CN111514436A - Method and system for controlling movement of catheter - Google Patents

Method and system for controlling movement of catheter Download PDF

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Publication number
CN111514436A
CN111514436A CN202010346771.1A CN202010346771A CN111514436A CN 111514436 A CN111514436 A CN 111514436A CN 202010346771 A CN202010346771 A CN 202010346771A CN 111514436 A CN111514436 A CN 111514436A
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China
Prior art keywords
catheter
control
movement
slave
controlling
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CN202010346771.1A
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Chinese (zh)
Inventor
陈越猛
张煊浩
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Shaoxing Mayo Heart Magnetism Medical Technology Co ltd
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Shaoxing Mayo Heart Magnetism Medical Technology Co ltd
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Priority to CN202010346771.1A priority Critical patent/CN111514436A/en
Publication of CN111514436A publication Critical patent/CN111514436A/en
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M2025/0177—Introducing, guiding, advancing, emplacing or holding catheters having external means for receiving guide wires, wires or stiffening members, e.g. loops, clamps or lateral tubes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M2205/00—General characteristics of the apparatus
    • A61M2205/33—Controlling, regulating or measuring
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M2205/00—General characteristics of the apparatus
    • A61M2205/50—General characteristics of the apparatus with microprocessors or computers
    • A61M2205/502—User interfaces, e.g. screens or keyboards
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M2205/00—General characteristics of the apparatus
    • A61M2205/50—General characteristics of the apparatus with microprocessors or computers
    • A61M2205/502—User interfaces, e.g. screens or keyboards
    • A61M2205/505—Touch-screens; Virtual keyboard or keypads; Virtual buttons; Soft keys; Mouse touches

Abstract

The invention provides a method and a system for controlling catheter movement, which are applied to the movement control of a catheter in the lesion site repair process. The master control system can send a control instruction to the slave control system, so that the slave control system can control the catheter to move according to the control instruction, and the problem of poor accuracy caused by manual control of the catheter movement in the related art is effectively solved. In addition, in the process of controlling the movement of the catheter, one or more pieces of moving position point information on the moving path of the catheter can be recorded and stored, and when the catheter needs to be controlled to return to a certain position of the moving path, the catheter can efficiently and accurately return to the corresponding position according to the recorded and stored moving position point information, so that the convenience and the accuracy of catheter control are effectively improved.

Description

Method and system for controlling movement of catheter
Technical Field
The invention relates to the technical field of medical equipment, in particular to a method and a system for controlling catheter movement.
Background
In recent years, a catheter has been used to perform a surgical operation on a lesion site with remarkable effect. In the related art, the related operation is performed by manually manipulating a catheter. However, since the precision of manual manipulation is poor, it is difficult for manual manipulation to accurately reach the site to be operated, the operation efficiency is low, and there is a risk of damaging internal organs. In addition, in the process of operation, the patient cannot return to the previous operation point accurately and efficiently, and the operation is inconvenient in the treatment process.
Disclosure of Invention
The invention provides a catheter movement control method and system, aiming at solving the technical problem of improving the convenience and accuracy of catheter movement control.
The method for controlling the movement of the catheter is applied to the movement control of the catheter in the lesion site repair process, the master control operating system is in communication connection with the slave control system, the slave control system is connected with the control end of the catheter, and the method executes a process on the master control operating system side, wherein the process comprises the following steps:
sending a control instruction to a slave end control system to enable the slave end control system to control the catheter to move correspondingly based on the control instruction;
and storing at least one piece of moving position point information on the moving path of the catheter in the process of controlling the movement of the catheter, so that the main control operating system can control the catheter to return to a corresponding position according to the stored moving position point information when needed.
According to the control method for the movement of the catheter, disclosed by the embodiment of the invention, the master control system can send the control instruction to the slave control system, so that the slave control system can control the movement of the catheter according to the control instruction, and the problem of poor accuracy caused by manual control of the movement of the catheter in the related art is effectively solved. In addition, in the process of controlling the movement of the catheter, one or more pieces of moving position point information on the moving path of the catheter can be recorded and stored, and when the catheter needs to be controlled to return to a certain position of the moving path, the catheter can efficiently and accurately return to the corresponding position according to the recorded and stored moving position point information, so that the convenience and the accuracy of catheter control are effectively improved.
According to some embodiments of the invention, the method further comprises:
after storing a plurality of pieces of the moving position point information, determining a two-dimensional length and/or a three-dimensional area of the lesion site based on the stored moving position point information.
In some embodiments of the invention, the mobile location point information comprises: the degree of freedom information of the catheter and the lesion site repair parameter information;
the control instructions include: an axial movement control command, a circumferential rotation control command, and a bending control command.
According to some embodiments of the invention, the method further comprises:
displaying the position state of the catheter in the process of controlling the movement of the catheter.
