CN115363768A

CN115363768A - Interventional operation robot system and control method and medium thereof

Info

Publication number: CN115363768A
Application number: CN202211322042.8A
Authority: CN
Inventors: 刘春燕; 黄韬; 王琳
Original assignee: Beijing Wemed Medical Equipment Co Ltd
Current assignee: Beijing Wemed Medical Equipment Co Ltd
Priority date: 2022-10-27
Filing date: 2022-10-27
Publication date: 2022-11-22
Anticipated expiration: 2042-10-27
Also published as: CN115363768B

Abstract

The present application relates to an interventional surgical robot system, a control method thereof and a medium, wherein a user manipulation part includes a manipulation member and a damping device configured to apply a resistance force to the manipulation member against manipulation upon receiving an activation instruction from a controller. The controller is further configured to acquire a reference image containing the blood vessels, identify a distal end position of each blood vessel in the reference image, acquire a position of the medical intervention device in the blood vessel intra-operatively, and determine whether the position is within a risk area relative to the distal end position, and if so, send the activation instruction to the damping device. The damping device is utilized to apply resistance which hinders the operation to the operation piece, so that a doctor can feel that the edge of a blood vessel is to be reached in time, the doctor is assisted to perform operation, misjudgment of the doctor is effectively avoided, and the life safety of a patient is protected.

Description

Interventional operation robot system and control method and medium thereof

Technical Field

The application relates to the technical field of interventional surgical robot control, in particular to an interventional surgical robot system, a control method and a medium of the interventional surgical robot system.

Background

The minimally invasive interventional therapy for the cardiovascular and cerebrovascular diseases is a main treatment means aiming at the cardiovascular and cerebrovascular diseases, and has the obvious advantages of small incision, short postoperative recovery time and the like compared with the traditional surgical operation. The cardiovascular and cerebrovascular interventional operation is a process in which a doctor manually sends a catheter, a guide wire, a stent and other instruments into a patient to finish treatment.

In the minimally invasive interventional operation process, because DSA can emit X-rays, the physical strength of a doctor is reduced quickly, the attention and the stability are also reduced, the operation precision of the doctor is reduced, and accidents such as endangium injury, perforation and rupture of blood vessels and the like are caused. Second, the cumulative damage of long-term ionizing radiation can greatly increase the probability of doctors suffering from leukemia, cancer and acute cataract. The phenomenon that the doctor continuously accumulates rays because of the interventional operation becomes a problem that the occupational life of the doctor is damaged and the development of the interventional operation is restricted to be neglected.

The problem can be effectively solved by means of the robot technology, the precision and the stability of the operation can be greatly improved, meanwhile, the harm of radiation to an interventional doctor can be effectively reduced, and the occurrence probability of accidents in the operation is reduced. During the interventional procedure performed by the doctor using the robot, there is a risk that the robot may puncture the blood vessel, which may seriously threaten the safety of the patient.

Disclosure of Invention

The present application is provided to solve the above-mentioned problems occurring in the prior art. There is a need for an interventional surgical robot system, a control method and medium thereof, which can apply manipulation resistance to a doctor in time when a medical interventional device reaches the vicinity of a distal end position so that the doctor feels a risk from the touch, can assist the doctor in manipulating the robot more safely, and improve the safety of an interventional operation.

According to a first aspect of the present application, there is provided an interventional surgical robotic system comprising a communicatively connected slave-end robot and a master-end mechanism comprising a user manipulation part manipulated by a user and a controller, the robot manipulating a medical interventional device within a blood vessel under the action of the controller in response to the user manipulation, the user manipulation part comprising a manipulator and a damping device configured to: in the case of receiving a start instruction from the controller, resistance force that hinders the manipulation is applied to the manipulation member. The controller is further configured to: acquiring a reference image containing the blood vessels, and identifying the tail end position of each blood vessel in the reference image; the position of the medical intervention device in the vessel is obtained intraoperatively and it is determined whether the position is within a risk area relative to the tip position, and if so, the activation instruction is sent to the damping means.

According to a second aspect of the present application, there is provided a control method of an interventional surgical robot, the control method being performed via a communicatively connected slave-end robot and a user manipulation part manipulated by a user and a master-end mechanism of a controller, the robot manipulating a medical intervention device to move within a blood vessel under the action of the controller in response to the user manipulation, comprising: the controller acquires a reference image containing the blood vessels, and identifies the tail end position of each blood vessel in the reference image; obtaining the position of the medical intervention device in the blood vessel during operation, judging whether the position is in a risk area relative to the end position, and if so, sending an actuating instruction to a damping device; in a case where a damping device in the user manipulation portion receives an activation instruction from the controller, a resistance force that hinders manipulation is applied to the manipulation member.

According to a third aspect of the present application, there is provided a computer-readable storage medium having stored thereon computer program instructions which, when executed by a processor, cause the processor to execute a control method of an interventional surgical robot according to various embodiments of the present application.

