may include commands generated by the master operator 232 and transmitted to the surgical execution system 241. In some embodiments, control commands may also include commands generated by the operation execution terminal 240 (e.g., touch display 2414, etc.). Control commands may include instructions for controlling the surgical execution system 241, such as instructions for moving the scanning table 242.

[0251] Figure 17 is a flowchart illustrating a surgical execution system based on control commands, according to some embodiments of this specification. As shown in Figure 17, in some embodiments, step 940 may include sub-steps 941, 942, and 943.

[0252] Step 941: Monitor whether the active control terminal 230 has received the enable information.

[0253] In some embodiments, enabling information enables control commands to be activated. In some embodiments, enabling information includes a first enabling message issued by exposure switch 223 and a second enabling message issued by control enable button 2324. In some embodiments, the first enabling message enables the second enabling message to be activated. That is, after the user operates the first enabling message issued by exposure switch 223, the first enabling message enables the second enabling message, thereby activating the control commands of the main operator 232, allowing the main operator 232 to control the surgical execution system 241 to perform operations, thereby preventing the user from operating the main operator 232 without the patient's field of vision (e.g., the patient's medical images), and avoiding additional harm to the patient. For more details regarding enabling information, please refer to the aforementioned description of the main operator 232; it will not be repeated here.

[0254] Step 942: In response to the active control terminal 230 receiving the enable information, the control command of the active control terminal 230 is obtained.

[0255] In some embodiments, in response to the active control terminal 230 receiving enable information, a control command from the active control terminal 230 is acquired. In some embodiments, step 942 may include: in response to both the first enable information and the second enable information being acquired, acquiring a control command from the active control terminal 230. In some embodiments, the first enable information indirectly activates the control command of the main operator 232. Specifically, the user operates the exposure switch 223 to generate the first enable information, which enables the second enable information generated by the control enable button 2324 to be activated. At this time, in response to the second enable information, a control command from the active control terminal 230 is acquired.

[0256] Step 943: Control the surgical execution system 241 to perform operations based on control commands.

[0257] In some embodiments, the surgical execution system 241 is controlled to perform corresponding operations based on the acquired control commands. In some embodiments, before controlling the surgical execution system 241 to perform operations based on the control commands, the medical X-ray imaging system 220 can be pre-exposed based on the first enable information, so that the medical X-ray imaging system 220 images the patient, thereby avoiding the user controlling the surgical execution system 241 to perform operations through the main operator 232 without the patient's field of vision (e.g., the patient's medical image), thus avoiding additional harm to the patient.

[0258] In some embodiments, the interventional medical system 200 may further include a surgical field camera 260 (as shown in FIG. 3B), which may be mounted on a support platform near the scanning gantry 224. The surgical field camera 260 is used to acquire a second optical image of the patient and transmit it to the execution display 233 for display. During the operation performed by the surgical execution system 241, the execution display 233 can present the second optical image in real time, allowing the user to monitor the patient in real time and promptly stop the relevant operation if any abnormalities occur, further improving surgical safety.

[0259] At this time, step 900, “controlling the surgical execution system 241 to perform operations based on surgical information and operation plan”, may also include: controlling the surgical field camera 260 to acquire a second optical image of the patient, which is presented when the surgical execution system 241 performs operations.

[0260] In some embodiments, the surgical field camera 260 can acquire a second optical image of the patient in real time and transmit the second optical image to the execution host 231, which is then presented synchronously when the surgical execution system 241 performs the operation. This allows the user to monitor the patient in real time and stop the relevant operation in time when the patient shows abnormalities, thereby further improving the safety of the operation.

[0261] It should be noted that the above description of process 900 is for illustrative purposes only and does not limit the scope of this specification. Those skilled in the art can make various modifications and changes to process 900 under the guidance of this specification. However, these modifications and changes remain within the scope of this specification.

[0262] Figure 18 is a feedback diagram of master-slave control according to some embodiments of this specification.

[0263] Referring to Figures 5 and 18, in some embodiments, the surgical execution arm 2411 further includes a force sensor 24116, and the end effector 2412 is connected to the other end of the fifth articulated arm 24115 via the force sensor 24116. The force sensor 24116 can be used to measure the reaction force F generated by the end effector 2412 in contact with the patient, so that the master manipulator 232 can provide force feedback to the user. As shown in Figure 16, in some embodiments, during the process of the surgical execution system 241 controlling the operation of the end effector 240 via the master manipulator 232 of the active control terminal 230, the reaction force F generated by the end effector 2412 in contact with the patient acts on the end effector 2412 and the surgical execution arm 2411; the surgical execution system 241 calculates the gravity compensation value f of the end effector 2412 in the puncture direction based on the pose of the end effector 2412. g The puncture force f is obtained by real-time detection of the reaction force F by the force sensor 24116 integrated at the end of the surgical arm 2411 and performing force mapping calculation.s The actual puncture force Then the filtered The data is transmitted to the main operator 232, which controls the actuator motor on the actuator end 2412 to operate in torque mode. The output feedback torque τ is then transmitted through mechanical transmission to apply force F' to the human hand, thereby achieving real-time force feedback in the master-slave control process, enhancing the user's realistic operating experience, improving operating accuracy, and reducing operating difficulty.

[0264] In some embodiments, when the patient has numerous or large lesions, multiple surgical procedures may be required, meaning the surgical operation pose may include multiple target points or multiple needle insertion points. When the scanning bed 242 is in the second position, the target points corresponding to the multiple needle insertion points are all located within the imaging area of ​​the medical imaging system 220, meaning that multiple target points can be displayed on the patient's medical image. At this time, each needle insertion point can correspond to a fourth position. In some embodiments, when the surgical mode includes a navigation control mode or a breakpoint control mode, the target points corresponding to each needle insertion point are respectively located at the collimation center line of the image scanning plane S of the medical imaging system 220, and each needle insertion point can correspond to a fourth position. In some embodiments, when the surgical mode includes a manual control mode, the target points corresponding to the multiple needle insertion points are all located outside the scanning area of ​​the medical imaging system 220, and the fourth positions corresponding to the multiple needle insertion points can be the same position. Each needle insertion point can correspond to a surgical operation pose of the surgical execution component (surgical execution arm 2411 and execution end 2412). In some embodiments, when the target points corresponding to multiple needle insertion points are all located at the collimation center line of the image scanning surface S of the medical X-ray imaging system 220, the fourth positions corresponding to the multiple needle insertion points may be the same, and the surgical operation poses of the corresponding surgical operation components may be the same.

[0265] In some embodiments, when the target planned pose includes multiple needle insertion points, one or more auxiliary operations may be required. In some embodiments, the distribution area of ​​the multiple needle insertion points has a center point (e.g., the center point of the geometry formed by sequentially connecting the outermost multiple needle insertion points). In some embodiments, the location of this center point may be a location selected by the user (e.g., a medical professional).

[0266] In some embodiments, when the auxiliary indicator 244 is positioned on the navigation support arm 2413, its center point can be located at the position corresponding to the zero position of the auxiliary indicator 244, corresponding to the scanning bed 242 being in a third position. That is, multiple needle insertion points can correspond to one third position. When the scanning bed 242 moves to this third position, the auxiliary indicator 244 can adjust its position and attitude to indicate the positions of multiple needle insertion points respectively, so that multiple needle insertion points can be assisted in operation respectively. In some embodiments, each needle insertion point can correspond to the pose of an auxiliary indicator 244, that is, each needle insertion point corresponds to an auxiliary operation control parameter θ of the navigation support arm 2413. When the auxiliary indicator 244 needs to indicate a target needle insertion point, the target pose of the corresponding auxiliary indicator 244 (the target auxiliary indication pose of the navigation support arm 2413) can be determined according to the target needle insertion point, and the auxiliary indicator 244 can be adjusted to the target pose to indicate the target needle insertion point. In some embodiments, the pose of the auxiliary indicator 244 corresponding to any needle insertion point can be determined based on the relative position of the needle insertion point and the center point, as well as the second translation information. By setting the center point at the position corresponding to the zero position of the auxiliary indicator 244, multiple needle insertion points can be located within the indication area of ​​the auxiliary indicator 244 as much as possible.

[0267] In some embodiments, when the auxiliary indicator 244 is positioned on the surgical execution arm 2411 or the execution end 2412, its center point is located within the indication area of ​​the auxiliary indicator 244, corresponding to the scanning bed 242 being in a third position. That is, multiple needle insertion points can correspond to one third position. When the scanning bed 242 moves to this third position, the auxiliary indicator 244 can adjust its position and orientation to indicate the positions of multiple needle insertion points respectively, so that multiple needle insertion points can be assisted in operation respectively. In some embodiments, each needle insertion point can correspond to the pose of one auxiliary indicator 244, that is, each needle insertion point corresponds to an auxiliary operation pose of the surgical execution arm 2411. When the auxiliary indicator 244 needs to indicate a target needle insertion point, the target pose of the corresponding auxiliary indicator 244 (the target auxiliary operation pose of the surgical execution arm 2411) can be determined according to the target needle insertion point, and the auxiliary indicator 244 can be adjusted to the target pose to indicate the target needle insertion point.

[0268] In some embodiments, since the auxiliary operation has a certain effective area, for multiple needle insertion points, the auxiliary operation can be performed only once at the aforementioned center point. In some embodiments, to ensure the smooth progress of the surgery, for multiple needle insertion points, the auxiliary operation can be performed separately at or near each needle insertion point.

[0269] In some embodiments, when performing multiple auxiliary operations, the scanning bed 242 can be moved to a third position, and after performing auxiliary operations on multiple needle insertion points, the scanning bed 242 can be moved sequentially among multiple fourth positions to perform surgical operations on the corresponding needle insertion points. Specifically, after moving the scanning bed 242 to the third position, the pose of the auxiliary indicator 244 is adjusted to indicate the corresponding needle insertion point, and an auxiliary operation is performed on that needle insertion point; after performing an auxiliary operation on that needle insertion point, the pose of the auxiliary indicator 244 is adjusted to indicate the next corresponding needle insertion point, and an auxiliary operation is performed on that needle insertion point; the above steps are repeated until auxiliary operations are completed for multiple needle insertion points, then the scanning bed 242 is moved to a fourth position corresponding to a certain needle insertion point, and a surgical operation is performed on that needle insertion point; after the surgical operation on that needle insertion point is completed, the scanning bed 242 is moved to a fourth position corresponding to the next needle insertion point, and a surgical operation is performed on that needle insertion point; the above steps are repeated until surgical operations are completed for all needle insertion points.

[0270] In some embodiments, when performing multiple auxiliary operations, the scanning bed 242 can be moved to a third position; a needle insertion point is selected, and the corresponding pose of the auxiliary indicator 244 is adjusted according to the position of the needle insertion point to indicate the needle insertion point; after performing an auxiliary operation for the needle insertion point, the scanning bed 242 is moved to the corresponding fourth position for the needle insertion point to perform a surgical operation for the needle insertion point; after completing the surgical operation for the needle insertion point, the scanning bed 242 is moved to the third position again, and the corresponding pose of the auxiliary indicator 244 is adjusted according to the position of the next target needle insertion point to indicate the needle insertion point; after performing an auxiliary operation for the needle insertion point, the scanning bed 242 is moved to the corresponding fourth position for the needle insertion point to perform a surgical operation; the above steps are repeated until the surgical operation for all needle insertion points is completed.

[0271] In some embodiments, each needle insertion point corresponds to a target point, and a target point may correspond to one or more needle insertion points. For example, multiple target points may include a first target point, a second target point, ..., an nth target point, and multiple needle insertion points may include a first needle insertion point, a second needle insertion point, ..., an mth needle insertion point, where m ≥ n. For example, a first needle insertion point may correspond to a first target point, a second needle insertion point may correspond to a second target point, ..., an (n-1)th needle insertion point may correspond to an (n-1)th target point, and needle insertion points n through m may all correspond to the nth target point. In some embodiments, the number of fourth positions can be n, with each needle insertion point corresponding to a fourth position. The fourth positions corresponding to different needle insertion points can be the same or different. For example, the first needle insertion point corresponds to fourth position-1, the second needle insertion point corresponds to fourth position-2, and so on, from the nth to the mth needle insertion point, all corresponding to fourth position-n. Multiple needle insertion points correspond to a third position, and each needle insertion point corresponds to the pose of an auxiliary indicator 244. For example, the first needle insertion point corresponds to the first pose of the auxiliary indicator 244, the second needle insertion point corresponds to the second pose of the auxiliary indicator 244, and so on, from the mth needle insertion point corresponds to the mth pose of the auxiliary indicator 244. In some embodiments, when the projections of multiple target points overlap on the vertical direction of the image scanning plane S of the medical X-ray imaging system 220, it can be considered that the multiple target points are located in the same scanning layer of the medical X-ray imaging system 220. At this time, the fourth positions of the multiple needle insertion points corresponding to the multiple target points are the same, and the multiple fourth positions corresponding to the multiple target points are the same position. In some embodiments, when the projections of multiple target points on the vertical line of the image scanning plane S of the medical X-ray imaging system 220 are staggered, it can be considered that the multiple target points are located in different scanning layers of the medical X-ray imaging system 220. At this time, the fourth positions of the multiple needle insertion points corresponding to the multiple target points are different, and the multiple fourth positions corresponding to the multiple target points are different positions. For example, after the scanning bed 242 moves to the third position, the auxiliary indicator 244 is adjusted to the first position to indicate the first needle insertion point. The user can perform auxiliary operations (e.g., local anesthesia) on the first needle insertion point according to the indication. After the auxiliary operation is completed, the scanning bed 242 can move to the fourth position-1 corresponding to the first target point corresponding to the first needle insertion point to perform surgical operations (e.g., puncture) on the first needle insertion point. The above operation is repeated by changing the needle insertion point until the surgical operation is completed for all needle insertion points.

[0272] In some embodiments, since the auxiliary operation has a certain effective area, multiple needle insertion points may only require one auxiliary operation. For example, for multiple needle insertion points, an auxiliary operation may be performed only once at the center point of each needle insertion point, and the position of the center point can determine a pose of the corresponding auxiliary indicator 244. The scanning bed 242 is moved to a third position, and the auxiliary indicator 244 is adjusted to the aforementioned pose to indicate the center point; the auxiliary operation is performed on the center point according to the indication; after the auxiliary operation is completed, the scanning bed 242 is moved to a fourth position corresponding to the target point of a certain needle insertion point, and a surgical operation is performed on that needle insertion point; after the surgical operation on that needle insertion point is completed, the scanning bed 242 is moved to the fourth position corresponding to the next needle insertion point, and a surgical operation is performed on that needle insertion point; the above steps are repeated until the surgical operation is completed for all needle insertion points.

