CN116115351A - Master-slave force feedback system of vascular intervention robot - Google Patents
Master-slave force feedback system of vascular intervention robot Download PDFInfo
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- CN116115351A CN116115351A CN202211171801.5A CN202211171801A CN116115351A CN 116115351 A CN116115351 A CN 116115351A CN 202211171801 A CN202211171801 A CN 202211171801A CN 116115351 A CN116115351 A CN 116115351A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/37—Master-slave robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0012—Biomedical image inspection
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
- G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/25—Determination of region of interest [ROI] or a volume of interest [VOI]
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/30—Noise filtering
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/40—Scenes; Scene-specific elements in video content
- G06V20/46—Extracting features or characteristics from the video content, e.g. video fingerprints, representative shots or key frames
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20092—Interactive image processing based on input by user
- G06T2207/20104—Interactive definition of region of interest [ROI]
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30004—Biomedical image processing
- G06T2207/30101—Blood vessel; Artery; Vein; Vascular
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention relates to a master-slave force feedback system of a vascular intervention robot, which comprises a master end operating mechanism and a slave end operating mechanism, wherein the master end operating mechanism comprises a master end control box body, a first knob, a second knob, a third knob, an emergency stop button and an enabling button, wherein the first knob is used for controlling the advancing and the retreating of a guide wire, the second knob is used for controlling the rotating movement of the guide wire in a blood vessel, and the third knob is used for controlling the advancing and the retreating of a catheter; the secondary end operating mechanism comprises a camera, a secondary end control box, a guide wire or a guide pipe, a marking frame and a guide wire or guide pipe pushing device, wherein the camera is fixed on the secondary end control box, the guide wire or the guide pipe pushing device pushes the guide wire or the guide pipe through a roller, and the guide wire or the guide pipe is recognized by the camera and is calculated by a related image processing algorithm after entering the marking frame; the invention truly collects the stress conditions of the guide wire and the guide tube in the blood vessel, maps the stress conditions to the main end operating mechanism, and reduces the in-situ feeling of doctors during operation, thereby reducing the operation risk.
Description
[ technical field ]
The invention belongs to the field of medical instruments, and particularly relates to a master-slave force feedback system of a vascular intervention robot for vascular minimally invasive intervention operation.
[ background Art ]
In recent years, with the improvement of living standard, cardiovascular diseases have become one of the diseases with the highest global mortality. Traditional cardiovascular interventional procedures use medical imaging to obtain the position of the guide wire and catheter in the blood vessel, require a doctor to be exposed to radiation for a long time, and require a thick lead shielding garment to be worn, which is inconvenient to move. The radiation quantity of the vascular intervention operation doctor is five times of that of the common DR equipment operation technician, and the long-term and long-term radiation can greatly improve the probability of cancer of the intervention operation doctor.
With the development of artificial intelligence technology, robotics are widely used in the medical field. The high-precision robot technology is applied to cardiovascular interventional operation, a master-slave operation mode is adopted, a doctor can remotely control the vascular interventional robot to complete the interventional operation by operating the master-end equipment, and the radiation problem of the doctor during the interventional operation can be well solved. Therefore, the master-slave vascular intervention robot avoids a doctor wearing a thick lead shielding suit during operation, reduces labor intensity during operation, and can help the doctor to finish remote operation in a trans-regional mode by a remote operation mode, so that people in remote areas can share medical resources.
In the traditional interventional operation, a doctor holds a guide wire and a catheter to finish pushing and twisting operations, and the stress condition of the guide wire or the catheter in a blood vessel is sensed by hands. The existing vascular interventional operation robots on the market at present are based on the fact that a large number of force sensors are installed in slave end equipment to achieve force feedback in blood vessels, so that cost is increased, and feedback force is conducted to the sensors through mechanical structures, accuracy is low, and real hand feeling of doctors in operation is difficult to restore.