Compared with the prior art, the beneficial effects of the embodiment of the application lie in that:

the position of the medical intervention device in the blood vessel is automatically identified in real time through the controller, so that the condition of misjudgment caused by manual judgment is avoided. When the medical intervention device is judged to be near the end position, an activation instruction is sent to the damping device in time, the damping device applies resistance force for preventing operation to the operation piece based on the activation instruction, and at the moment, a virtual force wall is added to the system, so that a doctor can obviously feel the resistance force in the process of continuing operation. Through the cooperative cooperation among the damping device, the controller and other components, the doctor can directly sense the medical intervention device from the sense of touch to reach the vicinity of the tail end. Thus, the doctor can know whether the medical intervention device reaches the vicinity of the tail end in time and immediately improve the vigilance, thereby improving the operation safety.

The foregoing general description and the following detailed description are exemplary and explanatory only and are not intended to limit the invention as claimed.

Drawings

In the drawings, which are not necessarily drawn to scale, like reference numerals may describe similar parts throughout the different views. Like reference numerals having letter suffixes or different letter suffixes may represent different examples of similar components. The drawings illustrate generally, by way of example, but not by way of limitation, various embodiments and, together with the description and claims, serve to explain the claimed embodiments. Such embodiments are illustrative and exemplary and are not intended to be exhaustive or exclusive embodiments of the present method, apparatus, system, or non-transitory computer-readable medium having instructions for carrying out the method.

Fig. 1 shows a schematic structural diagram of an interventional surgical robotic system according to an embodiment of the application.

Fig. 2 shows a schematic diagram of an angiographic image acquired by a DSA device according to an embodiment of the application.

Fig. 3 shows a schematic diagram of a spring as a damping device according to an embodiment of the present application.

Fig. 4 shows an overall schematic view of an interventional surgical robotic system according to an embodiment of the application.

Fig. 5 shows a flowchart for controlling an interventional procedure based on an interventional surgical robotic system according to an embodiment of the application.

Fig. 6 shows a flowchart of a control method of an interventional surgical robot according to an embodiment of the application.

Detailed Description

In order to make the technical solutions of the present application better understood, the present application is described in detail below with reference to the accompanying drawings and the detailed description. The embodiments of the present application will be described in further detail with reference to the drawings and specific embodiments, but the present application is not limited thereto.

As used in this application, the terms "first," "second," and the like do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element preceding the word covers the element listed after the word, and does not exclude the possibility that other elements are also covered. "upper", "lower", "left", "right", and the like are used only to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.

In the present application, arrows shown in the figures of the respective steps are only used as examples of execution sequences, and are not limited, and the technical solution of the present application is not limited to the execution sequences described in the embodiments, and the respective steps in the execution sequences may be executed in a combined manner, may be executed in a decomposed manner, and may be exchanged in sequence as long as the logical relationship of the execution content is not affected.

All terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs unless specifically defined otherwise. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.

Fig. 1 shows a schematic structural diagram of an interventional surgical robotic system according to an embodiment of the application. The interventional surgical robotic system 100 includes a communicatively coupled slave-end robot 101 and a master-end mechanism 104 including a user manipulation part 102 manipulated by a user and a controller 103, the robot 101 manipulating a medical intervention device to move within a blood vessel under the action of the controller 103 in response to the user manipulation. In particular, the slave-end robot 101 may be provided with a robotic arm and an end effector, for example, the end effector may be a jaw or the like for gripping and securing a guide wire and/or catheter, in cooperation with the DSA to perform an operation action for the interventional procedure. The user manipulation unit 102 includes, but is not limited to, a control box (may also be referred to as a control panel) for allowing a doctor to manually control the robot 101 to perform a desired action. The controller 103 may be a processor or a device with a processor disposed therein, and the medical intervention device may include any one of a catheter, a guidewire, and a stent.

The processor may be, among other things, a processing device including one or more general-purpose processing devices, such as a microprocessor, central Processing Unit (CPU), graphics Processing Unit (GPU), and so forth. More specifically, the processor may be a Complex Instruction Set Computing (CISC) microprocessor, a Reduced Instruction Set Computing (RISC) microprocessor, a Very Long Instruction Word (VLIW) microprocessor, a processor running other instruction sets, or a processor running a combination of instruction sets. The processor may also be one or more special-purpose processing devices such as an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), a Digital Signal Processor (DSP), a system on a chip (SoC), or the like. As will be appreciated by those skilled in the art, in some embodiments, the processor may be a special purpose processor rather than a general purpose processor. The processor may include one or more known processing devices, such as a Pentium (TM), core (TM), xeon (TM) or Itanium (TM) family of microprocessors from Intel (TM), turion (TM), athlon (TM), sempron (TM), opteron (TM), FX (TM), phenom (TM) families from AMD (TM), or various processors from Sun Microsystems. The processor may also comprise a graphics processing unit, such as GPU from GeForce ®, quadro, tesla series manufactured by Nvidia TM, GMA, iris TM series manufactured by Intel TM, or Radeon TM series manufactured by AMD TM. The processor may also include an accelerated processing unit, such as the Desktop A-4 (6, 6) family manufactured by AMD, the Xeon Phi (TM) family manufactured by Intel (TM). In addition, the term "processor" or "image processor" may include more than one processor, e.g., a multi-core design or multiple processors, each having a multi-core design. The processor may execute sequences of computer program instructions stored in the memory to perform various operations, processes and methods disclosed herein. The processor may be communicatively coupled to the memory and configured to execute computer-executable instructions stored therein.