[0273] In some embodiments, the processor is configured to: (1) spatially register the interventional medical system 200 in response to a start signal; (2) control the scanning bed 242 to move to a second position to the imaging area of ​​the medical imaging system 220 in response to the completion of spatial registration, the second position being the position of the scanning bed 242 when the medical imaging system 220 scans the patient; and (3) control the scanning bed 242 to move to an execution position in response to the completion of the medical imaging system 220 scanning the patient, where the patient receives the operation. In some embodiments, the processor may also be configured to: (4) control the scanning bed 242 to move to a fifth position in response to the completion of all operations, the fifth position being located outside the imaging area of ​​the medical imaging system 220.

[0274] In some embodiments, the aforementioned operation may include an auxiliary operation, and the execution position includes a third position. In this case, the aforementioned step (3) may include: in response to receiving a signal that the medical imaging system 220 has completed scanning of the patient, controlling the scanning bed 242 to move to the third position, the third position being the position of the scanning bed 242 when the interventional medical system 200 performs auxiliary operations on the patient, and the third position being outside the imaging area of ​​the medical imaging system 220; in response to the scanning bed 242 being in the third position, controlling the auxiliary indicator 244 to indicate the auxiliary operation. Accordingly, the aforementioned step (4) may include: in response to the completion of all auxiliary operations, controlling the scanning bed 242 to move to a fifth position, the fifth position being outside the imaging area of ​​the medical imaging system 220. In some embodiments, the fifth position may be the same as or different from the third position. When the fifth position is the same as the third position, the scanning bed 242 may remain stationary after all auxiliary operations are completed, and step (4) may be omitted. When the fifth position is different from the third position, step (4) may be executed after all auxiliary operations are completed, and the scanning bed 242 may move from the third position to the fifth position.

[0275] In some embodiments, the aforementioned operation may include a surgical procedure, and the execution location may include one or more fourth locations. In this case, step (3) may include: in response to receiving a signal that the medical imaging system 220 has completed scanning of the patient, controlling the scanning bed 242 to move to one or more fourth locations, where the fourth location is the position of the scanning bed 242 when the patient undergoes the surgical procedure; and in response to the scanning bed 242 moving to one or more fourth locations, controlling the execution end 2412 to perform the surgical procedure. Accordingly, step (4) may include: in response to the completion of the entire surgical procedure, controlling the scanning bed 242 to move to a fifth location.

[0276] In some embodiments, the aforementioned operations include auxiliary operations and surgical operations, and the execution positions include a third position and one or more fourth positions. Step (3) may then include: in response to receiving a signal that the medical imaging system 220 has completed scanning of the patient, controlling the scanning bed 242 to move to the third position; in response to the scanning bed 242 moving to the third position, controlling the control auxiliary indicator 244 to indicate the auxiliary operation; and in response to the completion of the auxiliary operation, controlling the scanning bed 242 to move to a fourth position. Accordingly, step (4) may include: in response to the completion of all surgical operations, controlling the scanning bed 242 to move to a fifth position.

[0277] In some embodiments, after completing a portion of the surgical procedure, the scanning bed 242 may need to be removed from the medical imaging system 220 for intermediate operations (e.g., examining the patient, operating the medical imaging system 220, etc.) or a break, before resuming the surgical procedure. In some embodiments, when the aforementioned operations include at least a surgical procedure and the execution position includes at least one or more fourth positions, the processor is further configured to: control the scanning bed 242 to move to a fifth position in response to the completion of the surgical procedure when the scanning bed 242 is in one of the fourth positions, but the surgical procedure is not fully completed; and control the scanning bed 242 to move to another fourth position in response to a continuation signal, and control the execution end 2412 to continue performing the surgical procedure. The continuation signal can be input by the user or output by the processor after satisfying preset conditions (e.g., completion of intermediate operations, completion of a break, or a preset duration for which the scanning bed 242 is in the fifth position).

[0278] In some embodiments, the processor may also be configured to: after the scanning bed 242 has moved to one of the fourth positions, in response to the completion of a surgical operation when the scanning bed 242 is in one of the fourth positions, but the surgical operation has not been fully completed, control the scanning bed 242 to move to a third position.

[0279] In some embodiments, the processor may also be configured to: after the scanning bed 242 has moved to one of the fourth positions, in response to the completion of a surgical operation when the scanning bed 242 is in one of the fourth positions, but the surgical operation has not been fully completed, control the scanning bed 242 to move to another fourth position.

[0280] In some embodiments, the processor may also be configured to: control the surgical execution arm 2411 to install the execution mount 24121 in response to a start signal; and perform spatial registration of the interventional medical system 200 in response to the completion of the installation of the execution mount 2411.

[0281] In some embodiments, the processor may also be configured to: (1) control the surgical execution arm 2411 to adjust to a mounting position in response to the scanning bed 242 moving to one of the fourth positions, wherein the mounting position is a feasible position in which the surgical execution arm 2411 avoids the patient; (2) control the execution mount 24121 to install the execution instrument 24122 in response to the surgical execution arm 2411 adjusting to the mounting position; (3) control the surgical execution arm 2411 to adjust to a surgical operation position in response to the completion of the installation of the execution instrument 24122; and (4) control the execution instrument 24122 to perform a surgical operation in response to the surgical execution arm 2411 adjusting to the surgical operation position.

[0282] In some embodiments, step (3) may include: in response to the completion of installation of the actuator 24122, controlling the surgical actuator arm 2411 to adjust to the initial position; in response to the surgical actuator arm 2411 being adjusted to the initial position, controlling the surgical actuator arm 2411 to adjust to the surgical operation position. In some embodiments, step (4) may include: in response to the surgical actuator arm 2411 being adjusted to the surgical operation position, controlling the actuator mounting base 24121 to adjust the posture of the actuator 24122; in response to the completion of posture adjustment of the actuator 24122, controlling the actuator 24122 to perform the surgical operation.

[0283] In some embodiments, the instrument confirmation control of the execution end 2412 is configured to output a confirmation signal in response to the completion of the installation of the execution instrument 24122. The confirmation signal is used to confirm that the execution instrument 24122 on the execution mounting base 24121 has been installed, facilitating subsequent operations. The aforementioned step (3) may include: in response to the completion of the installation of the execution instrument 24122, controlling the instrument confirmation control to output a confirmation signal; and based on the confirmation signal, controlling the surgical execution arm 2411 to adjust to the surgical operation position.

[0284] In some embodiments, the processor may also be configured to: in response to the completion of all surgical operations, control the surgical arm 2411 to adjust to the end pose, which may be the same as or different from the initial pose.

[0285] In some embodiments, the surgical execution arm 2411 is configured to: (1) install the execution mounting base 24121 before spatial registration; (2) after the scanning bed 242 moves to one of the fourth positions, before performing the surgical operation, adjust the surgical execution arm 2411 to the mounting position and install the execution instrument 24122 onto the execution mounting base 24121, wherein the mounting position refers to any feasible position in which the surgical execution arm 2411 does not interfere with the patient; (3) after the execution instrument 24122 is installed, adjust the surgical execution arm 2411 to the surgical operation position, ready to perform the surgical operation.

[0286] In some embodiments, the surgical execution arm 2411 may also be configured such that, after the execution mount 24121 is installed but before spatial registration, the surgical execution arm 2411 is adjusted to be at least partially located within the scanning area of ​​the medical imaging system 220, so as to facilitate more accurate determination of the pose of the surgical execution arm 2411 subsequently. In some embodiments, the pose of the surgical execution arm 2411 during spatial registration (e.g., the pose when the surgical execution arm 2411 is at least partially located within the scanning area of ​​the medical imaging system 220) is the initial pose of the surgical execution arm 2411.

[0287] In some embodiments, the surgical arm 2411 may be adjusted to the mounting position after the auxiliary operation is completed and before the surgical operation begins. In some embodiments, during the adjustment of the surgical arm 2411 to the mounting position, it may first be adjusted to the initial position for easy positioning, and then adjusted to the mounting position. In some embodiments, after the actuator 24122 is installed, during the adjustment of the surgical arm 2411 from the mounting position to the surgical operation position, the surgical arm 2411 may first be adjusted from the mounting position to the initial position, and then from the initial position to the surgical operation position, to ensure that the surgical arm 2411 moves along a preset path (e.g., an executable path) and avoid interference with the outside world or the user during the movement. In some embodiments, during the movement of the surgical arm 2411, the motion enable switch 245 is in a deactivated state. In some embodiments, the surgical arm 2411 may be automatically moved and adjusted based on relevant commands from the processor (e.g., processor 110); or, the surgical arm 2411 may be manually dragged for movement and adjustment. It should be noted that the movement mode of the surgical arm 2411, which can be switched between automatic movement and manual dragging, can be switched. For example, after releasing the motion enable switch 245, the movement mode can be switched, and then the motion enable switch 245 can be pressed again to control the movement and adjustment of the surgical arm 2411.

[0288] In some embodiments, the surgical execution arm 2411 may also be configured to: (4) after the surgical execution arm 2411 is adjusted to the surgical operation position, fine-tune the posture of the execution mounting base 24121 to adjust the posture of the execution instrument 24122 to facilitate subsequent surgical operations; (5) control the execution instrument 24122 to perform surgical operations. In some embodiments, the surgical execution arm 2411 may also be configured to: (6) after all surgical operations are completed, the surgical execution arm 2411 is adjusted to the end position, which may be the same as or different from the initial position.

[0289] In some embodiments, the adjustment of the surgical arm 2411 and the execution of surgical operations by the surgical instrument 24122 can also be controlled by the main operator 232 respectively.

[0290] In some embodiments, step 930 may further include: controlling the surgical operation component to move to the navigation positioning point; after the surgical operation component moves to the navigation positioning point, controlling the surgical operation component to perform surgical operations based on the surgical mode.

[0291] In some embodiments, once the surgical arm 2411 reaches the navigation positioning point and adjusts to the surgical operation posture, the user can control the end effector 2412 to perform surgical operations on the patient. Different surgical modes correspond to different operation steps.

[0292] In some embodiments, the surgical mode of the surgical information may include a real-time control mode or a breakpoint control mode. The real-time control mode is a real-time visual control mode, and the breakpoint control mode is an intermittent control mode. Step 930 may also include: determining the execution instrument 24122 based on the surgical information and operation plan, and installing the execution instrument 24122 to the execution end 2412; after the execution instrument 24122 is installed, controlling the surgical execution arm 2411 to move the execution end 2412 to the navigation positioning point.

[0293] In some embodiments, the type of actuator 24122 can be determined based on surgical information and operation plan. Once the actuator 24122 is determined, it can be installed onto the end effector 2412. After the actuator 24122 is installed, the surgical manipulation component can be controlled to move to the navigation positioning point. At this time, the end effector 24122 is located at the navigation positioning point. After the actuator 24122 is installed, the user can directly control the movement of the surgical manipulation component and perform surgical operations via the active control terminal 230 without needing to enter the radiology room to install the actuator 24122.

[0294] In some embodiments, when the surgical mode of the surgical information includes a real-time control mode or a breakpoint control mode, the sub-step "controlling the surgical operation component to perform the surgical operation based on the surgical mode" in step 930 may further include: controlling the execution device 24122 to perform the surgical operation through the active control terminal 230 based on the real-time control mode or the breakpoint control mode. That is, in the real-time control mode or the breakpoint control mode, the user can remotely control the execution device 24122 to perform the surgical operation through the active control terminal 230, and the user does not need to enter the radiology room to perform the surgical operation near the patient.

[0295] In some embodiments, when the surgical mode of the surgical information includes a real-time control mode, the sub-step "controlling the surgical operation component to perform the surgical operation based on the surgical mode" in step 930 may further include: controlling the execution device 24122 to perform the surgical operation based on the real-time control mode and real-time images via the main operator 232. The real-time images can be obtained by the user operating the exposure switch 223 to scan the patient in real-time through the medical X-ray imaging system 220. For details regarding the exposure switch 223 and the real-time images, please refer to the previous description of the exposure switch 223; it will not be repeated here.

[0296] When the surgical mode adopts the real-time control mode, the operation interface of the execution display 233 can display the real-time image of the patient scanned by the medical X-ray imaging system 220. Based on the real-time image, the user can control the surgical execution arm 2411 and the execution end 2412 to perform surgical operations through the main operator 232, thereby improving the accuracy of the surgical operation and reducing the difficulty of the surgical operation.

[0297] When the surgical mode adopts the breakpoint control mode, the sub-step "controlling the surgical operation component to perform the surgical operation based on the surgical mode" in step 930 may further include: based on the breakpoint control mode and the surgical image, controlling the execution device 24122 to perform a portion of the surgical operation corresponding to the surgical image through the main operator 232. In some embodiments, when the surgical mode of the surgical information includes the breakpoint control mode, the sub-step "controlling the surgical operation component to perform the surgical operation based on the surgical mode" in step 930 may further include: based on the breakpoint control mode, scanning the patient through the medical X-ray imaging system 220 to obtain a first surgical image; controlling the execution device 24122 to perform a portion of the surgical operation corresponding to the first surgical image based on the breakpoint control mode and the first surgical image; after the portion of the operation is completed, continuing to scan the patient through the medical X-ray imaging system 220 to obtain a second surgical image; controlling the execution device 24122 to perform the next portion of the surgical operation corresponding to the second surgical image based on the breakpoint control mode and the second surgical image; repeating the above steps until the surgical operation is completed. Here, the portion of the surgical operation corresponding to the first surgical image refers to the portion of the surgical operation performed based on the first surgical image. In the breakpoint control mode, before a certain part of the surgical operation is performed, the patient is scanned by the medical X-ray imaging system 220 to obtain surgical images (e.g., first surgical image, second surgical image, etc.), and then the surgical operation is performed based on the surgical images. The surgical operation is the part of the surgical operation corresponding to the aforementioned surgical images.

[0298] When the surgical mode adopts breakpoint control mode, the medical X-ray imaging system 220 scans the patient at the fourth position to obtain a first surgical image, which can be displayed on the operation interface. Based on the first surgical image, the user can control the surgical execution arm 2411 and the execution instrument 24122 at the execution end 2412 to perform part of the surgical operation via the main operator 232. When this part of the surgical operation is completed, the medical X-ray imaging system 220 scans the patient again to obtain a second surgical image, which can be displayed on the operation interface. Based on the second surgical image, the user controls the surgical execution arm 2411 and the execution instrument 24122 at the execution end 2412 to perform the next part of the surgical operation via the main operator 232. The above steps are repeated until the current surgical operation is completed. In some embodiments, based on the second surgical image, the next part of the surgical operation can be adjusted (e.g., adjusting the progress, operation posture, etc.) to improve the operation accuracy.