The method for controlling the movement of the catheter is applied to the movement control of the catheter in the lesion site repair process, the master control operating system is in communication connection with the slave control system, the slave control system is connected with the control end of the catheter, and the method executes a process on the slave control system side, wherein the process comprises the following steps:
receiving a control instruction sent by a master control operating system, and controlling the catheter to move correspondingly based on the control instruction;
the information of at least one moving position point of the catheter on the moving path is stored in the main control operating system, and the main control operating system is used for controlling the catheter to return to a corresponding position according to the stored information of the moving position point.
According to the control method for the movement of the catheter, disclosed by the embodiment of the invention, the slave-end control system can receive the control instruction sent by the main control system so as to control the movement of the catheter according to the control instruction, so that the problem of poor accuracy caused by manual control of the movement of the catheter in the related art is effectively solved. In addition, in the process of controlling the movement of the catheter, one or more pieces of moving position point information on the moving path of the catheter can be recorded and stored, and when the catheter needs to be controlled to return to a certain position of the moving path, the catheter can efficiently and accurately return to the corresponding position according to the recorded and stored moving position point information, so that the convenience and the accuracy of catheter control are effectively improved.
According to some embodiments of the invention, the mobile location point information comprises: the degree of freedom information of the catheter and the lesion site repair parameter information;
the control instructions include: an axial movement control command, a circumferential rotation control command, and a bending control command.
In some embodiments of the invention, the method further comprises:
and in the process of controlling the movement of the catheter, displaying the position state of the catheter by the master control operation system.
According to the master control operation system of the embodiment of the invention, the master control operation system is applied to the movement control of a catheter in the lesion site repair process, the master control operation system is in communication connection with the slave control system, the slave control system is connected with the control end of the catheter, and the master control operation system comprises:
the operation desk is used for receiving an operation instruction and converting the operation instruction into a control instruction;
the sending module is used for sending the control instruction to a slave end control system so that the slave end control system controls the catheter to move correspondingly based on the control instruction;
the memory module is used for storing at least one piece of moving position point information on the moving path of the catheter in the process of controlling the movement of the catheter, so that the main control operating system can control the catheter to return to a corresponding position according to the stored moving position point information when needed.
According to the master control operating system provided by the embodiment of the invention, the operating console can receive the operating instruction and convert the operating instruction into the control instruction, and the sending module can send the control instruction to the slave control system, so that the slave control system can control the movement of the catheter according to the control instruction, and the problem of poor accuracy caused by manual control of the movement of the catheter in the related art is effectively solved. In addition, in the process of controlling the movement of the catheter, the memory module can record and store one or more pieces of moving position point information on the moving path of the catheter, and when the catheter needs to be controlled to return to a certain position of the moving path, the moving position point information recorded and stored by the memory module can be efficiently and accurately returned to the corresponding position, so that the convenience and the accuracy of catheter control are effectively improved.
According to some embodiments of the invention, the master operating system further comprises:
and the calculation module is used for determining the two-dimensional length and/or the three-dimensional area of the focus part based on the information of the moving position points after the information of the plurality of moving position points is stored.
In some embodiments of the invention, the mobile location point information comprises: degree of freedom information of the catheter and repair parameter information of the lesion site;
the console includes:
the movement control assembly is used for receiving an operation instruction for controlling the axial movement of the catheter and converting the operation instruction into an axial movement control instruction;
the rotation control assembly is used for receiving an operation instruction for controlling the circumferential rotation of the catheter and converting the operation instruction into a circumferential rotation control instruction;
and the bending control assembly is used for receiving a control command for controlling the bending of the catheter and converting the control command into a bending control command.
According to some embodiments of the invention, the master operating platform further comprises:
and the display module is used for displaying the position state of the catheter in the process of controlling the movement of the catheter.
According to the embodiment of the invention, the slave control system is applied to the movement control of a catheter in a lesion site repair process, the master control operation system is connected with the slave control system in a communication manner, the slave control system is connected with the control end of the catheter, and the slave control system comprises:
the receiving module is used for receiving a control instruction sent by the master control operating system;
the driving module is used for controlling the catheter to correspondingly move based on the control instruction;
the information of at least one moving position point of the catheter on the moving path is stored in the main control operating system, and the main control operating system is used for controlling the catheter to return to a corresponding position according to the stored information of the moving position point.
According to the slave-end control system provided by the embodiment of the invention, the control instruction sent by the master control system can be received so as to control the movement of the catheter according to the control instruction, and the problem of poor accuracy caused by manual control of the movement of the catheter in the related art is effectively solved. In addition, in the process of controlling the movement of the catheter, one or more pieces of moving position point information on the moving path of the catheter can be stored in the main control operation system, and when the catheter needs to be controlled to return to a certain position of the moving path, the catheter can be efficiently and accurately returned to the corresponding position according to the recorded and stored moving position point information, so that the convenience and the accuracy of catheter control are effectively improved.
According to some embodiments of the invention, the mobile location point information comprises: the degree of freedom information of the catheter and the repair parameter information of the lesion part;
the driving module includes:
the first driving motor is used for driving the catheter to axially move based on an axial movement control command;
a second drive motor for driving the catheter to rotate circumferentially based on a circumferential rotation control command;
and the third driving motor is used for driving the catheter to bend based on the bending control command.
