Force feedback system for interventional robot

Abstract

The present invention relates to the technical field of vascular interventional robots. Disclosed is a force feedback system for an interventional robot, comprising: a robot master end controller acquiring the mass m of a medical instrument driving mechanism, a first force value, and an acceleration value sent by a robot slave end (S1), wherein the first force value is a resistance value during the delivery of an elongated medical instrument, and the acceleration value represents an acceleration value during the delivery by the medical instrument driving mechanism; performing first filtering processing on the first force value to obtain a second force value (S2); according to the acceleration value and the mass m of the medical instrument driving mechanism, performing de-interference processing on the second force value to acquire a third force value (S3); performing second filtering processing on the third force value to obtain a target feedback force (S4); and on the basis of the target feedback force, enabling an actuating mechanism to apply the target feedback force to an instrument operating member, wherein the direction of the target feedback force is opposite to the direction of movement of the instrument operating member (S5). The present application can provide more reliable real-time force feedback.

Description

Interventional robot force feedback system

[0001] The present application claims priority to the Chinese patent application No. 202410858069.1, filed on June 28, 2024, and entitled "Interventional robot force feedback system", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the technical field of vascular interventional robots, in particular to an interventional robot force feedback system. BACKGROUND

[0003] Compared with traditional open surgery, patients usually prefer a treatment method with faster recovery and fewer complications in some cases, and vascular interventional surgery meets this demand. However, the existing vascular interventional surgery robot does not have a perfect force feedback system, which means that when performing delicate surgical operations through the interventional robot, the doctor cannot obtain sufficient force feedback reflecting the force of the instrument through the robot, thereby affecting the accuracy and safety of the operation. Therefore, the problem of insufficient accuracy in the operation process caused by the lack of a perfect force feedback system in the existing vascular interventional surgery robot is an urgent problem to be solved. TECHNICAL PROBLEM

[0004] The main purpose of the present application is to provide an interventional robot force feedback system, which aims to solve the technical problem of insufficient accuracy in the operation process caused by the lack of a perfect force feedback system in the existing vascular interventional surgery robot. TECHNICAL SOLUTION

[0005] The main purpose of the present application is to provide an interventional robot force feedback system, which aims to solve the technical problem of insufficient accuracy in the operation process caused by the lack of a perfect force feedback system in the existing vascular interventional surgery robot.

[0006] An interventional robot force feedback system, the interventional robot comprising a robot master end and a robot slave end in communication connection with the robot master end, the robot master end comprising a robot master end controller, an instrument operating part and an execution mechanism connected with the instrument operating part; the robot slave end comprising a medical instrument driving mechanism for clamping an elongated medical instrument;

[0007] The robot master end controller acquires the medical instrument driving mechanism mass m, the first force value and the acceleration value sent by the robot slave end; wherein the first force value is the resistance value of the elongated medical instrument delivery; the acceleration value represents the acceleration value of the medical instrument driving mechanism delivery;

[0008] The first force value is subjected to a first filtering process to obtain a second force value;

[0009] According to the acceleration value and a medical instrument driving mechanism mass m, the second force value is de-interference processed to obtain a third force value;

[0010] The third force value is secondly filtered to obtain a target feedback force;

[0011] Based on the target feedback force, the executing mechanism applies a target feedback force to the instrument operating part, wherein the direction of the target feedback force is opposite to the movement direction of the instrument operating part.

[0012] Further, the first filtering processing on the first force value to obtain a second force value comprises:

[0013] The first force value is first-order low-pass filtered based on a first-order filtering algorithm formula to obtain the second force value; the first-order filtering algorithm formula is as follows:

[0014] y[n] = a x[n] + (1-a) y[n-1]

[0015] Wherein, y[n] is the filtering output at time point n; x[n] is the original input signal at time point n; a is a filtering coefficient, between 0 and 1.

[0016] Further, the de-interference processing on the second force value according to the acceleration value and a medical instrument driving mechanism mass m to obtain a third force value comprises:

[0017] The third force value F' is calculated based on the formula F' = F - m A, wherein F is the second force value, and A is the acceleration value.

[0018] Further, the robot slave end further comprises a medical instrument delivery mechanism, a robot slave end controller and a force detection mechanism connected with the robot slave end controller, the instrument driving mechanism is installed on the medical instrument delivery mechanism, and abuts against the force detection mechanism in the delivery direction and is movable relative to the medical instrument delivery mechanism in the delivery direction;

[0019] When the force detection mechanism detects that the medical instrument delivery mechanism delivers the elongated medical instrument and is resisted, the force detection mechanism generates a pressure analog quantity corresponding to the resistance and sends the pressure analog quantity to the robot slave end controller;

[0020] The robot slave end controller processes the pressure analog quantity to obtain a first force value, and sends the first force value to the robot master end controller.

[0021] Further, the processing of the pressure analog quantity by the robot slave end controller to obtain a first force value comprises:

[0022] The robot slave end controller amplifies the pressure analog quantity through an analog amplification circuit to obtain an amplified analog quantity, and filters the amplified analog quantity through a filter circuit to obtain a filtered analog quantity;

[0023] The filtered analog quantity is input to an analog-to-digital converter for analog-to-digital conversion to obtain the first force value.

