CN115645715A - Guide wire motion control method and device - Google Patents
Guide wire motion control method and device Download PDFInfo
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- CN115645715A CN115645715A CN202211121214.5A CN202211121214A CN115645715A CN 115645715 A CN115645715 A CN 115645715A CN 202211121214 A CN202211121214 A CN 202211121214A CN 115645715 A CN115645715 A CN 115645715A
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Abstract
The application provides a guide wire motion control method and a guide wire motion control device, which relate to the field of robot medical treatment, and the method comprises the following steps: analyzing according to the received first control data to obtain a first control signal and a second control signal; respectively controlling friction wheels clamped at two sides of the horizontal plane of the guide wire to rotate in corresponding directions and/or move up and down according to the first control signal and the second control signal to drive the guide wire to move; and generating a force feedback signal according to the stress change data of the guide wire insertion end in the movement process so as to control the movement of the guide wire insertion end.
Description
Technical Field
The application relates to the field of robot medical treatment, in particular to a guide wire motion control method and device.
Background
At present, a linear motor is mainly adopted to control the guide wire to move in the interventional operation, so that the guide wire is intervened in a target object to complete related operations, and the guide wire control equipment is complex in structure, large in size and high in cost. Meanwhile, the existing guide wire control equipment mainly depends on the operation experience of operators in use, most operators are difficult to know the motion condition of the guide wire in a target object in time, and unnecessary damage is easily caused to the target object in actual work.
Therefore, an intraoperative interaction channel is provided for an operator by the interventional surgical robot, and the operator is helped to know the motion condition of the guide wire in time, so that the safety factor of the interventional surgical robot is improved, and the damage to a target object is reduced.
Disclosure of Invention
The application aims to provide a guide wire movement control method and device, which can realize continuous propulsion and rotation of a guide wire by utilizing a pair of friction wheels, and has the advantages of more compact structure, smaller volume and lower cost compared with the existing interventional robot. The force sensing function is added, so that the safety in the operation process can be improved, and the risk of the operation is reduced; the force feedback function is added in the guide wire control system, so that the real-time interactivity between a doctor and the outside in the operation process can be improved.
In order to achieve the above object, the method for controlling motion of a guide wire provided by the present application specifically includes: analyzing according to the received first control data to obtain a first control signal and a second control signal; respectively controlling friction wheels clamped on two sides of the horizontal plane of the guide wire to rotate in corresponding directions and/or move up and down according to the first control signal and the second control signal to drive the guide wire to move; and generating a force feedback signal according to the stress change data of the guide wire insertion end in the movement process so as to control the movement of the guide wire insertion end.
In the above method for controlling movement of a guide wire, optionally, the obtaining a first control signal and a second control signal by analyzing according to the received first control data includes: analyzing according to the first control data to obtain motion data and/or steering data; obtaining the motion type of the guide wire according to the motion data, and obtaining the rotation direction of the guide wire according to the steering data; calculating according to the rotating direction to obtain a relative height difference between the friction wheels; and generating a corresponding first control signal and a second control signal according to the motion type and the relative height difference.
In the above method for controlling motion of a guide wire, optionally, the method further includes: collecting motion data of the guide wire insertion end in the motion process; and comparing the motion data with a preset threshold value, and triggering and controlling the friction wheel to drive the guide wire to execute a preset action according to a comparison result.
In the above method for controlling motion of a guide wire, optionally, the motion data of the guide wire insertion end includes: the resistance and the moment applied to the guide wire insertion end, the length of the guide wire in the insertion receptor, image data shot by the guide wire in the insertion receptor, the moving speed of the guide wire insertion end and the running current of the guide wire control device.
In the above method for controlling movement of the guide wire, optionally, the step of driving the guide wire to execute a preset action by controlling the friction wheel according to the protection control signal includes: when the resistance or the moment applied to the guide wire insertion end exceeds a preset force, calculating by a preset algorithm to obtain a safe distance value, and controlling the friction wheel to drive the guide wire to retreat to a position corresponding to the safe distance value according to the safe distance value; when the length of the guide wire in the interventional receptor exceeds the preset length, the friction wheel is controlled to drive the guide wire to stop advancing or stopping retreating; and receiving second control data according to the image data, and controlling the friction wheel to rotate and/or move up and down in the corresponding direction according to the second control data.