A control system for catheter movement according to an embodiment of the present invention includes: a master operating system as described above and a slave control system as described above.
According to the control system for the movement of the catheter, disclosed by the embodiment of the invention, the master control system can send the control instruction to the slave control system, so that the slave control system can control the movement of the catheter according to the control instruction, and the problem of poor accuracy caused by manual control of the movement of the catheter in the related art is effectively solved. In addition, in the process of controlling the movement of the catheter, the master control operating system can record and store one or more pieces of moving position point information on the moving path of the catheter, and when the catheter needs to be controlled to return to a certain position of the moving path, the catheter can efficiently and accurately return to the corresponding position according to the recorded and stored moving position point information, so that the convenience and the accuracy of catheter control are effectively improved.
Drawings
FIG. 1 is a schematic diagram of a control system for catheter movement according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the components of a catheter according to an embodiment of the present invention;
FIG. 3 is a block diagram of a host operating system according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a display module of a master operating system according to an embodiment of the present invention.
Detailed Description
To further explain the technical means and effects of the present invention adopted to achieve the intended purpose, the present invention will be described in detail with reference to the accompanying drawings and preferred embodiments.
The control method for the movement of the catheter can be applied to the movement control of the catheter in the lesion site repairing process.
As shown in fig. 1, the master operating system (e.g. the operating system of the surgeon operating end shown in fig. 1) is communicatively connected with the slave control system (e.g. the operating system of the patient operating end shown in fig. 1), and it should be noted that the "master operating system is communicatively connected with the slave control system" here can be understood as: the master control operating system and the slave control system can perform information interaction, and the master control operating system and the slave control system can be in wired communication connection or wireless communication connection. For example, the master control operating system and the slave control system can be in communication connection through a local area network or a wide area network to perform information interaction during the operation.
The slave end control system is connected with the control end of the catheter. It should be noted that the control end of the catheter is understood to be the end of the catheter that is outside the patient's body and can be used to control the movement of the catheter. As shown in connection with fig. 2, the catheter may include: the catheter comprises a catheter head end radian-adjustable end, a catheter sheath tube part and a catheter handle control part. The radian-adjustable end of the head end of the catheter can be used for adjusting the radian of the front end of the catheter, and the sheath part of the catheter penetrates into a corresponding organ in a patient body from a blood vessel; the catheter handle portion includes an inner sleeve and an outer sleeve that can be used to control movement, rotation and arc adjustment of the catheter. The slave end control system may be coupled to the catheter handle control portion for controlling the corresponding movement of the catheter. In pre-operative preparation, the catheter may be first passed through a blood vessel into the patient and the catheter handle portion then connected to the slave end control system.
The control method for the movement of the catheter executes the procedures on the side of the main control operation system, and comprises the following steps:
and sending a control command to the slave-end control system so that the slave-end control system controls the catheter to move correspondingly based on the control command. For example, an operator (e.g., a doctor or an operator) can send a control command to the slave control system through the master control operating system, so that the slave control system controls the catheter to move correspondingly according to the control command.
And in the process of controlling the movement of the catheter, storing at least one piece of moving position point information on the moving path of the catheter so that the main control operating system can control the catheter to return to a corresponding position according to the stored moving position point information when needed.
That is, during the control of catheter movement, the master operating system may record and store one or more movement location point information on the catheter movement path. When a certain position on the moving path of the return value of the catheter needs to be controlled, the catheter can be conveniently and accurately controlled to return to the corresponding position by recording the stored information of the moving position point. Therefore, the convenience and accuracy of the catheter movement control are improved.
According to the control method for the movement of the catheter, disclosed by the embodiment of the invention, the master control system can send the control instruction to the slave control system, so that the slave control system can control the movement of the catheter according to the control instruction, and the problem of poor accuracy caused by manual control of the movement of the catheter in the related art is effectively solved. In addition, in the process of controlling the movement of the catheter, one or more pieces of moving position point information on the moving path of the catheter can be recorded and stored, and when the catheter needs to be controlled to return to a certain position of the moving path, the catheter can efficiently and accurately return to the corresponding position according to the recorded and stored moving position point information, so that the convenience and the accuracy of catheter control are effectively improved.
According to some embodiments of the invention, the method further comprises: after storing the plurality of pieces of moving position point information, a two-dimensional length and/or a three-dimensional area of the lesion site is determined based on the stored moving position point information. That is, the two-dimensional length of the lesion site may be determined based on the stored moving position point information; the three-dimensional area of the focus part can be determined based on the stored information of the moving position point; the two-dimensional length and the three-dimensional area of the lesion site may also be determined based on the stored moving location point information.
It should be noted that the stored moving position point information may include coordinate information of the moving position point. Therefore, by recording and storing the coordinate information corresponding to the two moving position points, the distance between the two moving position points can be calculated through the coordinate information, and the two-dimensional length of the corresponding focus part can be obtained. When the recorded and stored moving position point information is three or more, the area of the graph after the connection of the plurality of moving position points can be calculated through the coordinate information of the corresponding moving position points, so that the three-dimensional area of the corresponding focus part can be obtained.
