CN114306892B - Control system and electronic equipment of seal wire - Google Patents
Control system and electronic equipment of seal wire Download PDFInfo
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- CN114306892B CN114306892B CN202210231908.8A CN202210231908A CN114306892B CN 114306892 B CN114306892 B CN 114306892B CN 202210231908 A CN202210231908 A CN 202210231908A CN 114306892 B CN114306892 B CN 114306892B
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Abstract
The embodiment of the invention relates to the field of medical equipment, in particular to a control method, a control system and electronic equipment of a guide wire, wherein the control method comprises the following steps: controlling the guide wire to perform a preset propelling action by taking a starting position as a starting point so as to enable the guide wire to be propelled forwards from the starting position, wherein the starting position is positioned on a branch pipeline serving as an input pipeline in a plurality of branch pipelines; monitoring whether a target signal corresponding to a preset withdrawal condition is received or not in the process of controlling the guide wire to execute a preset propelling action; if monitoring that the target signal is received, controlling the guide wire to retreat; the above steps are repeated until a stop signal is received that the first end of the guidewire reaches a target branch line of the plurality of branch lines. By executing the method, an operator can be assisted to stretch the guide wire into the target branch pipeline, the manual control of the stretching of the guide wire by the operator is replaced, and the operation precision of the guide wire is improved.
Description
Technical Field
The embodiment of the invention relates to the field of medical equipment, in particular to a guide wire control method, a guide wire control system and electronic equipment.
Background
In some multi-branch application scenarios, a functional component is often required to be arranged in one branch, and thus, a guide wire is required to be used as a guide to position a target branch in which the functional component is required to be arranged in the multi-branch. Often, the multiple branches are in a mesh form and are in a blind box state, that is, the connection relation and the distribution state of each branch in the multiple branches cannot be observed by naked eyes, in practice, a user can only use one branch as an inlet, insert a guide wire into the branch of the inlet, and finally find out a target branch through continuous manual testing.
Illustratively, in the case of cardiovascular intervention, a physician needs to deliver a working guidewire to a lesion site to support a balloon, guide catheter insertion and insertion, open a lumen, and the like. In the process of the operation of the cardiovascular surgery robot, the catheter wrapped outside the guide wire has a directional function, and can be guided to advance in the blood vessel under the guidance of a CT image, but the outer layer catheter can only stop advancing after the tail end reaches the coronary artery opening position through ascending aorta, and only the guide wire can enter the subsequent branch blood vessel, and the subsequent branch blood vessel is thin and still has branches, so that the target position can be reached only by depending on the guide wire without guide control.
In the related art, in the process of using the guide wire, the guide wire is controlled to stretch by a human hand, and the like, and the current state of the guide wire cannot be accurately acquired by the human hand, so the operation precision of the guide wire is low.
Disclosure of Invention
The embodiment of the invention provides a control method and a control system of a guide wire and electronic equipment, and aims to solve the problem of low operation precision of the guide wire.
The first aspect of the embodiments of the present invention provides a method for controlling a guidewire, which is applied to a system having a plurality of branch pipelines, and the method includes:
controlling the guide wire to take a starting position as a starting point, and executing a preset propelling action so as to enable the guide wire to be propelled forwards from the starting position, wherein the starting position is positioned on a branch pipeline which is taken as an input pipeline in the plurality of branch pipelines;
monitoring whether a target signal corresponding to a preset withdrawal condition is received or not in the process of controlling the guide wire to execute the preset propelling action;
if the target signal is monitored and received, controlling the guide wire to retreat;
repeating the above steps until a stop signal is received that the first end of the guidewire reaches a target branch line of the plurality of branch lines.
Optionally, the preset retraction condition includes that a touch force applied to the first end of the guide wire is detected to be greater than a touch force threshold; the method further comprises the following steps:
detecting whether the touch force applied to the first end of the guide wire is greater than the touch force threshold value;
under the condition that the fact that the touch force applied to the first end portion of the guide wire is larger than the touch force threshold value is detected, outputting a first target signal;
if the target signal is monitored, controlling the guide wire to retreat, including:
and if the first target signal is monitored, controlling the guide wire to retreat to a preset position different from the initial position in a plurality of preset positions, and taking the preset position different from the initial position as a new initial position.
Optionally, the preset retraction condition includes that the operation time of the preset advancing action is overtime; the method further comprises;
judging whether the operation time of the preset propelling action is overtime;
if the operation time of the preset propelling action is overtime, outputting a second target signal;
if the target signal is monitored, controlling the guide wire to retreat, including:
and if the second target signal is monitored, controlling the guide wire to retreat to a preset position different from the initial position in a plurality of preset positions, taking the preset position different from the initial position as a new initial position, and timing the operation time of the preset propelling action again.