[ summary of the invention ]
The invention aims to solve the defects and provide a master-slave force feedback system of a vascular interventional robot, which is used for truly collecting the stress conditions of a guide wire and a catheter in a blood vessel and mapping the stress conditions to a master-end operating mechanism to restore the in-situ feeling of a doctor during operation, thereby reducing the operation risk and improving the operation precision.
The main force feedback system of the vascular intervention robot comprises a main end operating mechanism and a slave end operating mechanism, wherein the main end operating mechanism comprises a main end control box body 1, a first knob 2, a second knob 3, a third knob 4, an emergency stop button 5 and an enabling button 6 which are fixed on the main end control box body 1, the first knob 2 is used for controlling the advancing and retreating of a guide wire, the second knob 3 is used for controlling the rotating movement of the guide wire in a blood vessel, the third knob 4 is used for controlling the advancing and retreating of a catheter, and the first knob 2 and the third knob 4 are connected with the force feedback mechanism in the main end control box body 1; the secondary end operating mechanism comprises a camera 7, a secondary end control box 8, a guide wire or catheter 9, a marking frame 10 and a guide wire or catheter pushing device 11, wherein the camera 7 is fixed on the secondary end control box 8, the guide wire or catheter pushing device 11 pushes the guide wire or catheter 9 through rollers, after the guide wire or catheter 9 enters the marking frame 10, the guide wire or catheter 9 is recognized by the camera 7 and is subjected to relevant image processing algorithm calculation, the bending degree of the guide wire or catheter 9 obtained by the image processing algorithm is mapped with the stress condition of the guide wire or catheter 9 in a blood vessel, and the mapped force is fed back to the main end control box, and the force feedback mechanism in the main end control box applies corresponding knob force on the guide wire advancing and retreating control knob one 2 and the guide catheter advancing and retreating control knob three 4.
Further, the first knob 2, the second knob 3 and the third knob 4 are respectively and electrically connected with the enabling button 6 and are activated when the enabling button 6 is pressed, otherwise the first knob 2, the second knob 3 and the third knob 4 do not respond.
Further, the first knob 2 rotates anticlockwise to control the guide wire to advance, and the second knob rotates clockwise to control the guide wire to retreat; the third knob 4 controls the guide tube to advance when rotating anticlockwise and controls the guide tube to retreat when rotating clockwise; and the second knob 3 rotates clockwise to control the guide wire to move clockwise, and rotates anticlockwise to control the guide wire to move anticlockwise.
Further, the image processing algorithm processes a single frame picture of the video stream acquired from the camera 7 to generate a binary mask map of the guide wire or catheter 9, and calculates the curvature of the guide wire or catheter 9 in the marker frame 10.
Further, the guide wire or catheter pushing device 11 is composed of a driving wheel and a driven wheel, and the driving wheel and the driven wheel are fixed on the slave control box 8 and complete the advancing and retreating movements of the guide wire or catheter 9 in the blood vessel.
Further, the marking frame 10 is fixed at the front end of the slave control box 8, the edge of the marking frame 10 is yellow so as to be recognized by the camera 7, and a U-shaped groove is arranged in the marking frame 10 and is used for facilitating the movement of the guide wire or catheter 9 in the marking frame 10.
Further, the image processing algorithm comprises the following steps:
1) When the guide wire or the guide pipe 9 is stressed in a blood vessel, acquiring real-time video of the guide wire or the guide pipe 9 in the marking frame 10 by using the camera 7, operating on the real-time video data, and extracting single-frame image data;
2) Obtaining a binary mask map of the candidate guide wire or catheter 9 according to the marking frame 10;
3) Extracting to obtain a candidate region where the guide wire or the catheter 9 is positioned;
4) Detecting a guide wire or a guide pipe 9 in a target area, removing redundant noise in the area, and marking a communication area in the area;
5) Counting the number of pixel points of each communication area, and calculating the area of each communication area;
6) Judging whether the number of the pixel points of the communication area is smaller than a set threshold value or not;
7) If the number of the pixels in the communication area is smaller than the set threshold value, the pixels are discarded as noise;
8) If the detected data is greater than the set threshold value, the communication area is regarded as the identified guide wire or catheter 9, and the detected guide wire or catheter data is added into a data memory for visualization;
9) Finally, the bending height of the guide wire or catheter 9 is calculated and obtained from the obtained binary mask map of the guide wire or catheter 9.