The present application further provides a guidewire movement control device, the device comprising: the device comprises a motion module, a processing module and a force feedback module; the processing module is used for analyzing and obtaining a first control signal and a second control signal according to the received first control data; the motion module is used for respectively controlling friction wheels clamped at two sides of a guide wire horizontal plane to rotate in corresponding directions and/or move up and down according to the first control signal and the second control signal so as to drive the guide wire to move; the force feedback module is used for generating a force feedback signal according to the stress change data of the guide wire insertion end in the movement process so as to control the movement of the guide wire insertion end.
In the above guide wire motion control device, optionally, the motion module includes a clamping power source and one or more pairs of friction wheels, and the friction wheels clamp the guide wire through a clamping jaw, a sliding block or a lead screw; the clamping power source controls the clamping jaw, the sliding block or the lead screw to clamp the guide wire through electric, pneumatic or hydraulic control.
In the above guide wire motion control device, optionally, the force feedback module includes a force sensor or a strain gauge, and the force feedback module is disposed at the guide wire insertion end or at a predetermined position on the guide wire, and is configured to measure a stress condition of the guide wire insertion end.
In the above guide wire movement control device, optionally, the force feedback module is configured to detect friction force change data received by the friction wheel through a force sensor or a strain gauge disposed on the friction wheel, and calculate and obtain a stress condition of the guide wire insertion end according to the friction force change data.
In the above guidewire movement control device, optionally, the device further comprises a monitoring module and a protection module; the monitoring module is used for acquiring motion data of the guide wire insertion end in the motion process; the protection module is used for comparing the motion data with a preset threshold value and triggering and controlling the friction wheel to drive the guide wire to execute a preset action according to a comparison result.
In the above guidewire motion control device, optionally, the monitoring module includes a stress monitoring unit, a length monitoring unit, an image monitoring unit, a speed monitoring unit and a current monitoring unit; the stress monitoring unit is used for acquiring the stress condition of the guide wire insertion end; the length monitoring unit is used for acquiring the length of a guide wire intervention receptor; the image monitoring unit is used for acquiring image data shot by the guide wire in a receptor; the speed monitoring unit is used for acquiring the moving speed of the guide wire; the current monitoring unit is used for acquiring the running current of the guide wire control equipment.
In the above guide wire motion control device, optionally, the protection module includes a guide wire tip force protection unit, a guide wire length protection unit and an image protection unit; the guide wire tip stress protection unit is used for calculating a safety distance value through a preset algorithm when the resistance or the torque applied to the guide wire insertion end exceeds a preset force, and controlling the friction wheel to drive the guide wire to retreat to a position corresponding to the safety distance value according to the safety distance value; the guide wire length protection unit is used for controlling the friction wheel to drive the guide wire to stop advancing or stopping retreating when the length of the guide wire intervening in a receptor exceeds a preset length; the image protection unit is used for receiving second control data according to the image data and controlling the friction wheel to rotate and/or move up and down in the corresponding direction according to the second control data.
The application also provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the computer program to realize the method.
The present application also provides a computer-readable storage medium storing a computer program for executing the above method.
The present application also provides a computer program product comprising computer programs/instructions which, when executed by a processor, implement the steps of the above-described method.
