CN115837114A - Intelligent ability feedback guide wire control system and corresponding control method - Google Patents
Intelligent ability feedback guide wire control system and corresponding control method Download PDFInfo
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Abstract
The application provides an intelligent feedback guide wire control system and a corresponding control method, wherein the system comprises: the intelligent force feedback guide wire comprises an operator, a driver and an intelligent force feedback guide wire, wherein the operator comprises an operating rod, and the driver comprises a driving unit and a demodulator; the operating rod is used for controlling the driving unit, the intelligent force feedback guide wire is arranged on the driving unit, and the driving unit is used for pushing the intelligent force feedback guide wire; the tail end of the intelligent force feedback guide wire is connected with a demodulator, and the demodulator is used for converting the feedback optical signal into guide wire stress and feeding the guide wire stress back to the operator so as to control the intelligent force feedback guide wire. The received feedback optical signal is converted into guide wire stress through the demodulator, the guide wire stress is fed back to the operator, the stress condition of the intelligent force feedback guide wire in a blood vessel can be judged through the stress touch sense on the operating rod of the operator, the driving unit is controlled in different modes through the operator according to the sensed stress condition, and the driving unit pushes the intelligent force feedback guide wire in different modes.
Description
Technical Field
The application relates to the technical field of intelligent control of medical instruments, in particular to an intelligent force feedback guide wire control system and a corresponding control method.
Background
With the increasing incidence of cardiovascular diseases, interventional surgery has been widely used in recent years. Most of the existing interventional operation systems and/or interventional operation robots only carry out simple delivery of interventional guide wires, in an interventional operation, the interventional guide wires need to be moved to a target position after entering human blood vessels, the interventional guide wire head ends can be in contact with blood vessel walls in the moving interventional guide wire process, when the interventional guide wire head ends encounter obstacles such as blood vessel plaques, the stress of the interventional guide wire head ends can be increased, and adjustment needs to be carried out on the progressive operation of the interventional guide wires. The existing interventional operation system and/or interventional operation robot can not feed back the real stress condition of the interventional guide wire in the blood vessel of the human body.
Disclosure of Invention
The application provides an intelligent feedback guide wire control system and a corresponding control method, and aims to solve the problem that the existing interventional operation system and/or interventional operation robot cannot feed back the real stress condition of an interventional guide wire in a human blood vessel.
In order to solve the problems, the following technical scheme is adopted in the application:
in a first aspect, provided herein is an intelligent force feedback guidewire control system, comprising an operator, a driver, and an intelligent force feedback guidewire,
the manipulator comprises a control rod, and the driver comprises a driving unit and a demodulator; the operating rod is used for controlling the driving unit, the intelligent force feedback guide wire is arranged on the driving unit, and the driving unit is used for pushing the intelligent force feedback guide wire; the tail end of the intelligent force feedback guide wire is connected with the demodulator, and the demodulator is used for converting a feedback optical signal into guide wire stress and feeding the guide wire stress back to the operator so as to control the intelligent force feedback guide wire.
Preferably, the system further comprises a guide wire bending adjusting device, the guide wire bending adjusting device is arranged on the intelligent force feedback guide wire, and the guide wire bending adjusting device is used for adjusting the bending degree of the head end of the intelligent force feedback guide wire.
Preferably, the intelligent force feedback guide wire control system further comprises a display, the display is electrically connected with the demodulator, and the display is used for displaying the stress image of the intelligent force feedback guide wire.
In a second aspect, the present application provides an intelligent force feedback guidewire control method, based on the above intelligent force feedback guidewire control system, the method comprising:
the joystick controls the drive unit, which forwards the smart force feedback guidewire;
the demodulator sends out a transmitting optical signal to the head end of the intelligent force feedback guide wire;
the demodulator receives a feedback optical signal fed back from a head end of the intelligent force feedback guide wire;
the demodulator converts the feedback optical signal into the stress of the guide wire;
the demodulation instrument feeds the stress of the guide wire back to the operator.
Preferably, the demodulator converts the feedback optical signal into the guide wire force, and comprises:
the demodulator demodulates the feedback optical signal to obtain a first feedback optical wavelength;
the demodulator acquires a second feedback optical wavelength of the last feedback optical signal;
the demodulator calculates the variable quantity of the feedback optical wavelength according to the first feedback optical wavelength and the second feedback optical wavelength;
and the demodulator calculates the feedback optical wavelength variation to obtain the stress of the guide wire.
Preferably, the calculating, by the demodulator, the feedback optical wavelength variation to obtain the guidewire stress includes:
the demodulation instrument calculates the stress of the guide wire through the following formula:
wherein λ is the central wavelength of the fiber grating, and Δ λ a For the feedback light wavelength variation, k is the guide wire stress sensing coefficient, p e And the delta epsilon is the stress of the guide wire, wherein the delta epsilon is the elasto-optic coefficient of the fiber bragg grating.
Preferably, the demodulator calculates the feedback optical wavelength variation to obtain the stress on the guide wire, and further includes:
the demodulation instrument judges whether the stress of the head end of the intelligent capability feedback guide wire is larger than a first stress threshold value or not, if so, the driving unit controls the guide wire bending adjusting device, and the guide wire bending adjusting device adjusts the bending degree of the head end of the intelligent capability feedback guide wire;
if the stress of the head end of the intelligent force feedback guide wire is smaller than or equal to the first stress threshold value, the demodulator judges whether the stress of the middle end of the intelligent force feedback guide wire is larger than a second stress threshold value or not, if the stress of the middle end of the intelligent force feedback guide wire is larger than the second stress threshold value, the operating rod controls the driving unit, and the driving unit delivers the intelligent force feedback guide wire back and forth.