Optionally, controlling the guide wire to retreat to a preset position different from the starting position in the plurality of preset positions includes:
the guide wire is controlled to move to a preset position which is adjacent to the starting position and far away from the target branch pipeline.
Optionally, controlling the guide wire to retreat to a preset position different from the starting position in the plurality of preset positions includes:
and controlling the guide wire to move towards the direction of the preset position different from the starting position by a preset interval distance so as to enable the guide wire to reach the preset position different from the starting position.
Optionally, the controlling the guide wire to move a preset distance in a direction of the preset position different from the starting position, so that the guide wire reaches the preset position different from the starting position includes:
and controlling the guide wire to move to a direction of a preset position different from the starting position by a preset interval distance, and determining that the guide wire reaches the different preset positions when detecting that the distance between the first end part of the guide wire and the preset position different from the starting position is smaller than a preset distance threshold value.
Optionally, controlling the guide wire to retreat to a preset position different from the starting position in the plurality of preset positions includes:
Acquiring an executed sequence of the plurality of preset positions;
and controlling the first end part of the guide wire to move to the preset position different from the starting position according to the executed sequence based on the executed sequence of the preset positions and the starting position returned by the guide wire at the previous time when the target signal is received every monitoring.
Optionally, the method further includes:
if the operation time of the preset propelling action is not overtime, judging whether a stopping command is received or not;
controlling the guide wire to stop moving if the stop command is received;
and if the stop command is not received, controlling the guide wire to continuously execute the preset advancing action.
Optionally, the method further includes:
and setting the plurality of different preset positions at preset intervals in the area of one side, close to the guide wire, of the target branch pipeline, wherein the distances between the plurality of preset positions and the target branch pipeline are different from each other.
Optionally, the controlling the guide wire to perform a preset advancing action with the starting position as a starting point includes:
and controlling the guide wire to take the initial position as a starting point, executing a preset propelling action, and simultaneously controlling the guide wire to rotate.
Optionally, the simultaneously controlling the guide wires to rotate includes:
acquiring the maximum forward rotation amplitude and the maximum reverse rotation amplitude of the first end part of the guide wire;
and controlling the guide wire to rotate forward and backward according to the maximum forward rotation amplitude and the maximum reverse rotation amplitude.
In a second aspect, the invention provides a guide wire control system, which comprises a guide wire and is characterized in that the guide wire control system is applied to a system with a plurality of branch pipelines, the control system comprises the guide wire and a guide wire control device connected with the guide wire,
the guide wire control device is used for executing the guide wire control method.
Optionally, the guidewire control device comprises:
the driving motor is used for outputting power for controlling the stretching of the guide wire;
and the transmission mechanism comprises a plurality of transmission gears and is used for driving the guide wire to stretch.
Optionally, the guidewire control device further comprises:
a position acquisition module for determining a movement distance of the guide wire to determine a position of the first end of the guide wire.
Optionally, the condition detecting module includes:
the touch force detection module is positioned on the second end part of the guide wire and used for detecting the touch force applied to the first end part of the guide wire;
And the timing module is used for outputting the target signal when the touch force applied to the first end part of the guide wire is larger than the touch force threshold value.
A third aspect of embodiments of the present invention provides an electronic device, including:
a memory for storing a computer program;
a processor for executing a computer program stored on the memory to implement the above-described method.
By adopting the control method, the control system and the electronic equipment of the guide wire provided by the invention, in a pipeline with multiple branches such as a cardiovascular pipeline, when the control guide wire moves to the target branch pipeline, the control guide wire moves to the initial position in the plurality of branch pipelines, then the guide wire is controlled to start to execute the preset advancing action so as to simulate the action of a human when the guide wire is manually advanced, and then detecting whether a target signal for driving the guide wire to retract is received or not, and when the target signal is detected, the guide wire is not advanced into the target branch pipeline at this time, so the guide wire is controlled to retreat, then the preset propelling action is executed again until a stop signal sent out when the guide wire enters the target branch pipeline is detected, the guide wire is controlled to stop moving, therefore, the guide wire is assisted to extend into the target branch pipeline by an operator, the guide wire is replaced by manually controlling the extension and retraction of the guide wire by the operator, and the guide wire operation precision is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the description of the embodiments of the present invention will be briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive labor.