The beneficial technical effect of this application lies in: the novel guide wire movement mechanism reduces the volume of equipment and reduces the cost; the guide wire is controlled to move within a reasonable range through the safety protection module, so that the safety and the reliability in the operation process are improved; through the force feedback module, the intuitional touch of a doctor in the operation process is improved, so that the operability of the interventional operation robot is stronger.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application, are incorporated in and constitute a part of this application, and are not intended to limit the application. In the drawings:
fig. 1 is a schematic flow chart of a method for controlling motion of a guide wire according to an embodiment of the present application;
fig. 2 is a schematic view illustrating a first control data parsing process according to an embodiment of the present application;
fig. 3A-3D are schematic diagrams of a friction wheel controlled guidewire movement according to an embodiment of the present disclosure;
FIG. 4 is a schematic diagram illustrating a triggering process of safety protection in an interventional procedure according to an embodiment of the present application;
fig. 5 is a schematic flowchart illustrating security protection provided in an embodiment of the present application;
FIG. 6 is a diagram illustrating an example of physician control provided in accordance with an embodiment of the present application;
FIG. 7 is a schematic diagram of an example of security protection provided by an embodiment of the present application;
FIG. 8 is a schematic structural diagram of a guidewire motion control device provided in accordance with an embodiment of the present application;
fig. 9A is a schematic controlled flow diagram of an interventional surgical robot provided in accordance with an embodiment of the present application;
FIG. 9B is a schematic control diagram of two pairs of friction wheels according to an embodiment of the present application;
FIG. 9C is a schematic structural diagram of a staggered arrangement of two pairs of friction wheels according to an embodiment of the present application;
FIG. 10 is a schematic view of a strain gage attached to a tip of a guidewire according to an embodiment of the present disclosure;
FIG. 11 is a schematic diagram of a force sensor disposed at two ends of a guide wire according to an embodiment of the present disclosure;
FIG. 12 is a schematic diagram of a configuration of a force sensor disposed in a friction wheel according to an embodiment of the present disclosure;
fig. 13 is a schematic structural view of a friction wheel provided in an embodiment of the present application, in which strain gauges are disposed outside the friction wheel;
fig. 14 is a schematic overall control flow diagram of a guide wire motion control device provided in an embodiment of the present application;
FIG. 15 is a schematic diagram illustrating the logic for resistance or torque based control of guidewire protection provided by an embodiment of the present application;
FIG. 16 is a schematic diagram illustrating the logic for resistance or torque based control of guidewire protection provided by an embodiment of the present application;
FIG. 17 is a schematic logic diagram of resistance or torque based control of guidewire protection provided by an embodiment of the present application;
fig. 18 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The following detailed description will be provided with reference to the drawings and examples to explain how to apply the technical means to solve the technical problems and to achieve the technical effects. It should be noted that, as long as there is no conflict, the embodiments and the features of the embodiments in the present application may be combined with each other, and the technical solutions formed are all within the scope of the present application.
Additionally, the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions, and while a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than here.
Referring to fig. 1, a method for controlling a motion of a guide wire provided in the present application specifically includes:
s101, analyzing according to received first control data to obtain a first control signal and a second control signal;
s102, respectively controlling friction wheels clamped at two sides of a guide wire horizontal plane to rotate in corresponding directions and/or move up and down according to the first control signal and the second control signal to drive the guide wire to move;
s103, generating a force feedback signal according to the stress change data in the motion process of the guide wire insertion end so as to control the motion of the guide wire insertion end.
Wherein, the guide wire insertion end is the end of the guide wire entering the target object. In actual work, an operator can perform relevant control on a far-end main operating platform to send out the first control data, a slave end connected with the main end receives the control data and analyzes the control data to obtain control parameters of the friction wheel, namely the first control signal and the second control signal, and the friction wheels on two sides of the guide wire are respectively correspondingly operated based on the first control signal and the second control signal, so that the guide wire is driven to advance and retreat or rotate clockwise or anticlockwise along the axis direction. Specifically, when the friction wheel on one side receives the first control signal, the corresponding action can be executed based on the control parameters of the first control signal, such as the data of the rotation speed, the rotation angle, the upward displacement distance, the downward displacement distance, and the like. It should be noted that the first control signal and the second control signal are only used to illustrate that the friction wheels on both sides can be controlled individually, and no limitation is made to specific control parameters thereof and control signals corresponding to the friction wheels. During operation, the blockage condition of the tip of the guide wire in the target object can be monitored, and a feedback signal is generated to an operating device of an operator according to the detected resistance condition of the guide wire in the intervention end, such as resistance, vibration or other modes to inform the operator of the blockage condition.
Referring to fig. 2, in an embodiment of the present application, the parsing to obtain a first control signal and a second control signal according to received first control data includes:
s201, analyzing and obtaining motion data and/or steering data according to the first control data;
s202, obtaining the motion type of the guide wire according to the motion data, and obtaining the rotation direction of the guide wire according to the steering data;
s203, calculating according to the rotating direction to obtain a relative height difference between the friction wheels;
s204, generating a corresponding first control signal and a second control signal according to the motion type and the relative height difference.