Further, the force feedback step is: after the bending degree of the guide wire or the guide pipe 9 is obtained, the force born by the guide wire or the guide pipe 9 is fed back to the force feedback mechanism in the main end control box body 1, and the force feedback mechanism converts the fed back force into corresponding torsion by combining a motor with a mechanical structure and outputs the corresponding torsion to the guide wire advancing and retreating control knob I2 or the guide pipe advancing and retreating control knob III 4.
Compared with the prior art, the invention provides a master-slave force feedback system applied to a vascular interventional operation robot, which utilizes a machine vision technology to truly collect stress conditions of a guide wire and a catheter in a blood vessel and map the stress conditions to a master-end operation mechanism to restore the in-situ feeling of a doctor during operation, thereby reducing operation risk and improving operation precision; the force feedback system can accurately feed back the stress conditions in the guide wire and the guide pipe to the main end operating mechanism without using complex sensing equipment, reduces the hand feeling of pushing the guide wire and the guide pipe by doctors, improves the precision of the operation and reduces the operation cost.
[ description of the drawings ]
FIG. 1 is a schematic diagram of a main control box of a vascular interventional robot according to the present invention;
FIG. 2 is a schematic diagram of a slave-end control mechanism of the vascular interventional robot of the present invention;
FIG. 3 is a top view of the slave end control mechanism of the vascular intervention robot of the present invention;
FIG. 4 is a schematic view of the force-bearing bending of a guidewire of a vascular interventional robot of the present invention;
FIG. 5 is a schematic view of a guidewire or catheter candidate region of the present invention;
FIG. 6 is a flowchart of a guidewire or catheter bending recognition algorithm in accordance with the present invention;
FIG. 7 is a flow chart of human feedback of a vascular interventional robot in accordance with the present invention;
in the figure: 1. the device comprises a main end control box body 2, a first knob 3, a second knob 4, a third knob 5, an emergency stop button 6, an enabling button 7, a camera 8, a slave end control box 9, a guide wire or catheter 10, a marking frame 11 and a guide wire or catheter pushing device.
Detailed description of the preferred embodiments
The invention provides a master-slave force feedback system applied to a vascular interventional operation robot, which comprises a master end operating mechanism and a slave end operating mechanism, wherein the master end operating mechanism comprises a master end control box body 1, a first knob 2, a second knob 3, a third knob 4, a scram button 5 and an enabling button 6 which are fixed on the master end control box body 1, wherein the first knob 2, the second knob 3 and the third knob 4 are three knobs capable of realizing rotation at any angle and are used for realizing guide wire advancing and retreating control, guide wire rotating control and guide wire advancing and retreating control, in particular, the first knob 2 is used for controlling guide wire advancing and retreating, the second knob 3 is used for controlling guide wire rotating movement in a blood vessel, the third knob 4 is used for controlling guide wire advancing and retreating, and the first knob 2 and the third knob 4 are connected with a force feedback mechanism in the master end control box body 1; the slave end operating mechanism comprises a camera 7, a slave end control box 8, a guide wire or catheter 9, a marking frame 10 and a guide wire or catheter pushing device 11, wherein the camera 7 is fixed on the slave end control box 8, the guide wire or catheter pushing device 11 pushes the guide wire or catheter 9 through a roller, and after the guide wire or catheter 9 enters the marking frame 10, the guide wire or catheter is recognized by the camera 7 and is calculated by a related image processing algorithm; the image processing algorithm processes a single frame picture of the video stream acquired from the camera 7 to generate a binary mask map of the guide wire or catheter 9, and calculates the bending degree of the guide wire or catheter 9 in the marking frame 10; the bending of the guide wire or the guide pipe 9 obtained by the image processing algorithm is processed, the bending is mapped with the stress condition of the guide wire or the guide pipe 9 in a blood vessel, the mapped force is fed back to the main end control box, and the force feedback mechanism in the main end control box applies corresponding knob force on the guide wire advancing and retreating control knob I2 and the guide pipe advancing and retreating control knob III 4.