Fig. 1 is a schematic flow chart of a control method according to an embodiment of the present invention;
FIG. 2 is a flow chart illustrating the process of outputting the first target signal according to an embodiment of the present invention;
FIG. 3 is a flow chart of outputting a second target signal according to an embodiment of the present invention;
FIG. 4 is a schematic flow chart of controlling guidewire retraction according to one embodiment of the present invention;
FIG. 5 is a flow chart illustrating outputting a stop signal according to an embodiment of the present invention;
fig. 6 is a schematic flow chart of controlling the guidewire to perform a telescoping movement according to an embodiment of the present invention;
FIG. 7 is a schematic flow chart illustrating the control of rotation of the guidewire according to one embodiment of the present invention;
FIG. 8 is a schematic view of a guidewire according to one embodiment of the present invention as it moves between a plurality of predetermined positions;
FIG. 9 is a schematic flow chart diagram of one embodiment of the present invention;
fig. 10 is a block diagram of a control device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
In some multi-branch application scenarios, a functional component is often required to be arranged in one branch, which requires that a guide wire is used as a guide to position a target branch in which the functional component is required to be arranged in the multi-branch. Often, the multiple branches are in a mesh form and are in a blind box state, that is, the connection relation and the distribution state of each branch in the multiple branches cannot be observed by naked eyes, in practice, a user can only use one branch as an inlet, insert a guide wire into the branch of the inlet, and finally find out a target branch through continuous manual testing.
Illustratively, in the case of cardiovascular intervention, a physician needs to deliver a working guidewire to a lesion site to support a balloon, guide catheter insertion and insertion, open a lumen, and the like. In the working process of the cardiovascular surgery robot, the catheter wrapped outside the guide wire has a directional function, and can be guided to advance in the blood vessel under the guidance of a CT image, but the outer layer catheter can only stop advancing after the tail end reaches the coronary artery opening position through ascending aorta, and only the guide wire can enter, and the subsequent blood vessels are branched, because the subsequent blood vessels are thin and still have branches, the target position can be found only by the guide wire without guide control.
In the related art, when the guide wire is inserted into a branch of a cardiovascular system, the guide wire can only be pushed by continuous attempts of doctors through experience, the pushing length of the guide wire and the force feedback of the guide wire are difficult to accurately control by human hands, the pushing process has great uncertainty, and the control precision of the guide wire is low.
Example one
In view of the above, an embodiment of the present invention provides a method for controlling a guidewire, which is applied to a system having a plurality of branch lines, and with reference to fig. 1, the method includes:
and S1, controlling the guide wire to perform a preset advancing action by taking the starting position as the starting point, so that the guide wire is advanced from the starting position, wherein the starting position is positioned on a branch pipeline which is taken as an input pipeline in the plurality of branch pipelines.
In general, a plurality of branch lines are branched from a main line, for example, in a cardiovascular line, a subsequent branch vessel of the ascending aorta has a plurality of branches, and in order to reach a target branch line, an outer catheter needs to be inserted into the ascending aorta, and then the advancement is stopped after reaching the coronary artery opening position, and a guide wire without guide control is relied on to enter the subsequent line.
Therefore, the guide wire is first moved to a position corresponding to the entrance of the target branch line, that is, to a starting position in the plurality of branch lines, that is, an input line section corresponding to the gateway of the target branch line, and when the control guide wire is advanced to the target branch line, the guide wire is advanced in the input line section using the starting position as the starting point.
And when the guide wire reaches the initial position, starting to execute a preset propelling action, wherein the preset propelling action can be a propelling action of simulating a human hand to the guide wire.
And S2, monitoring whether a target signal corresponding to a preset withdrawal condition is received or not in the process of controlling the guide wire to execute a preset advancing action.
In some embodiments, when it is detected that the guide wire contacts the wall in the guide wire advancing process or when the guide wire enters other non-target branches, it may be considered that the guide wire cannot enter the target branch pipeline in the current process, and the guide wire needs to be controlled to retreat again, and then advance again, so that when it is determined that the guide wire cannot enter the target branch pipeline by detecting a corresponding retreat condition, a target signal is output.
And S3, if the target signal is monitored to be received, controlling the guide wire to retreat.
When the target signal is detected, the guide wire is determined that the preset propelling action cannot enter the target branch pipeline, so that the guide wire is controlled to retreat so as to execute the subsequent steps.
S4, repeating the above steps until a stop signal is received that the first end of the guide wire reaches a target branch line of the plurality of branch lines.
And after the guide wire is retracted, controlling the guide wire to execute the preset propelling action again, repeating the steps, continuously simulating the attempt of a human hand to drive the guide wire to enter the target branch pipeline, and sending a stop signal to drive the guide wire to stop in the target branch pipeline when the guide wire is detected to enter the target branch pipeline, so that the process of propelling the guide wire into the target branch pipeline is completed.