[0299] For example, when the surgical procedure is a puncture, the actuator 24122 can be a puncture needle. Based on the first surgical image, the user can control the puncture needle to penetrate a certain depth into the patient's body, but the puncture needle has not reached the target point corresponding to the lesion at the target depth. After the puncture needle has penetrated to a certain depth, the user can control the surgical execution arm 2411 and the execution end 2412 to stop the operation, and obtain a second surgical image by scanning the patient through the medical X-ray imaging system 220. Based on the second surgical image, the user can control the puncture needle to continue puncturing to the next depth. After the puncture needle has reached the next depth, the user can control the surgical execution arm 2411 and the execution end 2412 to stop the operation, and obtain a third surgical image by scanning the patient through the medical X-ray imaging system 220. The above operation is repeated until the puncture needle penetrates to the target depth and reaches the target point corresponding to the lesion, at which point the surgical procedure is considered complete. In some embodiments, based on the second surgical image, if the puncture depth of the puncture needle in the previous surgical procedure is too deep, the next surgical procedure can be needle withdrawal, that is, based on the puncture depth of the previous surgical procedure, the puncture needle is withdrawn to reduce the puncture depth, thereby corresponding to the preset progress and improving operational accuracy. In some embodiments, based on the second surgical image, if the puncture depth of the puncture needle in the previous surgical procedure is too shallow, the next surgical procedure can be needle insertion, that is, based on the puncture depth of the previous surgical procedure, the puncture needle is inserted to increase the puncture depth, thereby corresponding to the preset progress and improving operational accuracy. In some embodiments, if there is a deviation in the surgical operation posture of the previous surgical procedure (e.g., a deviation in the puncture direction), the next surgical procedure can be adjusting the operation posture of the puncture needle to improve operational accuracy.

[0300] In some embodiments, during surgical procedures, to improve accuracy, the patient needs to hold their breath to maintain an image consistent with the planned procedure. However, in breakpoint control mode, multiple scans are required to obtain the corresponding surgical images, making it difficult for the patient to hold their breath for extended periods. When the user releases the control enable button 2324, it stops issuing the second enable information, placing the clamping structure in a semi-released state and partially releasing the actuator 24122. This allows the actuator 24122 to have freedom of movement relative to the clamping structure while preventing it from detaching. Simultaneously, since the second enable information activates the control command of the main operator 232, when the user releases the control enable button 2324, it stops issuing the second enable information, the control command ceases to be effective, the surgical procedure is paused, and the user can input a scan signal to scan the patient using the medical X-ray imaging system 220 to obtain surgical images. This allows the patient to breathe while the user pauses the surgery, releases the control enable button 2324, and inputs a scanning signal (e.g., to prepare for patient imaging) during the breakpoint control mode. The actuator 24122 moves along with the patient's contour as the patient breathes, while the clamping structure remains in place. After scanning and obtaining the surgical image, the user presses the control enable button 2324, which sends a second enable signal. The control command from the main operator 232 takes effect, and the surgery continues. The patient can continue to hold their breath to ensure their contour aligns with the image corresponding to the surgical plan, thus maintaining operational accuracy. In some embodiments, when the patient's contour aligns with the image corresponding to the surgical plan, the user can press the control enable button 2324 to adjust the clamping structure to a clamping state, clamping the actuator 24122 to continue the surgical procedure.

[0301] In some embodiments, when the surgical mode includes a breakpoint control mode and a real-time control mode, the processor is further configured to switch the surgical mode between the breakpoint control mode and the real-time control mode. Switching between surgical modes can improve the flexibility and efficiency of the surgery. In some embodiments, when the user uses the breakpoint control mode, if the surgical process is slow or the patient's internal condition is complex, switching from the breakpoint control mode to the real-time control mode allows for real-time scanning of the patient, improving surgical efficiency by viewing the patient's medical images in real time. In some embodiments, if the patient has already received a high dose of radiation, switching from the real-time control mode to the breakpoint control mode can reduce radiation exposure to the patient and minimize harm.

[0302] In some embodiments, the processor can be configured to switch the surgical mode from a breakpoint control mode to a real-time control mode. The sub-step "controlling the surgical operation component to perform surgical operations based on the surgical mode" in step 930 may further include: obtaining a first surgical image by scanning the patient using the medical imaging system 220 based on the breakpoint control mode; controlling the actuator 24122 to perform a portion of the surgical operation corresponding to the first surgical image based on the breakpoint control mode and the first surgical image; after the partial surgical operation is completed, controlling the surgical mode to switch from the breakpoint control mode to the real-time control mode; scanning the patient in real-time using the medical imaging system 220 to obtain a real-time image of the patient based on the real-time control mode and the real-time image; and controlling the actuator 24122 to continue performing the surgical operation based on the real-time control mode and the real-time image.

[0303] In some embodiments, the processor may also be configured to switch the surgical mode from real-time control mode to breakpoint control mode. The sub-step "Controlling the surgical operation component to perform surgical operations based on the surgical mode" in step 930 may further include: based on the real-time control mode, scanning the patient in real-time using the medical imaging system 220 to obtain real-time images of the patient; based on the real-time control mode and the real-time images, controlling the actuator 24122 to perform a portion of the surgical operation; after the portion of the surgical operation is completed, controlling the surgical mode to switch from real-time control mode to breakpoint control mode; based on the breakpoint control mode, scanning the patient using the medical imaging system 220 to obtain a first surgical image; based on the breakpoint control mode and the first surgical image, controlling the actuator 24122 to perform a portion of the remaining surgical operation corresponding to the first surgical image; after the portion of the surgical operation is completed, continuing to scan the patient using the medical imaging system 220 to obtain a second surgical image; based on the breakpoint control mode and the second surgical image, controlling the actuator 24122 to perform the next portion of the surgical operation corresponding to the second surgical image.

[0304] It should be noted that the two examples above are merely illustrative of the switching principle between real-time control mode and breakpoint control mode, and do not constitute a limitation. In real-world scenarios, surgical modes are not limited to the two examples above. For instance, the surgical mode can switch from real-time control mode to breakpoint control mode and then back to real-time control mode. Or, the surgical mode can switch from breakpoint control mode to real-time control mode, then back to breakpoint control mode, and then back to real-time control mode, and so on.

[0305] In some embodiments, the surgical mode of the surgical information may include a manual control mode, which is a mode in which the user manually controls the execution end to perform surgical operations. In some embodiments, the manual control mode may also be referred to as a navigation and positioning mode. In some embodiments, the execution end 2412 applied to the real-time control mode or the breakpoint control mode may not include a clamping structure, while the execution end 2412 applied to the manual positioning mode may include a clamping structure, and the execution end 2412 applied to the manual positioning mode may also be referred to as a positioning end. Step 930 may include: determining the execution instrument 24122 based on the surgical information and the operation plan; controlling the surgical execution arm 2411 to move the execution end 2412 to the navigation and positioning point; and installing the execution instrument 24122 to the execution end 2412.

[0306] In some embodiments, the type of actuator 24122 can be determined based on surgical information and operational plans. In manual control mode, the user needs to enter the radiology room to directly control the end effector 2412 and the actuator 24122. In some embodiments, the user can first control the surgical arm 2411 to move the end effector 2412 to the navigation positioning point via the active control terminal 230, avoiding the reduction in accuracy caused by manually moving the surgical operation components. In some embodiments, the user can also operate the motion enable switch 245 to manually control the surgical arm 2411 to move the end effector 2412 to the navigation positioning point. After the end effector 2412 moves to the navigation positioning point, the actuator 24122 can be installed on the end effector 2412 for subsequent manual control by the user.

[0307] In some embodiments, when the surgical mode includes a manual control mode, the processor can also be configured to: manually control the surgical execution system 241 to perform the surgical operation based on the manual control mode.

[0308] When the surgical procedure is performed in manual control mode, the user can directly and manually control the end effector 2412 to perform the operation based on the current position of the surgical execution system 241. In some embodiments, the user can manually operate the execution mount 24121 to drive the execution instrument 24122 to perform the surgical operation via a drive mechanism. For example, when the surgical operation is a puncture, the execution instrument 24122 can be a puncture needle, and the user can manually operate the execution mount 24121 to drive the execution instrument 24122 to a preset puncture depth, thereby completing the surgical operation.

[0309] It should be noted that when the surgical mode is real-time control mode or breakpoint control mode, the medical imaging system 220 is required to image the patient during the surgical operation performed by the surgical execution system 241 (surgical execution arm 2411 and execution end 2412). That is, when the scanning bed 242 is in the fourth position, the patient's target point can be located within the scanning area of ​​the medical imaging system 220. When the surgical mode is manual control mode, the medical imaging system 220 is not required to image the patient during the surgical operation performed by the surgical execution system 241 (surgical execution arm 2411 and execution end 2412). That is, when the scanning bed 242 is in the fourth position, the patient's target point can be located outside the scanning area of ​​the medical imaging system 220, thereby reducing the obstruction of the surgical execution system 241 and making the adjustment of the surgical execution system 241 more flexible.

[0310] In some embodiments, when multiple surgical procedures are required, each surgical procedure corresponds to a surgical operation pose, that is, each surgical procedure corresponds to a navigation positioning point. In some embodiments, when there is no need to change the actuator 24122, after completing the current surgical procedure, the user can control the surgical execution system 241 to directly adjust to the surgical operation pose corresponding to the next surgical procedure in order to perform the next surgical procedure.

[0311] In some embodiments, when it is necessary to replace the actuator 24122, if the actuator 24122 needs to remain in the patient's body, the user can control the surgical actuator arm 2411 to release the actuator 24122 via the release button 2321 of the main operator 232 after the current surgery is completed. After the actuator 24122 is released, the user can control the surgical actuator arm 2411 to adjust to the installation position to install a new actuator 24122 corresponding to the next surgical operation. After the new actuator 24122 is installed, the user can control the surgical actuator arm 2411 to adjust to the navigation positioning point and surgical operation position corresponding to the next surgical operation to perform the next surgical operation. The actuator 24122 remaining in the patient's body can be removed by the user after all surgical operations are completed, depending on the actual situation (e.g., after the patient's condition is diagnosed).

[0312] In some embodiments, when it is necessary to replace the actuator 24122, and the actuator 24122 does not need to be left in the patient's body, after the current surgery is completed, the user can control the surgical actuator arm 2411 to adjust to the installation position to replace the actuator 24122. After the actuator 24122 is replaced, the user can control the surgical actuator arm 2411 to adjust to the navigation positioning point and surgical operation position corresponding to the next surgical operation to perform the next surgical operation.

[0313] When multiple surgical procedures are required, and the surgical mode is either real-time control mode or breakpoint control mode, the sub-step "controlling the surgical operation component to perform the surgical operation based on the surgical mode" in step 930 may further include: installing the actuator 24122 corresponding to the current surgical operation to the execution end 2412; controlling the surgical execution arm 2411 to move the execution end 2412 to the navigation positioning point corresponding to the current surgical operation; controlling the actuator 24122 to perform the current surgical operation based on the real-time control mode or breakpoint control mode; and controlling the execution instrument 24122 to perform the current surgical operation in response to the completion of the current surgical operation. The surgical execution arm 2411 moves to the installation position; in response to the surgical execution arm 2411 moving to the installation position, the execution instrument 24122 corresponding to the next surgical operation is installed to the execution end 2412; in response to the completion of the installation of the execution instrument 24122 corresponding to the next surgical operation, the surgical execution arm 2411 is controlled to move the execution end 2412 to the navigation positioning point corresponding to the next surgical operation; the execution instrument 24122 is controlled to perform the next surgical operation based on real-time control mode or breakpoint control mode; the above operation is repeated until all surgical operations are completed.

[0314] In some embodiments, when multiple surgical operations are required and the surgical mode is a real-time control mode or a breakpoint control mode, each surgical operation corresponds to a fourth position, and the fourth position is located within the scanning area of ​​the medical X-ray imaging system 220 (for example, the corresponding target point is located at the collimation center line of the image scanning plane S of the medical X-ray imaging system 220). The sub-step "controlling the surgical operation component to perform the surgical operation based on the surgical mode" of step 930 may further include: controlling the scanning bed 242 to move to the fourth position corresponding to the first surgical operation based on the real-time control mode or the breakpoint control mode. If the fourth position corresponding to the current surgical operation is the same as the fourth position corresponding to the next surgical operation, then after the current surgical operation is completed, it is not necessary to adjust the position of the scanning bed 242 when the next surgical operation begins. If the fourth position corresponding to the current surgical operation is different from the fourth position corresponding to the next surgical operation, then the sub-step "controlling the surgical operation component to perform the surgical operation based on the surgical mode" of step 930 may further include: in response to the completion of the current surgical operation, controlling the scanning bed 242 to move to another fourth position corresponding to the next surgical operation. In some embodiments, after a surgical operation is completed, the surgical execution arm 2411 can be moved to its mounting position first, and then the scanning bed 242 can be moved to the fourth position corresponding to the next surgical operation to avoid interference or collision between the patient and the surgical execution arm 2411. Of course, in other embodiments, the surgical execution arm 2411 and the patient can move simultaneously, or the patient can move first and the surgical execution arm 2411 can move later. In some embodiments, when the fourth position corresponding to the current surgical operation is the same as the fourth position corresponding to the next surgical operation, due to the difference in needle entry points between the two operations, it may be necessary to adjust the angle of the scanning gantry 224 of the medical X-ray imaging system 220 after the current operation and before the next operation to obtain a clear image of the patient, facilitating guidance of the surgical operation and improving operational accuracy.

[0315] When multiple surgical operations are required, and the surgical mode is either real-time control or breakpoint control, the multiple surgical operations can all correspond to the same fourth position, but the needle entry points for the multiple surgical operations are different. In some embodiments, multiple needle entry points may not be simultaneously located within the scanning field of view of the medical X-ray imaging system 220. To improve operational accuracy, the fourth positions corresponding to multiple surgical operations can be different, or some of the multiple fourth positions may be the same and some may be different. In some embodiments, each surgical operation corresponds to a fourth position of the scanning bed 242. In the corresponding fourth position of the scanning bed 242, the target point corresponding to the needle entry point of the current surgical operation is located at the collimation center line of the image scanning plane S of the medical X-ray imaging system 220, and the needle entry point is located within the scanning area of ​​the medical X-ray imaging system 220. In some embodiments, after completing the current surgical operation, the scanning bed 242 can be moved to the fourth position corresponding to the next surgical operation. After the position of the scanning bed 242 is adjusted, the surgical execution arm 2411 can be controlled to adjust to the corresponding navigation positioning point and surgical operation pose to perform the next surgical operation.