The type of motion includes guidewire advancement or guidewire retraction, after which corresponding first and second control signals may be generated from a combination of one or more of the advancement value, the retraction value, the relative height difference. In practice, the first control data may comprise motion data or steering data or both, for which purpose the subsequent first and second control signals comprise a rotation direction and/or height difference. Specifically, referring to fig. 3A, when the guide wire needs to advance, the friction wheels on both sides rotate to the outside, that is, when viewed from the top, the friction wheel 302 rotates counterclockwise, and the friction wheel 301 rotates clockwise. When the guide wire needs to retreat, the friction wheels on the two sides respectively rotate towards the internal memory, namely, when viewed from top to bottom, the friction wheel 301 rotates anticlockwise, and the friction wheel 302 rotates clockwise, as shown in fig. 3B. When the guide wire needs to rotate counterclockwise or clockwise, referring to fig. 3C and fig. 3D, the friction wheels on both sides are controlled to move to change the relative height difference, for example, in fig. 3C, the friction wheel 302 is controlled to move downward, and the friction wheel 301 is controlled to move upward, so that friction force is generated to drive the guide wire to rotate clockwise along the cross section. Or in fig. 3D, the control friction wheel 301 moves downwards, and the control friction wheel 302 moves upwards, so that friction force is generated to drive the guide wire to rotate anticlockwise along the section.
Referring to fig. 4, in an embodiment of the present application, the method further includes:
s401, collecting motion data of the guide wire insertion end in the motion process;
s402, the motion data is compared with a preset threshold value, and the friction wheel is triggered and controlled to drive the guide wire to execute a preset action according to the comparison result.
Wherein, the motion data of the guide wire insertion end in the motion process comprises: the device comprises a guide wire insertion end, a sensor, a target object, a guide wire control device and a control device, wherein the guide wire insertion end is subjected to resistance and moment, the length of the guide wire in the target object, image data shot by the guide wire in the target object, the displacement and the speed of the guide wire insertion end and the running current of the guide wire control device. The preset threshold may be obtained by a worker in advance according to a similar reference object test or calculated by using a characteristic algorithm, and the application is not further limited herein.
Specifically, referring to fig. 5, in an embodiment of the present application, the triggering and controlling the friction wheel to drive the guide wire to perform a predetermined action according to the comparison result includes:
s501, when the resistance or the moment applied to the guide wire insertion end exceeds a preset force, calculating by a preset algorithm to obtain a safe distance value, and driving the guide wire to retreat to a position corresponding to the safe distance value by controlling the friction wheel according to the safe distance value;
s502, when the length of the guide wire in a target object exceeds a preset length, the guide wire is driven to stop advancing or stopping retreating by controlling the friction wheel;
s503, receiving second control data according to the image data, and controlling the friction wheel to rotate and/or move up and down according to the second control data.
In actual work, the second control data is a preset protection strategy, and can be selected and set according to actual needs. The step of obtaining the safe distance value through the calculation of the preset algorithm comprises the step of calculating a retreating safe distance value according to a constant value and a difference linear or nonlinear algorithm (admittance algorithm), wherein the specific algorithm is as follows:
the logic using constant values is: f r >F Threshold value ,D back ＝D constant ；
The logic for linearly calculating the safe distance value of the back-off according to the difference is:
the logic for calculating the safe distance value for the back-off based on the non-linearity is:
in the above formula, F r Resistance to the insertion end of the guide wire, F Threshold value To a predetermined force, D back As a safe distance value, D constant Is a preset constant value, F 1 、F 2 For different values of predetermined force, D 1 、D 2 For different preset retreat distance values, m, b and k are inertia parameters, damping parameters and rigidity parameters, and s is a Laplace operator.
Referring to fig. 6 and 7, taking a doctor operating an interventional surgical robot as an example, when the doctor operates the guide wire at the slave end to enter the receptor for rotation and/or advance and retreat, the doctor acquires torque change and resistance change data received by the guide wire through a sensor arranged on a friction wheel or the guide wire, and then provides the change data to the master end to complete force feedback, so that the doctor can effectively determine the condition of the guide wire in the body of a patient based on the force feedback, and unnecessary injuries are reduced. In the link, when preset abnormal conditions occur in resistance/torque, length/distance, current or image data, a protection control signal can be generated by using a preset protection mechanism, and the slave-end guide wire is controlled to execute protection actions by using the protection control signal. Specific examples will be described in detail later, and detailed description thereof is omitted.