In a cardiovascular pipeline with multiple branches, for example, when the guide wire is controlled to move towards a target branch pipeline, the guide wire is controlled to move to the initial position of the multiple branch pipelines, then the guide wire is controlled to start executing a preset propelling action to simulate the action of a human when manually propelling the guide wire, then whether a target signal for driving the guide wire to return is received is detected, when the target signal is detected, the guide wire is considered not to enter the target branch pipeline when being propelled, so that the guide wire is controlled to return, then the preset propelling action is executed again, and when a stop signal sent when the guide wire enters the target branch pipeline is detected, the guide wire is controlled to stop moving, so that an operator is assisted to stretch the guide wire into the target branch pipeline, the guide wire is replaced by manually controlling the guide wire to stretch, and the operation precision of the guide wire is improved.
In some embodiments, referring to fig. 2, the preset retraction condition comprises detecting that a touch force experienced by the first end of the guidewire is greater than a touch force threshold; the method further comprises the following steps:
s101, detecting whether the touch force applied to the first end part of the guide wire is larger than a touch force threshold value.
In the process of advancing the guide wire, two cases mainly mean that the guide wire cannot enter the target branch pipeline even if being continuously advanced, the first case is that the guide wire touches the side wall of the pipeline, and at this time, the inlet of the target branch pipeline is not in the advancing direction, and the other case is that the guide wire enters other branch pipelines, so that the contact force of the first end part of the guide wire is firstly obtained.
And S102, outputting a first target signal when the condition that the touch force applied to the first end part of the guide wire is larger than the touch force threshold value is detected.
When the touch force is detected to be greater than the touch force threshold, the first end of the guide wire can be considered to be in contact with the wall, and therefore a first target signal is output to drive the guide wire to retract.
If the target signal is monitored, controlling the guide wire to retreat, comprising the following steps:
s103, if the first target signal is monitored, controlling the guide wire to retreat to a preset position different from the initial position in the plurality of preset positions, and taking the preset position different from the initial position as a new initial position.
In some embodiments, referring to fig. 3, when it is detected that the guidewire cannot be pushed in by performing the pushing action at this position, the pushing angle of the guidewire at the current position is small, so that in order to increase the pushing range of the guidewire, the preset pushing action may be performed again by replacing the guidewire at another position corresponding to the target branch line.
The preset retraction condition comprises the operation time timeout of a preset propelling movement; the method also includes;
s201, judging whether the operation time of the preset propelling action is overtime.
When the duration of the guide wire advancing action exceeds the preset time and the stop signal about the guide wire entering the target branch line is not detected, and the wall is not touched, the guide wire can be considered to enter other branch lines.
S202, if the operation time of the preset propelling action is overtime, outputting a second target signal;
and the guide wire enters other branch pipelines, so that a second target signal is output to drive the guide wire to retreat.
If the target signal is monitored, controlling the guide wire to retreat, comprising the following steps:
s203, if the second target signal is monitored, controlling the guide wire to retreat to a preset position different from the initial position in the plurality of preset positions, taking the preset position different from the initial position as a new initial position, and timing the operation time of the preset advancing action again.
When it is detected that the guide wire cannot be pushed in by performing the pushing action at the position, the guide wire may be replaced at another position of the corresponding section of the target branch pipeline because the pushing angle of the guide wire at the current position is small.
When the guide wire is withdrawn, the guide wire is driven to take the newly selected preset position as the starting position for executing the preset propelling action next time, so that the moving range of the guide wire during propelling is increased, the possibility of the guide wire entering a target branch pipeline is increased, and timing is restarted.
Controlling the guide wire to retreat to a preset position different from the starting position in the plurality of preset positions, comprising:
the guide wire is controlled to move to a preset position adjacent to the starting position and away from the target branch pipeline.
When the guide wire is replaced and the starting position of the preset propelling action is executed, another preset position adjacent to the current starting position is selected as the next starting position, and the next starting position can be a preset position closer to the target branch pipeline or a preset position farther away from the target branch pipeline, so that the guide wire is driven to execute the preset propelling action once at all the preset positions, and the adaptability of the guide wire is improved.
Controlling the guide wire to retreat to a preset position different from the starting position in a plurality of preset positions, comprising:
And controlling the guide wire to move by a preset interval distance in the direction of a preset position different from the initial position so as to enable the guide wire to reach the preset position different from the initial position.
When the guide wire is controlled to move, firstly, the direction of the next preset position relative to the current preset position is determined, the next preset position is used as the moving direction of the guide wire when the guide wire is replaced at the starting position, the moving distance of the guide wire is used according to the interval between the two preset positions, and then the guide wire is controlled to move according to the determined moving direction and the moving distance, so that the guide wire is moved to the other preset position.
Control the seal wire to the direction with the different preset position of initial position, remove and preset the spaced distance to make the seal wire reach the different preset position with initial position, include:
and controlling the guide wire to move towards a preset position different from the initial position by a preset interval distance, and determining that the guide wire reaches different preset positions when the distance between the first end part of the guide wire and the preset position different from the initial position is smaller than a preset distance threshold value.