[0316] When multiple surgical procedures are required and the surgical mode is manual control, the multiple surgical procedures can all correspond to a fourth position, which is located outside the scanning area of ​​the medical X-ray imaging system 220. In this case, the fourth position may be the same as or different from the third position. The sub-step "Controlling the surgical procedure components to perform surgical procedures based on the surgical mode" in step 930 may further include: moving the scanning bed 242 to the corresponding fourth position; controlling the surgical execution arm 2411 to move the execution end 2412 to the navigation positioning point corresponding to the current surgical procedure; installing the execution instrument 24122 corresponding to the current surgical procedure to the execution end 2412; controlling the surgical execution arm 2411 to perform the current surgical procedure based on manual control mode; in response to the completion of the current surgical procedure, controlling the surgical execution arm 2411 to move the execution end 2412 to the navigation positioning point corresponding to the next surgical procedure; installing the execution instrument 24122 corresponding to the next surgical procedure to the execution end 2412; controlling the execution instrument 24122 to perform the next surgical procedure based on manual control mode; repeating the above operations until all surgical procedures are completed. In some embodiments, when the fourth positions corresponding to multiple surgical operations are different, or when some of the multiple fourth positions are the same and some are different, the situation where the fourth position corresponding to the current surgical operation is the same as or different from the fourth position corresponding to the next surgical operation can be referred to the relevant description above, and will not be repeated here.

[0317] Since the surgical procedure in manual control mode does not require scanning and imaging the patient through the medical X-ray imaging system 220, the patient's position can be moved into place after the initial movement during multiple surgical procedures, and the actuator 24122 can be replaced without subsequent movement.

[0318] In some embodiments, when multiple surgical operations are required and the surgical mode is manual control mode, the sub-step "controlling the surgical operation component to perform surgical operations based on the surgical mode" in step 930 may further include: (1) after all or part of the current surgical operation is completed, controlling the surgical execution arm 2411 to move to the installation position; (2) moving the patient to the second position and acquiring new medical images of the patient through the medical X-ray imaging system 220; (3) determining a new operation plan for the remaining surgical operations based on the new medical images and the operation plan for the remaining surgical operations; (4) completing the remaining surgical operations based on the new operation plan. In some embodiments, when the surgical execution arm 2411 does not interfere with the patient and the scanning bed 242, the aforementioned step (1) may be omitted.

[0319] In some embodiments, when the surgical mode is manual control mode, the user can scan and image the patient through the medical X-ray imaging system 220 during the surgical procedure, thereby adjusting the subsequent operation plan and improving the accuracy of the surgical operation.

[0320] In some embodiments, when all surgical operations in step (1) are completed, step (4) may include: manually controlling the actuator 24122 to perform the remaining surgical operations based on a new operation plan. In other embodiments, when some surgical operations in step (1) are completed, step (4) may include: manually completing the unfinished part of the surgical operation based on a new operation plan; and manually controlling the actuator 24122 to perform the remaining surgical operations after the operation is completed.

[0321] Specifically, after completing part of the surgical procedure (e.g., after the entire surgical procedure is completed, or after a portion of the surgical procedure is completed), the user can adjust the surgical execution arm 2411 to its mounting position to avoid interference with the movement of the patient, i.e., the scanning bed 242. The scanning bed 242 is then moved to the scanning position, allowing the patient to enter the scanning area of ​​the medical X-ray imaging system 220 for scanning, acquiring new medical images of the patient. By comparing the new medical images with the original medical images, a new operational plan for the remaining surgical procedures (e.g., needle insertion point, target point, surgical operation posture, etc.) can be determined based on the operational plan for the remaining surgical procedures. After the new operational plan for the remaining surgical procedures is determined, the remaining surgical procedures can be completed based on the new operational plan. For example, the scanning bed 242 can be moved to the fourth position corresponding to the next surgical procedure, and the surgical execution arm 2411 can be adjusted to the corresponding navigation positioning point and operational posture to perform the next surgical procedure. In some embodiments, if a surgical procedure is partially completed when the patient is scanned by the medical imaging system 220, and the remaining portion of the procedure needs to be performed, the user can directly move the scanning bed 242 to the fourth position corresponding to the previously unfinished surgical procedure and adjust the surgical execution arm 2411 (without changing the execution device 24122) to the corresponding surgical position to continue the unfinished surgical procedure. In some embodiments, if a surgical procedure is partially completed when the patient is scanned by the medical imaging system 220, and the remaining portion of the procedure needs to be performed, the user can manually operate the execution device 24122 to perform the unfinished portion of the surgical procedure based on a new operation plan. In some embodiments, after the surgical procedure is completed, the user can manually control the execution device 24122 to perform the remaining surgical procedures using a manual control mode. In some embodiments, if the surgical procedure is completely completed when the patient is scanned by the medical imaging system 220, the user can manually control the execution device 24122 to perform the remaining surgical procedures based on a new operation plan.

[0322] In some embodiments, after all surgical procedures are completed, the user can control the surgical arm 2411 to adjust to its initial position.

[0323] In some embodiments, the user interface is configured to perform at least one of the following: displaying and processing patient-related and surgical information; displaying and inputting operation plans; and displaying prompts. In some embodiments, the user interface may display the operating mode of the main operator 232 and the pose of the surgical execution system 241 to improve the accuracy of the user's control and adjustment of the surgical execution system 241 through the main operator 232.

[0324] Figure 19 is a schematic diagram of the operation interface for auxiliary operations according to some embodiments of this specification.

[0325] In some embodiments, after step 920 is completed and the operation plan is determined, when the auxiliary operation is manually performed by a user (e.g., a medical professional), the user can approach the operation execution terminal 240 to perform the auxiliary operation. At this time, the touch display 2414 of the surgical execution system 241 can display an operation interface to instruct the user to perform the auxiliary operation.

[0326] In some embodiments, after the operation plan is determined, when the auxiliary operation is performed by the user-controlled surgical execution arm 2411, the user can be located near the active control end 230 to control the surgical execution arm 2411 to perform the auxiliary operation. At this time, the execution display 233 can display an operation interface to instruct the user to perform the auxiliary operation.

[0327] As shown in Figure 19, in some embodiments, the left-hand area of ​​the auxiliary operation interface may include an auxiliary operation list, which can display the auxiliary operations that need to be performed. In some embodiments, when the patient has many lesions or the area is large, multiple surgical operations may be required. That is, the initial planned surgical pose may include multiple target points or multiple needle entry points, and one or more auxiliary operations may be required.

[0328] In some embodiments, the patient receives assisted procedures when the scanning bed 242 is in the third position. In some embodiments, multiple needle insertion points may correspond to one third position. After the scanning bed 242 moves to the third position, the auxiliary indicator 244 can adjust its position and orientation to indicate the positions of the multiple needle insertion points respectively, so that assisted procedures can be performed at each needle insertion point. In some embodiments, since the assisted procedures have a certain area of ​​effect, for multiple needle insertion points, the assisted procedure can be performed only once at the center point of the distribution area of ​​the multiple needle insertion points (e.g., the center point of the geometric shape formed by the sequential connection of the outermost multiple needle insertion points). In some embodiments, in order to ensure the smooth progress of the surgery, for multiple needle insertion points, assisted procedures can be performed at each needle insertion point or its vicinity.

[0329] In some embodiments, the auxiliary operation list can display each needle insertion point and its corresponding auxiliary operation, allowing users to monitor the progress of the auxiliary operation through the auxiliary operation list.

[0330] In some embodiments, the user interface may further include a patient's cut surface (horizontal plane) image, with each needle insertion point corresponding to a patient's cut surface (horizontal plane) image. The patient's cut surface (horizontal plane) image can be obtained by fusing the patient's initial examination image with the patient's medical images. In some embodiments, the user interface may also process relevant images to simulate and display the operation path during auxiliary operations.

[0331] In some embodiments, the user interface may further include control options, such as an on / off option to control the display of relevant images, or forward and backward options to switch the currently displayed needle insertion point and its corresponding relevant images. When the user switches the needle insertion point using the forward and backward options, the auxiliary indicator 244 can be controlled accordingly to indicate the corresponding needle insertion point, so as to perform auxiliary operations on that needle insertion point. When all auxiliary operations are completed, the user interface can issue a prompt message to remind the user to proceed to the next step (such as surgical preparation, surgical operation, etc.).

[0332] In some embodiments, the patient undergoes surgical procedures when the scanning bed 242 is in the fourth position. The data for the fourth position can be automatically acquired by the execution host 231 or manually entered by the user through the operating interface. In some embodiments, when the scanning bed 242 is in the fourth position, the target point corresponding to the needle insertion point can be located at the collimation center line of the image scanning plane S of the medical X-ray imaging system 220 or outside the scanning area of ​​the medical X-ray imaging system 220. In some embodiments, when the patient has numerous or large lesions, multiple surgical procedures may be required. That is, the initial planned surgical pose may include multiple target points or multiple needle insertion points, with each needle insertion point undergoing one surgical procedure. Each needle insertion point has a corresponding target point, and each needle insertion point corresponds to a fourth position.

[0333] Figure 20 is a schematic diagram of the operation interface for surgical preparation according to some embodiments of this specification.

[0334] In some embodiments, during step 930, after the scanning bed 242 moves to one of the fourth positions, the operation interface of the touch display 2414 or the execution display 233 can display prompts to guide the user to prepare for surgery. In some embodiments, surgical preparation may include: patient positioning, installation of the execution instrument 24122, etc.

[0335] Referring to Figure 20, in some embodiments, the operating interface can display the field of view of the surgical field camera 260 in real time, allowing users to monitor the patient in real time and stop the relevant operation in time when the patient shows abnormalities, thereby further improving the safety of the operation.

[0336] In some embodiments, the user interface may display patient positioning-related information, such as the horizontal position of the scanning bed 242 in a horizontal plane perpendicular to the height direction of the scanning gantry 224, the vertical position of the scanning bed 242 relative to the height direction of the scanning gantry 224, and the tilt angle of the scanning gantry 224.

[0337] In some embodiments, the user interface may display information related to the installed surgical instrument 24122, such as image information and text information. The image information may include real-time images of the surgical arm 2411, and the text information may include the pose information of the surgical arm 2411. The image information may be obtained at least through the medical X-ray imaging system 220, the optical imaging system 250, or the surgical field camera 260, and the text information may be determined based on the image information. In some embodiments, the text information may also include information related to the surgical instrument 24122, such as the type and model of the surgical instrument 24122.

[0338] After the scanning bed 242 moves to the fourth position, the user can unlock the surgical execution arm 2411 based on the corresponding text information on the operation interface, operate the motion enable switch 245, and control the surgical execution arm 2411 to move from the initial position to the installation position. The text information can be pre-set or entered in real-time through the operation interface. In some embodiments, the text information corresponding to the installation of the execution device 24122 may include information related to the installation position, where the installation position refers to any feasible position in which the surgical execution arm 2411 does not interfere with the patient. In some embodiments, the installation position may be the same as or different from the initial position. After the surgical execution arm 2411 moves to the installation position, the user can perform operations such as installation, disassembly, and replacement of the execution device 24122 based on relevant information, surgical information (e.g., surgical mode), and actual conditions. For example, when the surgical mode is real-time control mode or breakpoint control mode, the actuator 24122 can be installed on the surgical actuator arm 2411 (or actuator mount 24121) before the surgical operation component moves to the navigation positioning point; when the surgical mode is manual control mode, the actuator 24122 can be installed on the actuator mount 24121 at the end of the surgical actuator arm 2411 after the surgical operation component moves to the navigation positioning point, so that the user can manually control the actuator 24122 to perform surgical operations through the manual control 24123 on the actuator mount 24121. Please refer to the subsequent descriptions of different surgical modes for details.

[0339] In some embodiments, the user interface may also display information related to the positioning of the surgical arm 2411, such as image information and text information. The image information may include real-time images of the surgical arm 2411, and the text information may include the pose information of the surgical arm 2411. The image information may be obtained at least through the medical X-ray imaging system 220, the optical imaging system 250, or the surgical field camera 260, and the text information may be determined based on the image information. In some embodiments, the text information may also include information related to the surgical operation posture.

[0340] After the actuator 24122 is installed, the user can operate the motion enable switch 245 based on the corresponding text information on the operation interface to control the surgical arm 2411 to adjust to the surgical operation position. The text information can be preset or entered in real-time through the operation interface.

[0341] In some embodiments, the surgical arm 2411 can be adjusted from the installation position to the initial position, and then from the initial position to the surgical operation position. In some embodiments, if the actuator 24122 of the surgical arm 2411 does not require installation, disassembly, or replacement, the user can directly control the surgical arm 2411 to move to the navigation positioning point and adjust it to the surgical operation position when the scanning bed 242 moves to the fourth position.

[0342] During the adjustment of the surgical arm 2411, the visual information of the surgical arm 2411 and the patient can be displayed in real time through the field of view of the surgical field camera 260 on the operation interface. In case of an accident (such as the patient coughing uncontrollably, or the surgical arm 2411 and the end effector 2412 colliding and squeezing with the patient), the user can release the motion enable switch 245 in time to stop the movement of the surgical arm 2411 and avoid causing or aggravating the injury to the patient.

[0343] In some embodiments, the user interface may further include an assist drag control enable button 2324, which has the same function as the motion enable switch 245, for allowing or disabling the movement of the surgical arm 2411. During the adjustment of the surgical arm 2411's position, the user may need to manually assist dragging the surgical arm 2411. At this time, the user can release the motion enable switch 245 and press the assist drag control enable button 2324 on the user interface to allow the movement of the surgical arm 2411, thus enabling the user to manually drag the surgical arm 2411 for adjustment.

[0344] Figure 21 is a schematic diagram of the operation interface of the manual control mode according to some embodiments of this specification.

[0345] As shown in Figure 21, when operating on the patient in manual control mode, the operation interface can display a three-dimensional image of the user. This three-dimensional image can be obtained based on the image obtained by fusing the aforementioned initial diagnosis image with medical images, in order to monitor and prompt the status of the surgical execution system 241 and the patient, thereby improving the safety of the surgery.

[0346] In some embodiments, the initial planned surgical position of the actuator 24122 can also be displayed on the medical image in the user interface for reference. In some embodiments, the image of the actuator 24122 can be displayed on the user's three-dimensional image to show the progress and status of the surgical operation.

[0347] In some embodiments, the user interface can also display surgical area images from different perspectives to facilitate clearer observation of the target points of the patient's lesions. In some embodiments, the user interface can also include a perspective switching button to switch between surgical area images from different perspectives. In some embodiments, users can also zoom in, rotate, and perform other operations on a surgical area image from a specific perspective through the user interface.

[0348] In some embodiments, the execution host 231 may also process the surgical area image to simulate and display the surgical execution path of the execution end 2412 (execution instrument 24122) in the current surgical operation pose.

[0349] In some embodiments, the user interface may also display the patient's respiratory signals to monitor the patient's vital signs and improve surgical safety.