In some embodiments of the invention, the mobile location point information comprises: information of the degree of freedom of the catheter.
For example, at any one of the moving position points (i), the physician or surgeon may record 3 degrees of freedom information p (i) = { a (i), b (i), c (i) } for the current catheter. Wherein A (i) is the axial position, B (i) is the circumferential angle, and C (i) is the arc of the tip catheter.
Between any two point positions, the doctor or the operator can measure the difference between 3 degrees of freedom, resulting in a vector distance of 3 degrees of freedom, i.e.: delta-P = {Delta-A，Delta-B，Delta-C, calculating the length of the surgical wound. Wherein Delta-A is the difference in axial position, Delta-A = a (i +1) -a (i), the unit may be in "mm"; delta-B is the difference of the circumferential angle, Delta-B = B (i +1) -B (i), the units may be in "degrees"; delta-C is the arc of change of the tip of the catheter, Delta-C = C (i +1) -C (i), the unit may be "degrees". Thus, by calculating Delta-P may obtain the distance between two shifted location points, and thus the two-dimensional length of the lesion site. When the number of the recorded and stored moving position point information is three or more, the method for calculating and determining the three-dimensional area of the lesion site is similar to the method for calculating the two-dimensional length, and the description is omitted here.
The mobile location point information may further include: and (4) focal part repair parameter information. For example, the relevant operation parameters such as temperature and fluid flow used in the operation and the effect parameters after the operation can be recorded and stored at the corresponding mobile position point, so that the operator can analyze and judge the operation effect conveniently.
In some embodiments of the invention, the control instructions may include: an axial movement control command, a circumferential rotation control command, and a bending control command. It should be noted that the axial movement control command may be used to control the movement of the catheter in the axial direction, for example, the axial movement control command may control the axial movement of the catheter by 0.1 mm each time; the circumferential rotation control command can be used for controlling circumferential rotation of the catheter, for example, the circumferential rotation control command can control circumferential rotation of the catheter by 0.1 degree every time; the bend control commands may be used to control the bending of the catheter, such as a 0.1 degree bend arc at the front of the catheter per bend control command.
According to some embodiments of the invention, the method further comprises: during the control of the movement of the catheter, the position state of the catheter is displayed. Therefore, the operator can conveniently observe the position condition of the catheter, so that the movement of the catheter can be controlled conveniently.
The flow executed by the control method of the catheter movement on the slave operation system side according to the embodiment of the invention comprises the following steps:
and receiving a control instruction sent by the main control operating system, and controlling the catheter to move correspondingly based on the control instruction.
The information of at least one moving position point of the catheter on the moving path is stored in the main control operation system, and the main control operation system is used for controlling the catheter to return to the corresponding position according to the stored information of the moving position point.
That is, during the control of catheter movement, the master operating system may record and store one or more movement location point information on the catheter movement path. When a certain position on the moving path of the return value of the catheter needs to be controlled, the catheter can be conveniently and accurately controlled to return to the corresponding position by recording the stored information of the moving position point. Therefore, the convenience and accuracy of the catheter movement control are improved.
According to the control method for the movement of the catheter, disclosed by the embodiment of the invention, the slave-end control system can receive the control instruction sent by the main control system so as to control the movement of the catheter according to the control instruction, so that the problem of poor accuracy caused by manual control of the movement of the catheter in the related art is effectively solved. In addition, in the process of controlling the movement of the catheter, one or more pieces of moving position point information on the moving path of the catheter can be recorded and stored, and when the catheter needs to be controlled to return to a certain position of the moving path, the catheter can efficiently and accurately return to the corresponding position according to the recorded and stored moving position point information, so that the convenience and the accuracy of catheter control are effectively improved.
In some embodiments of the invention, the mobile location point information comprises: information of the degree of freedom of the catheter.
For example, at any one of the moving position points (i), the physician or surgeon may record 3 degrees of freedom information p (i) = { a (i), b (i), c (i) } for the current catheter. Wherein A (i) is the axial position, B (i) is the circumferential angle, and C (i) is the arc of the tip catheter.
Between any two point positions, the doctor or the operator can measure the difference between 3 degrees of freedom, resulting in a vector distance of 3 degrees of freedom, i.e.: delta-P = {Delta-A，Delta-B，Delta-C, calculating the length of the surgical wound. Wherein Delta-A is the difference in axial position, Delta-A = a (i +1) -a (i), the unit may be in "mm"; delta-B is the difference of the circumferential angle, Delta-B = B (i +1) -B (i), the units may be in "degrees"; delta-C is the arc of change of the tip of the catheter, Delta-C = C (i +1) -C (i), the unit may be "degrees". Thus, by calculating Delta-P may obtain the distance between two shifted location points, and thus the two-dimensional length of the lesion site. When the number of the recorded and stored moving position point information is three or more, the method for calculating and determining the three-dimensional area of the lesion site is similar to the method for calculating the two-dimensional length, and the description is omitted here.