Specifically, the circuit board may be embedded in the user manipulation unit 102, and the user may directly transmit information related to controlling the operation of the medical intervention device, such as an operation command, to the robot 101 while manipulating the user manipulation unit 102. The robot 101 steers the medical intervention device to move in the blood vessel in response to the relevant control information, for example, the robot 101 steers the guide wire to advance and retreat in the blood vessel under the action of the control information.

Further, the user manipulation part 102 comprises a manipulation member 105 and a damping device 106, the damping device 106 being configured to: upon receiving an activation command from the controller 103, a resistance force that impedes manipulation is applied to the manipulation member 105, similar to applying a virtual force wall to the surgeon, such that the surgeon experiences a significant resistance force during manipulation of the manipulation member 105, prompting the surgeon for increased vigilance, assisting the surgeon in safely performing the interventional procedure. Specifically, the manipulating member 105 may be an existing device such as a joystick, a roller, a foot pedal, a steering wheel, etc. capable of manipulating the medical access device to perform corresponding actions, for example, the joystick is used to control the medical access device to move forward and backward, the roller is used to control the medical access device to rotate, etc., which is not particularly limited as long as the manipulation of the medical access device can be achieved in a communication manner.

The damping device 106 includes a processor 110 and a damping member 111. The damper 111 may be implemented as any member capable of applying (or increasing) a resistive force, such as, but not limited to, a stretchable elastic member, a hydraulic resistance member. The processor 110 may be a processing device including one or more small general-purpose processing devices, such as a single chip, an SOC or a DSP chip, or a processing circuit with a processing function, such as an ASIC or an FPGA, at least for receiving relevant control information from the controller 103 and controlling the enabling/disabling of the damping member 111 accordingly. The stretchable elastic member may be a spring or other member having a similar function. The controller 103 is further configured to acquire a reference image containing the blood vessels, and identify the end positions of the respective blood vessels in the reference image.

For ease of understanding, the following is exemplified by advancement of a guidewire in a blood vessel.

As shown in fig. 2, the controller 103 acquires a reference image including a blood vessel, and analyzes and processes the reference image. Specifically, the reference image may be a complete contrast image containing a lesion site acquired by a DSA device before or during a surgery, or may be an image directly retrieved from an image database, where the image data source at least includes medical image information acquired from the DSA and a large amount of doctor clinical operation data, and the reference image acquisition mode is not particularly limited. The doctor operation data refers to operation data performed by a doctor through the interventional surgical robot system 100 or data in a conventional clinical operation.

In addition, the method for identifying the end positions of the blood vessels based on the reference image is not particularly limited, and for example, the reference image may be analyzed through a learning network to segment the blood vessels. For example, the acquired image information is subjected to image preprocessing and input into a ResUnet deep learning network for training, target objects such as guide wires, stents, blood vessels and the like are identified, training data are obtained, shuffle operation is performed on the data, the images are converted into fixed sizes (such as 512 x 512), normalization processing is performed, pixels are converted into 0-1, the training data comprise medical images of segmentation marking information (blood vessels, guide wires and stents), image processing methods such as image horizontal turning, vertical turning, random scaling, random brightness, random contrast, random noise and the like are performed on the training data for data enhancement, and the enhanced training data are used for learning and training a segmentation network model to obtain an image segmentation model. And preprocessing the acquired reference image information, inputting the preprocessed reference image information into a ResUnet deep learning network for training, comparing a training result with training data, calculating a loss value by a cross entropy loss function calculation method, and reversely transmitting the loss value to update the weight. The extraction efficiency of the features can be greatly improved by extracting blood vessels and other features through a deep learning network. The deep learning network model may be a segmentation network model such as ResUnet and attentionUnet, and is not particularly limited. The segmentation network model is learned and trained by adopting the training data of the medical images of various segmentation labeling information (blood vessels, guide wires and supports), so that the image segmentation model can be obtained, and the accuracy and the speed of segmenting the segmentation target by using the obtained image segmentation model are ensured. The deep learning network can be realized by utilizing a Tensorflow framework to carry out deep learning training.