[0350] In some embodiments, the user interface may further include signal prompts. Information prompts may include information related to the surgical procedure. For example, when multiple surgical procedures are required, the information prompt may include the number of the current surgical procedure. As another example, the information prompt may include the current surgical mode.

[0351] Figure 22 is a schematic diagram of the operation interface when the master operator controls the surgical execution system according to some embodiments of this specification.

[0352] Referring to Figure 22, in some embodiments, when the user controls the surgical execution system through the main controller 232, the operation interface can display the field of view of the surgical field camera 260, allowing the user to monitor the patient in real time and stop the relevant operation in time when the patient shows abnormalities, thereby further improving the safety of the surgery.

[0353] In some embodiments, the user interface may also display the patient's respiratory signals to monitor the patient's vital signs and improve surgical safety.

[0354] In some embodiments, the user interface may further include signal prompts. Information prompts may include information related to the surgical procedure. For example, when multiple surgical procedures are required, the information prompt may include the number of the current surgical procedure. As another example, the information prompt may include the current surgical mode.

[0355] In some embodiments, the user interface can also display patient images from different perspectives to facilitate clearer observation of the target points of the patient's lesions. When the surgical mode is real-time control mode, the aforementioned patient images from different perspectives can be obtained based on real-time images of the patient scanned by the medical X-ray imaging system 220; when the surgical mode is breakpoint control mode, the aforementioned patient images from different perspectives can be obtained based on different surgical images of the patient scanned by the medical X-ray imaging system 220 at different time periods (e.g., first surgical image, second surgical image, etc.). In some embodiments, the user can also perform operations such as zooming in and rotating on the surgical area image from a certain perspective through the user interface.

[0356] In some embodiments, the user interface may further include information display content. In some embodiments, the information display content may include data on the posture adjustment mode of the main operator 232, such as the posture adjustment angle of the first posture adjustment mode, the posture adjustment angle of the second posture adjustment mode, etc. In some embodiments, the information display content may further include speed control data of the main operator 232, such as the movement speed of the surgical execution system 241 controlled by the main operator 232, the operating speed of the execution instrument 24122, etc.

[0357] In some embodiments, the user interface may further include a surgical operation progress display to allow the user to clearly understand the progress of the current surgical operation. In some embodiments, when the surgical mode is real-time control mode, the surgical operation progress display can show the operation progress of the instrument 24122 in real time; when the surgical mode is breakpoint control mode, the surgical operation progress display can show the surgical operation progress of the instrument 24122 at each medical X-ray imaging system scan.

[0358] In some embodiments, once the surgical procedure is completed, the operating interface may prompt the user to retract the navigation support arm 2413. Once the navigation support arm 2413 is confirmed retracted, the surgery is complete, and the scanning bed 242 and the patient can be removed from the medical X-ray imaging system 220.

[0359] In some embodiments, when the interventional medical system 200 operates on multiple patients, the following steps can be executed sequentially when operating on the first patient: (1) start the interventional medical system 200; (2) obtain registration information; (3) obtain patient-related information and surgical information; (4) determine the operation plan based on the registration information, related information and surgical information; (5) control the surgical execution system to perform the operation based on the registration information, surgical information and operation plan. When operating on each subsequent patient, each patient only needs to repeat steps (3), (4) and (5), without having to repeat steps (1) and (2), without having to re-register the space or obtain new registration information, and can directly use the registration information obtained in the aforementioned step 910, reducing surgical steps, reducing the complexity of the operation, and improving surgical efficiency.

[0360] The following explanation of the processor's control process uses an example where the operation includes both auxiliary and surgical operations, and the execution position includes both the third and fourth positions. It should be noted that the cases where the operation only includes auxiliary operations and the execution position only includes the third position, and the cases where the operation only includes surgical operations and the execution position only includes the fourth position, can be derived by referring to the cases where the operation simultaneously includes both auxiliary and surgical operations, and the execution position simultaneously includes both the third and fourth positions; therefore, they will not be elaborated upon further.

[0361] Figure 23 is an exemplary flowchart illustrating the operation performed by a user-controlled interventional medical system according to some embodiments of this specification. As shown in Figure 23, in some embodiments, process 2300 may include steps 2310, 2320, 2330, 2340, 2350, 2360, 2370, 2380, and 2390.

[0362] Step 2310: Input start signal.

[0363] In some embodiments, the user can input a start signal through the operation interface. In response to the start signal, the interventional medical system 200 enters the power-on working state and acquires the location information of the interventional medical system 200, performing spatial registration of the interventional medical system 200. At this time, the scanning bed 242 is located in the first position. In some embodiments, the user can input the start signal through touch control, button control, key control, etc. In some embodiments, the operation interface can be located on the input device of the execution host 231 or the operation execution terminal 240 (e.g., touch display 2414).

[0364] Step 2320: Determine whether the navigation support arm 2413 is in the deployed state.

[0365] In some embodiments, step 2320 may be executed by a processor (e.g., a first processor located at the active control terminal 230, a second processor located at the operation execution terminal 240, etc.). After receiving a start signal input by the user, the relevant processor may verify whether the navigation support arm 2413 is in an deployed state. In some embodiments, the state of the navigation support arm 2413 may be determined based on real-time images or real-time joint parameters of the navigation support arm 2413. If the navigation support arm 2413 is not in a deployed state, steps 2330 and 2320 are repeated until the navigation support arm 2413 is in a deployed state. If the navigation support arm 2413 is in a deployed state, step 2340 is executed.

[0366] Step 2330: Adjust navigation support arm 2413.

[0367] When it is determined that the navigation support arm 2413 is not in the deployed state, it needs to be adjusted to deploy it to avoid obstructing the patient's view and affecting subsequent imaging results (e.g., the first optical image) and subsequent steps (e.g., auxiliary operations). In some embodiments, when it is determined that the navigation support arm 2413 is not in the deployed state, the corresponding processor can issue a prompt signal to remind the user to adjust the navigation support arm 2413. In some embodiments, the prompt signal can be output from the user interface. In some embodiments, the prompt signal can include, but is not limited to, text signals, light signals, sound signals, vibration signals, etc.

[0368] Step 2340: Move the scanning bed 242 to the second position.

[0369] In some embodiments, in response to spatial registration completion, a processor (e.g., a first processor located at the active control terminal 230, a second processor located at the operation execution terminal 240, etc.) can output a first signal. This first signal allows the user to control the scanning bed 242 to move to a second position within the imaging area of ​​the medical imaging system 220, so that the medical imaging system 220 scans the patient to form a medical image. In some embodiments, the scanning bed 242 is considered to have moved to the second position when the patient's lesion moves into the imaging area of ​​the medical imaging system 220. That is, when the scanning bed 242 is in the second position, the patient's lesion is displayed in the medical image.

[0370] In some embodiments, in response to receiving a signal indicating that the medical imaging system 220 has completed scanning of the patient, a processor (e.g., a first processor located at the active control terminal 230, a second processor located at the operation execution terminal 240, etc.) can output a second signal. This second signal can be used to control the scanning bed 242 to move to an execution position, where the patient receives the procedure. In some embodiments, the procedure may include auxiliary procedures and surgical procedures, and the execution position may include a third position and a fourth position. The third position is the position of the scanning bed 242 when the interventional medical system 200 performs auxiliary procedures on the patient, and the fourth position is the available position of the scanning bed 242 when the interventional medical system 200 performs surgical procedures on the patient. In some embodiments, the interventional medical system 200 can determine the operation plan and operation information of the surgical execution system 241 based on the patient's medical images, thereby determining the third and fourth positions of the scanning bed 242. When the scanning bed 242 moves to the third position, the patient receives the auxiliary procedure; when the scanning bed 242 moves to the fourth position, the patient receives the surgical procedure.

[0371] Step 2350: Move the scanning bed 242 to the third position.

[0372] In some embodiments, in response to receiving a signal indicating that the medical imaging system 220 has completed scanning of the patient, a processor (e.g., a first processor located at the active control terminal 230, a second processor located at the operation execution terminal 240, etc.) can output a second signal. This second signal can be used to control the scanning bed 242 to move from a second position to a third position. In some embodiments, based on the operation plan and operation information of the surgical execution system 241, the target point and needle insertion point can be determined, thereby determining the third and fourth positions. The third position is located outside the scanning area of ​​the medical imaging system 220. When the surgical mode includes a real-time control mode or a breakpoint control mode, the fourth position is located within the scanning area of ​​the medical imaging system 220 (e.g., the position of the scanning bed 242 when the corresponding target point is located at the collimation centerline of the image scanning plane S of the medical imaging system 220); when the surgical mode includes a manual control mode, the fourth position is located outside the scanning area of ​​the medical imaging system 220, and the third and fourth positions may be the same or different.

[0373] In some embodiments, auxiliary procedures may be performed on the patient to facilitate subsequent surgical operations. In some embodiments, the scanning bed 242 is moved from a second position to a third position to perform auxiliary procedures on the needle insertion point at the third position. In some embodiments, the auxiliary procedure point may be located within a circular area with the needle insertion point as the center and a preset size as the radius. In some embodiments, the auxiliary procedure point may coincide with the needle insertion point.

[0374] Step 2360: Perform auxiliary operations.

[0375] Once the scanning bed 242 and the patient have moved to the third position, auxiliary operations can be performed on the patient's needle insertion point. In some embodiments, after the scanning bed 242 and the patient have moved to the third position, the auxiliary operation component (e.g., the auxiliary indicator 244) can be adjusted in position and orientation (e.g., by adjusting the auxiliary indicator 244 via the navigation support arm 2413 or the surgical execution arm 2411) so that the auxiliary indicator 244 points to the target needle insertion point (i.e., the needle insertion point for performing the auxiliary operation and the surgical operation), thereby indicating the position of the target needle insertion point. In some embodiments, the user can confirm the activation of the auxiliary indicator 244 before the start of the auxiliary operation or confirm the deactivation of the auxiliary indicator 244 after the completion of the auxiliary operation through the user interface. The relevant processor activates or deactivates the auxiliary indicator 244 accordingly based on the user's input, so that the auxiliary indicator 244 indicates the target needle insertion point on the patient's body during the execution of the auxiliary operation, facilitating the execution of the auxiliary operation.

[0376] Step 2370: Move the scanning bed 242 to the corresponding fourth position.

[0377] In some embodiments, in response to a signal indicating completion of an auxiliary operation, a processor (e.g., a first processor located at the active control terminal 230, a second processor located at the operation execution terminal 240, etc.) may output a third signal. The third signal can be used to control the scanning bed 242 to move from a third position to a fourth position to facilitate subsequent surgical operations. In some embodiments, the fourth position is related to the surgical mode. When the surgical mode includes a real-time control mode or a breakpoint control mode, the fourth position is located within the scanning area of ​​the medical imaging system 220 (e.g., the position of the scanning bed 242 when the corresponding target point is located at the collimation center line of the image scanning plane S of the medical imaging system 220); when the surgical mode includes a manual control mode, the fourth position is located outside the scanning area of ​​the medical imaging system 220, in which case the third position and the fourth position may be the same or different. In some embodiments, the data for the fourth position may be automatically acquired or manually input by the user through an interface. In some embodiments, after receiving the data for the fourth position, the imaging host 221 can control the scanning bed 242 to move to the fourth position.

[0378] Step 2380: Perform the surgical procedure.

[0379] In some embodiments, a user can control the execution host 231 and the surgical execution system 241 to perform surgical operations at a corresponding needle insertion point. In some embodiments, this needle insertion point corresponds to the needle insertion point at the third position in step 2350.

[0380] In some embodiments, after the scanning bed 242 is moved to the fourth position, the processor (e.g., a first processor located at the active control end 230, a second processor located at the operation execution end 240, etc.) can release the lock of the surgical execution arm 2411.

[0381] In some embodiments, after the surgical arm 2411 is unlocked, the user can operate the motion enable switch 245 based on the first prompt information on the operation interface, and the processor can control the surgical arm 2411 to move from the initial pose to the installation pose. The first prompt information can be preset or input in real time. The first prompt information may include relevant information about the installation pose.

[0382] After the surgical arm 2411 is moved to the installation position, the user can install, remove, or replace the end effector 2412 (e.g., the actuator 24122) according to the actual situation. In some embodiments, the operation interface can display relevant information about the end effector 2412 (e.g., type, model, etc.).

[0383] After the end effector 2412 (e.g., actuator 24122) is installed, the user can operate the motion enable switch 245 based on the second prompt information on the operation interface. The relevant processor can then control the surgical arm 2411 to adjust to the operating posture. The second prompt information can be preset or input in real time. It may include information related to the surgical operating posture. In some embodiments, the surgical arm 2411 can first be adjusted from the installation posture to the initial posture, and then from the initial posture to the surgical operating posture. In some embodiments, if the end effector 2412 of the surgical arm 2411 does not require installation, disassembly, or replacement, the user can directly control the surgical arm 2411 to adjust to the surgical operating posture when the scanning bed 242 moves to the fourth position. In some embodiments, the surgical operating posture can be determined based on the target point and needle insertion point corresponding to the fourth position.

[0384] In some embodiments, after the surgical arm 2411 is adjusted to the corresponding surgical operation position, the user can move to the active control end 230 to avoid subsequent radiation exposure.

[0385] In some embodiments, the user can unlock the control of the surgical execution system 241 by operating the control enable button 2324 on the main operator 232.

[0386] In some embodiments, the user can operate the exposure switch 223 to enable the medical imaging system 220 to scan the patient and obtain the patient's medical image. The imaging host 221 or the execution host 231 can display the patient's medical image in real time. Based on the patient's real-time medical image, the user can control the surgical execution arm 2411 through the main operator 232 to adjust the posture (angle) of the execution end 2412. When the execution end 2412 is in a preset posture (e.g., when the execution end 2412 points to the needle insertion point), the user can release the control enable button 2324 to lock the control of the main operator 232 over the surgical execution system 241, thereby locking the posture of the execution end 2412. After the execution end 2412 is in the preset posture, the relevant processor can control the execution end 2412 to perform the corresponding surgical operation (e.g., puncture). After the surgical operation is completed, the relevant processor can output a corresponding signal to the operation interface to prompt the user that the surgical operation has been completed.

[0387] After the surgical procedure is completed, the user can operate the motion enable switch 245, and the relevant processor can control the surgical arm 2411 to adjust to another position and retract and lock it. The other position may be the same as or different from the initial position.

[0388] In some embodiments, when the patient has numerous or large lesions, multiple surgical procedures may be required. This means the surgical positioning may include multiple target points or multiple needle insertion points. Each needle insertion point may correspond to a fourth position, and multiple needle insertion points may correspond to a third position.