In the process of controlling the guide wire to move, the diameter of the guide wire is small and the guide wire is easy to deform, so that the position of the guide wire in the moving process and the distance between the first end part of the guide wire and another preset position to which the guide wire is to be moved are obtained and detected in real time, when the fact that the distance between the first end part of the guide wire and the another preset position is smaller than a preset distance threshold value is detected, the guide wire can be considered to be located at the another preset position, and the preset distance threshold value can be set according to actual conditions and the size of the guide wire.
In some embodiments, referring to fig. 4, controlling the guidewire to retract to a different preset position from the starting position among a plurality of preset positions comprises:
s301, acquiring executed sequences of a plurality of preset positions.
When the guide wire moves between different preset positions, the guide wire can move according to a sequence from far to near or from near to far, a specific moving sequence is set before the guide wire enters according to actual conditions, and the moving sequence of the guide wire between the preset positions, namely the executed sequence of the preset positions, is determined according to the number of the preset positions and the actual conditions.
And S302, controlling the first end part of the guide wire to move to a preset position different from the initial position according to the executed sequence based on the executed sequence of the preset positions and the initial position returned by the previous guide wire when the target signal is received.
When a target signal is detected, controlling the guide wire to start to determine a next preset position to which the guide wire is to move according to a movement sequence, obtaining the preset position to which the guide wire returns last time after all the preset positions are traversed once, and controlling the guide wire to return to the initial preset position according to the movement sequence, in a specific embodiment, referring to fig. 8, a is a main branch into which the guide wire enters, B is a preset target branch pipeline, three preset positions are provided and are respectively positioned at N1, N2 and N3, the guide wire firstly moves from a first preset position at N1, after the target signal is received, the guide wire moves from a first preset position N1 to a second preset position N2, when the guide wire receives the target signal at N2, the guide wire moves from the first preset position to the second preset position, so that the guide wire is controlled to move to a third preset position N3 next time, when the guide wire receives the target signal at N3, the guide wire is controlled to return to the first preset position N1 according to the executed sequence again, and the guide wire is executed in a reciprocating mode according to the sequence of N1, N2 and N3 when the guide wire is moved subsequently.
In some embodiments, a plurality of different preset positions are provided on the branch line as the input line among the plurality of branch lines, including:
A plurality of different preset positions are arranged at preset intervals in the vicinity of one side of the target branch pipeline close to the guide wire.
When the guide wire performs the preset action, the guide wire needs to be controlled to be used as a starting point of the guide wire movement at one side of the target branch pipeline close to the guide wire entering direction, so when the preset position of the guide wire is determined, the number and the positions of the preset positions are determined according to actual conditions in an area of the target branch pipeline close to one side of the guide wire entering direction, for example, three preset positions can be selected, such as 10mm, 20mm and 30mm of the target branch pipeline respectively, and when the preset action is performed, the three positions are used as the starting positions at one time, so that the movement range of the guide wire is improved.
In some embodiments, referring to fig. 5, the method further comprises:
s401, if the operation time of the preset propelling action is not overtime, judging whether a stopping command is received.
When it is detected that the guide wire reaches a target branch line among the plurality of branch lines, it is necessary to control the guide wire to stay in a preset target line, and therefore a stop signal for controlling the stop of the guide wire is output.
And S402, if a stop command is received, controlling the guide wire to stop moving.
When the stop signal is detected, the guide wire can be considered to successfully enter the target branch pipeline, so that the current preset propelling action of the guide wire is stopped, and the guide wire is stopped in the preset branch pipeline.
In other embodiments, a stop signal may be output when the guide wire is detected to enter another branch pipeline, so as to prevent the guide wire from extending into a wrong branch pipeline, and control the guide wire to retract after the guide wire is stopped.
And S403, if the stop command is not received, controlling the guide wire to continuously execute the preset advancing action.
In some embodiments, upon detecting that the first end of the guidewire is located at the starting position in the plurality of branch conduits, controlling the guidewire to perform a preset advancing action comprising:
the guide wire is controlled to do reciprocating telescopic motion, and meanwhile, the guide wire is controlled to rotate.
The target branch pipeline is arranged on the side wall of the input pipeline, so that the guide wire is required to be pushed at different circumferential positions when the guide wire is driven to enter, the guide wire is pushed while being controlled to rotate when the guide wire is controlled to enter the branch pipeline, the action controlled by a human hand is simulated, the pushing range of the guide wire is expanded, and the guide wire can rapidly enter the target branch pipeline.
In some embodiments, referring to fig. 6, controlling the guidewire to perform a reciprocating telescoping motion comprises:
s501, after the first end of the guide wire is controlled to advance for a first preset length from the preset position, the first end of the guide wire is controlled to retreat for a second preset length, wherein the second preset length is smaller than the first preset length.