The controller 103 is further configured to intra-operatively obtain a position of the medical intervention device in the vessel and determine whether the position is within a risk area relative to the tip position, and if so, to send the activation instruction to the damping means 106. Wherein intraoperative can be understood as being during surgery. For example, the following description will be given by taking an example of advancement in a blood vessel using a guidewire. In the operation, along with the operation, the relative motion parameters such as the moving position and the direction of the guide wire in the blood vessel are changed, and whether the guide wire reaches the tail end of the blood vessel is judged by a doctor, so that misjudgment is easily caused, the guide wire breaks the blood vessel, and an operation accident occurs. As shown in fig. 2, when the controller 103 determines that the position of the guide wire in the blood vessel 201 is within the risk region 202, it sends an activation instruction to the damping device 106, and the damping device 106 applies a resistance force to the manipulation member 105 after receiving the activation instruction. When the guide wire is in the risk region 202, it means that the head of the guide wire is close to the end of the blood vessel, and if the speed of advancing the guide wire is high, the blood vessel is easy to puncture, and an operation accident is caused.

Fig. 3 shows the damping device 106 constructed with the spring 302 in the embodiment of the present application, which is merely used as an exemplary illustration, and any structure capable of applying a resistance force to the manipulation member 105 against the manipulation may be constructed based on the inventive concept provided in the present application. The operation of the damping device 106 will be briefly described with reference to fig. 1 and 2. The single-chip microcomputer 301 in fig. 3 can receive and transmit the relevant control information, and in case the controller 103 recognizes that the guide wire is outside the risk area 202 of the vessel end, the spring 302 is in a compressed state, and the damping device 106 is not in operation, and the doctor does not feel a significant resistance during the operation of the manipulating member 105. When the controller 103 identifies that the guide wire is located in the risk area 202 at the end of the blood vessel, a starting instruction is sent to the damping device 106, and after the single chip microcomputer 301 in the damping device 106 receives the starting instruction, the motor 304 is controlled to be started, so that the spring 302 is driven to extend outwards and is in contact with the rocker 303. At this time, the doctor can obviously feel the resistance generated by the damping device 106 in the process of advancing the rocker 303, so that the doctor can sense the guide wire entering the risk area 202 from the sense of touch, thereby immediately improving the vigilance and taking corresponding measures to avoid the guide wire from puncturing the blood vessel.

In some embodiments of the present application, the user manipulation part 102 further comprises a brake device 107, and the brake device 107 is configured to apply a resistance force to the manipulation member 105 to suppress the manipulation upon receiving a brake instruction from the controller 103. The restraining manipulation and the blocking manipulation are different, and the blocking manipulation means that the doctor can control the manipulating part 105 to generate an action, but feels a resistance when manipulating the manipulating part 105. However, inhibit manipulation refers to the inability of the surgeon to control the manipulation member 105 to produce further motion while manipulating the manipulation member 105.

The controller 103 is further configured to intra-operatively obtain the position of the medical intervention device in the blood vessel and determine whether the position is within a danger zone with respect to the end position, and if so, send the braking instruction to the braking device 107. Returning to fig. 2, the danger zone 203 is closer to the distal location than the risk zone 202, and as the guidewire enters the risk zone 202, resistance is applied to the physician using the damping device 106, and the physician experiences the resistance and then reduces the speed at which the guidewire is maneuvered to more discreetly advance the guidewire within the risk zone 202, thereby reducing the risk of puncturing the blood vessel. However, when the guidewire enters the hazard zone 203, the brake 107 immediately inhibits actuation of the steering member 105, thereby rapidly and efficiently "freezing" the guidewire to avoid puncturing the blood vessel.

In some embodiments of the present application, the user manipulation part 102 further comprises a brake release switch 108, and the brake device 107 is configured to release the inhibition of the manipulation member 105 upon receiving a command from a user to open the brake release switch 108. For example, after the guidewire enters the danger zone 203, the braking device 107 inhibits the action of the steering member 105 to prevent the guidewire from puncturing the blood vessel. After the manipulation member 105 is inhibited, the surgeon cannot manipulate the manipulation member 105. When the guide wire is separated from the dangerous region 203, or the doctor determines that the guide wire is not in the dangerous region 203, or the doctor intends to manipulate the guide wire to exit the current dangerous region 203, the doctor may turn on the brake release switch 108 to issue an on command. When receiving a command from the user to turn on the brake release switch, the brake device 107 releases the restraint of the manipulation member 105, and after the restraint is released, the doctor can continue to manipulate the manipulation member 105.