The first knob 2, the second knob 3 and the third knob 4 are respectively and electrically connected with the enabling button 6 and are activated when the enabling button 6 is pressed down, otherwise, the first knob 2, the second knob 3 and the third knob 4 do not respond; the first knob 2 rotates anticlockwise to control the guide wire to advance, and the second knob rotates clockwise to control the guide wire to retreat; the third knob 4 controls the guide tube to advance when rotating anticlockwise and controls the guide tube to retreat when rotating clockwise; the second knob 3 rotates clockwise to control the guide wire to move clockwise, and rotates anticlockwise to control the guide wire to move anticlockwise. The guide wire or catheter pushing device 11 consists of a driving wheel and a driven wheel, wherein the driving wheel and the driven wheel are fixed on the slave control box 8, and the advancing and retreating movement of the guide wire or catheter 9 in the blood vessel is completed. The marking frame 10 is fixed at the front end of the slave end control box 8, the edge of the marking frame 10 is yellow so as to be recognized by the camera 7, and a U-shaped groove is arranged in the marking frame 10 and is used for facilitating the movement of the guide wire or the catheter 9 in the marking frame 10.
The invention is further described below with reference to the accompanying drawings and specific examples:
referring to fig. 1, a schematic diagram of a main control box of a vascular interventional robot according to an embodiment of the present invention is shown, and a doctor first presses an enable button 6 during operation. When the button 6 is pressed, the first knob 2, the second knob 3 and the third knob 4 are activated, otherwise the first knob 2, the second knob 3 and the third knob 4 do not respond. The operator controls the advancing and retreating of the guide wire by controlling the first guide wire advancing and retreating control knob 2, and the anticlockwise rotation is the advancing and the clockwise rotation is the retreating. Similarly, the catheter advancing and retracting control knob three 4 is controlled to control the catheter advancing and retracting, and the counterclockwise rotation is the advancing and the clockwise rotation is the retracting. The first knob 2 and the third knob 4 are connected with a force feedback mechanism in the main end control box body 1. The second knob 3 controls the rotation movement of the guide wire in the blood vessel, the clockwise rotation knob controls the clockwise movement of the guide wire, and the anticlockwise rotation knob controls the anticlockwise movement of the guide wire. The button 5 is a scram button, when an emergency is met, the button 5 is shot down, the slave end stops moving, the master-slave control is cut off, and the guide wire and the catheter can be manually pulled out.
As shown in fig. 2, which is a schematic diagram of a slave-end control mechanism of the invention, the principle of a pushing mechanism of a guide wire and a catheter is the same, and the pushing mechanism of the guide wire and the catheter is schematically shown by the same principle diagram. The guide wire or catheter pushing device 11 consists of a driving wheel and a driven wheel, is fixed on the slave control box 8, and completes the advancing and retreating movement of the guide wire or catheter in the blood vessel. The marking frame 10 is fixed at the front end of the slave end, the edge of the frame is yellow, the camera 7 can conveniently recognize the marking frame, and a U-shaped groove is arranged in the frame, so that a guide wire or a catheter can conveniently move in the frame.
The invention obtains the image of the guide wire or the guide tube in the marking frame 10 through the camera 7, and calculates the bending degree of the guide wire or the guide tube in the marking frame 10 by matching with an image recognition algorithm, thereby calculating the force applied by the guide wire or the guide tube in the blood vessel. From the top view of the end mechanism, as shown in fig. 3, the bending of the guide wire or catheter in the marker frame after being forced in the blood vessel is schematically shown in fig. 4.