[0024] Further, the robot slave end further comprises a displacement detection mechanism installed on the medical instrument delivery mechanism;

[0025] When the elongated medical instrument is not installed on the medical instrument driving mechanism, the robot slave end controller controls the medical instrument delivery mechanism to move, and acquires the no-load pressure value carrying a time signal sent by the force detection mechanism and a plurality of no-load displacement values carrying a time signal sent by the displacement detection mechanism, and obtains a no-load acceleration value based on the plurality of no-load displacement values;

[0026] Based on the time signal, a preset algorithm is used to calculate the no-load acceleration value and the no-load pressure value at the corresponding moment to obtain the medical instrument driving mechanism mass m.

[0027] Further, the second filtering processing of the third force value to obtain the target feedback force comprises:

[0028] The third force value is subjected to moving average filtering processing based on the following formula to obtain a fourth force value: ;

[0029] Wherein, y[i] is the filtered output; x[k] is the original input data; N is the length of the filter; and M is the number of data points on one side of the filtering window.

[0030] The fourth force value is subjected to fine processing to obtain the target feedback force.

[0031] Further, the robot slave end further comprises an elastic member installed on the medical instrument delivery mechanism, and the elastic member is used to keep the medical instrument driving mechanism in abutment with the force detection mechanism; and the fine processing of the fourth force value to obtain the target feedback force comprises:

[0032] The fourth force value is subtracted by a pre-acquired spring pre-tightening force to obtain an initial feedback force, wherein the spring pre-tightening force represents the force with which the medical instrument driving mechanism keeps in abutment with the force detection mechanism when the medical instrument delivery mechanism is not started to work;

[0033] The initial feedback force is subjected to multiple processing to obtain the target feedback force.

[0034] Further, the robot master end further comprises an operating member controller connected with the robot master end controller, the operating member controller being used for controlling the executing mechanism; the executing mechanism applies the target feedback force to the instrument operating member based on the target feedback force, comprising:

[0035] The robot master end controller sends the target feedback force to the operating member controller;

[0036] The operating member controller detects whether the touch switch on the instrument operating member is activated when receiving the target feedback force;

[0037] When the touch switch on the instrument operating member is activated, the operating member controller controls the executing mechanism to apply the target feedback force to the instrument operating member.

[0038] Further, after the operating member controller controls the executing mechanism to apply the target feedback force to the instrument operating member, the force feedback system further comprises: acquiring the real-time feedback force in the movement direction of the instrument operating member, adopting a PID algorithm to perform closed-loop processing on the target feedback force and the real-time feedback force, acquiring a correction operation force, and the operating member controller controls the executing mechanism to apply the correction operation force to the instrument operating member, wherein the direction of the correction operation force is opposite to the movement direction of the instrument operating member. Advantages

[0039] The system acquires the mass, resistance value and acceleration value of the driving mechanism of the medical instrument, and performs filtering processing and interference removal processing on these values, and finally obtains the target feedback force. By using the target feedback force, the executing mechanism can apply the target feedback force to the instrument operating member, so as to help the doctor obtain sufficient force feedback when performing fine surgical operation, help the doctor better control the delivery process of the elongated medical instrument, and cope with the diversity of blood vessel morphology and individual differences of patients, thereby improving the accuracy and safety of the operation. BRIEF DESCRIPTION OF DRAWINGS

[0040] Fig. 1 is a schematic diagram of the implementation steps of an interventional robot force feedback system according to an embodiment of the present application;

[0041] Fig. 2 is a schematic block diagram of the structure of a computer device according to an embodiment of the present application. BEST MODE FOR CARRYING OUT THE INVENTION

[0042] In order to make the purposes, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0043] It is to be understood that the singular forms "a," "an," and "the" include plural referents unless the context clearly dictates otherwise. It is further understood that the terms "comprise" (and any form of comprise, includes, and / or contain) are open-ended transition terms used herein to convey "comprising, including, and / or containing" one or more recited elements. It is further understood that the terms "connected," "coupled," and / or "pathway" are used generically and exhaustively to denote a connection, coupling, and / or pathway, that are direct and / or indirect, electrical and / or mechanical, or any combination thereof. Still further, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0044] It is to be understood that the terms so used are associative with the meaning that would be given to such term in base of the common general knowledge of a person of the ordinary skill in the art to which this application belongs unless otherwise defined. It is also to be understood that terms, such as those defined in a generally used dictionary, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

[0045] Referring to FIG. 1, the present application provides an interventional robot force feedback system, wherein the interventional robot comprises a master robot and a slave robot connected in communication with the master robot, the master robot comprises a master robot controller, an instrument operating member and an execution mechanism connected with the instrument operating member; the slave robot comprises a medical instrument driving mechanism for clamping an elongated medical instrument, based on which, the system comprises the following steps:

[0046] S1: the master robot controller acquires the medical instrument driving mechanism mass m, the first force value and the acceleration value sent by the slave robot; wherein the first force value is the resistance value of the elongated medical instrument delivery; the acceleration value represents the acceleration value of the medical instrument driving mechanism delivery;