In some embodiments of the present application, determining whether the position is within a risk area relative to the end position specifically comprises: and judging whether the representative part of the medical intervention device is in a region which is not larger than a first threshold distance relative to the end position or not based on the image during operation, and if so, judging that the representative part of the medical intervention device is in the risk region. The representative part of the medical intervention device can be a head of the medical intervention device, a part of a monitorable area comprising the head, or other representative points or areas thereof which are convenient for observing the motion state of the medical intervention device. Taking the medical intervention device as the guide wire as an example, the representative part can be a guide wire head or a region 1mm near the guide wire head, and the motion state of the guide wire in the physiological cavity can be reflected by the change of the region 1mm near the guide wire head or the guide wire head. The representing part of the medical intervention device is determined, so that the medical intervention device can be accurately positioned. Returning to fig. 2, the regions with the end of the blood vessel as the center and the radius of the first threshold distance are all risk regions 202. If the distance between the head of the guide wire and the vessel end is not greater than a first threshold distance, it is determined that the risk region 202 is fallen, and if the distance is greater than the first threshold distance, it is determined that the risk region 202 is not located.

Further, determining whether the location is within a hazardous area relative to the end location specifically includes: and judging whether the representative part of the medical intervention device is in a region which is not larger than a second threshold distance relative to the tail end position or not based on the image during operation, and if so, judging that the representative part of the medical intervention device is in the dangerous region, wherein the first threshold distance is larger than the second threshold distance. As shown in fig. 2, the region with the end of the blood vessel as the center and the second threshold distance as the radius is the risk region 203. If the distance between the head of the guide wire and the vessel end is not more than the second threshold distance, it is determined that the dangerous region 203 is included, and if the distance is more than the second threshold distance, it is determined that the dangerous region 203 is not included. In fact, the danger zone 203 is also located in the risk zone 202, and by setting the first threshold distance to be greater than the second threshold distance, the danger zone 203 is further partitioned from the risk zone 202, which is beneficial to immediately inhibiting the advancing of the guidewire head when the guidewire head is further close to the end of the blood vessel, so as to prevent the guidewire head from puncturing the blood vessel.

In some embodiments of the present application, the damping device 106 comprises a processor 110 and a damping member 111, the damping member 111 comprises a stretchable elastic member, and the processor 110 is configured to activate the damping member 111 and apply a resistance force to the manipulation member 105, which resists the manipulation, upon receiving the activation instruction. The stretchable elastic component includes, but is not limited to, a spring, the controller 103 immediately sends an activation instruction to the damping device 106 when recognizing that the medical intervention device enters the risk area 202, the processor 110 in the damping device 106 activates the damping member 111 after receiving the activation instruction to apply a resistance force to the manipulating member 105, and the doctor immediately feels the resistance force from the touch, so that the manipulation alertness is improved, the follow-up manipulation is more cautious, the follow-up gradual manipulation amplitude is smaller, and the risk of the medical intervention device puncturing the blood vessel is reduced.

As shown in fig. 4, the user manipulation unit 102 includes, but is not limited to, a control box 402, and the control box 402 is used for a doctor to perform an operation by manually controlling the robot 405. The interventional surgical robotic system may also be equipped with a DSA device 407.

The DSA device 407 is used to acquire intra-operative images, each of which includes a two-dimensional image or a three-dimensional image, and transmit the acquired intra-operative images to the controller 103. The controller 103 is further configured to acquire a distance between a representative portion of the medical intervention device and the risk region 202 based on the intra-operative image, determine a resistance value to the manipulation to be applied by the damping device 106 to the manipulation member 105 based on the distance, and transmit the resistance value to the damping device 106, wherein the resistance value increases as the distance decreases. For example, the controller 103 can calculate the amount of resistance that the damping device 106 can apply to the manipulating member 105 based on the distance between the guidewire head and the end of the blood vessel as the guidewire head approaches the end of the blood vessel and the damping device 106 generates more resistance to the manipulating member 105 as the guidewire head approaches the end of the blood vessel. The damping device 106 is further configured to receive the resistance value from the controller 103 and apply a resistance corresponding to the resistance value to the maneuvering member 105, such that the physician can feel more resistance along with the closer the medical intervention device is to the end of the blood vessel during maneuvering of the medical intervention device, thereby assisting the physician to safely perform the intervention procedure.

In some embodiments of the present application, the interventional surgical robotic system 100 further comprises a display 109, the display 109 being configured to present the intraoperative image and a current motion state of the medical intervention device. The display unit 109 includes, but is not limited to, a display. For example, in fig. 4, the robot 405 is used to advance the guide wire in the blood vessel, and the doctor can control the robot 405 to complete the operation of the guide wire by controlling the rocker on the control box 402, so as to make the operation smooth. Wherein the robot 405 is placed on the catheter bed 406. The control box 402 may include two ways to transmit control instructions to the robot 405. For example, a circuit board may be embedded in the control box 402, and control instructions are sent directly to the robot 405 via the control box 402. Alternatively, the control box 402 transmits control instructions to the processor, which may be subsequently forwarded to the robot 405 via a relay device in the master authority 104 (such as, but not limited to, the control cabinet 401 in fig. 4). The robot 405 is provided with a mechanical arm and an end effector, for example, the end effector is a guide wire effector, and cooperates with the DSA device 407 to perform an operation action on an interventional operation. The main-end mechanism 104 includes, but is not limited to, a control cabinet 401, a display 403, a touch screen 404, and a control box 402, and the control box 402, the touch screen 404, and the display 403 are all connected to the control cabinet 401. The control cabinet 401 includes at least one processor that can acquire and analyze image information collected from the DSA devices 407 and send related instructions to the robot 405, and the robot 405 also feeds back related information such as data for performing actions to the control cabinet 401. The touch screen 404 is used for performing human-computer interaction, such as parameter setting, command confirmation, and the like. The display 403 is used to display the intra-operative images acquired by the DSA device 407 and present the current motion state of the medical intervention device, facilitating the physician to adjust the manipulation process.