The mobile location point information may further include: and (4) focal part repair parameter information. For example, the relevant operation parameters such as temperature and fluid flow used in the operation and the effect parameters after the operation can be recorded and stored at the corresponding mobile position point, so that the operator can analyze and judge the operation effect conveniently.
In some embodiments of the invention, the control instructions may include: an axial movement control command, a circumferential rotation control command, and a bending control command. It should be noted that the axial movement control command may be used to control the movement of the catheter in the axial direction, for example, the axial movement control command may control the axial movement of the catheter by 0.1 mm each time; the circumferential rotation control command can be used for controlling circumferential rotation of the catheter, for example, the circumferential rotation control command can control circumferential rotation of the catheter by 0.1 degree every time; the bend control commands may be used to control the bending of the catheter, such as a 0.1 degree bend arc at the front of the catheter per bend control command.
In some embodiments of the invention, the method further comprises: during the process of controlling the movement of the catheter, the position state of the catheter is displayed by the master control operation system. Therefore, the operator can conveniently observe the position condition of the catheter, so that the movement of the catheter can be controlled conveniently.
With reference to fig. 1 and 3, a master control operating system according to an embodiment of the present invention is applied to control movement of a catheter during a lesion site repair process, and the master control operating system is communicatively connected to a slave control system, and the slave control system is connected to a control end of the catheter, and includes: the device comprises an operation platform, a sending module and a memory module.
The operation console is used for receiving operation instructions and converting the operation instructions into control instructions. It should be noted that an operator can input an operation instruction through a key or a knob on the console, and the console receives the operation instruction and transcodes the operation instruction into a corresponding control instruction.
The sending module is used for sending the control instruction to the slave end control system so that the slave end control system controls the catheter to move correspondingly based on the control instruction.
The memory module can be used for storing at least one piece of moving position point information on a moving path of the catheter in the process of controlling the movement of the catheter, so that the main control operating system can control the catheter to return to a corresponding position according to the stored moving position point information when needed.
That is, the memory module may record and store information on one or more moving location points along the path of the catheter during the control of the catheter movement. When a certain position on the moving path of the return value of the catheter needs to be controlled, the stored information of the moving position point can be recorded by the memory module, so that the catheter can be conveniently and accurately controlled to return to the corresponding position. Therefore, the convenience and accuracy of the catheter movement control are improved.
According to the master control operating system provided by the embodiment of the invention, the operating console can receive the operating instruction and convert the operating instruction into the control instruction, and the sending module can send the control instruction to the slave control system, so that the slave control system can control the movement of the catheter according to the control instruction, and the problem of poor accuracy caused by manual control of the movement of the catheter in the related art is effectively solved. In addition, in the process of controlling the movement of the catheter, the memory module can record and store one or more pieces of moving position point information on the moving path of the catheter, and when the catheter needs to be controlled to return to a certain position of the moving path, the moving position point information recorded and stored by the memory module can be efficiently and accurately returned to the corresponding position, so that the convenience and the accuracy of catheter control are effectively improved.
According to some embodiments of the invention, the master operating system further comprises: and a calculation module. The calculation module is used for determining the two-dimensional length and/or the three-dimensional area of the focus part based on the information of the moving position points after the information of the plurality of moving position points is stored. That is, the calculation module may determine the two-dimensional length of the lesion site based on the moving location point information stored by the memory module; the calculation module can also determine the three-dimensional area of the focus part based on the information of the mobile position point stored by the memory module; the calculation module can also determine the two-dimensional length and the three-dimensional area of the focus part based on the information of the moving position point stored by the memory module.
It should be noted that the mobile location point information stored by the memory module may include coordinate information of the mobile location point. Therefore, the memory module records the stored coordinate information corresponding to the two moving position points, and the calculation module can calculate the distance between the two moving position points through the coordinate information, so that the two-dimensional length of the corresponding focus part can be obtained. When the memory module records three or more pieces of stored moving position point information, the calculation module can calculate the area of the graph after the plurality of moving position points are connected through the coordinate information of the corresponding moving position points, so that the three-dimensional area of the corresponding focus part is obtained.
In some embodiments of the invention, the mobile location point information comprises: information of the degree of freedom of the catheter.
For example, at any one of the moving position points (i), the physician or surgeon may record 3 degrees of freedom information p (i) = { a (i), b (i), c (i) } for the current catheter. Wherein A (i) is the axial position, B (i) is the circumferential angle, and C (i) is the arc of the tip catheter.