[0047] First, the intervention robot force feedback system is a system for assisting in vascular intervention surgery, wherein the robot master is responsible for logical control and operation, the instrument operating part is used for the doctor to manipulate the medical instrument, and the robot slave is used for clamping the elongated medical instrument. The robot slave includes a catheter control mechanism and a guide wire control mechanism. The catheter control mechanism and the guide wire control mechanism are rigidly connected, and the catheter control mechanism and the guide wire control mechanism are each equipped with a corresponding robot slave controller. In the vascular intervention surgery, the medical instrument driving mechanism is used to deliver the medical instrument, such as a guide wire, into the patient's body. In this step, the robot master controller obtains the medical instrument driving mechanism mass m, the first force value and the acceleration value sent by the robot slave through communication connected with the robot slave. Understandably, the robot slave can be equipped with multiple catheter control mechanisms independent of the guide wire control mechanism as needed,

[0048] In step S1, the medical instrument driving mechanism is installed on the guide wire control mechanism for clamping the guide wire. First, the robot slave will collect the operation data related to the medical instrument driving mechanism in the operation process in real time. This includes the resistance value (first force value) encountered during the delivery of the elongated medical instrument and the delivery acceleration value of the medical instrument driving mechanism, and the first force value and the acceleration value are detected in the same time period. The first force value represents the value of the resistance encountered during the delivery of the elongated medical instrument, which can reflect the resistance encountered when the instrument moves in the patient's body. The acceleration value represents the acceleration of the medical instrument driving mechanism during delivery, which can be used to calculate the rate of change of force and more quickly reflect the motion state of the medical instrument. These data can be obtained through sensors or measuring devices for accurate monitoring and control of the motion and operation of the robot slave. The acceleration value can be obtained by collecting the magnetic grating ruler displacement encoder information of the guide wire control mechanism movement at fixed time intervals, obtaining the displacement at different times, and then calculating the acceleration through the displacement. Each collection of three displacement values can calculate an acceleration to obtain the acceleration value of the robot slave. The collected data is transmitted to the robot master through a communication connection, which ensures that the data can be transmitted from the robot slave to the robot master in real time and accurately. After the robot master controller receives the mass m, the first force value and the acceleration value of the medical instrument driving mechanism sent by the robot slave, it will further process these data. By obtaining the mass, the first force value and the acceleration value of the medical instrument driving mechanism sent by the robot slave, the master controller can monitor and understand the motion and force conditions of the elongated medical instrument in the patient's body in real time. This can help the doctor better master the force perception feedback information in the operation process, improve the accuracy and safety of the operation. At the same time, these data can also be used for recording and analysis of the operation process, helping the doctor to continuously improve the operation technology and improve the treatment effect.

[0049] S2: performing first filtering processing on the first force value to obtain a second force value.

[0050] In step S2, the first force value is the value of the resistance encountered by the elongated medical instrument during delivery, which reflects the size of the resistance encountered by the instrument when moving in the patient's body. In step S2, the first force value is subjected to first filtering processing, the purpose of which is to remove noise and interference in the data and obtain a more true and accurate second force value. Among them, the filtering processing of the first force value can select appropriate filtering method and parameter according to specific situation, and the filtering processing also has the functions of smoothing data curve, extracting effective information and reducing fluctuation, which helps doctors better understand and grasp the movement state and force condition of the medical instrument in the patient's body, and provides important reference basis for operation.

[0051] S3: performing interference removal processing on the second force value according to the acceleration value and the mass m of the medical instrument driving mechanism to obtain a third force value;

[0052] In step S3, the second force value may be affected by various interference factors, such as acceleration change, medical instrument vibration, etc. In step S3, the second force value is subjected to interference removal processing according to the acceleration value and the mass m of the medical instrument driving mechanism, the purpose of which is to exclude these interference factors and obtain a more accurate and reliable third force value. The medical instrument will be affected by acceleration when moving in the patient's body, which may interfere with the force value data. According to Newton's second law F = ma, acceleration and mass can affect the calculation of force value, so in the interference removal processing, the acceleration value and the mass m of the medical instrument driving mechanism need to be calculated and corrected accordingly. For example, the inertia force can be calculated according to the acceleration value and the mass by using Newton's second law, and then the interference part is subtracted from the second force value to obtain a more accurate third force value. Through step S3, the influence of external interference factors can be effectively excluded, and a more true and reliable third force value can be obtained. By obtaining accurate force value data, the real force condition of the medical instrument in the patient's body can be better understood, the influence of medical instrument vibration and other factors on the force value data can be excluded, and the accuracy and stability of the data can be improved. By obtaining a more accurate third force value, doctors can better grasp the movement state and force condition of the medical instrument in the patient's body, provide more reliable reference basis for operation, and improve the success rate and safety of operation.

[0053] S4: performing second filtering processing on the third force value to obtain a target feedback force.

[0054] In step S4, the third force value will undergo a second filtering process in step S4. The filtering process here can use different types of filters, such as Kalman filter, Butterworth filter, etc., the specific selection will be based on system requirements and performance requirements. The second filtering process aims to further optimize the feedback force data, remove residual noise and interference, and make the target feedback force more accurate and stable. According to the filtered target feedback force, the system can adjust the robot operation in real time to ensure a more accurate grasp of the force situation in the interventional surgery.

[0055] S5: based on the target feedback force, the actuator applies a target feedback force to the instrument operating part, wherein the direction of the target feedback force is opposite to the direction of the motion of the instrument operating part.