Preferably, after the demodulating instrument feeds the guide wire force back to the operator, the demodulating instrument further comprises:
the demodulator judges whether the intelligent force feedback guide wire is positioned at a target position, if so, the driving unit stops delivering the intelligent force feedback guide wire forwards;
if the intelligent force feedback guide wire is not located at the target position, the driving unit continues to deliver the intelligent force feedback guide wire forwards or backwards.
In a third aspect, the present application provides an intelligent force feedback guidewire control device, comprising:
a forward delivery module for operating a lever to control a drive unit that delivers an intelligent capability feedback guidewire forward;
the optical signal transmitting module is used for transmitting a transmitting optical signal to the head end of the intelligent force feedback guide wire by the demodulator;
the optical signal receiving module is used for receiving the feedback optical signal fed back from the head end of the intelligent force feedback guide wire by the demodulator;
the guide wire stress conversion module is used for converting the feedback optical signal into guide wire stress by the demodulator;
and the guide wire stress feedback module is used for feeding the guide wire stress back to the manipulator by the demodulator.
The application also provides computer equipment, which comprises a memory and a processor, wherein the memory stores a computer program, and the processor realizes the steps of the intelligent force feedback guide wire control method when executing the computer program.
The present application further provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the intelligent force feedback guidewire control method of any of the above.
The intelligent force feedback guide wire control system comprises an operator, a driver and an intelligent force feedback guide wire, wherein the operator comprises an operating rod, and the driver comprises a driving unit and a demodulator; the operating rod is used for controlling the driving unit, the intelligent force feedback guide wire is arranged on the driving unit, and the driving unit is used for pushing the intelligent force feedback guide wire; the tail end of the intelligent force feedback guide wire is connected with a demodulator, and the demodulator is used for converting the feedback optical signal into guide wire stress and feeding the guide wire stress back to the operator so as to control the intelligent force feedback guide wire. In the process that the driving unit pushes the intelligent force feedback guide wire to be delivered in the blood vessel, all parts of the intelligent force feedback guide wire can be stressed, received feedback optical signals are converted into guide wire stress through the demodulator, the guide wire stress is fed back to the operator, the stress condition of the intelligent force feedback guide wire in the blood vessel can be judged through stress touch on the operating rod of the operator, the driving unit is controlled in different modes through the operator according to the sensed stress condition, and the driving unit pushes the intelligent force feedback guide wire in different modes.
Drawings
FIG. 1 is a schematic diagram of an embodiment of an intelligent force feedback guidewire control system;
FIG. 2 is a schematic structural diagram of an intelligent force feedback guidewire of an embodiment;
FIG. 3 is a schematic flow diagram of a method of intelligent force feedback guidewire control according to an embodiment;
FIG. 4 is a schematic flow chart illustrating the conversion of feedback light signals into guide wire forces according to an embodiment;
FIG. 5 is a block diagram illustrating the structure of an intelligent force feedback guidewire control device according to one embodiment;
FIG. 6 is a block diagram illustrating the structure of a computer device according to an embodiment.
The names of the components marked in the figures are as follows: 1. an operator; 11. an operating lever; 12. a display; 2. a driver; 21. a drive unit; 22. a demodulator; 3. an intellectual ability feedback guidewire; 31. a tip end of an intelligent force feedback guidewire; 32. a spring section; 33. a hypotube section; 34. a threaded slider; 35. a coupling part; 4. a guide wire bending adjusting device.
The implementation of the objectives, functional features, and advantages of the present application will be further described with reference to the accompanying drawings.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
As used herein, the singular forms "a", "an", "the" and "the" include plural referents unless the content clearly dictates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, units, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, units, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. As used herein, the term "and/or" includes all or any element and all combinations of one or more of the associated listed items.
It will be understood by those within the art that, unless otherwise defined, 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. 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 prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
Referring to fig. 1-2, the structure of the intelligent force feedback guide wire control system of the present application is schematically illustrated, and the system includes: an operator 1, a driver 2 and an intelligent force feedback guide wire 3,
the operator 1 comprises an operating rod 11, the driver 2 comprises a driving unit 21 and a demodulator 22; the operating rod 11 is used for controlling the driving unit 21, the intelligent force feedback guide wire 3 is arranged on the driving unit 21, and the driving unit 21 is used for pushing the intelligent force feedback guide wire 3; the tail end of the intelligent force feedback guide wire 3 is connected with the demodulator 22, and the demodulator 22 is used for converting a feedback optical signal into a guide wire stress and feeding the guide wire stress back to the operator 1 so as to control the intelligent force feedback guide wire 3.
The intelligent force feedback guide wire control system can be used for blood vessel interventional surgery in the medical field, a user places the head end 31 of the intelligent force feedback guide wire into a patient body in an operating room, the intelligent force feedback guide wire 3 is installed on the driving unit 21, and the tail part of the intelligent force feedback guide wire 3 is electrically connected with the demodulator 22 through the coupling part 35.
Preferably, the intelligent feedback guide wire control system further comprises a display 12, the display 12 is electrically connected with the demodulator 22, the display 12 receives the guide wire stress fed back by the demodulator 22, and the display 12 converts the guide wire stress into a stress image and displays the stress image.
The intelligent force feedback guide wire 3 is provided with a grating sensor, the grating sensor is connected with the head end 31 of the intelligent force feedback guide wire in a laser welding or glue bonding mode, and the grating sensor is used for reflecting an optical signal emitted by the demodulator 22 from the tail end of the intelligent force feedback guide wire 3.