In some embodiments of the present application, the controller 103 is further configured to automatically enlarge the intra-operative image centered on the representative portion of the medical intervention device to obtain an enlarged intra-operative image if the representative portion of the medical intervention device in the intra-operative image is within the risk area 202, and the display 109 is configured to present the enlarged intra-operative image. For example, taking the guidewire as an example, when the guidewire is in the risk area 202, it means that the guidewire is approaching the end of the blood vessel, and at this time, the image is enlarged by 2 times by taking the guidewire as the center, so that the physician can observe the details near the end of the blood vessel and the movement of the guidewire, and avoid the guidewire from puncturing the blood vessel. In the process of amplification, the wire guide head is used as the center for amplification display, so that the sight line jump of a doctor is avoided, and the concentration degree of the doctor in the interventional operation is improved.

In some embodiments of the present application, the controller 103 is further configured to refresh the position information of the representative portion of the medical intervention device on the display 109 at a first frequency in case the representative portion of the medical intervention device in the intra-operative image is not within the risk area 202, and to refresh the position information of the representative portion of the medical intervention device on the display 109 at a second frequency in case the representative portion of the medical intervention device in the intra-operative image is within the risk area 202, wherein the second frequency is higher than the first frequency. In particular, in the case where the representative portion of the medical intervention device in the intra-operative image is in the risk area 202, the doctor wants the display portion 109 to display the current motion of the medical intervention device more timely and accurately, so that the doctor can adjust the intervention operation timely. The controller 103 performs real-time analysis of the intra-operative images acquired by the DSA device 407 to determine whether a representative portion of the medical intervention device is within the risk region 202. In the case where it is recognized that the representative part of the medical intervention device is not within the risk area 202, the indication information of the first frequency is transmitted to the display part 109 through the interface, and in the case where the representative part of the medical intervention device is within the risk area 202, the indication information of the second frequency is transmitted to the display part 109. The second frequency is higher than the first frequency, thereby improving the real-time property of the display part 109 for displaying the position of the medical intervention device in the blood vessel.

In some embodiments of the present application, the controller 103 is further configured to: in the event that a representative portion of the medical intervention device in the intra-operative image is within the risk zone 202, it is deactivated upon a predetermined number of alerts to the user. For example, when the guidewire tip enters the risk area 202, the audible alert is turned off after 3 alert alerts are issued to the physician to avoid the frequent alerts affecting the physician's concentration.

In some embodiments of the present application, a flow chart for controlling an interventional procedure based on an interventional surgical robotic system is illustrated, with advancement of a guidewire in a blood vessel as an example. As shown in fig. 5, in step S501, a lesion site angiographic image (DSA image) is acquired, and the DSA image is subjected to overall analysis and processing. In step S502, the controller identifies tip position information of each blood vessel in the angiographic image. The positions of the tail ends of all blood vessels are analyzed and identified by extracting the center lines of the blood vessels, the positions of the tail ends of all the blood vessels are recorded, and an area of which the distance between the position of the godet head and the tail end of the blood vessel is not more than a first threshold distance is defined as a risk area, and an area of which the distance between the position of the godet head and the tail end of the blood vessel is not more than a second threshold distance is defined as a danger area. For example, the first threshold distance may be a distance between the guidewire head and the end of the blood vessel of 1cm, the second threshold distance may be a distance between the guidewire head and the end of the blood vessel of 0.5cm, and the specific values of the first threshold distance and the second threshold distance are not limited and can be set by the physician. In step S503, the doctor controls the robot at the master end mechanism to perform the interventional operation. In step S504, the robot advances the guide wire forward under the manipulation of the doctor. In step S505, the controller identifies the real-time position information of the guide wire and the blood vessel in the DSA image by the guide wire identification technique. And judging whether the guide wire is in a risk area or a dangerous area by comparing the position of the guide wire with the position of the tail end of the blood vessel. In step S506, it is determined whether the guide wire head is in the risk area, and if so, step S508 is executed, and the damping device applies a resistance to the rocker to prevent the rocker from advancing the guide wire, so that the doctor is more labourious when pushing the rocker, which is similar to a system in which a virtual force wall is added, so that the doctor can sense from the touch that the guide wire enters the risk area and needs to operate carefully. The closer the wire guide head is to the tail end of the blood vessel, the larger the resistance exerted on the rocker is, the damping value is adjusted by the controller according to the positions of the wire guide head and the tail end of the blood vessel, and the damping value is sent to the damping device. If the result of the determination in step S506 is no, it indicates that the guide wire is in a safe area at this time, and the damping device does not function, and step S507 is executed. Step S507 determines whether to end the operation, if yes, the operation is ended, if no, step S503 is continuously executed, and the system repeats the determination until the operation is ended. After step S508, it is continuously determined whether the guidewire head is in the dangerous area (step S510), if yes, step S509 is executed to activate the braking device to inhibit the operation of the manipulating member, so that the physician cannot push the rocker and the guidewire can not puncture the blood vessel. If the judgment result of the step S510 is no, the step S503 is continuously performed. Therefore, the real-time position of the guide wire in the blood vessel is analyzed by combining the DSA image, the tail end position of the blood vessel can be analyzed according to the angiography image, whether the guide wire is positioned in a risk area and a danger area in the blood vessel is judged in real time through comparative analysis, a doctor can be assisted to operate, the condition that the doctor misjudges is effectively avoided, and the life safety of a patient is protected.