[0056] In step S5, according to the size and direction of the target feedback force, the actuator will dynamically adjust the force applied to the instrument operating part to achieve precise control of the instrument, wherein the actuator can apply the target feedback force to the instrument operating part through motor, hydraulic or pneumatic system, etc. The direction of the target feedback force is opposite to the direction of the motion of the instrument operating part, which helps to stabilize the motion of the instrument operating part and provides better force perception support for the doctor, enabling the doctor to better perceive the force situation of the instrument and better master the operation of the surgery. In summary, through step S5, the actuator can apply feedback force to the instrument operating part based on the target feedback force, achieving precise control of the motion of the instrument operating part. It helps doctors to operate medical instruments more accurately during minimally invasive surgery, improves surgical precision and safety, and helps doctors to better perceive the motion state of the instrument in the patient's body, preventing patient injury due to operation errors and improving surgical safety. In this embodiment, the instrument operating part can be an operating rod.

[0057] Through steps S1-S5, the present application monitors the force situation of the medical instrument in the patient's body in real time through the sensor. Then the collected force data is processed to remove interference factors, and a more accurate and reliable third force value is obtained. Then the third force value (i.e. target feedback force) after the second filtering process is applied to the instrument operating part through the actuator. Such data processing can help doctors to better understand the force situation of the instrument in the body, providing more accurate reference for the operation process. Then the third force value is fed back to the doctor and force perception feedback is provided. This feedback is crucial for doctors to adjust their operation strategies and reasonably allocate force application points and directions during the operation process. Force perception feedback enables doctors to more intuitively and accurately perceive the force situation of the medical instrument in the patient's body, thereby improving the safety and success rate of the operation.

[0058] In one embodiment, the first filtering of the first force value to obtain a second force value comprises:

[0059] S10: first-order low-pass filtering the first force value based on a first-order filtering algorithm formula to obtain the second force value; the first-order filtering algorithm formula is as follows:

[0060] y[n] = a · x[n] + (1-a) · y[n-1]

[0061] wherein y[n] is the filtering output at time point n; x[n] is the original input signal at time point n; a is the filtering coefficient, between 0 and 1.

[0062] In this embodiment, the first filtering of the first force value is performed, i.e. the second force value is obtained by the first-order low-pass filtering algorithm formula. This algorithm formula can be used to filter the first force value, wherein y[n] represents the filtering output at time point n, i.e. the second force value corresponding to time point n. x[n] represents the original input signal at time point n, i.e. the first force value corresponding to time point n. a represents the filtering coefficient, which is between 0 and 1. When a is small (close to 0), the filter responds slowly to the change of the input, the output is smoother, but the delay is larger. When a is large (close to 1), the filter responds faster to the change of the input, but the smoothing effect is weakened, the noise suppression ability is reduced, and the specific value can be selected according to the actual situation. The specific operation is to substitute the first force value into the first-order filtering algorithm formula, and the second force value can be obtained by calculation of the formula. This first-order low-pass filtering helps to filter out high-frequency noise and smooth the change of the force value, so as to obtain a more stable and accurate second force value. The purpose of this first-order low-pass filtering is to smooth the original input signal, eliminate noise interference, and at the same time retain the main characteristics of the signal. Through this processing, a more stable and reliable second force value can be obtained, which provides more accurate data support for subsequent medical instrument operation and force feedback.

[0063] In one embodiment, the deinterference processing of the second force value according to the acceleration value and the mass m of the medical instrument driving mechanism to obtain a third force value comprises:

[0064] S20: calculating a third force value F' based on the formula F' = F - m · A, wherein F is the second force value and A is the acceleration value.

[0065] In this embodiment, the second force value is de-interfered according to the acceleration value and the medical instrument driving mechanism mass m to obtain a third force value. This process includes calculating the third force value F' using the formula F' = F - m · A, where F represents the second force value and A is the acceleration value. Specifically, the second force value F and the acceleration value A are substituted into the above formula to calculate the third force value F' after removing the interference. Through this step, the interference of the acceleration value on the second force value can be eliminated, and a more accurate and reliable third force value can be obtained. This de-interference processing can help ensure that the obtained force value is more accurate and stable, providing more reliable data support for subsequent surgical operations. By de-interfering the second force value, the third force value is more practical, which helps to improve the operation accuracy and safety of the medical instrument.

[0066] In one embodiment, the robot slave end further comprises a medical instrument delivery mechanism, a robot slave end controller, and a force detection mechanism connected to the robot slave end controller, the instrument driving mechanism is installed on the medical instrument delivery mechanism and in abutment with the force detection mechanism in the delivery direction and movable relative to the medical instrument delivery mechanism in the delivery direction; further comprising:

[0067] S30: When the force detection mechanism detects that the medical instrument delivery mechanism delivers the elongated medical instrument with resistance, it generates a pressure analog quantity corresponding to the resistance and sends it to the robot slave end controller;

[0068] S31: The robot slave end controller processes the pressure analog quantity to obtain a first force value and sends the first force value to the robot master end controller.