The demodulator 22 may be a fabry-perot interferometer, a mach-zehnder interferometer, or a michelson interferometer.
After the intelligent force feedback guide wire control system is installed, a user senses the stress condition of the intelligent force feedback guide wire 3 in a human blood vessel through the operating rod 11 in a tactile manner outside an operating room, and meanwhile, the user confirms the position and the contact condition of the intelligent force feedback guide wire 3 in the human blood vessel according to the stress image of the intelligent force feedback guide wire 3 displayed by the display 12.
If the intelligent force feedback guide wire 3 is judged to be required to be adjusted according to the stress of the intelligent force feedback guide wire 3 in the blood vessel of the human body, the user operates the operating rod 11 in different modes to control the driving unit 21, and the driving unit 21 pushes the intelligent force feedback guide wire 3 in different modes; if the intelligent force feedback guide wire 3 does not need to be adjusted according to the stress of the intelligent force feedback guide wire 3 in the blood vessel of the human body, the user operates the operating rod 11 in a preset mode to control the driving unit 21, and the driving unit 21 pushes the intelligent force feedback guide wire 3 in the preset mode.
In the process that the driving unit 21 pushes the intelligent force feedback guide wire 3 to be delivered in a blood vessel, all parts of the intelligent force feedback guide wire 3 can be stressed, received feedback optical signals are converted into guide wire stress through the demodulator 22, the guide wire stress is fed back to the operator 1, the stress condition of the intelligent force feedback guide wire 3 in the blood vessel can be sensed through the stress touch sense on the operating rod 11 of the operator 1, the driving unit 21 is controlled in different modes through the operator 1 according to the sensed stress condition, and the driving unit 21 pushes the intelligent force feedback guide wire 3 in different modes.
The intelligent force feedback guide wire control system comprises an operator 1, a driver 2 and an intelligent force feedback guide wire 3, wherein the operator 1 comprises an operating rod 11, and the driver 2 comprises a driving unit 21 and a demodulator 22; the operating rod 11 is used for controlling the driving unit 21, the intelligent force feedback guide wire 3 is arranged on the driving unit 21, and the driving unit 21 is used for pushing the intelligent force feedback guide wire 3; the tail end of the intelligent capability feedback guide wire 3 is connected with a demodulator 22, and the demodulator 22 is used for converting the feedback optical signal into guide wire stress and feeding the guide wire stress back to the operator 1 so as to control the intelligent capability feedback guide wire 3. In the process that the driving unit 21 pushes the intelligent force feedback guide wire 3 to be delivered in a blood vessel, all parts of the intelligent force feedback guide wire 3 can be stressed, received feedback optical signals are converted into guide wire stress through the demodulator 22, the guide wire stress is fed back to the operator 1, the stress condition of the intelligent force feedback guide wire 3 in the blood vessel can be sensed through the stress touch sense on the operating rod 11 of the operator 1, the driving unit 21 is controlled in different modes through the operator 1 according to the sensed stress condition, and the driving unit 21 pushes the intelligent force feedback guide wire 3 in different modes.
In one embodiment, referring to fig. 2, the system further includes a guide wire bending adjusting device 4, the guide wire bending adjusting device 4 is disposed on the intelligent force feedback guide wire 3, and the guide wire bending adjusting device 4 is configured to adjust a bending degree of the head end 31 of the intelligent force feedback guide wire.
The intelligent feedback guide wire 3 comprises a head end 31 of the intelligent feedback guide wire, a spring section 32, a hypotube section 33, a threaded slider 34 and a coupling part 35, wherein one end of the spring section 32 is connected with the head end 31 of the intelligent feedback guide wire, and the other end of the spring section 32 is connected with the hypotube section 33. The number of the thread sliding blocks 34 is two, the two thread sliding blocks 34 are respectively arranged on two sides of the intelligent force feedback guide wire 3 in the same radial direction, one end of the guide wire bending adjusting device 4 is connected with the head end 31 of the intelligent force feedback guide wire, and the other end of the guide wire bending adjusting device 4 is connected with the thread sliding blocks 34. The demodulator 22 is electrically connected with the tail end of the intelligent force feedback guide wire 3 through the coupling part 35, and when the two threaded sliders oppositely move, the guide wire bending adjusting device 4 pulls the metal wire inside the intelligent force feedback guide wire 3, so that the bending degree of the head end 31 of the intelligent force feedback guide wire is changed.
Preferably, the intelligent force feedback guide wire control system further comprises a sound prompting device, and the sound prompting device can be a loudspeaker, an earphone or other devices capable of making sound. The voice prompting device is used for prompting that the head end 31 of the intelligent force feedback guide wire is stressed too much and/or the middle end of the intelligent force feedback guide wire 3 is stressed too much.
In the process of delivering the intelligent feedback guide wire 3 in the blood vessel of the human body, when the stress of the head end 31 of the intelligent feedback guide wire is greater than the first stress threshold value, the sound prompting device sends out a prompt sound that the stress of the head end 31 of the intelligent feedback guide wire is too large. The user determines whether the tip 31 of the smart force feedback guidewire touches an obstacle or not by combining the force-receiving touch feeling of the joystick 11, the force-receiving image displayed on the display 12, and a Digital Subtraction Angiography (DSA) image, and determines the type of the obstacle if the tip 31 touches the obstacle, wherein the type of the obstacle includes a blood vessel plaque. The operating rod 11 controls the driving unit 21, the driving unit 21 controls the guide wire bending device 4 on the intelligent force feedback guide wire, and the guide wire bending device 4 pulls the metal wire inside the intelligent force feedback guide wire 3, so that the bending degree of the head end 31 of the intelligent force feedback guide wire is changed to avoid the obstacle.