Between any two point positions, the calculation module can calculate the difference between 3 degrees of freedom, resulting in a vector distance of 3 degrees of freedom, i.e.: delta-P = {Delta-A，Delta-B，Delta-C, calculating the length of the surgical wound. Wherein Delta-A is axialSetting of the difference, Delta-A = a (i +1) -a (i), the unit may be in "mm"; delta-B is the difference of the circumferential angle, Delta-B = B (i +1) -B (i), the units may be in "degrees"; delta-C is the arc of change of the tip of the catheter, Delta-C = C (i +1) -C (i), the unit may be "degrees". Thus, the calculation module calculates Delta-P may obtain the distance between two shifted location points, and thus the two-dimensional length of the lesion site. When the memory module records three or more pieces of stored information of the moving position points, the method for determining the three-dimensional area of the focus part by the calculation module is similar to the method for calculating the two-dimensional length, and is not repeated here.
The mobile location point information may further include: and (4) focal part repair parameter information. For example, the memory module may record and store the relevant operation parameters such as temperature and fluid flow used during the operation and the effect parameters after the operation at the corresponding mobile position point, so that the operator can analyze and judge the operation effect.
As shown in fig. 3, the console includes: a motion control assembly, a rotation control assembly, and a bend control assembly.
The movement control assembly is used for receiving an operation command for controlling the axial movement of the catheter and converting the operation command into an axial movement control command. As shown in fig. 3, the movement control assembly may include the "forward" and "backward" keys shown in fig. 3, and the keys may be touch keys or mechanical keys. The operator is used to control the axial movement of the catheter by the go forward and back buttons.
The rotation control assembly is used for receiving an operation instruction for controlling circumferential rotation of the catheter and converting the operation instruction into a circumferential rotation control instruction. As shown in FIG. 3, the rotational control assembly may employ the "360 degree thumbwheel" shown in FIG. 3, and the operator may effect circumferential rotational control of the catheter by turning the "360 degree thumbwheel".
The bending control assembly is used for receiving a control command for controlling the bending of the catheter and converting the control command into a bending control command. It should be noted that the "360 degree thumbwheel" shown in fig. 3 may be integrated with the function of receiving control commands for controlling the bending of the catheter and converting the control commands into bending control commands. It can be understood that the rotating control assembly and the bending control assembly are integrally arranged on the 360-degree thumbwheel, so that the integrated arrangement of the console can be realized, and the number of keys of the console is reduced. An operator can toggle the thumbwheel up and down to realize the bending control of the conduit.
According to some embodiments of the present invention, as shown in fig. 4, the master operating platform further includes: and a display module. The display module is used for displaying the position state of the catheter in the process of controlling the movement of the catheter. For example, the display module may employ a display, so that an operator can conveniently observe the position of the catheter to control the movement of the catheter.
As shown in fig. 4, the display module can be divided into a plurality of modules for displaying, and includes two catheter control panels, a 3D catheter trajectory graph, and a trajectory memory, where the catheter control panel includes control parameters of axial movement, axial rotation, and front-end radian.
According to the slave control system of the embodiment of the invention, the slave control system is applied to the movement control of the catheter in the lesion site repairing process, the master control operation system is in communication connection with the slave control system, the slave control system is connected with the control end of the catheter, and the slave control system comprises: the device comprises a receiving module and a driving module.
The receiving module is used for receiving a control instruction sent by the main control operating system, and the driving module is used for controlling the catheter to move correspondingly based on the control instruction;
the information of at least one moving position point of the catheter on the moving path is stored in the main control operation system, and the main control operation system is used for controlling the catheter to return to the corresponding position according to the stored information of the moving position point.
That is, during the control of catheter movement, the master operating system may record and store one or more movement location point information on the catheter movement path. When a certain position on the moving path of the return value of the catheter needs to be controlled, the catheter can be conveniently and accurately controlled to return to the corresponding position by recording the stored information of the moving position point. Therefore, the convenience and accuracy of the catheter movement control are improved.
According to the slave-end control system provided by the embodiment of the invention, the control instruction sent by the master control system can be received so as to control the movement of the catheter according to the control instruction, and the problem of poor accuracy caused by manual control of the movement of the catheter in the related art is effectively solved. In addition, in the process of controlling the movement of the catheter, one or more pieces of moving position point information on the moving path of the catheter can be stored in the main control operation system, and when the catheter needs to be controlled to return to a certain position of the moving path, the catheter can be efficiently and accurately returned to the corresponding position according to the recorded and stored moving position point information, so that the convenience and the accuracy of catheter control are effectively improved.
In some embodiments of the invention, the mobile location point information comprises: information of the degree of freedom of the catheter.
For example, at any one of the moving position points (i), the physician or surgeon may record 3 degrees of freedom information p (i) = { a (i), b (i), c (i) } for the current catheter. Wherein A (i) is the axial position, B (i) is the circumferential angle, and C (i) is the arc of the tip catheter.
Between any two point positions, the doctor or the operator can measure the difference between 3 degrees of freedom, resulting in a vector distance of 3 degrees of freedom, i.e.: delta-P = {Delta-A，Delta-B，Delta-C, calculating the length of the surgical wound. Wherein Delta-A is the difference in axial position, Delta-A = a (i +1) -a (i), the unit may be in "mm"; delta-B is the difference of the circumferential angle, Delta-B = B (i +1) -B (i), the units may be in "degrees"; delta-C is the arc of change of the tip of the catheter, Delta-C = C (i +1) -C (i), the unit may be "degrees". Thus, by calculating Delta-P may obtain the distance between two shifted location points, and thus the two-dimensional length of the lesion site. When the number of the recorded and stored moving position point information is three or more, the method for calculating and determining the three-dimensional area of the lesion site is similar to the method for calculating the two-dimensional length, and the description is omitted here.