Referring to fig. 8, the present application further provides a guide wire movement control device, the device comprising: the device comprises a motion module, a processing module, a protection module, a force feedback module and a monitoring module. The processing module analyzes and obtains a first control signal and a second control signal according to the received first control data. And the motion module respectively controls friction wheels clamped at two sides of the horizontal plane of the guide wire to rotate in corresponding directions or move up and down according to the first control signal and the second control signal to drive the guide wire to move. The force feedback module is used for generating a force feedback signal according to the stress change data of the guide wire insertion end in the movement process so as to control the movement of the guide wire insertion end.
Specifically, referring to fig. 9A, in actual work, the guide wire motion control device, that is, the interventional operation robot, is disposed at the slave end, an operator operates on the master end console 901, a communication module (not shown) of the master end console 901 sends an operation command to the console 902, the console 902 sends the control command to the interventional operation robot 903 at the slave end through the communication module, so that the robot 903 generates corresponding motion, and the communication module transmits image information and various information of the interventional operation robot 903 to the console 902.
In one embodiment of the application, the motion module comprises one or more pairs of friction wheels and a clamping power source, wherein the friction wheels clamp the guide wire through a clamping jaw, a sliding block or a lead screw. The clamping power source controls the clamping jaw, the sliding block or the lead screw to clamp the guide wire through electric, pneumatic or hydraulic control. The guide wire can advance and retreat when the pair of friction wheels are clamped, and the guide wire can rotate when the friction wheels move up and down relatively. The guide wire movement case realizes the advance and retreat and the rotation of the guide wire by only one pair of friction wheels, and has compact mechanism and lower cost. Further, as shown in fig. 9B, in actual operation, two pairs of friction wheels may be used to control the guide wire, and the two pairs of friction wheels 301, 302, 303, and 304 are used to clamp the guide wire simultaneously in the same plane, so as to improve the clamping reliability and prevent slipping. In the case of the guide wire movement, the guide wire is clamped by two groups of friction wheels, the clamping performance is more reliable compared with the mode in fig. 3A, and when one group of friction wheels slips, the other group of friction wheels can avoid the slipping. Referring to fig. 9C, in another embodiment, the guide wire is advanced and retracted and rotated by using two pairs of friction wheels 301, 302, 303, 304 arranged in a staggered manner in the same plane. Compared with the mode of fig. 3A and 9A, the guide wire movement case can enable the guide wire to be wound on the friction wheel, greatly reduce the possibility of guide wire slipping and improve the guide wire movement reliability.
In an embodiment of the present application, the force feedback module includes a force sensor or a strain gauge, and the force feedback module is disposed at the insertion end of the guide wire or at a predetermined position on the guide wire, and is used for measuring a stress condition of the insertion end of the guide wire. Specifically, referring to fig. 10, in actual work, a strain gauge 1001 may be attached to the tip of the guide wire to measure the stress of the guide wire, and the strain gauge 1001 is disposed at the tip of the guide wire, so that the stress of the tip of the guide wire in an interventional receptor may be directly measured, which is most accurate and may actually reflect the stress of the guide wire in a human body. Referring to fig. 11 again, the force sensor 1101 can also be disposed at two ends of the friction wheel clamping guide wire, so as to measure the stress when the guide wire advances and retreats and rotates.
In another embodiment of the present application, the force feedback module detects friction force change data received by the friction wheel through a force sensor or a strain gauge disposed on the friction wheel, and calculates and obtains a stress condition of the guide wire insertion end according to the friction force change data. Referring to fig. 12, in practical operation, a sensor 1201 is arranged in the friction wheel to measure the advancing and retreating and rotation stress of the guide wire, and the guide wire stress can also be measured in this way, so that the measurement error is small. Referring to fig. 13 again, in this embodiment, a strain gauge 1301 may be disposed on the friction wheel, and the strain gauge 1301 is attached to a position where the friction wheel is connected to the guide wire, so as to measure the stress condition of the guide wire.
In an embodiment of the present application, the monitoring module includes a stress monitoring unit, a length monitoring unit, an image monitoring unit, a speed monitoring unit, and a current monitoring unit. The stress monitoring unit is used for acquiring the stress condition of the guide wire insertion end. The length monitoring unit is used for acquiring the length of a guide wire intervention receptor. The image monitoring unit is used for acquiring image data shot by the guide wire in the receptor. The speed monitoring unit is used for acquiring the moving speed of the guide wire. The current monitoring unit is used for acquiring the running current of the guide wire control equipment.