[0069] In this embodiment, the medical instrument driving mechanism is installed on the medical instrument delivery mechanism, which serves as a power device and is installed on a linear rack. The instrument driving mechanism and the instrument driving mechanism are driven to move linearly along the linear rack to achieve the delivery of the elongated medical instrument. This design can ensure the stability and accuracy of the medical instrument during operation. The instrument driving mechanism consists of a mounting plate and a clamping assembly. The mounting plate is installed on the sliding groove of the medical instrument delivery mechanism and can slide along the delivery direction. The clamping assembly is connected to the power assembly of the medical instrument delivery mechanism, which drives the clamping assembly to clamp or release the elongated medical instrument. This design allows the robot to clamp and rotate the medical instrument, accurately control and operate the position and angle of the medical instrument. The force detection mechanism is installed on the housing of the medical instrument delivery mechanism along the delivery direction and is in abutment with the instrument driving mechanism. Its function is to detect the resistance of the medical instrument and generate a corresponding pressure analog quantity when the resistance is detected, which is sent to the robot slave end controller.

[0070] When the force detection mechanism detects that the medical instrument delivery mechanism is subjected to resistance when delivering the elongated medical instrument, it generates a corresponding pressure analog quantity according to the resistance, and sends the pressure analog quantity to the robot slave controller. The role of this step is to perceive the resistance of the medical instrument in real time, so as to timely adjust the operation of the robot. Then, after the robot slave controller receives the pressure analog quantity, it processes it, obtains a first force value of the medical instrument subjected to the resistance, and sends the first force value to the robot master controller. The role of this step is to obtain the specific force value of the medical instrument subjected to the resistance by processing the pressure analog quantity, so as to provide accurate feedback on the operation state of the robot to the robot master controller.

[0071] Through this embodiment, the robot can perceive the force condition of the medical instrument during operation, and realize processing and feedback of the force condition. It is ensured that the robot can make timely adjustment when the medical instrument is subjected to resistance or other external interference, so as to ensure the accuracy and safety of the medical operation. At the same time, this feedback mechanism also provides important support for the intelligence and adaptability of the robot operation.

[0072] In one embodiment, the robot slave controller processes the pressure analog quantity to obtain a first force value, comprising:

[0073] S40: The robot slave controller amplifies the pressure analog quantity through an analog amplification circuit to obtain an amplified analog quantity, and filters the amplified analog quantity through a filter circuit to obtain a filtered analog quantity;

[0074] S41: Inputting the filtered analog quantity into an analog-to-digital converter for analog-to-digital conversion to obtain the first force value.

[0075] In this embodiment, first, the robot slave controller amplifies the input pressure analog quantity through an analog amplification circuit to convert it into a larger amplified analog quantity, so as to enhance the amplitude of the pressure signal, and then inputs the amplified analog quantity into a filter circuit to obtain a filtered analog quantity, so as to filter out the amplified analog quantity of a specific frequency as the filtered analog quantity for subsequent processing and conversion. The filtered analog quantity is input into an analog-to-digital converter, and a digital first force value is obtained after the analog-to-digital conversion process. The analog-to-digital converter converts the analog signal into a digital signal, and the obtained first force value can be processed and transmitted by a digital system. Through this embodiment, the robot slave controller can accurately obtain and process the pressure analog quantity through the amplification and conversion process to obtain a digital first force value. This processing process enables the controller to accurately obtain force information, and provides reliable force feedback for the operation of the robot. At the same time, the digital first force value can also be processed and interacted by other systems to realize more accurate and efficient control.

[0076] In one embodiment, the robot slave end further comprises a displacement detection mechanism mounted on the medical instrument delivery mechanism;

[0077] S50: When the elongated medical instrument is not mounted on the medical instrument driving mechanism, the robot slave end controller controls the medical instrument delivery mechanism to move, and acquires the no-load pressure value carrying a time signal sent by the force detection mechanism and a plurality of no-load displacement values carrying a time signal sent by the displacement detection mechanism, and obtains a no-load acceleration value based on the plurality of no-load displacement values;

[0078] S51: Based on the time signal, a preset algorithm is used to calculate the no-load acceleration value and the no-load pressure value at the corresponding time, to obtain the medical instrument driving mechanism mass m.

[0079] In this embodiment, when the elongated medical instrument is not mounted on the medical instrument driving mechanism, the robot slave end controller will first control the medical instrument delivery mechanism to move, and acquire the following data: the no-load pressure value carrying a time signal sent by the force detection mechanism: this data is from the force detection mechanism, which can measure the pressure received during the movement of the medical instrument delivery mechanism; a plurality of no-load displacement values carrying a time signal sent by the displacement detection mechanism: this data is from the displacement detection mechanism, which can measure the displacement value of the medical instrument delivery mechanism, so as to know the relative position change. After obtaining the above data, based on the no-load displacement values, the no-load acceleration value is calculated. First, based on the time signal, the no-load acceleration value and the no-load pressure value at the corresponding time are calculated by using a preset algorithm, so as to obtain the mass m of the medical instrument driving mechanism. The specific steps can include: controlling the medical instrument driving mechanism of the robot slave end to be no-load, and collecting displacement data S1, S2, S3 during movement, then v1=S2-S1, v2=S3-S2, a (acceleration)=v2-v1; based on the displacement data, an acceleration sequence Aempty is obtained, and pressure sensor data Fempty is collected; let m be the independent variable, substitute Fempty-mAempty=(n∈N*); let Take the minimum value, and obtain m, that is, the value of m corresponding to the minimum root mean square error, that is, the mass m of the medical instrument driving mechanism. This step uses displacement, acceleration and pressure information, and processes them by using a preset algorithm, to obtain the mass value of the medical instrument driving mechanism. The preset algorithm includes using the least square method to calculate the mass m of the medical instrument driving mechanism.