[0389] In some embodiments, when performing multiple surgical procedures on a patient, an auxiliary procedure can be performed for each surgical procedure. In some embodiments, after the auxiliary procedure or surgical procedure for a certain needle insertion point is completed, the auxiliary procedure or surgical procedure for the next needle insertion point can be performed. That is, steps 2350, 2360, 2370, and 2380 can be repeated sequentially until the surgical procedure for all needle insertion points is completed. At this time, there can be multiple fourth positions, with each surgical procedure corresponding to one fourth position. In some embodiments, the third signal can include multiple third signal sub-signals, each of which corresponds to one fourth position. For example, third signal sub-signal-1 corresponds to fourth position-1, third signal sub-signal-2 corresponds to fourth position-2, and so on, with third signal sub-signal-n corresponding to fourth position-n. In some embodiments, after the scanning bed 242 moves to a fourth position, in response to the completion of step 2380, i.e., in response to the completion of the surgical operation when the scanning bed 242 is in the fourth position, but the surgical operation is not fully completed, the processor (e.g., a first processor disposed on the active control terminal 230, a second processor disposed on the operation execution terminal 240, etc.) can output a fifth signal. The fifth signal is used to control the scanning bed 242 to move from one fourth position to a third position. That is, in response to the fifth signal, step 2350 is executed, controlling the scanning bed 242 to move from the current fourth position (e.g., fourth position - 1) to the third position. In some embodiments, after the scanning bed 242 moves to the third position, the control auxiliary indicator 244 indicates the next needle insertion point. In some embodiments, the position information of the next needle insertion point can be determined by the processor (e.g., a first processor disposed on the active control terminal 230, a second processor disposed on the operation execution terminal 240, etc.) or by user selection. In some embodiments, the position information of the next needle insertion point can also be included in the fifth signal. For example, the fifth signal may include multiple fifth signal sub-signals, the number of which is one less than the number of auxiliary operations. Each auxiliary operation, except for the one auxiliary operation corresponding to the second signal, corresponds to a fifth signal sub-signal. For instance, the first needle insertion point may correspond to the second signal, the second needle insertion point may correspond to fifth signal sub-signal-1, the third needle insertion point may correspond to fifth signal sub-signal-2, and so on, with the m-th needle insertion point corresponding to fifth signal sub-signal-(m-1). That is, the second signal, the first needle insertion point, the third signal sub-signal-1, and the fourth sub-position-1 (first target point) correspond to each other, and the fifth signal sub-signal-1, the second needle insertion point, the third signal sub-signal-2, and the fourth sub-position-2 (second target point) correspond to each other, and so on, with the fifth signal sub-signal-(n-1), the nth needle insertion point, the third signal sub-signal-n, and the fourth sub-position-n (nth target point) corresponding to each other. Based on the indication of the auxiliary indicator 244, step 2360 is executed to perform an auxiliary operation on the selected needle insertion point (e.g., the second needle insertion point).In some embodiments, in response to receiving a signal indicating the completion of the auxiliary operation, the processor (e.g., a first processor located at the active control terminal 230, a second processor located at the operation execution terminal 240, etc.) can output a corresponding third signal sub-signal (e.g., third signal sub-signal -2). In response to this third signal sub-signal (e.g., third signal sub-signal -2), step 2370 is executed, controlling the scanning bed 242 to move from the third position to a corresponding fourth position (e.g., fourth position -2). When the scanning bed 242 is in the fourth position (e.g., fourth position -2), step 2380 is executed, and the surgical execution system 241 performs a surgical operation on the needle insertion point (e.g., the second needle insertion point) corresponding to the aforementioned third signal sub-signal (e.g., third signal sub-signal -2). The above steps are repeated until multiple surgical operations are completed.

[0390] In some embodiments, when performing multiple surgical procedures on a patient, an auxiliary operation can be performed for each surgical procedure. In some embodiments, after the auxiliary operations for multiple needle insertion points are completed, the surgical operation can be performed on each of the multiple needle insertion points separately. That is, step 2360 can be repeated until the auxiliary operations for multiple needle insertion points are completed, and then steps 2370 and 2380 can be repeated sequentially until the surgical operations for multiple needle insertion points are completed. At this time, there can be multiple fourth positions, with each surgical operation corresponding to one fourth position. In some embodiments, when the scanning bed 242 is in the third position, the processor (e.g., the first processor set in the active control terminal 230, the second processor set in the operation execution terminal 240, etc.) can acquire the position signals of all needle insertion points and the pose information of the corresponding auxiliary indicator 244, thereby controlling the auxiliary indicator 244 to adjust its pose sequentially to indicate multiple needle insertion points sequentially, thereby performing auxiliary operations on multiple needle insertion points sequentially. In some embodiments, in response to receiving a signal indicating that all auxiliary operations are completed, a processor (e.g., a first processor located at the active control terminal 230, a second processor located at the operation execution terminal 240, etc.) may output a third signal and control the scanning bed 242 to move to a fourth position (e.g., fourth position-1) based on the third signal. After the scanning bed 242 moves to the fourth position (e.g., fourth position-1), step 2380 is executed, and the surgical execution system 241 performs a surgical operation on the needle insertion point (e.g., the first needle insertion point) corresponding to the third signal. In some embodiments, in response to the completion of a surgical operation when the scanning bed 242 is located at any fourth position (e.g., fourth position-1), but the surgical operation is not completely completed, a processor (e.g., a first processor located at the active control terminal 230, a second processor located at the operation execution terminal 240, etc.) may output a sixth signal, which is used to control the scanning bed 242 to move to another fourth position. In some embodiments, the sixth signal may include multiple sixth signal sub-signals, the number of sixth signal sub-signals being one less than the number of surgical operations, and each surgical operation other than the one surgical operation corresponding to the third signal corresponds to one sixth signal sub-signal. That is, the third signal, the first needle insertion point, and the fourth position-1 (first target point) correspond to each other, the sixth signal sub-signal-1, the second needle insertion point, and the fourth position-2 (second target point) correspond to each other, and so on, the sixth signal sub-signal-(n-1), the nth needle insertion point, and the fourth position-n (nth target point) correspond to each other, and so on. In some embodiments, in response to the sixth signal sub-signal (e.g., the sixth signal sub-signal-1), step 2370 is executed, controlling the scanning bed 242 to move from the current fourth position (e.g., the fourth sub-position-1) to another corresponding fourth position (e.g., the fourth position-2).When the scanning bed 242 is in the fourth position (e.g., fourth position-2), step 2380 is executed, and the surgical execution system 241 performs a surgical operation on the needle insertion point (e.g., the second needle insertion point) corresponding to the aforementioned sixth signal sub-signal (e.g., sixth signal sub-signal-1). The above steps are repeated until multiple surgical operations are completed.

[0391] In some embodiments, since the auxiliary operation has a certain area of ​​effect, when performing multiple surgical procedures on a patient, only one auxiliary operation needs to be performed. That is, the auxiliary operation is performed once and multiple surgical procedures are performed on the patient. For example, for multiple needle insertion points, the auxiliary operation can be performed only once at the center point of the multiple needle insertion points, and the surgical procedure is performed on each of the multiple needle insertion points separately. In this case, after completing step 2360, steps 2370 and 2380 can be repeated sequentially until the surgical procedure is completed for all needle insertion points. For more information on multiple surgical procedures, please refer to the relevant description above, which will not be repeated here.

[0392] In some embodiments, after completing a portion of the surgical procedure, the scanning bed 242 may need to be moved out of the medical imaging system 220 for intermediate operations (e.g., examining the patient, operating the medical imaging system 220, etc.) or a break, before resuming the surgical procedure. That is, after completing a portion of the surgical procedure, the processor can output a fourth signal, which controls the scanning bed 242 to move from a fourth position to a fifth position. When preset conditions are met (e.g., intermediate operation completed, break completed, or the scanning bed 242 has been in the fifth position for a preset duration), the user can input a continue signal or the processor can output a continue signal. In response to the continue signal, the processor (e.g., a first processor located at the active control terminal 230, a second processor located at the operation execution terminal 240, etc.) can output a seventh signal, which controls the scanning bed 242 to move from the fifth position back to the fourth position. It should be noted that the patient's position remains unchanged during the process of the scanning bed 242 moving from the fourth position to the fifth position and back to the fourth position.

[0393] Step 2390: The surgery is over.

[0394] After the surgical procedure is completed, the user can retract the navigation support arm 2413. The surgery ends once the user confirms the navigation support arm 2413 has retracted. In some embodiments, in response to the surgical procedure being at least partially completed, a processor (e.g., a first processor located at the active control terminal 230, a second processor located at the operation execution terminal 240, etc.) can output a fourth signal. The fourth signal can be used to control the scanning bed 242 to move from a fourth position to a fifth position. The fifth position is located outside the imaging area of ​​the medical X-ray imaging system 220. In some embodiments, the fifth position may be the same as or different from the first position. In some embodiments, in response to the surgical procedure being fully completed, the processor (e.g., a first processor located at the active control terminal 230, a second processor located at the operation execution terminal 240, etc.) can output a fourth signal, which can be used to control the scanning bed 242 to move from the fourth position to the fifth position.

[0395] It should be understood that the illustrated system and its modules can be implemented in various ways. For example, in some embodiments, the system and its modules can be implemented by hardware, software, or a combination of software and hardware. The hardware portion can be implemented using dedicated logic; the software portion can be stored in memory and executed by an appropriate instruction execution system, such as a microprocessor or dedicated-design hardware. Those skilled in the art will understand that the methods and systems described above can be implemented using computer-executable instructions and / or included in processor control code, for example, such code provided on a carrier medium such as a disk, CD, or DVD-ROM, a programmable memory such as read-only memory (firmware), or a data carrier such as an optical or electronic signal carrier. The systems and modules of this application can be implemented not only by hardware circuits such as very large-scale integrated circuits or gate arrays, semiconductors such as logic chips, transistors, or programmable hardware devices such as field-programmable gate arrays, programmable logic devices, etc., but also by software executed by various types of processors, or by a combination of the aforementioned hardware circuits and software (e.g., firmware).

[0396] The basic concepts have been described above. Obviously, for those skilled in the art, the detailed disclosure above is merely illustrative and does not constitute a limitation of this application. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements, and corrections to this application. Such modifications, improvements, and corrections are suggested in this application, and therefore remain within the spirit and scope of the exemplary embodiments of this application.

[0397] Furthermore, this application uses specific terms to describe embodiments of the application. For example, "an embodiment," "one embodiment," and / or "some embodiments" refer to a particular feature, structure, or characteristic associated with at least one embodiment of the application. Therefore, it should be emphasized and noted that "an embodiment," "one embodiment," or "an alternative embodiment" mentioned twice or more in different locations in this specification do not necessarily refer to the same embodiment. In addition, certain features, structures, or characteristics in one or more embodiments of the application can be appropriately combined.

[0398] Similarly, it should be noted that, in order to simplify the description of the present application and thus aid in the understanding of one or more embodiments of the invention, the foregoing description of the embodiments of the present application sometimes combines multiple features into a single embodiment, drawing, or description thereof. However, this disclosure method does not imply that the subject matter of the application requires more features than those mentioned in the claims. In fact, the embodiments contain fewer features than all the features of the single embodiments disclosed above.

[0399] In some embodiments, numbers describing the quantity of components and attributes are used. It should be understood that such numbers used in the description of embodiments are modified in some examples with the terms "approximately," "approximately," or "generally." Unless otherwise stated, "approximately," "approximately," or "generally" indicates that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximate values, which may be changed depending on the characteristics required by individual embodiments. In some embodiments, numerical parameters should take into account specified significant digits and employ a general method of digit reservation. Although the numerical ranges and parameters used to confirm their breadth of scope in some embodiments of this application are approximate values, in specific embodiments, such values ​​are set as precisely as feasible.

[0400] For each patent, patent application, patent application publication, and other material such as articles, books, specifications, publications, and documents referenced in this application, the entire contents of that patent are incorporated herein by reference. This excludes historical application documents that are inconsistent with or conflict with the content of this application, as well as documents that limit the broadest scope of the claims in this application (currently or subsequently appended to this application). It should be noted that if there are any inconsistencies or conflicts between the descriptions, definitions, and / or terminology used in the supplementary materials of this application and the content of this application, the descriptions, definitions, and / or terminology used in this application shall prevail.

[0401] Finally, it should be understood that the embodiments described in this application are merely illustrative of the principles of the embodiments of this application. Other modifications may also fall within the scope of this application. Therefore, alternative configurations of the embodiments of this application are considered as examples and not limitations, and are regarded as consistent with the teachings of this application. Accordingly, the embodiments of this application are not limited to the embodiments explicitly described and illustrated in this application.

Claims

1. An interventional medical system, characterized in that, Includes a processor and an operation execution terminal, wherein the operation execution terminal includes a surgical execution system, and the processor is configured to: Spatial registration is performed on the interventional medical system to obtain registration information; Obtain relevant patient information and surgical information, and determine the operation plan of the surgical execution system based on the registration information, the relevant information, and the surgical information; The surgical execution system is controlled to perform operations based on the surgical information and the operation plan.

2. The interventional medical system according to claim 1, characterized in that, The interventional medical system is used in conjunction with a medical X-ray imaging system. The surgical execution system includes a base and surgical operation components mounted on the base. The spatial registration of the interventional medical system and the acquisition of registration information include: Establish a first coordinate system for the base, a second coordinate system for the medical X-ray imaging system, and a third coordinate system for the reference point; and The first mapping relationship between the first coordinate system and the second coordinate system is determined based on the mapping relationship between the first coordinate system and the third coordinate system and the mapping relationship between the second coordinate system and the third coordinate system.

3. The interventional medical system according to claim 2, characterized in that, The surgical operation component includes a surgical execution arm and an execution end located at the end of the surgical execution arm, and the reference point is located at the end of the surgical execution arm.

4. The interventional medical system according to claim 2, characterized in that, The surgical operation component includes a surgical execution arm and an execution end disposed at the end of the surgical execution arm. The execution end includes an execution mounting base, which is detachably connected to the end of the surgical execution arm. The reference point is disposed at the execution mounting base. The processor is also configured to spatially register the interventional medical system after the execution mount is installed on the surgical execution arm.

5. The interventional medical system according to claim 2, characterized in that, The surgical operation assembly includes a surgical execution arm and an execution end located at the end of the surgical execution arm. The execution end includes an execution mounting base and an execution instrument. The execution mounting base is detachably connected to the surgical execution arm, and the execution instrument is detachably connected to the execution mounting base. The reference point is located on the execution instrument. The processor is also configured to spatially register the interventional medical system after the execution mount is mounted to the surgical execution arm and the execution instrument is mounted to the execution mount.