Preferably, before changing the bending degree of the head end 31 of the intelligent force feedback guide wire or after changing the bending degree of the head end 31 of the intelligent force feedback guide wire, the method further comprises controlling the driving unit 21 by using the operating rod 11, wherein the driving unit 21 controls the intelligent force feedback guide wire 3 to rotate in a clockwise manner, a counterclockwise manner, or a combination of clockwise rotation and counterclockwise rotation.
As described above, the intelligent force feedback guide wire control system further includes a guide wire bending adjusting device 4, the guide wire bending adjusting device 4 is disposed on the intelligent force feedback guide wire 3, and the guide wire bending adjusting device 4 is configured to adjust a bending degree of the head end 31 of the intelligent force feedback guide wire. The operating rod 11 controls the driving unit 21, the driving unit 21 controls the guide wire bending adjusting device 4 located on the intelligent force feedback guide wire, and the guide wire bending adjusting device 4 pulls the metal wire inside the intelligent force feedback guide wire 3, so that the bending degree of the head end 31 of the intelligent force feedback guide wire is changed to avoid the obstacle.
Referring to fig. 3, the method is a schematic flow chart of the intelligent force feedback guide wire control method according to the present application, and the method includes the following steps S1 to S5:
s1: the joystick controls the drive unit, which forwards the intelligent force feedback guidewire.
The head end 31 of intelligence force feedback seal wire has got into human blood vessel at the preparation stage, action bars 11 control drive unit 21, drive unit 21 is to the forward ability feedback seal wire 3 of delivering, until intelligence ability feedback seal wire 3 reaches the target location, the head end 31, the middle-end and the tail end of the in-process intelligence ability feedback seal wire of forward delivery intelligence force feedback seal wire 3 all can be atress, the atress size depends on the stress that the vascular wall produced when each position of intelligence force feedback seal wire 3 touches the vascular wall and receives the resistance of barrier when passing through the barrier.
The driving unit 21 is controlled by the operating rod 11, the intelligent force feedback guide wire 3 is conveyed forwards by the driving unit 21, remote conveying can be achieved, a user does not need to enter an operating room to operate, and radiation received by the user in a blood vessel intervention operation process is reduced.
S2: the demodulator sends out a transmitting optical signal to the head end of the intelligent force feedback guide wire.
During delivery of the intelligent force feedback guidewire 3, the demodulator 22 transmits an optical signal from the trailing end of the intelligent force feedback guidewire 3 to the leading end 31 of the intelligent force feedback guidewire.
S3: the demodulator receives a feedback optical signal fed back from a tip of the intelligent force feedback guidewire.
When stress acts on the head end 31 of the smart feedback guide wire, the grating of the grating sensor is slightly deformed, so that the period of the grating is changed, and the wavelength of the light of the feedback optical signal is changed.
S4: and the demodulator converts the feedback optical signal into the stress of the guide wire.
The demodulator 22 demodulates the feedback optical signal to obtain a first feedback optical wavelength;
the demodulator 22 obtains a second feedback optical wavelength of the last feedback optical signal;
the demodulator 22 calculates a feedback optical wavelength variation according to the first feedback optical wavelength and the second feedback optical wavelength;
and the demodulator 22 calculates the feedback optical wavelength variation to obtain the stress of the guide wire.
The demodulator 22 calculates a feedback optical wavelength variation according to the first feedback optical wavelength and the second feedback optical wavelength, including:
the feedback light wavelength is calculated by the following formula:
λ a ＝2n eff Λ；
wherein n is eff Is the effective refractive index of the optical fiber of the grating sensor and Λ is the bragg period of the grating sensor.
When the head end 31 of the intelligent force feedback guide wire is stressed, the optical fibers of the grating sensors of the 3 types of intelligent force feedback guide wires generate axial strain and radial strain, so that the period of the grating sensor is changed on one hand, and the refractive index of the optical fibers of the grating sensor is changed due to the photoelastic effect on the other hand.
For the current feedback optical signal to be present,
for the last time the optical signal was fed back,
the first reflected light wavelength and the second reflected light wavelength are different because the effective refractive index of the optical fiber is different and the Bragg period of the grating is also different.
The absolute value of the difference between the first feedback optical wavelength and the second feedback optical wavelength is taken as the feedback optical wavelength variation,
is the first feedback light wavelength->
Is the second feedback optical wavelength.
The demodulator 22 calculates the feedback optical wavelength variation to obtain the stress of the guide wire, including:
the demodulator 22 calculates the guidewire force by the following equation:
wherein λ is the central wavelength of the fiber grating, and Δ λ a For the feedback light wavelength variation, k is the guide wire stress sensing coefficient, p e And the delta epsilon is the stress of the guide wire, wherein the delta epsilon is the elasto-optic coefficient of the fiber bragg grating.
The demodulator 22 calculates the feedback optical wavelength variation, and the demodulator 22 converts the feedback optical wavelength variation into the stress of the guide wire, so that the stress of each part of the intelligent force feedback guide wire 3 can be monitored in real time.
S5: the demodulation instrument feeds the stress of the guide wire back to the operator.
The demodulator 22 feeds back the sum of the magnitudes of the forces applied to the respective portions of the intelligent force feedback guide wire 3 to the operation lever 11 of the operator 1, and the operation lever 11 feeds back the sum of the magnitudes of the forces applied to the user in the form of a tactile sensation.