The head of the guide wire has a small bend, so in the process of propelling the guide wire to the target branch pipeline, the guide wire is rotated to a proper angle and reciprocates to be hooked, and when the guide wire is hooked to the target branch pipeline, the guide wire can be propelled to drive the first end of the guide wire to enter the target branch pipeline.
Therefore, in the guide wire pushing process, in order to hook the guide wire to the target branch pipeline, the guide wire is driven to perform a telescopic reciprocating action, namely, after the first end part of the guide wire is controlled to advance for a first preset length from the preset position, the first end part of the guide wire is controlled to retreat for a second preset length, in order to avoid the guide wire falling off after being hooked to the target branch pipeline, the second preset length is smaller than the first preset length, so that the guide wire can be smoothly hooked when passing through the target branch pipeline.
S502, increasing the first preset length, and repeating the steps until the target signal is monitored and received.
Because when the guide wire is hooked to the target branch pipeline, the first end part of the guide wire can be driven to enter by inwards pushing, in the guide wire stretching process, the first preset length extending is increased every time, so that the guide wire can be pushed into the target branch pipeline when the guide wire is hooked to the target branch pipeline, meanwhile, the guide wire is prevented from being separated from the target branch pipeline when retreating, and the accuracy of preset pushing action of the guide wire is ensured.
In some embodiments, controlling guidewire rotation, referring to fig. 7, comprises:
s601, acquiring the maximum forward rotation amplitude and the maximum reverse rotation amplitude of the first end part of the guide wire;
the target branch pipeline is arranged on the side wall of the input pipeline, so that the guide wire is required to be pushed at different circumferential positions when being driven to enter, and the guide wire is required to be continuously rotated in the pushing process, so that the inlet of the target branch pipeline on the side wall can be timely found in the pushing process.
Due to the limitation of a mechanical structure, the guide wire cannot continuously rotate in one direction, and therefore the forward rotation amplitude and the reverse rotation amplitude of the first end of the guide wire are obtained and used as references for controlling the rotation of the guide wire.
In some embodiments, the direction, speed, and, thus, the guide wire is controlled to rotate in the determined direction and speed at the maximum forward and reverse amplitudes.
And S602, controlling the guide wire to rotate forward and backward according to the maximum forward rotation amplitude and the maximum reverse rotation amplitude.
According to the forward rotation amplitude and the reverse rotation amplitude of the guide wire, the guide wire is driven to rotate continuously, the propelling range of the guide wire is enlarged, and therefore the guide wire can be inserted into the target branch pipeline more accurately.
In a specific embodiment, referring to fig. 9, when the guide wire is controlled to enter the target branch pipeline, first, a plurality of preset positions are determined at one side of the target branch pipeline facing the guide wire entering direction according to preset intervals, the guide wire is controlled to move to one of the preset positions, a timing event of a preset time period is created, then, the guide wire is controlled to execute a preset pushing action by taking the current preset position as a starting point, whether the guide wire enters the preset branch pipeline is detected, and when the guide wire is detected to enter the preset branch pipeline, a stop signal is output to control the guide wire to stop moving; the method comprises the steps of acquiring the touch force of the first end part of the guide wire, controlling the guide wire to return to the previous preset position when the touch force is detected to exceed the preset touch force, and driving the guide wire to return to the previous preset position when a stop signal is not detected within a preset time period; and after the guide wire returns to the preset position, controlling the guide wire to move to the next preset position, executing the steps again, and when the control guide wire moves to the next preset position, controlling the guide wire to circularly move in a plurality of preset positions according to the preset executed sequence.
Example two
Based on the same inventive concept, another embodiment of the present invention provides a guide wire control system, which is applied in a system having a plurality of branch lines, the control system comprises a guide wire and a guide wire control device connected with the guide wire,
The guide wire control device is used for executing the control method of the guide wire in the first embodiment.
Referring to fig. 10, the guide wire control device includes:
the driving motor is used for outputting power for controlling the stretching of the guide wire;
and the transmission mechanism comprises a plurality of transmission gears and is used for driving the guide wire to stretch.
In some embodiments, the guidewire control device further comprises:
and the position acquisition module is used for determining the moving distance of the guide wire so as to determine the position of the first end part of the guide wire.
The position acquisition module comprises a position sensor, the position sensor is arranged on a gear in the transmission mechanism, and the position of the first end part of the guide wire is determined by detecting the length of the guide wire driven to stretch and retract.
In some embodiments, the guidewire control device further comprises a condition detection module comprising:
the touch force detection module is positioned on the second end part of the guide wire and used for detecting the touch force applied to the first end part of the guide wire;
and the timing module is used for outputting a target signal when the touch force applied to the first end part of the guide wire is larger than the touch force threshold value.