6. The interventional medical system according to claim 2, characterized in that, The surgical operation assembly includes a surgical execution arm and an execution end located at the end of the surgical execution arm. The execution end includes an execution mounting base. The reference point is located on a registration fixture, and the registration fixture is detachably connected to the execution mounting base. The registration tooling is installed on the execution mount before the space registration is completed, and is removed from the execution mount after the space registration is completed; The processor is also configured to perform the spatial registration of the interventional medical system after the execution mount is mounted to the surgical execution arm and the registration tool is mounted to the execution mount.

7. The interventional medical system according to claim 2, characterized in that, The surgical operation component includes a surgical execution arm and an execution end located at the end of the surgical execution arm. The step of spatially registering the interventional medical system and obtaining registration information further includes: Determine a second mapping relationship between the patient's patient coordinate system and the second coordinate system; Establish a fourth coordinate system at the execution end and determine a third mapping relationship between the fourth coordinate system and the first coordinate system.

8. The interventional medical system according to claim 2, characterized in that, The interventional medical system includes an auxiliary indicator; the step of spatially registering the interventional medical system and obtaining registration information further includes: Determine a second mapping relationship between the patient's patient coordinate system and the second coordinate system; Establish a fifth coordinate system for the auxiliary indicator, and determine a fourth mapping relationship between the fifth coordinate system and the first coordinate system.

9. The interventional medical system according to claim 7 or 8, characterized in that, The surgical operation component includes the surgical execution arm, and the operation plan includes the operating pose and executable path of the surgical execution arm; The step of determining the operation plan of the surgical execution system based on the registration information, the relevant information, and the surgical information includes: The operation pose is determined based on the relevant information and the surgical information; The target joint parameters of the surgical arm are determined based on the operating pose; and The executable path is determined at least based on the target joint parameters.

10. The interventional medical system according to claim 9, characterized in that, The interventional medical system is used in conjunction with a medical X-ray imaging system. The interventional medical system includes an optical imaging system, and the relevant information includes the patient's medical images and a first optical image. The acquisition of patient-related information and surgical information includes: acquiring the patient's medical images from the medical X-ray imaging system; and controlling the optical imaging system to acquire the patient's first optical images.

11. The interventional medical system according to claim 10, characterized in that, The step of determining the operation plan of the surgical execution system based on the registration information, the relevant information, and the surgical information includes: Based on the medical image and the first optical image, a contour model of the patient is determined; The initial planned pose is determined based on the contour model and the surgical information; The simulated execution path of the surgical arm is determined based on the initial planned pose; The simulated execution path is verified based on the contour model and the initial planned pose. When the verification is successful, the initial planned pose is determined as the operation pose, and the simulated execution path is determined as the executable path.

12. The interventional medical system according to claim 11, characterized in that, Determining the initial planned pose based on the contour model and the surgical information includes: Based on the contour model and the surgical information, the needle insertion point and the target point are determined; Based on the needle insertion point and the target point, the initial planned pose is determined.

13. The interventional medical system according to claim 12, characterized in that, The medical imaging system further includes a scanning bed having translational degrees of freedom to move relative to the imaging area of ​​the medical imaging system; the surgical operation component includes a surgical execution arm and an execution end effector disposed at the end of the surgical execution arm; the operation includes a surgical operation; the operation pose of the surgical execution arm includes the surgical operation pose of the surgical execution arm; the initial planned pose includes the initial planned surgical pose; the simulated execution path includes the simulated surgical execution path; and the executable path includes the surgical executable path; when verification is successful, the initial planned surgical pose is determined as the surgical operation pose, and the simulated surgical execution path is determined as the surgical executable path; The process of determining the initial planned pose based on the needle insertion point and the target point includes: Obtain first position information when the scanning bed is in a first position, wherein the first position is the position of the scanning bed when the interventional medical system is spatially registered; Acquire fourth position information when the scanning bed is in the fourth position, wherein the fourth position is determined based on the target point; Based on the first position information and the fourth position information, the first translation information is determined; Based on the needle insertion point, the target point, the first translation information, the first mapping relationship, the second mapping relationship, and the third mapping relationship, the initial planned surgical pose is determined.

14. The interventional medical system according to claim 13, characterized in that, The step of determining the simulated execution path of the surgical arm based on the initial planned pose includes: An initial positioning point is determined based on the needle insertion point and the initial planned surgical pose, wherein, when the verification is successful, the initial positioning point is determined as the navigation positioning point; Based on the navigation positioning point and the initial planned surgical pose, the simulated surgical execution path is determined.

15. The interventional medical system according to claim 12, characterized in that, The medical imaging system further includes a scanning bed having translational degrees of freedom to move relative to the imaging area of ​​the medical imaging system; the interventional medical system includes the auxiliary indicator; the surgical operation component includes the surgical execution arm and the execution end effector disposed at the end of the surgical execution arm; the auxiliary indicator is disposed on the surgical execution arm or the execution end effector; the operation includes auxiliary operation; the operation pose of the surgical execution arm includes the auxiliary operation pose of the surgical execution arm; the initial planned pose includes the initial planned auxiliary pose; the simulated execution path includes the simulated auxiliary execution path; the executable path includes the auxiliary executable path; when verification is successful, the initial planned auxiliary pose is determined as the auxiliary operation pose, and the simulated auxiliary execution path is determined as the auxiliary executable path; The process of determining the initial planned pose based on the needle insertion point and the target point includes: Obtain first position information when the scanning bed is in a first position, wherein the first position is the position of the scanning bed when the interventional medical system is spatially registered; Acquire third position information when the scanning bed is in a third position, wherein the third position is located within the indication area of ​​the auxiliary indicator; Based on the fourth position information and the third position information, the second translation information is determined; Based on the needle insertion point, the target point, the second translation information, the first mapping relationship, the second mapping relationship, and the fourth mapping relationship, the initial planning auxiliary pose is determined.

16. The interventional medical system according to claim 13 or 14, characterized in that, The interventional medical system includes the auxiliary indicator, and the surgical execution system further includes a navigation support arm, on which the auxiliary indicator is mounted. The step of determining the operation plan of the surgical execution system based on the registration information, the relevant information and the surgical information further includes: determining the auxiliary indication posture of the navigation support arm based on the surgical operation posture; The step of determining the auxiliary indication pose of the navigation support arm based on the surgical operation pose includes: The third position of the scanning bed is determined based on the surgical operation posture, and the third position information when the scanning bed is in the third position is obtained, wherein the third position is located within the indication area of ​​the auxiliary indicator; Based on the fourth position information and the third position information, the third translation information is determined; The auxiliary indication pose is determined based on the fourth mapping relationship and the third translation information.

17. The interventional medical system according to claim 1, characterized in that, The operation includes surgical procedures. The interventional medical system is used in conjunction with a medical imaging system, which includes a scanning bed. The surgical execution system includes a surgical execution arm and an execution end effector mounted at the end of the surgical execution arm. The operation plan includes the surgical operation posture of the surgical execution arm. The surgical execution system based on surgical information and operation plan control performs operations, including: In response to the completion of the spatial registration, the scanning bed is controlled to move to a second position; wherein, the second position is the position of the scanning bed when the medical X-ray imaging system scans the patient; In response to the completion of the scan of the patient by the medical X-ray imaging system, the scanning bed is controlled to move to a fourth position, which is the position of the scanning bed when the patient undergoes the surgical procedure; In response to the scanning bed moving to the fourth position, the surgical arm is controlled to adjust to the surgical operation posture; In response to the surgical arm adjusting to the surgical operation position, the end effector is controlled to perform the surgical operation.

18. The interventional medical system according to claim 17, characterized in that, The surgical execution system includes an execution end located at the end of the surgical execution arm. The execution end includes an execution mounting base detachably connected to the surgical execution arm. The execution mounting base is used to mount the execution instruments required for the surgical operation. The step of controlling the surgical arm to adjust to the surgical operation pose in response to the scanning bed moving to the fourth position includes: In response to the scanning bed moving to the fourth position, the surgical arm is controlled to adjust to a mounting position, which is a feasible position in which the surgical arm avoids the patient; In response to the surgical arm being adjusted to the mounting position, the actuator is controlled to mount the surgical instrument on the mounting base; In response to the completion of the installation of the actuator, the surgical arm is controlled to adjust to the surgical operation position.

19. The interventional medical system according to claim 17, characterized in that, The interventional medical system includes an auxiliary indicator, and the operation includes auxiliary operations; The step of controlling the scanning bed to move to the fourth position in response to the completion of the patient scan by the medical X-ray imaging system includes: In response to the completion of the scan of the patient by the medical X-ray imaging system, the scanning bed is controlled to move to a third position, wherein the third position is the position of the scanning bed when the patient receives the auxiliary operation; In response to the scanning bed moving to the third position, the auxiliary indicator is controlled to instruct the auxiliary operation; In response to the completion of the auxiliary operation, the scanning bed is controlled to move to the fourth position.

20. The interventional medical system according to claim 19, characterized in that, The auxiliary indicator is disposed on the surgical arm or the end effector, and the operation plan includes the auxiliary operation posture of the surgical arm; The step of controlling the auxiliary indicator to instruct the auxiliary operation in response to the scanning bed moving to the third position includes: In response to the scanning bed moving to the third position, the surgical arm is controlled to adjust to the auxiliary operation posture; In response to the surgical arm adjusting to the auxiliary operation position, the auxiliary indicator is controlled to instruct the auxiliary operation.

21. The interventional medical system according to claim 19, characterized in that, The surgical execution system also includes a navigation support arm, the auxiliary indicator is disposed on the navigation support arm, and the operation plan includes the auxiliary indication pose of the navigation support arm; The step of controlling the auxiliary indicator to instruct the auxiliary operation in response to the scanning bed moving to the third position includes: In response to the scanning bed moving to the third position, the navigation support arm is controlled to adjust to the auxiliary indication pose; In response to the navigation support arm adjusting to the auxiliary indication position, the auxiliary indicator is controlled to indicate the auxiliary operation.

22. The interventional medical system according to any one of claims 17-21, characterized in that, The surgical execution system based on surgical information and operation plan control also includes the following: In response to the completion of at least part of the surgical procedure, the scanning bed is controlled to move to a fifth position, wherein the fifth position is located outside the imaging area of ​​the medical X-ray imaging system.

23. The interventional medical system according to claim 1, characterized in that, The interventional medical system also includes an active control terminal, and the processor is further configured to: acquire control commands from the active control terminal, and control the surgical execution system to perform operations based on the control commands.

24. The interventional medical system according to claim 23, characterized in that, The step of acquiring control commands from the active control terminal and controlling the surgical execution system to perform operations based on the control commands includes: Monitor whether the active control terminal receives an enable message; In response to the active control terminal receiving the enable information, the control command of the active control terminal is obtained; The surgical execution system is controlled to perform operations based on the control commands.

25. The interventional medical system according to claim 24, characterized in that, The active control terminal includes an exposure switch and a main operator connected to the surgical execution system via signals. The main operator includes a control enable button, and the enable information includes a first enable information issued by the exposure switch and a second enable information issued by the control enable button. The step of receiving an enable message from the active control terminal and obtaining the control command from the active control terminal includes: In response to the acquisition of both the first enable information and the second enable information, the control command of the active control terminal is acquired.

26. The interventional medical system according to claim 1, characterized in that, The surgical execution system includes a surgical execution arm and an execution end disposed at the end of the surgical execution arm, the execution end including an execution mounting base detachably connected to the surgical execution arm; The processor is configured to: The interventional medical system is activated at least after the actuator is mounted to the surgical arm; Once the interventional medical system meets the preset conditions, spatial registration is performed on the interventional medical system to obtain registration information.

27. The interventional medical system according to claim 1, characterized in that, The surgical execution system includes a surgical execution arm and a motion enable switch, which is configured to allow or disable the movement of the surgical execution arm.

28. The interventional medical system according to claim 1, characterized in that, The interventional medical system also includes a surgical field camera, which is used to acquire a second optical image of the patient and present the second optical image when the surgical execution system performs the operation.

29. The interventional medical system according to claim 1, characterized in that, The surgical information includes the surgical mode, the operation plan includes navigation and positioning points, the operation includes surgical procedures, and the surgical execution system includes surgical operation components. The step of controlling the surgical execution system to perform operations based on the surgical information and the operation plan includes: Control the surgical operation components to move to the navigation positioning point; After the surgical operation component moves to the navigation positioning point, it is controlled to perform the surgical operation based on the surgical mode.

30. An interventional medical system, characterized in that, The interventional medical system includes a processor and is used in conjunction with a medical imaging system, which includes a scanning bed. The processor is configured to: In response to the start signal, the interventional medical system is spatially registered; In response to the completion of the spatial registration, the scanning bed is controlled to move to a second position in the imaging area of ​​the medical X-ray imaging system, where the second position is the position of the scanning bed when the medical X-ray imaging system scans the patient; In response to the completion of the scan of the patient by the medical imaging system, the scanning bed is controlled to move to the execution position, where the patient receives the operation.

31. The interventional medical system according to claim 30, characterized in that, The interventional medical system includes an execution terminal, the operation includes a surgical operation, and the execution location includes one or more fourth locations; In response to the completion of the scan of the patient by the medical X-ray imaging system, the scanning bed is controlled to move to the execution position, where the patient receives an operation, including: In response to the completion of the scan of the patient by the medical imaging system, the scanning bed is controlled to move to one or more fourth positions, the fourth positions being the positions of the scanning bed when the patient undergoes the surgical procedure; In response to the scanning bed moving to one or more fourth positions, the execution end is controlled to perform the surgical operation.

32. The interventional medical system according to claim 31, characterized in that, The processor is also configured to: In response to the completion of a surgical operation when the scanning bed is in one of the fourth positions, but the surgical operation is not fully completed, the scanning bed is controlled to move to a fifth position, which is located outside the imaging area of ​​the medical imaging system; In response to a continue signal, the scanning bed is moved to another fourth position, and the execution end is controlled to continue performing the surgical operation.

33. The interventional medical system according to claim 31, characterized in that, The interventional medical system also includes a surgical execution arm and an auxiliary indicator. The execution end is located at the end of the surgical execution arm. The operation also includes auxiliary operations. The execution position also includes a third position. The step of controlling the scanning bed to move to one or more fourth positions in response to the completion of the patient scan by the medical imaging system includes: In response to the completion of the scan of the patient by the medical X-ray imaging system, the scanning bed is controlled to move to a third position, wherein the third position is the position of the scanning bed when the patient receives the auxiliary operation; In response to the scanning bed moving to the third position, the auxiliary indicator is controlled to instruct the auxiliary operation; In response to the completion of the auxiliary operation, the scanning bed is controlled to move to one of the fourth positions.