In another embodiment, the protection module comprises a guide wire tip stress protection unit, a guide wire length protection unit and an image protection unit. The guide wire tip stress protection unit is used for calculating a safety distance value through a preset algorithm when resistance or torque applied to the guide wire insertion end exceeds a preset force, and controlling the friction wheel to drive the guide wire to retreat to a position corresponding to the safety distance value according to the safety distance value. The guide wire length protection unit is used for controlling the friction wheel to drive the guide wire to stop advancing or stopping retreating when the length of the guide wire intervening in a receptor exceeds a preset length. The image protection unit is used for receiving second control data according to the image data and controlling the friction wheel to rotate and/or move up and down in the corresponding direction according to the second control data.
Specifically referring to fig. 14, in actual work, the monitoring module monitors the real-time stress of the guide wire, the movement length of the guide wire, the current of the robot motor, the movement speed of the guide wire, and the image of the guide wire during the interventional operation. The image information is fed back to the doctor to make the doctor subjectively judge, and other information is set with threshold value to automatically protect. In fig. 14, fr is a real-time detection guide wire stress value, lr is a guide wire real-time advancing distance, ir is a guide wire movement motor current, vr is a guide wire advancing speed, it should be noted that the threshold in fig. 14 is not a certain value, but a series of values, which may be the same or different, and the specific setting condition may be selected and set according to actual needs, which is not further limited herein.
In the above embodiment, the monitoring protection process for Fr may include three ways, specifically referring to fig. 15, in an embodiment, when the monitoring module receives the stress information of the guide wire, and when the real-time force is greater than the threshold value, the distance that the guide wire is retracted is a constant value. Dback is the guidewire retreat distance and Dconst is a constant value. Referring to fig. 16 again, in another embodiment, when the monitoring module receives the stress information of the guide wire, the backward distance of the guide wire is different and constant values when the real-time force is greater than different thresholds. In the formula, F1 and F2 are set different constant force values, and D1 and D2 are set different constant retreating distances. Finally, referring to fig. 17, in an embodiment, when the monitoring module receives the stress information of the guide wire, and when the real-time force is greater than the threshold value, the guide wire retreat distance is calculated by admittance control. Wherein the F threshold is a set constant force value. m, b and k are inertia parameters, damping parameters and rigidity parameters, and can be set manually. s is the laplacian operator.
The beneficial technical effect of this application lies in: the guide wire movement mechanism reduces the volume of the equipment and reduces the cost; through the safety protection module, the guide wire is controlled to move within a reasonable range, and the safety and the reliability in the operation process are improved. Through the force feedback module, the intuitional touch of a doctor in the operation process is improved, so that the operability of the interventional operation robot is stronger.
The application also provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the computer program to realize the method.
The present application also provides a computer-readable storage medium storing a computer program for executing the above method.
The present application also provides a computer program product comprising computer programs/instructions which, when executed by a processor, implement the steps of the above-described method.
As shown in fig. 18, the electronic device 600 may further include: communication module 110, input unit 120, audio processing unit 130, display 160, power supply 170. It is noted that the electronic device 600 does not necessarily include all of the components shown in FIG. 18; furthermore, the electronic device 600 may also include components not shown in fig. 18, which may be referred to in the prior art.
As shown in fig. 18, the central processor 100, sometimes referred to as a controller or operational control, may include a microprocessor or other processor device and/or logic device, the central processor 100 receiving input and controlling the operation of the various components of the electronic device 600.
The memory 140 may be, for example, one or more of a buffer, a flash memory, a hard drive, a removable media, a volatile memory, a non-volatile memory, or other suitable device. The information relating to the failure may be stored, and a program for executing the information may be stored. And the cpu 100 may execute the program stored in the memory 140 to realize information storage or processing, etc.
The input unit 120 provides input to the cpu 100. The input unit 120 is, for example, a key or a touch input device. The power supply 170 is used to provide power to the electronic device 600. The display 160 is used to display an object to be displayed, such as an image or a character. The display may be, for example, an LCD display, but is not limited thereto.