[0080] In one embodiment, the second filtering processing of the third force value to obtain the target feedback force comprises:

[0081] S60: The third force value is subjected to moving average filtering processing based on the following formula to obtain a fourth force value: where y[i] is the filtered output; x[k] is the original input data; N is the length of the filter; M is the number of data points on one side of the filter window;

[0082] S61: fine processing the fourth force value to obtain a target feedback force.

[0083] In this embodiment, y[i] is the filtered output; x[k] is the original input data; M is the number of data points on one side of the filter window, and N is the length of the filter, usually 2M+1, i.e. the number of points from i-M to i+M. Moving average filtering can help smooth the original data, reduce noise and sudden changes, and improve data stability and reliability. In this embodiment, through steps S60 and S61, the original data is filtered and further fine processed, and finally the target feedback force is obtained. These processing procedures help improve data quality and usability, and provide reliable data support for subsequent applications.

[0084] In an embodiment, the robot end also includes an elastic member mounted on the medical instrument delivery mechanism, which is used to keep the medical instrument driving mechanism in abutment with the force detection mechanism; the fine processing of the fourth force value to obtain a target feedback force includes:

[0085] S70: subtract the pre-acquired spring pre-tightening force from the fourth force value to obtain an initial feedback force, wherein the spring pre-tightening force is the force indicating that the medical instrument driving mechanism is in abutment with the force detection mechanism when the medical instrument delivery mechanism is not started to work;

[0086] S71: multiply the initial feedback force to obtain a target feedback force.

[0087] In the embodiment, the robot slave end comprises an elastic member mounted on the medical instrument delivery mechanism, for keeping the medical instrument driving mechanism in abutment with the force detection mechanism. First, subtract the pre-acquired spring pre-tightening force from the fourth force value. This spring pre-tightening force is the force with which the medical instrument driving mechanism is kept in abutment with the force detection mechanism when the medical instrument delivery mechanism is not working. The initial feedback force thus obtained can more accurately represent the influence of external forces on the medical instrument during movement. Then, the initial feedback force is multiplied to obtain the target feedback force. This multiplication may be amplification or reduction of the initial feedback force, so as to better adapt to the control requirements of the medical instrument driving mechanism and provide a more appropriate feedback signal, preferably multiplied by a specified multiple coefficient. Among them, since different interventional instruments produce different forces under the same deformation, it is necessary to set the multiple processing for different instruments. The experimental method can be used to bend the guide wire, micro guide wire and other instruments by the same angle, and the corresponding change forces are collected respectively, and then different multiple coefficients are set to make the collected change forces remain the same to determine the setting value of the multiple. Therefore, by subtracting the spring pre-tightening force from the fourth force value to obtain the initial feedback force, and then multiplying it to obtain the target feedback force. This processing method helps to accurately reflect the external force received by the medical instrument and provide an appropriate feedback signal, thereby better achieving control of the medical instrument.

[0088] In an embodiment, the robot master end further comprises an operating member controller connected with the robot master end controller, and the operating member controller is used to control the executing mechanism; and the robot master end controller sends the target feedback force to the operating member controller.

[0089] The robot master end controller sends the target feedback force to the operating member controller.

[0090] When the operating member controller receives the target feedback force, it detects whether the touch switch on the instrument operating member is activated.

[0091] When the touch switch on the instrument operating member is activated, the operating member controller controls the executing mechanism to apply the target feedback force to the instrument operating member.

[0092] In the embodiment, the master end of the robot comprises an operation member controller connected with the master end controller of the robot, for controlling an execution mechanism, wherein the execution mechanism is a motor connected with the instrument operation member. By using the target feedback force, the execution mechanism can apply the required feedback force to the instrument operation member. First, the master end controller of the robot sends the calculated target feedback force to the operation member controller, and the operation member controller detects whether the touch switch on the instrument operation member is in the starting state after receiving the target feedback force, wherein the touch switch can include a capacitive sensor arranged on the instrument operation member. When the capacitive sensor identifies the corresponding current passing through, it is determined that the medical staff currently holds the instrument operation member for starting. By using the capacitive sensor to detect the holding of the instrument operation member by the medical staff, the robot can know the operation intention of the medical staff in real time. When the capacitive sensor detects that the medical staff holds the instrument operation member, the corresponding component starting process can be triggered immediately, without waiting for the input of other signals or instructions, so that the response speed of the robot to the operation of the medical staff is significantly improved.

[0093] In addition, at the same time, the GUI rendering is performed on the display screen of the master end of the robot, and corresponding color changes can be generated according to the changes of the force detection values, so as to remind the doctor to pay attention. At the same time, a skinning function button is provided, that is, during the operation, the doctor can click the button to take the current force feedback value as the starting value 0, and pay attention to the stress change after that.

[0094] In an embodiment, after the operation member controller controls the execution mechanism to apply the target feedback force to the instrument operation member, the force feedback system further comprises: acquiring a real-time feedback force in the movement direction of the instrument operation member, adopting a PID algorithm to perform closed-loop processing on the target feedback force and the real-time feedback force, and acquiring a correction operation force, wherein the operation member controller controls the execution mechanism to apply the correction operation force to the instrument operation member, and the direction of the correction operation force is opposite to the movement direction of the instrument operation member.