The demodulator 22 feeds back the stress of each part of the intelligent force feedback guide wire 3 to the display 12, and the display 12 converts the stress of each part into a stress image and displays the stress image.
The user can judge the real stress condition of the intelligent force feedback guide wire 3 in the blood vessel of the human body by combining the stress touch feeling fed back by the operating rod 11 and the stress image displayed by the display 12. The head end 31 of the intelligent force feedback guide wire can be bent according to the real stress condition, the efficiency of the blood vessel interventional operation can be improved, and complications caused by delivery of the intelligent force feedback guide wire 3 in the blood vessel interventional operation process can be reduced.
As described above, the intelligent force feedback guidewire control system includes the joystick 11 controlling the drive unit 21, the drive unit 21 delivering the intelligent force feedback guidewire 3 forward; the demodulator 22 sends out a transmission light signal to the head end 31 of the intelligent force feedback guide wire; the demodulator 22 receives the feedback optical signal fed back from the head end 31 of the intelligent force feedback guide wire; the demodulator 22 converts the feedback optical signal into a guide wire stress; the detuner 22 feeds back the guide wire force to the manipulator 1. The user can judge the real stress condition of the intelligent force feedback guide wire 3 in the blood vessel of the human body by combining the stress touch feeling fed back by the operating rod 11 and the stress image displayed by the display 12. The head end 31 of the intelligent force feedback guide wire can be bent according to the real stress condition, the efficiency of the blood vessel interventional operation can be improved, and complications caused by delivery of the intelligent force feedback guide wire 3 in the blood vessel interventional operation process can be reduced.
In one embodiment, referring to fig. 4, the step S4 of converting the feedback optical signal into the stress of the guide wire by the demodulator includes the following steps S41 to S44:
s41: and the demodulator demodulates the feedback optical signal to obtain a first feedback optical wavelength.
The demodulation mode of the demodulator 22 on the optical signal is wavelength demodulation, and the first feedback optical wavelength is a wavelength representing the guide wire stress of the intelligent force feedback guide wire 3 at the current time.
S42: and the demodulator acquires a second feedback optical wavelength of the last feedback optical signal.
The second feedback light wavelength is a wavelength representing the guide wire stress of the intelligent force feedback guide wire 3 at the last moment.
The time interval between the previous time and the current time is a preset time interval, and preferably, the preset time interval is set to 0.5 second.
S43: and the demodulator calculates the variable quantity of the feedback optical wavelength according to the first feedback optical wavelength and the second feedback optical wavelength.
When the intelligent force feedback guide wire 3 touches the blood vessel wall or the intelligent force feedback guide wire 3 passes through an obstacle such as a blood vessel plaque, the guide wire stress of the intelligent force feedback guide wire 3 is increased, and the corresponding feedback light wavelength is increased.
If the intelligent feedback guide wire 3 touches the blood vessel wall at the current moment or the intelligent feedback guide wire 3 passes through the obstacle, the intelligent feedback guide wire 3 does not touch the blood vessel wall at the last moment and the intelligent feedback guide wire 3 does not pass through the obstacle, the first feedback optical wavelength at the current moment is longer than the second feedback optical wavelength at the last moment, and the feedback optical wavelength variation is a positive number.
S44: and the demodulator calculates the variable quantity of the feedback optical wavelength to obtain the stress of the guide wire.
The demodulation instrument calculates the stress of the guide wire through the following formula:
wherein λ is the central wavelength of the fiber grating, and Δ λ a For the feedback light wavelength variation, k is the guide wire stress sensing coefficient, p e And the delta epsilon is the stress of the guide wire, wherein the delta epsilon is the elasto-optic coefficient of the fiber bragg grating.
The central wavelength of the fiber bragg grating, the guide wire stress sensing coefficient and the elasto-optic coefficient of the fiber bragg grating are fixed values, the larger the feedback optical wavelength variation is, the larger the guide wire stress is, the smaller the feedback optical wavelength variation is, and the smaller the guide wire stress is.
The stress of the guide wire can be calculated through the feedback optical wavelength variation of the two adjacent feedback optical wavelengths, the optical signal is converted into a force signal, and the stress condition of the intelligent force feedback guide wire 3 in the blood vessel of the human body can be obtained under the condition that the human body is not damaged.
As described above, converting the feedback optical signal to the guide wire force by the demodulator 22 includes demodulating the feedback optical signal by the demodulator 22 to obtain the first feedback optical wavelength. The demodulator 22 obtains a second feedback optical wavelength of the last feedback optical signal, and the demodulator 22 calculates a feedback optical wavelength variation according to the first feedback optical wavelength and the second feedback optical wavelength. The demodulator 22 calculates the feedback optical wavelength variation to obtain the stress of the guide wire. The stress of the guide wire can be calculated through the feedback optical wavelength variation of the two adjacent feedback optical wavelengths, the optical signal is converted into a force signal, and the stress condition of the intelligent force feedback guide wire 3 in the blood vessel of the human body can be obtained under the condition that the human body is not damaged.
In one embodiment, after the step S44 of calculating the feedback light wavelength variation by the demodulator to obtain the stress of the guide wire, the method further includes the following steps S45'-S46':
s45': the demodulation instrument judges whether the stress of the head end of the intelligent capability feedback guide wire is larger than a first stress threshold value or not, if so, the driving unit controls the guide wire bending adjusting device, and the guide wire bending adjusting device adjusts the bending degree of the head end of the intelligent capability feedback guide wire.