The mobile location point information may further include: and (4) focal part repair parameter information. For example, the relevant operation parameters such as temperature and fluid flow used in the operation and the effect parameters after the operation can be recorded and stored at the corresponding mobile position point, so that the operator can analyze and judge the operation effect conveniently.
According to some embodiments of the invention, the driving module may comprise: the driving device comprises a first driving motor, a second driving motor and a third driving motor.
The first driving motor is used for driving the guide pipe to move axially based on the axial movement control command, the second driving motor is used for driving the guide pipe to rotate circumferentially based on the circumferential rotation control command, and the third driving motor is used for driving the guide pipe to bend based on the bending control command.
For example, three propelling motors may be provided, one of which is responsible for propelling the catheter to move axially as a whole, the other of which is responsible for rotating the gear and driving the catheter to make circumferential angle adjustment, and the other of which is responsible for controlling the relative distance between the inner sleeve and the outer sleeve of the catheter handle to adjust the bending radian of the front end of the catheter.
It should be noted that the master control operating system may include a human-computer interaction computer and a manual operation terminal. An operator sends a control instruction to the slave end control system through the operation terminal, and controls the 3 motors through network communication transmission, so that the movement of the catheter is controlled. In the moving process of the catheter, the operation terminal is provided with a key for recording and storing the current position of the catheter, and a series of important moving position track points are stored.
A control system for catheter movement according to an embodiment of the present invention includes: a master operating system as described above and a slave control system as described above.
According to the control system for the movement of the catheter, disclosed by the embodiment of the invention, the master control system can send the control instruction to the slave control system, so that the slave control system can control the movement of the catheter according to the control instruction, and the problem of poor accuracy caused by manual control of the movement of the catheter in the related art is effectively solved. In addition, in the process of controlling the movement of the catheter, the master control operating system can record and store one or more pieces of moving position point information on the moving path of the catheter, and when the catheter needs to be controlled to return to a certain position of the moving path, the catheter can efficiently and accurately return to the corresponding position according to the recorded and stored moving position point information, so that the convenience and the accuracy of catheter control are effectively improved.
The catheter movement control method and the catheter movement control system can be used in the cardiac electrophysiology operation. In the related art, the manual control of the movement of the catheter has the following defects:
the biggest problem of cardiac catheter operation is safety, and manual operation depends on the professional skill and experience of doctors to a great extent, so that accurate focus finding can not be achieved in every operation. In the heart electrophysiology operation, the operation precision of sub-millimeter is needed, and the manual operation can not accurately meet the precision requirement, so that the heart operation complications such as heart perforation and the like occur.
The biggest challenge in cardiac catheter surgery is finding the focal point and making precise ablations around the focal point. The prior art does not provide the accurate position of every operating point of accurate record in the operation process to can't form effective trail tracking, thereby lead to too much invalid operation and melt, destroy normal heart tissue.
In addition, the doctor needs to estimate the area and the position of the operation position, and the prior art cannot provide the doctor with accurate calculation of the position and the area required because of the lack of position tracking in the whole operation process, controls the area of the ablation operation by the subjective estimation of the doctor, and avoids the generation of complications. However, subjective visual estimation cannot accurately estimate the operation area, and may cause ablation operation to damage peripheral cardiac electrophysiological conduction paths, so that a cardiac permanent pacemaker has to be installed.
The catheter movement control method and the catheter movement control system have the functions of memorizing, tracing and navigating the operation path, can achieve the operation accuracy of 0.1 mm and 0.1 degree on 3 degrees of freedom, and solve the problem of manual operation errors. The invention can enable an operator to accurately operate the catheter in a beating heart, and find, confirm and record the position of a focus point through electrophysiological signals.
The invention can make the operation doctor draw the position and shape of the focus and calculate the size and area of the focus, thereby improving the operation safety and reducing the complication.
The invention can lead the operating doctor to return to the recorded operation point at any time in the operation, and carry out more treatment around the operation point, thereby reducing the total operation time and improving the operation efficiency.
The invention can enable doctors to judge the effect of the catheter position on the operation through the operation effect of each position memory point. And filtering and selecting effective surgical position points to form a surgical position map, thereby accurately calculating the area range of surgical wounds/cardiac scar tissues and finally outputting a surgical report.
In addition, the method and system for controlling the moving end of the catheter according to the present invention can simultaneously control the movement of a plurality of catheters. For example, as shown in fig. 4, two catheter control panels may be displayed in the display module for controlling the movement of two catheters simultaneously.