[0095] In the present embodiment, the system obtains the real-time feedback force of the instrument operating member in the movement direction, and the operating rod controller controls the motor (or brushless motor) through the motor drive board (or brushless motor drive board) to make it run in the torque mode, constantly adjusts the torque current, compares and calculates the target feedback force and the real-time feedback force using the PID (Proportional-Integral-Derivative Controller) algorithm, to obtain the corrective operating force, realizes adaptive adjustment, so that the real-time feedback force and the target feedback force remain synchronous and equal. The role of the corrective operating force is to correct the external interference force or error force received by the instrument operating member during movement, thereby maintaining the stability and accuracy of the operation. Finally, the operating member controller executes the mechanism according to the obtained corrective operating force instruction to apply the corrective operating force to the instrument operating member. In this way, the system realizes real-time control of the instrument operating member by applying the corrective operating force, ensuring the accuracy and stability of the operation. Through the above steps, the force feedback system can perform closed-loop processing according to the real-time feedback force and the target feedback force, so that the instrument operating member is timely corrected and adjusted during movement, maintaining the stability and accuracy of the operation. This method can help the medical robot system improve the operation accuracy and robustness, and enhance the adaptability of the system to different working environments and disturbances.

[0096] With reference to FIG. 2, the application also provides a computer device, which can be a server, and the internal structure of the computer device can be as shown in FIG. 2. The computer device includes a processor, a memory, a network interface and a database connected through a bus. The processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores operations, a computer program and a database. The internal memory provides an environment for the operations and the computer program in the non-volatile storage medium. The database of the computer device is configured to store data such as an intervention robot force feedback system. The network interface of the computer device is configured to communicate with an external terminal through a network connection. The computer program is executed by the processor to implement an intervention robot force feedback system, including the steps of: a robot master controller acquires a medical instrument driving mechanism mass m, a first force value and an acceleration value sent by a robot slave end; the first force value is a resistance value of the delivery of the elongated medical instrument; the acceleration value represents an acceleration value of the delivery of the medical instrument driving mechanism; the first force value is subjected to first filtering processing to obtain a second force value; the second force value is subjected to disturbance removal processing according to the acceleration value and the medical instrument driving mechanism mass m to obtain a third force value; the third force value is subjected to second filtering processing to obtain a target feedback force; and based on the target feedback force, the execution mechanism applies the target feedback force to the instrument operating part, wherein the direction of the target feedback force is opposite to the movement direction of the instrument operating part.

[0097] An embodiment of the application also provides a computer readable storage medium having a computer program stored thereon, and the computer program is executed by a processor to implement an intervention robot force feedback system, including the steps of: a robot master controller acquires a medical instrument driving mechanism mass m, a first force value and an acceleration value sent by a robot slave end; the first force value is a resistance value of the delivery of the elongated medical instrument; the acceleration value represents an acceleration value of the delivery of the medical instrument driving mechanism; the first force value is subjected to first filtering processing to obtain a second force value; the second force value is subjected to disturbance removal processing according to the acceleration value and the medical instrument driving mechanism mass m to obtain a third force value; the third force value is subjected to second filtering processing to obtain a target feedback force; and based on the target feedback force, the execution mechanism applies the target feedback force to the instrument operating part, wherein the direction of the target feedback force is opposite to the movement direction of the instrument operating part.

[0098] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer readable storage medium, and when the computer program is executed, the processes of the above-mentioned embodiment methods can be included. Any reference to memory, storage, database or other medium provided by the present application and used in the embodiments can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROm), electrically erasable programmable ROM (EEPROm) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration but not limitation, RAM is available in various forms, such as static RAM (SRAm), dynamic RAM (DRAm), synchronous DRAm (SDRAm), double data rate SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAm), synchronous link (Synchlink) DRAm (SLDRAm), Rambus direct RAM (RDRAm), direct memory bus dynamic RAM (DRDRAm), and memory bus dynamic RAM (RDRAm).

[0099] The above only describes the preferred embodiments of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation using the content of the specification and drawings, or direct or indirect application in other related technical fields, is also included in the patent protection scope of the present application.

Claims

1. An interventional robot force feedback system, the interventional robot comprising a robot master end and a robot slave end communicatively connected to the robot master end, the robot master end comprising a robot master end controller, an instrument manipulator, and an actuator connected to the instrument manipulator; the robot slave end comprising a medical device drive mechanism for gripping a slender medical device; wherein, Includes the following steps: The robot master controller acquires the mass m, first force value, and acceleration value of the medical device drive mechanism sent by the robot slave end; wherein, the first force value is the resistance value of the delivery of the slender medical device; and the acceleration value represents the acceleration value delivered by the medical device drive mechanism. The first force value is filtered for the first time to obtain the second force value; Based on the acceleration value and the mass m of the medical device drive mechanism, the second force value is processed to remove interference, and the third force value is obtained. The third force value is then subjected to a second filtering process to obtain the target feedback force; Based on the target feedback force, the actuator applies the target feedback force to the instrument operating component, wherein the direction of the target feedback force is opposite to the direction of movement of the instrument operating component.