The memory 140 may be a solid state memory such as Read Only Memory (ROM), random Access Memory (RAM), a SIM card, or the like. There may also be a memory that holds information even when power is off, can be selectively erased, and is provided with more data, an example of which is sometimes referred to as an EPROM or the like. The memory 140 may also be some other type of device. Memory 140 includes buffer memory 141 (sometimes referred to as a buffer). The memory 140 may include an application/function storage section 142, and the application/function storage section 142 is used to store application programs and function programs or a flow for executing the operation of the electronic device 600 by the central processing unit 100.
The memory 140 may also include a data store 143, the data store 143 for storing data, such as contacts, digital data, pictures, sounds, and/or any other data used by the electronic device. The driver storage portion 144 of the memory 140 may include various drivers of the electronic device for communication functions and/or for performing other functions of the electronic device (e.g., messaging application, address book application, etc.).
The communication module 110 is a transmitter/receiver 110 that transmits and receives signals via an antenna 111. The communication module (transmitter/receiver) 110 is coupled to the central processor 100 to provide an input signal and receive an output signal, which may be the same as in the case of a conventional mobile communication terminal.
Based on different communication technologies, a plurality of communication modules 110, such as a cellular network module, a bluetooth module, and/or a wireless local area network module, may be provided in the same electronic device. The communication module (transmitter/receiver) 110 is also coupled to a speaker 131 and a microphone 132 via an audio processor 130 to provide audio output via the speaker 131 and receive audio input from the microphone 132 to implement general telecommunications functions. Audio processor 130 may include any suitable buffers, decoders, amplifiers and so forth. In addition, an audio processor 130 is also coupled to the central processor 100, so that recording on the local can be enabled through a microphone 132, and so that sound stored on the local can be played through a speaker 131.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application 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.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams 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 apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, 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 apparatus 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 apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above-mentioned embodiments are provided to further explain the objects, technical solutions and advantages of the present application in detail, and it should be understood that the above-mentioned embodiments are only examples of the present application and are not intended to limit the scope of the present application.
Claims (15)
1. A guidewire motion control method, the method comprising:
analyzing according to the received first control data to obtain a first control signal and a second control signal;
respectively controlling friction wheels clamped at two sides of the guide wire to rotate in corresponding directions and/or move up and down according to the first control signal and the second control signal to drive the guide wire to move;
and generating a force feedback signal according to the stress change data in the motion process of the guide wire insertion end so as to control the motion of the guide wire insertion end.
2. The guidewire motion control method of claim 1, wherein resolving the first control signal and the second control signal from the received first control data comprises:
analyzing according to the first control data to obtain motion data and/or steering data;
obtaining the motion type of the guide wire according to the motion data, and obtaining the rotation direction of the guide wire according to the steering data;
calculating to obtain the relative height difference between the friction wheels according to the rotating direction;
and generating a corresponding first control signal and a second control signal according to the motion type and the relative height difference.
3. The guidewire motion control method of claim 1, further comprising:
collecting motion data of the guide wire insertion end in the motion process;
and comparing the motion data with a preset threshold value, and triggering and controlling the friction wheel to drive the guide wire to execute a preset action according to a comparison result.
4. The guidewire motion control method according to claim 3, wherein the motion data during the motion of the guidewire insertion end includes: the device comprises a guide wire insertion end, a guide wire control device, a control device and a control system, wherein the guide wire insertion end is subjected to resistance and moment, the length of the guide wire in an insertion receptor, image data shot by the guide wire in the insertion receptor, the moving speed of the guide wire insertion end and the operating current of the guide wire control device.
5. The guide wire motion control method according to claim 4, wherein triggering and controlling the friction wheel to drive the guide wire to perform a preset action according to the comparison result comprises:
when the resistance or the moment applied to the guide wire insertion end exceeds a preset force, calculating by a preset algorithm to obtain a safe distance value, and controlling the friction wheel to drive the guide wire to retreat to a position corresponding to the safe distance value according to the safe distance value;
when the length of the guide wire in the interventional receptor exceeds the preset length, the friction wheel is controlled to drive the guide wire to stop advancing or backing;
and receiving second control data according to the image data, and controlling the friction wheel to rotate and/or move up and down in the corresponding direction according to the second control data.