When the atress of the head end 31 of intelligence force feedback seal wire is greater than first atress threshold value, intelligence force feedback seal wire 3 probably passes through the barrier, and the sound prompt device sends out the too big prompt tone of head end 31 atress of intelligence ability feedback seal wire, and the prompt tone can be predetermined pronunciation, also can be the warning prompt tone that does not contain pronunciation. The driving unit 21 controls the guide wire bending adjusting device 4, and the guide wire bending adjusting device 4 pulls the metal wire inside the intelligent force feedback guide wire 3, so that the bending degree of the head end 31 of the intelligent force feedback guide wire is changed to avoid the obstacle.
S46': if the stress of the head end of the intelligent force feedback guide wire is smaller than or equal to the first stress threshold value, the demodulator judges whether the stress of the middle end of the intelligent force feedback guide wire is larger than a second stress threshold value or not, if the stress of the middle end of the intelligent force feedback guide wire is larger than the second stress threshold value, the operating rod controls the driving unit, and the driving unit delivers the intelligent force feedback guide wire back and forth.
The stress of the head end 31 of the intelligent force feedback guide wire is smaller than or equal to the first stress threshold value, it is indicated that the head end 31 of the intelligent force feedback guide wire is not subjected to resistance generated by the obstacle, whether the stress of the middle end of the intelligent force feedback guide wire 3 is larger than the second stress threshold value or not is judged, if yes, it is indicated that the middle end of the intelligent force feedback guide wire 3 is subjected to certain resistance, the intelligent force feedback guide wire 3 can be located at a blood vessel tortuosity part, and the voice prompt device sends out a prompt sound that the middle end of the intelligent force feedback guide wire 3 is subjected to overlarge stress. The user controls the driving unit 21 by controlling the operation lever 11, and the driving unit 21 delivers the intelligent force feedback guidewire 3 back and forth so that the intelligent force feedback guidewire 3 passes through a tortuous part of a blood vessel.
By judging the stress of the head end 31 and the middle end of the intelligent force feedback guide wire, the intelligent force feedback guide wire 3 can be correspondingly operated, so that the intelligent force feedback guide wire 3 can avoid obstacles or pass through the tortuous part of the blood vessel.
As described above, after the demodulator 22 calculates the feedback optical wavelength variation to obtain the stress of the guide wire, the demodulator 22 further determines whether the stress of the head end 31 of the intelligent force feedback guide wire is greater than the first stress threshold, if so, the driving unit 21 controls the guide wire bending adjusting device 4, and the guide wire bending adjusting device 4 adjusts the bending degree of the head end 31 of the intelligent force feedback guide wire. If the stress of the head end 31 of the intelligent force feedback guide wire is smaller than or equal to the first stress threshold, the demodulator 22 determines whether the stress of the middle end of the intelligent force feedback guide wire is larger than the second stress threshold, and if the stress of the middle end of the intelligent force feedback guide wire is larger than the second stress threshold, the operating rod 11 controls the driving unit 21, and the driving unit 21 delivers the intelligent force feedback guide wire 3 back and forth. By judging the stress of the head end 31 and the middle end of the intelligent force feedback guide wire, the intelligent force feedback guide wire 3 can be correspondingly operated, so that the intelligent force feedback guide wire 3 can avoid obstacles or pass through the tortuous part of the blood vessel.
In one embodiment, after the step S5 of feeding back the stress on the guide wire to the operator, the demodulation apparatus further comprises the following steps S61'-S62':
s61': the demodulator judges whether the intelligent force feedback guide wire is located at a target position, and if yes, the driving unit stops delivering the intelligent force feedback guide wire forwards.
The target position is a position which needs to be operated in the vascular intervention operation, and a user can distinguish whether the intelligent force feedback guide wire 3 reaches the position near the target position or not by combining the DSA image according to the force touch feeling on the operating rod 11 and the force image displayed by the display 12. If the intelligent force feedback guidewire 3 has reached the vicinity of the target position, the demodulator 22 calculates the feedback light wavelength variation.
If the target position is a position of a blood vessel plaque which needs to be removed, and the feedback light wavelength variation is larger than the first feedback light wavelength variation threshold, the intelligent force feedback guide wire 3 is located at the target position, and the driving unit 21 stops delivering the intelligent force feedback guide wire 3 forwards.
If the target position is a position which needs to be subjected to blood vessel construction and does not contain a blood vessel plaque, when the feedback light wavelength variation is smaller than the second feedback light wavelength variation threshold, the intelligent force feedback guide wire 3 is located at the target position, and the driving unit 21 stops delivering the intelligent force feedback guide wire 3 forwards. The first feedback optical wavelength variation threshold is greater than the second feedback optical wavelength variation threshold.
S62': if the intelligent force feedback guide wire is not located at the target position, the driving unit continues to deliver the intelligent force feedback guide wire forwards or backwards.
When the intelligent force feedback guide wire 3 is not positioned at the target position, the user judges whether to continue forward delivery or backward delivery according to the stressed touch sense on the operating rod 11 and the stressed image displayed by the display 12 by combining the DSA image.
If forward delivery is required, the user controls the operating rod 11, the operating rod 11 controls the driving unit 21, and the driving unit 21 forwards delivers the intelligent force feedback guide wire 3; if a backward delivery is desired, the user controls the lever 11, the lever 11 controls the drive unit 21, and the drive unit 21 delivers the intelligent force feedback guidewire 3 backward.
If the user temporarily fails to determine that the intelligent force feedback guidewire 3 needs to be delivered forward or backward, the user does not operate the lever 11 and the intelligent force feedback guidewire 3 remains stationary.