Fig. 6 shows a flowchart of a control method of an interventional surgical robot according to an embodiment of the present application, the control method being performed via a communicatively connected slave-end robot and a user manipulation part manipulated by a user and a master-end mechanism of a controller, the robot manipulating a medical interventional device to move within a blood vessel under the action of the controller in response to the user manipulation. In step S601, the controller acquires a reference image including the blood vessels, and identifies the tip positions of the respective blood vessels in the reference image. In step S602, a position of the medical intervention device in the blood vessel is obtained intra-operatively, and it is determined whether the position is within a risk area relative to the tip position, and if so, an activation instruction is sent to a damping device. In step S603, in a case where the damper device in the user manipulation part receives an activation instruction from the controller, a resistance force that hinders manipulation is applied to the manipulation member. In this way, when the approach of the medical intervention device to the vessel end is detected, a resistance can be exerted on the maneuvering member, the first time the physician feels that the medical intervention device is about to reach the vessel end. The system applies manipulation resistance to the doctor, so that the doctor can more intuitively realize dangerous occurrence processes, the operation can be more careful, the alertness is improved, and the operation safety is improved.

The present application describes various operations or functions that may be implemented as or defined as software code or instructions. Such content may be source code or differential code ("delta" or "patch" code) ("object" or "executable" form) that may be executed directly. The software code or instructions may be stored in a computer-readable storage medium and, when executed, may cause a machine to perform the functions or operations described, and includes any mechanism for storing information in a form accessible by a machine (e.g., a computing device, an electronic system, etc.), such as recordable or non-recordable media (e.g., read Only Memory (ROM), random Access Memory (RAM), magnetic disk storage media, optical storage media, flash memory devices, etc.).

The example methods described herein may be implemented at least in part by a machine or computer. In some embodiments, a computer-readable storage medium having stored thereon computer program instructions which, when executed by a processor, cause the processor to perform a method of controlling an interventional surgical robot as described in various embodiments of the present application. An implementation of such a method may include software code, e.g., microcode, assembly language code, a high-level language code, and the like. Various software programming techniques may be used to create various programs or program modules. For example, the program parts or program modules may be designed in or by Java, python, C + +, assembly language, or any known programming language. One or more of such software portions or modules may be integrated into a computer system and/or computer-readable medium. Such software code may include computer readable instructions for performing various methods. The software code may form part of a computer program product or a computer program module. Further, in an example, the software code can be tangibly stored on one or more volatile, non-transitory, or non-volatile tangible computer-readable media, e.g., during execution or at other times. Examples of such tangible computer-readable media may include, but are not limited to, hard disks, removable magnetic disks, removable optical disks (e.g., compact disks and digital video disks), magnetic cassettes, memory cards or sticks, random Access Memories (RAMs), read Only Memories (ROMs), and the like.

Various modifications and alterations may be made to the methods, apparatus and systems of the present application. Other embodiments may be devised by those skilled in the art in view of the description and practice of the claimed system and related methods. The individual claims of the present application can be understood as separate embodiments and any combination between them also serves as an embodiment of the present application and these embodiments are considered to be included in the present application.

The examples are to be considered as illustrative only, with a true scope being indicated by the following claims and their equivalents.