2. The interventional robot force feedback system according to claim 1, wherein, The step of performing a first filtering process on the first force value to obtain the second force value includes: The first force value is subjected to a first-order low-pass filter based on a first-order filtering algorithm formula to obtain the second force value; the first-order filtering algorithm formula is as follows: y[n] = a·x[n] + (1-a)·y[n-1] Where y[n] is the filtered output at time point n; x[n] is the original input signal at time point n; and a is the filter coefficient, which is between 0 and 1.

3. The interventional robot force feedback system according to claim 1, wherein, The step of performing interference removal processing on the second force value based on the acceleration value and the mass m of the medical device drive mechanism to obtain the third force value includes: The third force value F′ is calculated based on the formula F′=F−m·A, where F is the second force value and A is the acceleration value.

4. The interventional robot force feedback system according to claim 1, wherein, The robot slave end also includes a medical device delivery mechanism, a robot slave controller, and a force detection mechanism connected to the robot slave controller. The device drive mechanism is mounted on the medical device delivery mechanism, maintains contact with the force detection mechanism in the delivery direction, and is movable relative to the medical device delivery mechanism in the delivery direction. When the force detection mechanism detects resistance encountered by the medical device delivery mechanism in delivering the slender medical device, it generates a simulated pressure quantity corresponding to the resistance and sends it to the robot slave controller. The robot slave controller processes the simulated pressure to obtain a first force value, and sends the first force value to the robot master controller.

5. The interventional robot force feedback system according to claim 4, wherein, The robot's slave controller processes the analog pressure to obtain a first force value, including: The robot slave controller amplifies the pressure analog quantity through an analog amplifier circuit to obtain an amplified analog quantity, and then filters the amplified analog quantity through a filter circuit to obtain a filtered analog quantity. The filtered analog signal is input to an analog-to-digital converter for analog-to-digital conversion to obtain the first force value.

6. The interventional robot force feedback system according to claim 4, wherein, The robot slave end also includes a displacement detection mechanism installed on the medical device delivery mechanism; When the slender medical device is not mounted on the medical device drive mechanism, the robot slave controller controls the medical device delivery mechanism to move, and acquires the no-load pressure value carrying a time signal sent by the force detection mechanism and several no-load displacement values ​​carrying a time signal sent by the displacement detection mechanism. Based on the several no-load displacement values, the no-load acceleration value is obtained. Based on the time signal, a preset algorithm is used to calculate the no-load acceleration value and no-load pressure value at the corresponding time to obtain the mass m of the medical device drive mechanism.

7. The interventional robot force feedback system according to claim 6, wherein, The preset algorithm includes the least squares method.

8. The interventional robot force feedback system according to claim 4, wherein, The second filtering process on the third force value to obtain the target feedback force includes: The fourth force value is obtained by applying a moving average filter to the third force value based on the following formula: Where y[i] is the filtered output; x[k] is the original input data; N is the length of the filter; and M is the number of data points on one side of the filter window. The fourth force value is refined to obtain the target feedback force.

9. The interventional robot force feedback system according to claim 8, wherein, The robot slave end also includes an elastic element installed on the medical device delivery mechanism, the elastic element being used to keep the medical device drive mechanism in contact with the force detection mechanism; the refining of the fourth force value to obtain the target feedback force includes: Subtract the pre-acquired spring preload from the fourth force value to obtain the initial feedback force, wherein the spring preload represents the force that keeps the medical device drive mechanism and the force detection mechanism in contact when the medical device delivery mechanism is not started. The initial feedback force is multiplied to obtain the target feedback force.

10. The interventional robot force feedback system according to claim 9, wherein, The multiplier processing includes amplifying or reducing the initial feedback force by a specified factor according to control requirements.

11. The interventional robot force feedback system according to claim 1, wherein, The robot main end also includes an operator controller connected to the robot main end controller, the operator controller being used to control the actuator; the step of causing the actuator to apply a target feedback force to the instrument operator based on the target feedback force includes: The robot master controller sends the target feedback force to the manipulator controller; When the operating component controller receives the target feedback force, it detects whether the touch switch on the instrument operating component is activated. When the touch switch on the instrument operating component is activated, the operating component controller controls the actuator to apply the target feedback force to the instrument operating component.

12. The interventional robot force feedback system according to claim 11, wherein, The actuator includes a motor or a brushless motor, which is driven and connected to the instrument's operating components.

13. The interventional robot force feedback system according to claim 11, wherein, The touch switch includes a capacitive sensor disposed on the instrument operating component. Before the step of activating the touch switch on the instrument operating component, the method includes: identifying whether there is a corresponding current in the gripping part of the instrument operating component through the capacitive sensor; if there is a corresponding current, determining that the touch switch on the instrument operating component is activated.

14. The interventional robot force feedback system according to claim 11, wherein, After the actuator controls the operating component controller to apply a target feedback force to the instrument operating component, the force feedback system further includes: acquiring the real-time feedback force in the direction of movement of the instrument operating component, performing closed-loop processing on the target feedback force and the real-time feedback force using a PID algorithm to acquire a corrective operating force, and the actuator controller controls the operating component controller to apply a corrective operating force to the instrument operating component, wherein the direction of the corrective operating force is opposite to the direction of movement of the instrument operating component.

15. The interventional robot force feedback system according to claim 1, wherein, The GUI is rendered on the main display screen of the robot, and the corresponding color change is generated according to the change of the force detection value.

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