The timing module is also used for establishing a timing process of a preset time period for the time of executing the preset propelling action when the guide wire executes the preset propelling action, and controlling the guide wire to return when the guide wire executes the preset propelling action and exceeds the preset time period.
In some embodiments, the guidewire control device further comprises:
and the observation module is used for determining whether the guide wire enters the target branch pipeline or not, and driving the guide wire to stop moving when the guide wire is determined to enter the target branch pipeline, so that the guide wire stops in the preset branch pipeline.
A third embodiment of the present invention provides an electronic device including:
a memory for storing a computer program;
a processor for executing a computer program stored on the memory to implement the above-described method.
For the device embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including the preferred embodiment and all changes and modifications that fall within the true scope of the embodiments of the present invention.
Finally, it should also be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "include", "including" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or terminal device including a series of elements includes not only those elements but also other elements not explicitly listed or inherent to such process, method, article, or terminal device. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or terminal equipment comprising the element.
The above detailed description is given to a control method, a control system and an electronic device of a guide wire provided by the present invention, and a specific example is applied in the present document to explain the principle and the implementation of the present invention, and the description of the above embodiment is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (15)
1. A computer readable memory, wherein the computer readable memory, when executed, causes a guidewire control system to implement a method of guidewire control for use in a system having a plurality of branch conduits, the method comprising:
controlling a guide wire to perform a preset pushing action by taking a starting position as a starting point, so that the guide wire is pushed forwards from the starting position, wherein the starting position is positioned on a branch pipeline serving as an input pipeline in the plurality of branch pipelines, and the head of the guide wire has a bend;
monitoring whether a target signal corresponding to a preset withdrawal condition is received or not in the process of controlling the guide wire to execute the preset propelling action; the preset retraction condition comprises that the touch force applied to the first end part of the guide wire is detected to be larger than a touch force threshold value, or the operation time of the preset propelling action is overtime;
If the target signal is monitored and received, controlling the guide wire to retreat;
after the guide wire is withdrawn, controlling the guide wire to execute the preset pushing action again, repeating the steps to try to drive the guide wire into a target branch pipeline continuously, and sending a stopping signal to drive the guide wire to stay in the target branch pipeline when the guide wire is detected to enter the target branch pipeline so as to finish the process of pushing the guide wire into the target branch pipeline;
wherein, control the seal wire and carry out the predetermined action of advancing, include: controlling the guide wire to do reciprocating telescopic motion and simultaneously controlling the guide wire to rotate;
the control guide wire performs reciprocating telescopic motion and comprises: after the first end part of the guide wire is controlled to advance for a first preset length from a preset position, the first end part of the guide wire is controlled to retreat for a second preset length, wherein the second preset length is smaller than the first preset length; and increasing the first preset length, and repeating the step of controlling the guide wire to do reciprocating telescopic motion.
2. The computer-readable memory of claim 1, wherein the preset retraction condition is that when the touch force applied to the first end of the guide wire is detected to be greater than a touch force threshold, the computer-readable memory is further configured to implement the following control method when executed:
Detecting whether the touch force applied to the first end of the guide wire is greater than the touch force threshold value;
under the condition that the fact that the touch force applied to the first end portion of the guide wire is larger than the touch force threshold value is detected, outputting a target signal;
if the target signal is monitored and received, controlling the guide wire to retreat, including:
and if the target signal is monitored, controlling the guide wire to retreat to a preset position different from the initial position in a plurality of preset positions, and taking the preset position different from the initial position as a new initial position.
3. The computer-readable memory of claim 1, wherein when a preset retraction condition is that an operating time of the preset propulsion action has timed out, the computer-readable memory is further operable to implement the following control method:
judging whether the operation time of the preset propelling action is overtime;
if the operation time of the preset propelling action is overtime, outputting a target signal;
if the target signal is monitored and received, controlling the guide wire to retreat, including:
and if the target signal is monitored, controlling the guide wire to retreat to a preset position different from the initial position in a plurality of preset positions, taking the preset position different from the initial position as a new initial position, and timing the operation time of the preset propelling action again.
4. The computer readable memory of claim 2 or 3, wherein controlling the guidewire to retract to a different preset position from the starting position among a plurality of preset positions comprises:
the guide wire is controlled to move to a preset position which is adjacent to the starting position and far away from the target branch pipeline.
5. The computer readable memory of claim 2 or 3, wherein controlling the guidewire to retract to a different preset position of a plurality of preset positions from the starting position comprises:
and controlling the guide wire to move towards the direction of the preset position different from the initial position by a preset interval distance so as to enable the guide wire to reach the preset position different from the initial position.