Whether the intelligent force feedback guide wire 3 is continuously delivered or not is determined by judging whether the intelligent force feedback guide wire 3 is located at the target position or not, so that the intelligent force feedback guide wire 3 can be accurately delivered to the target position on the premise that the intelligent force feedback guide wire 3 is located near the target position.
As described above, after the demodulator 22 feeds the guide wire force back to the operator 1, the demodulator 22 further determines whether the intelligent force feedback guide wire 3 is located at the target position, and if so, the driving unit 21 stops feeding the intelligent force feedback guide wire 3 forwards. If the smart force feedback guidewire 3 is not located at the target location, the drive unit 21 continues to deliver the smart force feedback guidewire 3 forward or backward. Whether the intelligent force feedback guide wire 3 is continuously delivered or not is determined by judging whether the intelligent force feedback guide wire 3 is located at the target position or not, so that the intelligent force feedback guide wire 3 can be accurately delivered to the target position on the premise that the intelligent force feedback guide wire 3 is located near the target position.
Referring to fig. 5, it is a schematic block diagram of a structure of an intelligent force feedback guide wire control device according to the present application, and the device includes:
a forward delivery module 100 for operating the lever 11 to control the driving unit 21, the driving unit 21 delivering the intelligent force feedback guidewire 3 forward;
the optical signal transmitting module 200 is used for the demodulator 22 to transmit a transmitting optical signal to the head end 31 of the intelligent force feedback guide wire;
an optical signal receiving module 300, configured to receive the feedback optical signal fed back from the head end 31 of the intelligent force feedback guide wire by the demodulator 22;
a guide wire stress conversion module 400, configured to convert the feedback optical signal into a guide wire stress by the demodulator 22;
and a guide wire stress feedback module 500, configured to feed the guide wire stress back to the operator 1 through the demodulator 22.
The intelligent force feedback guide wire control device can realize an intelligent force feedback guide wire control method.
In one embodiment, the guidewire force conversion module 400 further comprises:
a first feedback optical wavelength obtaining unit, configured to demodulate the feedback optical signal by the demodulator 22 to obtain a first feedback optical wavelength;
a second feedback optical wavelength obtaining unit, configured to obtain, by the demodulator 22, a second feedback optical wavelength of the last feedback optical signal;
a feedback optical wavelength variation calculation unit, configured to calculate a feedback optical wavelength variation by using the demodulator 22 according to the first feedback optical wavelength and the second feedback optical wavelength;
and the guide wire stress calculation unit is used for calculating the feedback optical wavelength variation by the demodulator 22 to obtain the guide wire stress.
In one embodiment, the guidewire force calculation unit further comprises:
a guide wire stress calculating subunit, configured to calculate the guide wire stress by the demodulator 22 according to the following formula:
wherein λ is the central wavelength of the fiber grating, and Δ λ a For the feedback light wavelength variation, k is the guide wire stress sensing coefficient, p e And the delta epsilon is the stress of the guide wire, wherein the delta epsilon is the elasto-optic coefficient of the fiber bragg grating.
In one embodiment, the intelligent force feedback guidewire control device further comprises:
a bending degree adjusting module, configured to judge, by the demodulator 22, whether the stress of the head end 31 of the intelligent capability feedback guide wire is greater than a first stress threshold, if yes, the driving unit 21 controls the guide wire bending adjusting device 4, and the guide wire bending adjusting device 4 adjusts the bending degree of the head end 31 of the intelligent capability feedback guide wire;
the intelligent force feedback guide wire back-and-forth delivery module is configured to, if the stress of the head end 31 of the intelligent force feedback guide wire is less than or equal to the first stress threshold, determine, by the demodulator 22, whether the stress of the middle end of the intelligent force feedback guide wire is greater than a second stress threshold, if the stress of the middle end of the intelligent force feedback guide wire is greater than the second stress threshold, control the driving unit 21 by the operating rod 11, and deliver, by the driving unit 21, the intelligent force feedback guide wire 3 back and forth.
In one embodiment, the intelligent force feedback guidewire control device further comprises:
a forward delivery stopping module, configured to determine, by the demodulator 22, whether the intelligent capability feedback guide wire 3 is located at a target position, if yes, the driving unit 21 stops delivering the intelligent capability feedback guide wire 3 forward;
a continuous delivery module, configured to, if the intelligent force feedback guidewire 3 is not located at the target location, continue to deliver the intelligent force feedback guidewire 3 forward or backward by the driving unit 21.
Referring to fig. 6, a computer device, which may be a server and whose internal structure may be as shown in fig. 6, is also provided in the embodiment of the present application. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. The computer designed processor is used to provide computational and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for storing a first subset of images to be enhanced, etc. The network interface of the computer device is used for communicating with an external terminal through a network connection. Further, the computer device may be further provided with an input device, a display screen, and the like. The computer program is executed by a processor to implement an intelligent force feedback guidewire control method.
The processor executes the intelligent force feedback guide wire control method, and the method comprises the following steps:
the operating lever 11 controls the drive unit 21, the drive unit 21 delivering the smart force feedback guidewire 3 forward;
the demodulator 22 sends out a transmission light signal to the head end 31 of the intelligent force feedback guide wire;
the demodulator 22 receives a feedback optical signal fed back from the head end 31 of the intelligent force feedback guide wire;
the demodulator 22 converts the feedback optical signal into the guide wire stress;
the demodulator 22 feeds the guide wire force back to the manipulator 1.
Those skilled in the art will appreciate that the architecture shown in fig. 6 is merely a block diagram of some of the structures associated with the present teachings and is not intended to limit the scope of the present teachings as applied to computer devices.