Claims

1. An interventional surgical robotic system comprising a communicatively coupled slave-end robot and a master-end mechanism including a user manipulation part manipulated by a user and a controller, the robot manipulating a medical intervention device for intravascular movement under the action of the controller in response to user manipulation,

the user manipulation part includes a manipulation member and a damping device configured to: applying a resistance force to the manipulation member that hinders manipulation in a case where a start instruction from the controller is received;

the controller is further configured to:

acquiring a reference image containing the blood vessels, and identifying the tail end position of each blood vessel in the reference image;

the position of the medical intervention device in the vessel is obtained intraoperatively and it is determined whether the position is within a risk area relative to the tip position, and if so, the activation instruction is sent to the damping means.

2. The interventional surgical robotic system of claim 1, wherein the user manipulation section further comprises a brake device configured to: applying a resistance force that suppresses manipulation to the manipulation member in a case where a braking instruction is received from the controller;

the controller is further configured to: obtaining the position of the medical intervention device in the blood vessel during operation, judging whether the position is in a dangerous area relative to the tail end position, and if so, sending the braking instruction to the braking device;

wherein the hazardous area is closer to the terminal position than the hazardous area.

3. The interventional surgical robotic system of claim 1, wherein the user manipulation part further comprises a brake release switch, the brake device being configured to: and releasing the suppression of the operating piece when receiving the instruction of opening the brake releasing switch by the user.

4. The interventional surgical robotic system of claim 2, wherein determining whether the location is within a risk area relative to the tip location specifically comprises:

and judging whether the representative part of the medical intervention device is in a region which is not larger than a first threshold distance relative to the end position or not based on the image during operation, and if so, judging that the representative part of the medical intervention device is in the risk region.

5. The interventional surgical robotic system of claim 2, wherein determining whether the location is within a hazardous area relative to the tip location specifically comprises:

judging whether the representative part of the medical intervention device is in a region which is not larger than a second threshold distance relative to the tail end position or not based on the image during operation, and if so, judging that the representative part of the medical intervention device is in the dangerous region;

wherein the first threshold distance is greater than the second threshold distance.

6. The interventional surgical robotic system of claim 1, wherein the damping device comprises a processor and a damping member, the damping member comprising a stretchable elastic member;

the processor is configured to activate the damping member to apply a resistance force to the manipulation member that resists manipulation upon receipt of the activation instruction.

7. The interventional surgical robotic system of claim 1, further comprising a DSA device for acquiring intra-operative images, the controller being further configured to:

acquiring a distance between a representative portion of the medical intervention device and a risk region based on the intra-operative image, determining a resistance value applied to the manipulation member by the damping device to hinder manipulation based on the distance, and transmitting the resistance value to the damping device; wherein the resistance value increases with decreasing distance;

the damping device is further configured to: receiving a resistance value from the controller and applying a resistance force corresponding to the resistance value to the manipulation member.

8. The interventional surgical robotic system of claim 1,

the medical intervention device comprises any one of a catheter, a guide wire and a stent, and/or

The intraoperative images each include a two-dimensional image or a three-dimensional image.

9. The interventional surgical robotic system of claim 1, wherein primary end mechanism further comprises a display for presenting the intra-operative image and a current motion state of the medical interventional device.

10. The interventional surgical robotic system of claim 9, wherein the controller is further configured to: under the condition that the representative part of the medical intervention device in the intra-operative image is in a risk area, automatically amplifying the intra-operative image by taking the representative part of the medical intervention device as a center to obtain an amplified intra-operative image;

the display part is used for presenting the amplified intraoperative image.

11. The interventional surgical robotic system of claim 10, wherein the controller is further configured to:

in the event that the representative portion of the medical interventional device in the intra-operative image is not within the risk zone, refreshing position information of the representative portion of the medical interventional device on the display portion at a first frequency;

refreshing, with a second frequency, position information of the representative portion of the medical intervention device on the display portion if the representative portion of the medical intervention device in the intra-operative image is within a risk area;

wherein the second frequency is higher than the first frequency.

12. The interventional surgical robotic system of claim 1, wherein the controller is further configured to:

in the event that a representative portion of the medical intervention device in the intra-operative image is within a risk area, a predetermined number of alerts are issued to the user and then shut down.

13. A control method of an interventional surgical robot, which is performed via a communicatively connected slave-end robot that manipulates a user manipulation part by a user and a master-end mechanism of a controller, the robot manipulating a medical interventional device to move within a blood vessel under the action of the controller in response to the user manipulation, characterized by comprising:

the controller acquires a reference image containing the blood vessels, and identifies the tail end position of each blood vessel in the reference image;

obtaining the position of the medical intervention device in the blood vessel during operation, judging whether the position is in a risk area relative to the end position, and if so, sending an actuating instruction to a damping device;

in a case where a damping device in the user manipulation portion receives an activation instruction from the controller, a resistance force that hinders manipulation is applied to the manipulation member.

14. A computer-readable storage medium having stored thereon computer program instructions which, when executed by a processor, cause the processor to execute the method of controlling an interventional surgical robot of claim 13.