As shown in fig. 6, in a specific flowchart of the image recognition algorithm of the present invention for detecting the bending degree of a guide wire or a catheter, when the guide wire or the catheter is stressed in a blood vessel, firstly, a camera 7 is used to acquire a real-time video of the guide wire or the catheter in a marking frame 10, the real-time video data is operated, a single frame image is extracted (step 1), and a binary mask map mask of a candidate guide wire or catheter is obtained according to the marking frame 10 (step 2); further, extracting to obtain a candidate region where the guide wire or the catheter is positioned (step 3); the candidate region is the region in the marking frame 10, and the schematic diagram of the guide wire or the catheter in the candidate region is shown in fig. 5; further, detecting a guide wire or a catheter in the target area, removing redundant noise in the area, marking the communication areas in the area (step 4), and calculating the area of each communication area (step 5); further, if the number of pixels in the connected region is less than the empirically determined threshold, the pixel is discarded as noise (step 7); if greater than the set threshold, then treating the communication area as an identified guidewire or catheter; further, the detected guidewire or catheter data is added to the data memory (step 8) for visualization; finally, the bending height of the guide wire or the guide tube is calculated and obtained according to the obtained binary mask map of the guide wire or the guide tube (step 9).
It should be noted that, the bending height of the guide wire or the guide tube is mapped with the stress condition of the guide wire or the guide tube, and the bending obtained by using the image recognition algorithm can directly reflect the stress of the guide wire or the guide tube in the blood vessel. On the other hand, after obtaining the crookedness of the guide wire or the catheter, the force born by the guide wire or the catheter is fed back to the main end force feedback mechanism, the main end force feedback mechanism is arranged in the main end control box, and the main end force feedback mechanism converts the fed back force into corresponding torsion by combining a mechanical structure mode through a motor and outputs the corresponding torsion to the guide wire advancing and retreating control knob one 2 or the catheter advancing and retreating control knob three 4. The force feedback flow between the slave and master is shown in fig. 7.
In summary, in the force feedback system described in this embodiment, the stress condition of the guide wire or the catheter in the blood vessel is accurately fed back to the main end operating mechanism, and the doctor can feel the real stress condition of the guide wire and the catheter in the blood vessel by operating the first knob 2 and the third knob 4 of the main end control mechanism, so that the doctor's feeling of presence is increased, the operation risk is reduced, and the accuracy of the vascular intervention operation is improved.
The present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications that do not depart from the spirit and principles of the invention are intended to be equivalent substitutes and are included in the scope of the invention.
Claims (8)
1. A master-slave force feedback system of a vascular intervention robot is characterized in that: the device comprises a main end operating mechanism and a slave end operating mechanism, wherein the main end operating mechanism comprises a main end control box body (1) and a first knob (2), a second knob (3), a third knob (4), a scram button (5) and an enabling button (6) which are fixed on the main end control box body (1), the first knob (2) is used for controlling the advancing and retreating of a guide wire, the second knob (3) is used for controlling the rotating motion of the guide wire in a blood vessel, the third knob (4) is used for controlling the advancing and retreating of a catheter, and the first knob (2), the third knob (4) and a force feedback mechanism in the main end control box body (1) are connected; the secondary end operating mechanism comprises a camera (7), a secondary end control box (8), a guide wire or a guide pipe (9), a marking frame (10) and a guide wire or guide pipe pushing device (11), wherein the camera (7) is fixed on the secondary end control box (8), the guide wire or the guide pipe pushing device (11) pushes the guide wire or the guide pipe (9) through a roller, after the guide wire or the guide pipe (9) enters the marking frame (10), the guide wire or the guide pipe is identified by the camera (7) and is subjected to relevant image processing algorithm calculation, the bending degree of the guide wire or the guide pipe (9) obtained by the image processing algorithm is mapped with the stress condition of the guide wire or the guide pipe (9) in a blood vessel, and then the mapped force is fed back to the main end control box, and the force feedback mechanism in the main end control box applies corresponding knob forces on a guide wire advancing control knob one (2) and a guide pipe advancing control knob three (4).