34. The interventional medical system according to claim 33, characterized in that, The processor is also configured to: In response to the completion of a surgical operation when the scanning bed is in one of the fourth positions, but the surgical operation is not yet fully completed, the scanning bed is controlled to move to the third position.

35. The interventional medical system according to claim 33, characterized in that, The processor is also configured to: In response to the completion of a surgical operation when the scanning bed is in one of the fourth positions, but the surgical operation is not fully completed, the scanning bed is controlled to move to another fourth position.

36. The interventional medical system according to any one of claims 30-35, characterized in that, The processor is also configured to: In response to the completion of all the operations, the scanning bed is controlled to move to a fifth position, which is located outside the imaging area of ​​the medical imaging system.

37. The interventional medical system according to claim 31, characterized in that, The interventional medical system includes a surgical execution arm and an execution end disposed at the end of the surgical execution arm, the execution end including an execution mounting base detachably connected to the surgical execution arm; The spatial registration of the interventional medical system in response to the start signal includes: In response to the start signal, the surgical arm is controlled to mount the execution mount; In response to the completion of the installation of the execution mount, spatial registration is performed on the interventional medical system.

38. The interventional medical system according to claim 37, characterized in that, The execution mounting base is used to mount the execution instruments required for the surgical procedure; The step of controlling the execution end to perform the surgical operation in response to the scanning bed moving to one or more fourth positions includes: In response to the scanning bed moving to one of the fourth positions, the surgical arm is controlled to adjust to a mounting position, which is a feasible position in which the surgical arm avoids the patient; In response to the surgical arm being adjusted to the mounting position, the actuator is controlled to mount the surgical instrument on the mounting base; In response to the completion of the installation of the actuator, the surgical arm is controlled to adjust to the surgical operation position; In response to the surgical arm adjusting to the surgical operation position, the actuator is controlled to perform the surgical operation.

39. The interventional medical system according to claim 38, characterized in that, The step of controlling the surgical arm to adjust to the surgical position in response to the completion of the installation of the actuator includes: In response to the completion of the installation of the actuator, the surgical arm is controlled to adjust to the initial position. In response to the surgical arm being adjusted to the initial position, the surgical arm is controlled to be adjusted to the surgical operation position.

40. The interventional medical system according to claim 38, characterized in that, The step of controlling the actuator to perform the surgical operation in response to the surgical arm adjusting to the surgical position includes: In response to the surgical arm being adjusted to the surgical operation position, the actuator mounting base is controlled to adjust the posture of the actuator. In response to the completion of the posture adjustment of the actuator, the actuator is controlled to perform the surgical operation.

41. The interventional medical system according to claim 38, characterized in that, The execution terminal also includes a device confirmation control, which is configured to output a confirmation signal in response to the completion of the installation of the execution device. The step of controlling the surgical arm to adjust to the surgical position in response to the completion of the installation of the actuator includes: In response to the completion of the installation of the actuator, the actuator confirmation control is controlled to output the confirmation signal; Based on the confirmation signal, the surgical arm is controlled to adjust to the surgical operation position.

42. The interventional medical system according to claim 38, characterized in that, The execution end also includes a manual control, which is used to control the execution mount to lock or release the execution device.

43. The interventional medical system according to claim 38, characterized in that, The processor is also configured to: In response to the completion of all surgical operations, the surgical arm is controlled to adjust to the final position, which may be the same as or different from the initial position of the surgical arm.

44. An interventional medical system, comprising a processor and an operation execution terminal, characterized in that, The operation execution terminal includes a surgical execution system, and the processor is configured to: Obtain relevant patient information and surgical information; The operation plan is determined at least based on the relevant information and the surgical information; Based on the surgical information and the operation plan, the surgical execution system is controlled to perform the operation; Wherein, the surgical information includes the surgical mode, the operation plan includes navigation and positioning points, the operation includes surgical operations, the surgical execution system includes surgical operation components, and controlling the surgical execution system to perform operations based on the surgical information and the operation plan includes: Control the surgical operation components to move to the navigation positioning point; After the surgical operation component moves to the navigation positioning point, it is controlled to perform the surgical operation based on the surgical mode.

45. The interventional medical system according to claim 44, characterized in that, The interventional medical system is used in conjunction with a medical X-ray imaging system. The surgical mode includes at least one of a real-time control mode and a breakpoint control mode. The surgical operation component includes a surgical execution arm, an execution end located at the end of the surgical execution arm, and an execution instrument located at the execution end. The step of controlling the surgical execution system to perform operations based on the surgical information and the operation plan includes: Based on the surgical information and the operation plan, the actuator is determined and installed onto the execution end. After the actuator is installed, the surgical arm is controlled to move the end effector to the navigation positioning point.

46. ​​The interventional medical system according to claim 45, characterized in that, The interventional medical system also includes an active control terminal connected to the operation execution terminal via signals. The active control terminal includes an exposure switch and a main operator connected to the surgical execution system via signals. When the surgical mode includes the real-time control mode, the processor is configured to: The system acquires control commands issued by the main operator and controls the execution instrument to perform the surgical operation based on the control commands. The system acquires the first enabling information emitted by the exposure switch, and based on the real-time control mode and the first enabling information, scans the patient in real time through the medical X-ray imaging system to acquire the patient's real-time image. The step of controlling the surgical operation component to perform the surgical operation based on the surgical mode includes: Based on the real-time control mode and the real-time images, the main operator controls the execution instrument to perform the surgical operation.

47. The interventional medical system according to claim 45, characterized in that, The interventional medical system also includes an active control terminal connected to the operation execution terminal via a signal. The step of controlling the surgical operation components to perform the surgical operation based on the surgical mode includes: Based on the real-time control mode or the breakpoint control mode, the surgical instrument is controlled by the active control terminal to perform the surgical operation.

48. The interventional medical system according to claim 45, characterized in that, When the surgical mode includes the breakpoint control mode, controlling the surgical operation component to perform the surgical operation based on the surgical mode includes: Based on the breakpoint control mode, the patient is scanned by the medical X-ray imaging system to obtain a first surgical image; Based on the breakpoint control mode and the first surgical image, the actuator is controlled to perform a portion of the surgical operation corresponding to the first surgical image. After the first part of the surgical procedure is completed, the patient is scanned again using the medical X-ray imaging system to obtain a second surgical image; Based on the breakpoint control mode and the second surgical image, the actuator is controlled to perform the next part of the surgical operation corresponding to the second surgical image.

49. The interventional medical system according to claim 48, characterized in that, The execution end includes a clamping structure, the execution instrument is mounted on the clamping structure, the active control end includes a main operator connected to the surgical execution system via a signal, the main operator includes a control enable button, and when the surgical mode includes the breakpoint control mode, the control enable button is used to control the clamping state of the clamping structure on the execution instrument; When the surgical mode includes the breakpoint control mode, the processor is configured to: The system acquires control commands issued by the main operator and controls the execution instrument to perform the surgical operation based on the control commands. The system acquires the second enable information emitted by the control enable button, and controls the clamping structure to adjust to the clamping state based on the second enable information. The second enable information enables the control command to take effect. The scanning signal is acquired, and the patient is scanned by the medical X-ray imaging system to obtain surgical images, the surgical images including at least the first surgical image and the second surgical image; The step of controlling the surgical operation component to perform the surgical operation based on the surgical mode includes: Based on the breakpoint control mode and the surgical image, the main operator controls the execution instrument to perform the surgical operation corresponding to the surgical image.

50. The interventional medical system according to claim 45, characterized in that, The surgical mode includes the breakpoint control mode and the real-time control mode, and the processor is further configured to switch the surgical mode between the breakpoint control mode and the real-time control mode.

51. The interventional medical system according to claim 50, characterized in that, The step of controlling the surgical operation component to perform the surgical operation based on the surgical mode includes: Based on the breakpoint control mode, the patient is scanned by the medical X-ray imaging system to obtain a first surgical image; Based on the breakpoint control mode and the first surgical image, the actuator is controlled to perform a portion of the surgical operation corresponding to the first surgical image. After the partial surgical operation is completed, the processor is switched from the breakpoint control mode to the real-time control mode. Based on the real-time control mode, the patient is scanned in real time by the medical X-ray imaging system to obtain real-time images of the patient; Based on the real-time control mode and the real-time images, the actuator is controlled to continue performing the surgical operation.

52. The interventional medical system according to claim 50, characterized in that, The step of controlling the surgical operation component to perform the surgical operation based on the surgical mode includes: Based on the real-time control mode, the patient is scanned in real time by the medical X-ray imaging system to obtain real-time images of the patient; Based on the real-time control mode and the real-time images, the actuator is controlled to perform a portion of the surgical procedure. After a portion of the surgical procedure is completed, the processor is switched from the real-time control mode to the breakpoint control mode. Based on the breakpoint control mode, the patient is scanned by the medical X-ray imaging system to obtain a first surgical image; Based on the breakpoint control mode and the first surgical image, the actuator is controlled to perform the remaining part of the surgical operation corresponding to the first surgical image in the surgical operation. After the first part of the surgical procedure is completed, the patient is scanned again using the medical X-ray imaging system to obtain a second surgical image; Based on the breakpoint control mode and the second surgical image, the actuator is controlled to perform the next part of the surgical operation corresponding to the second surgical image.

53. The interventional medical system according to claim 44, characterized in that, The surgical mode includes a manual control mode; the surgical operation components include a surgical execution arm, an execution end located at the end of the surgical execution arm, and an execution instrument located at the execution end; The step of controlling the surgical execution system to perform operations based on the surgical information and the operation plan includes: Based on the surgical information and the operation plan, the execution instrument is determined; Control the surgical arm to move the end effector to the navigation positioning point; Install the actuator to the execution end.

54. The interventional medical system according to claim 53, characterized in that, The step of controlling the surgical operation component to perform the surgical operation based on the surgical mode includes: Based on the manual control mode, the surgical instrument is manually controlled to perform the surgical operation.

55. The interventional medical system according to claim 44, characterized in that, The operation includes multiple surgical operations, the surgical mode includes real-time control mode or breakpoint control mode, and the surgical operation components include a surgical execution arm, an execution end set at the end of the surgical execution arm, and an execution instrument set at the execution end. The step of controlling the surgical operation component to perform the surgical operation based on the surgical mode includes: The instrument corresponding to the current surgical procedure is installed at the execution end. The surgical arm is controlled to move the distal end effector to the navigation and positioning point corresponding to the current surgical operation. The actuator is controlled to perform the current surgical operation based on the real-time control mode or the breakpoint control mode; After the surgical procedure is completed, the surgical arm is moved to the mounting position. The instrument for the next surgical procedure is installed at the end of the surgical procedure. The surgical arm is controlled to move the distal end effector to the navigation and positioning point corresponding to the next surgical operation. The instrument is controlled to perform the next surgical operation based on the real-time control mode or the breakpoint control mode.

56. The interventional medical system according to claim 55, characterized in that, The medical X-ray imaging system also includes a scanning bed, with each surgical operation corresponding to a fourth position on the scanning bed, the fourth position being located within the scanning area of ​​the medical X-ray imaging system; The step of controlling the surgical operation component to perform the surgical operation based on the surgical mode includes: Move the scanning bed to the fourth position corresponding to the first surgical procedure; When the fourth position corresponding to the current surgical operation is different from another fourth position corresponding to the next surgical operation, the step of controlling the surgical operation component to perform the surgical operation based on the surgical mode further includes: After the current surgical procedure is completed, the scanning bed is moved to another fourth position corresponding to the next surgical procedure.

57. The interventional medical system according to claim 44, characterized in that, The operation includes multiple surgical procedures, the surgical mode includes a manual control mode, the medical X-ray imaging system also includes a scanning bed, the multiple surgical procedures collectively correspond to a fourth position on the scanning bed, the fourth position is located outside the scanning area of ​​the medical X-ray imaging system; the surgical operation components include a surgical execution arm, an execution end set at the end of the surgical execution arm, and an execution instrument set at the execution end; The step of controlling the surgical operation component to perform the surgical operation based on the surgical mode includes: Move the scanning bed to the fourth position; The surgical arm is controlled to move the distal end effector to the navigation and positioning point corresponding to the current surgical operation. The instrument corresponding to the current surgical procedure is installed at the end of the surgical procedure; The manual control mode is used to control the instrument to perform the current surgical procedure. After the surgical procedure is completed, the surgical arm is controlled to move the end effector to the navigation and positioning point corresponding to the next surgical procedure. The instrument for the next surgical procedure is installed at the end of the surgical procedure. The manual control mode is used to control the instrument to perform the next surgical operation.

58. The interventional medical system according to claim 57, characterized in that, The method of controlling the surgical operation component to perform the surgical operation based on the surgical mode further includes: After the current surgical procedure is fully or partially completed, the patient is moved to a second position, which is the position of the scanning bed when the medical X-ray imaging system scans the patient. After the scanning bed is moved to the second position, new medical images of the patient are acquired through the medical X-ray imaging system. Based on the new medical images and the operational plan for the remaining surgical procedures, a new operational plan for the remaining surgical procedures is determined; Based on the new operational plan, the remaining surgical procedures were completed.

59. The interventional medical system according to claim 58, characterized in that, When all surgical procedures are completed, the remaining surgical procedures are completed based on the new operation plan, including: Based on the new operational plan, the remaining surgical procedures are performed by manually controlling the instrument.

60. The interventional medical system according to claim 58, characterized in that, When the current surgical procedure is partially completed, the remaining surgical procedures are completed based on the new surgical plan, including: Based on the new operational plan, the unfinished portion of the current surgical procedure is completed manually. After the current surgical procedure is completed, the actuator is manually controlled to perform the remaining surgical procedures.

61. The interventional medical system according to claim 44, characterized in that, The operation also includes auxiliary operations, the interventional medical system further includes an auxiliary indicator, and the surgical operation component includes a surgical execution arm and an execution end effector disposed at the end of the surgical execution arm; controlling the surgical execution system to perform operations based on the surgical information and the operation plan includes: Based on the surgical information and the operation plan, the auxiliary indicator is controlled to instruct the auxiliary operation; After the auxiliary operation is completed, the surgical operation component is controlled to perform the surgical operation.

62. The interventional medical system according to claim 44, characterized in that, The interventional medical system further includes an active control terminal, which includes an operation interface configured to perform at least one of the following: Display and process the patient's relevant information and the surgical information; Display and input the operation plan; A prompt message will be displayed.

63. The interventional medical system according to claim 44, characterized in that, The surgical operation assembly includes a surgical execution arm and an execution end located at the end of the surgical execution arm, the execution end including an execution mounting base detachably connected to the surgical execution arm; the processor is configured to: The interventional medical system is activated at least after the actuator is mounted to the surgical arm; Once the interventional medical system meets the preset conditions, spatial registration is performed on the interventional medical system to obtain registration information.

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