While the invention has been described in connection with specific embodiments thereof, it is to be understood that it is intended by the appended drawings and description that the invention may be embodied in other specific forms without departing from the spirit or scope of the invention.

Claims (14)

1. A control method for catheter movement is applied to movement control of a catheter in a lesion site repair process, the master control operating system is in communication connection with the slave control system, the slave control system is connected with a control end of the catheter, and a process executed on the master control operating system side comprises the following steps:
sending a control instruction to a slave end control system to enable the slave end control system to control the catheter to move correspondingly based on the control instruction;
and storing at least one piece of moving position point information on the moving path of the catheter in the process of controlling the movement of the catheter, so that the main control operating system can control the catheter to return to a corresponding position according to the stored moving position point information when needed.
2. The method of controlling catheter movement according to claim 1, further comprising:
after storing a plurality of pieces of the moving position point information, determining a two-dimensional length and/or a three-dimensional area of the lesion site based on the stored moving position point information.
3. The method of controlling movement of a catheter according to claim 1, wherein the movement location point information includes: the degree of freedom information of the catheter and the lesion site repair parameter information;
the control instructions include: an axial movement control command, a circumferential rotation control command, and a bending control command.
4. The method of controlling catheter movement according to claim 1, further comprising:
displaying the position state of the catheter in the process of controlling the movement of the catheter.
5. A control method for catheter movement is applied to movement control of a catheter in a lesion site repair process, the master control operating system is in communication connection with the slave control system, the slave control system is connected with the control end of the catheter, and a process executed on the slave control system side comprises the following steps:
receiving a control instruction sent by a master control operating system, and controlling the catheter to move correspondingly based on the control instruction;
the information of at least one moving position point of the catheter on the moving path is stored in the main control operating system, and the main control operating system is used for controlling the catheter to return to a corresponding position according to the stored information of the moving position point.
6. The method of controlling movement of a catheter according to claim 5, wherein the movement location point information includes: the degree of freedom information of the catheter and the lesion site repair parameter information;
the control instructions include: an axial movement control command, a circumferential rotation control command, and a bending control command.
7. The method of controlling catheter movement according to claim 5, further comprising:
and in the process of controlling the movement of the catheter, displaying the position state of the catheter by the master control operation system.
8. A master control operation system, wherein the master control operation system is applied to the movement control of a catheter in a lesion site repair process, the master control operation system is connected with a slave control system in communication, the slave control system is connected with a control end of the catheter, and the master control operation system comprises:
the operation desk is used for receiving an operation instruction and converting the operation instruction into a control instruction;
the sending module is used for sending the control instruction to a slave end control system so that the slave end control system controls the catheter to move correspondingly based on the control instruction;
the memory module is used for storing at least one piece of moving position point information on the moving path of the catheter in the process of controlling the movement of the catheter, so that the main control operating system can control the catheter to return to a corresponding position according to the stored moving position point information when needed.
9. The master operating system of claim 8, wherein the master operating system further comprises:
and the calculation module is used for determining the two-dimensional length and/or the three-dimensional area of the focus part based on the information of the moving position points after the information of the plurality of moving position points is stored.
10. The master operating system of claim 8, wherein the mobile location point information comprises: degree of freedom information of the catheter and repair parameter information of the lesion site;
the console includes:
the movement control assembly is used for receiving an operation instruction for controlling the axial movement of the catheter and converting the operation instruction into an axial movement control instruction;
the rotation control assembly is used for receiving an operation instruction for controlling the circumferential rotation of the catheter and converting the operation instruction into a circumferential rotation control instruction;
and the bending control assembly is used for receiving a control command for controlling the bending of the catheter and converting the control command into a bending control command.
11. The master operating system of claim 8, wherein the master operating platform further comprises:
and the display module is used for displaying the position state of the catheter in the process of controlling the movement of the catheter.
12. A slave-end control system, wherein the slave-end control system is used for controlling movement of a catheter during a lesion repair process, the master operating system is communicatively connected with the slave-end control system, the slave-end control system is connected with a control end of the catheter, and the slave-end control system comprises:
the receiving module is used for receiving a control instruction sent by the master control operating system;
the driving module is used for controlling the catheter to correspondingly move based on the control instruction;
the information of at least one moving position point of the catheter on the moving path is stored in the main control operating system, and the main control operating system is used for controlling the catheter to return to a corresponding position according to the stored information of the moving position point.
13. The slave-end control system according to claim 12, wherein the mobile location point information includes: the degree of freedom information of the catheter and the repair parameter information of the lesion part;
the driving module includes:
the first driving motor is used for driving the catheter to axially move based on an axial movement control command;
a second drive motor for driving the catheter to rotate circumferentially based on a circumferential rotation control command;
and the third driving motor is used for driving the catheter to bend based on the bending control command.
14. A control system for movement of a catheter, comprising:
a master operating system according to any one of claims 8-11 and a slave control system according to any one of claims 12-13.
CN202010346771.1A 2020-04-28 2020-04-28 Method and system for controlling movement of catheter Pending CN111514436A (en)

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Application publication date: 20200811