2. The vascular interventional robot master-slave force feedback system of claim 1, wherein: the first knob (2), the second knob (3) and the third knob (4) are respectively and electrically connected with the enabling button (6) and are activated when the enabling button (6) is pressed down, otherwise, the first knob (2), the second knob (3) and the third knob (4) do not respond.
3. The vascular interventional robot master-slave force feedback system of claim 1, wherein: the first knob (2) rotates anticlockwise to control the guide wire to advance, and rotates clockwise to control the guide wire to retreat; the knob III (4) controls the guide tube to advance when rotating anticlockwise and controls the guide tube to retreat when rotating clockwise; and the second knob (3) rotates clockwise to control the guide wire to move clockwise, and rotates anticlockwise to control the guide wire to move anticlockwise.
4. The vascular interventional robot master-slave force feedback system of claim 1, wherein: the image processing algorithm processes a single frame picture of a video stream acquired from the camera (7), generates a binary mask map of the guide wire or catheter (9), and calculates the bending degree of the guide wire or catheter (9) in the marking frame (10).
5. The vascular interventional robot master-slave force feedback system of claim 1, wherein: the guide wire or catheter pushing device (11) consists of a driving wheel and a driven wheel, wherein the driving wheel and the driven wheel are fixed on the slave control box (8) and complete the advancing and retreating movements of the guide wire or catheter (9) in the blood vessel.
6. The vascular interventional robot master-slave force feedback system of claim 1, wherein: the marking frame (10) is fixed at the front end of the slave end control box (8), the edge of the marking frame (10) is yellow so as to be recognized by the camera (7), a U-shaped groove is formed in the marking frame (10), and the U-shaped groove is used for facilitating movement of a guide wire or a guide pipe (9) in the marking frame (10).
7. The vascular interventional robot master-slave force feedback system of claim 1, wherein the image processing algorithm comprises the steps of:
1) When the guide wire or the guide pipe (9) is stressed in a blood vessel, acquiring real-time video of the guide wire or the guide pipe (9) in the marking frame (10) by using the camera (7), operating on the real-time video data, and extracting single-frame image data;
2) Obtaining a binary mask map of the candidate guide wire or catheter (9) according to the marking frame (10);
3) Extracting to obtain a candidate region where the guide wire or the catheter (9) is positioned;
4) Detecting a guide wire or a guide pipe (9) in the target area, removing redundant noise in the area, and marking a communication area in the area;
5) Counting the number of pixel points of each communication area, and calculating the area of each communication area;
6) Judging whether the number of the pixel points of the communication area is smaller than a set threshold value or not;
7) If the number of the pixels in the communication area is smaller than the set threshold value, the pixels are discarded as noise;
8) If the detected data is greater than the set threshold value, the communication area is regarded as the identified guide wire or catheter (9), and the detected guide wire or catheter data is added into a data memory for visualization;
9) Finally, the bending height of the guide wire or the guide tube (9) is calculated and obtained according to the obtained binary mask map of the guide wire or the guide tube (9).
8. The vascular interventional robot master-slave force feedback system of claim 1, wherein the force feedback step is: after the bending degree of the guide wire or the guide pipe (9) is obtained, the force born by the guide wire or the guide pipe (9) is fed back to the force feedback mechanism in the main end control box body (1), and the force feedback mechanism converts the fed back force into corresponding torsion by combining a mechanical structure mode through a motor and outputs the corresponding torsion to the guide wire advancing and retreating control knob I (2) or the guide pipe advancing and retreating control knob III (4).
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| CN115005999A (en) * | 2022-06-13 | 2022-09-06 | 上海睿触科技有限公司 | Main hand force feedback mechanism of blood vessel interventional robot |
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