6. The computer-readable memory of claim 5, wherein the controlling the guide wire to move in the direction of the preset position different from the starting position by a preset interval distance to reach the preset position different from the starting position comprises:
and controlling the guide wire to move to the direction of the preset position different from the starting position by a preset interval distance, and determining that the guide wire reaches the preset position different from the starting position when detecting that the distance between the first end part of the guide wire and the preset position different from the starting position is smaller than a preset distance threshold value.
7. The computer readable memory of claim 2 or 3, wherein controlling the guidewire to retract to a different preset position of a plurality of preset positions from the starting position comprises:
acquiring an executed sequence of the plurality of preset positions;
and controlling the first end part of the guide wire to move to the preset position different from the starting position according to the executed sequence based on the executed sequence of the preset positions and the starting position returned by the guide wire at the previous time when the target signal is received every monitoring.
8. The computer-readable memory according to claim 2 or 3, wherein the method further comprises:
if the operation time of the preset propelling action is not overtime, judging whether a stopping command is received or not;
controlling the guide wire to stop moving if the stop command is received;
and if the stop command is not received, controlling the guide wire to continuously execute the preset advancing action.
9. The computer-readable memory according to claim 2 or 3, wherein the method further comprises:
and setting the plurality of different preset positions at preset intervals in the area of one side, close to the guide wire, of the target branch pipeline, wherein the distances between the plurality of preset positions and the target branch pipeline are different from each other.
10. The computer-readable memory of claim 1, wherein the simultaneously controlling the guidewire to rotate comprises:
acquiring the maximum forward rotation amplitude and the maximum reverse rotation amplitude of the first end part of the guide wire;
and controlling the guide wire to rotate forward and backward according to the maximum forward rotation amplitude and the maximum reverse rotation amplitude.
11. A guide wire control system is characterized by being applied to a system with a plurality of branch pipelines, comprising a guide wire and a guide wire control device connected with the guide wire,
the guide wire control device comprises a computer readable memory according to any one of claims 1 to 10, so as to realize the control method of the guide wire through the computer readable memory.
12. The control system of claim 11, wherein the guidewire control device comprises:
the driving motor is used for outputting power for controlling the stretching of the guide wire;
and the transmission mechanism comprises a plurality of transmission gears and is used for driving the guide wire to stretch.
13. The control system of claim 12, wherein the guidewire control device further comprises:
a position acquisition module for determining a movement distance of the guide wire to determine a position of the first end of the guide wire.
14. The control system of claim 13, wherein the guidewire control device further comprises a condition detection module, the condition detection module comprising:
the touch force detection module is positioned on the second end part of the guide wire and used for detecting the touch force applied to the first end part of the guide wire;
and the timing module is used for outputting a target signal when the touch force applied to the first end part of the guide wire is greater than the touch force threshold value.
15. An electronic device, comprising:
the computer readable memory of any one of claims 1-10;
a processor for executing a computer program on the memory to implement the control method of the guidewire.
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| CN202210231908.8A CN114306892B (en) | 2022-03-10 | 2022-03-10 | Control system and electronic equipment of seal wire |
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| CN202210231908.8A CN114306892B (en) | 2022-03-10 | 2022-03-10 | Control system and electronic equipment of seal wire |
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| CN104287841A (en) * | 2014-11-10 | 2015-01-21 | 上海速介机器人科技有限公司 | Vascular intervention surgical robot guide wire/guide pipe operating device and control method thereof |
| KR20180089694A (en) * | 2017-02-01 | 2018-08-09 | 광주과학기술원 | Apparatus and method of insertion of a guide-wire |
| CN113710190A (en) * | 2019-04-30 | 2021-11-26 | 财团法人峨山社会福祉财团 | Device and method for evaluating moving path of guide wire |
| WO2022027938A1 (en) * | 2020-08-05 | 2022-02-10 | 北京唯迈医疗设备有限公司 | Method and system for safety early-warning of movement of guide wire of interventional surgery robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11395708B2 (en) * | 2018-06-20 | 2022-07-26 | Gabriel Gruionu | Systems and methods for automatic guidance of medical catheters and endoscopes |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104287841A (en) * | 2014-11-10 | 2015-01-21 | 上海速介机器人科技有限公司 | Vascular intervention surgical robot guide wire/guide pipe operating device and control method thereof |
| KR20180089694A (en) * | 2017-02-01 | 2018-08-09 | 광주과학기술원 | Apparatus and method of insertion of a guide-wire |
| CN113710190A (en) * | 2019-04-30 | 2021-11-26 | 财团法人峨山社会福祉财团 | Device and method for evaluating moving path of guide wire |
| WO2022027938A1 (en) * | 2020-08-05 | 2022-02-10 | 北京唯迈医疗设备有限公司 | Method and system for safety early-warning of movement of guide wire of interventional surgery robot |
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