6. A guidewire motion control device, the device comprising: the device comprises a motion module, a processing module and a force feedback module;
the processing module analyzes the received first control data to obtain a first control signal and a second control signal;
the motion module respectively controls friction wheels clamped at two sides of the guide wire to rotate in corresponding directions and/or move up and down according to the first control signal and the second control signal to drive the guide wire to move;
the force feedback module generates a force feedback signal according to the stress change data of the guide wire insertion end in the movement process so as to control the movement of the guide wire insertion end.
7. The guidewire motion control device of claim 6, wherein the motion module includes a clamping power source and at least one pair of friction wheels.
8. The guide wire motion control device of claim 6, wherein the force feedback module is disposed at the guide wire insertion end or at a predetermined position of the guide wire, and is configured to measure a force applied to the guide wire insertion end.
9. The guidewire motion control device of claim 6, wherein the force feedback module is disposed on the friction wheel.
10. The guidewire motion control device of claim 6, further comprising a monitoring module and a protection module;
the monitoring module is used for acquiring motion data of the guide wire insertion end in the motion process;
the protection module is used for comparing the motion data with a preset threshold value, generating a protection signal according to a comparison result, and controlling the friction wheel to drive the guide wire to execute a preset action by the protection control signal.
11. The guidewire motion control device of claim 10, wherein the monitoring module comprises a force monitoring unit, a length monitoring unit, an image monitoring unit, a speed monitoring unit, and a current monitoring unit;
the stress monitoring unit is used for acquiring the stress condition of the guide wire insertion end;
the length monitoring unit is used for acquiring the length of a guide wire intervention receptor;
the image monitoring unit is used for acquiring image data shot by the guide wire in a receptor;
the speed monitoring unit is used for acquiring the moving speed of the guide wire;
the current monitoring unit is used for acquiring the running current of the guide wire control equipment.
12. The guidewire motion control device of claim 10, wherein the protection module comprises a tip force protection unit, a length protection unit, and an image protection unit;
the tip stress protection unit is used for calculating a safety distance value through a preset algorithm when the resistance or the torque applied to the guide wire insertion end exceeds a preset value, and controlling the friction wheel to drive the guide wire to retreat to a position corresponding to the safety distance value according to the safety distance value;
the length protection unit is used for controlling the friction wheel to drive the guide wire to stop advancing or stopping retreating when the length of the guide wire intervening in the receptor exceeds a preset length;
the image protection unit is used for receiving second control data according to the image data and controlling the friction wheel to rotate and/or move up and down in the corresponding direction according to the second control data.
13. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of any of claims 1 to 5 when executing the computer program.
14. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program for executing the method of any one of claims 1 to 5 by a computer.
15. A computer program product comprising computer program/instructions, characterized in that the computer program/instructions, when executed by a processor, implement the steps of the method of any of claims 1 to 5.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211121214.5A CN115645715A (en) | 2022-09-15 | 2022-09-15 | Guide wire motion control method and device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211121214.5A CN115645715A (en) | 2022-09-15 | 2022-09-15 | Guide wire motion control method and device |
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| CN202211121214.5A Pending CN115645715A (en) | 2022-09-15 | 2022-09-15 | Guide wire motion control method and device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116421318A (en) * | 2023-03-06 | 2023-07-14 | 极限人工智能有限公司 | Medical guide wire driving device, method, system, medium and electronic equipment |
| CN116440392A (en) * | 2023-03-07 | 2023-07-18 | 极限人工智能有限公司 | Guide wire driving device and method based on Mecanum wheel and interventional operation robot |
-
2022
- 2022-09-15 CN CN202211121214.5A patent/CN115645715A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116421318A (en) * | 2023-03-06 | 2023-07-14 | 极限人工智能有限公司 | Medical guide wire driving device, method, system, medium and electronic equipment |
| CN116421318B (en) * | 2023-03-06 | 2023-12-01 | 极限人工智能有限公司 | Medical guide wire driving device, method, system, medium and electronic equipment |
| CN116440392A (en) * | 2023-03-07 | 2023-07-18 | 极限人工智能有限公司 | Guide wire driving device and method based on Mecanum wheel and interventional operation robot |
| CN116440392B (en) * | 2023-03-07 | 2024-04-05 | 极限人工智能有限公司 | Guide wire driving device and method based on Mecanum wheel and interventional operation robot |
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