An embodiment of the present application also provides a computer readable storage medium having a computer program stored thereon, which when executed by a processor, implements the intelligent force feedback guidewire control method. It is to be understood that the computer-readable storage medium in the present embodiment may be a volatile-readable storage medium or a non-volatile-readable storage medium.
The intelligent ability feedback guide wire control method comprises the following steps:
the operating rod 11 controls the drive unit 21, the drive unit 21 delivers the intelligent force feedback guidewire 3 forward;
the demodulator 22 sends out a transmission light signal to the head end 31 of the intelligent force feedback guide wire;
the demodulator 22 receives a feedback optical signal fed back from the head end 3 of the intelligent force feedback guide wire;
the demodulator 22 converts the feedback optical signal into the guide wire stress;
the demodulator 22 feeds the guide wire force back to the manipulator 1.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium provided herein and used in the embodiments may include non-volatile and/or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (SSRDRAM), enhanced SDRAM (ESDRAM), synchronous Link (Synchlink) DRAM (SLDRAM), rambus (Rambus) direct RAM (RDRAM), direct bused dynamic RAM (DRDRAM), and bused dynamic RAM (RDRAM).
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, apparatus, article, or method that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, apparatus, article, or method. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of another identical element in a process, apparatus, article, or method comprising the element.
The above description is only a preferred embodiment of the present application, and not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application, or which are directly or indirectly applied to other related technical fields, are also included in the scope of the present application.
Claims (10)
1. An intelligent force feedback guide wire control system is characterized by comprising an operator, a driver and an intelligent force feedback guide wire,
the manipulator comprises a control rod, and the driver comprises a driving unit and a demodulator; the operating rod is used for controlling the driving unit, the intelligent force feedback guide wire is arranged on the driving unit, and the driving unit is used for pushing the intelligent force feedback guide wire; the tail end of the intelligent force feedback guide wire is connected with the demodulator, and the demodulator is used for converting a feedback optical signal into guide wire stress and feeding the guide wire stress back to the operator so as to control the intelligent force feedback guide wire.
2. The intelligent force feedback guide wire control system of claim 1, further comprising a guide wire bending adjustment device disposed on the intelligent force feedback guide wire, the guide wire bending adjustment device configured to adjust a degree of bending of a tip end of the intelligent force feedback guide wire.
3. An intelligent force feedback guidewire control method based on the intelligent force feedback guidewire control system of claim 2, the method comprising:
the joystick controls the drive unit, which forwards the smart force feedback guidewire;
the demodulator sends out a transmitting optical signal to the head end of the intelligent force feedback guide wire;
the demodulator receives a feedback optical signal fed back from the head end of the intelligent force feedback guide wire;
the demodulator converts the feedback optical signal into the stress of the guide wire;
the demodulation instrument feeds the stress of the guide wire back to the operator.
4. The intelligent force feedback guidewire control method of claim 3, wherein the demodulating instrument converts the feedback light signal into the guidewire force, comprising:
the demodulator demodulates the feedback optical signal to obtain a first feedback optical wavelength;
the demodulator acquires a second feedback optical wavelength of the last feedback optical signal;
the demodulator calculates the variable quantity of the feedback optical wavelength according to the first feedback optical wavelength and the second feedback optical wavelength;
and the demodulator calculates the feedback optical wavelength variation to obtain the stress of the guide wire.
5. The intelligent force feedback guide wire control method according to claim 4, wherein the calculating of the feedback light wavelength variation by the demodulator to obtain the guide wire stress comprises:
the demodulation instrument calculates the stress of the guide wire through the following formula:
wherein λ is the central wavelength of the fiber grating, and Δ λ a For the feedback light wavelength variation, k is the guide wire stress sensing coefficient, p e And the delta epsilon is the stress of the guide wire, wherein the delta epsilon is the elasto-optic coefficient of the fiber bragg grating.
6. The intelligent force feedback guide wire control method according to claim 4, wherein the demodulator calculates the feedback light wavelength variation to obtain the stress on the guide wire, and further comprises:
the demodulation instrument judges whether the stress of the head end of the intelligent capability feedback guide wire is larger than a first stress threshold value or not, if so, the driving unit controls the guide wire bending adjusting device, and the guide wire bending adjusting device adjusts the bending degree of the head end of the intelligent capability feedback guide wire;
if the stress of the head end of the intelligent force feedback guide wire is smaller than or equal to the first stress threshold value, the demodulator judges whether the stress of the middle end of the intelligent force feedback guide wire is larger than a second stress threshold value or not, if the stress of the middle end of the intelligent force feedback guide wire is larger than the second stress threshold value, the operating rod controls the driving unit, and the driving unit delivers the intelligent force feedback guide wire back and forth.
7. The intelligent force feedback guidewire control method of claim 3, wherein after the detuner feedbacks the guidewire force to the operator, further comprising:
the demodulator judges whether the intelligent force feedback guide wire is positioned at a target position, if so, the driving unit stops delivering the intelligent force feedback guide wire forwards;
if the intelligent force feedback guide wire is not located at the target position, the driving unit continues to deliver the intelligent force feedback guide wire forwards or backwards.
8. An intelligent force feedback guidewire control device, comprising:
a forward delivery module for operating a lever to control a drive unit that delivers an intelligent capability feedback guidewire forward;
the optical signal transmitting module is used for transmitting a transmitting optical signal to the head end of the intelligent force feedback guide wire by the demodulator;
the optical signal receiving module is used for receiving a feedback optical signal fed back from the head end of the intelligent force feedback guide wire by the demodulator;
the guide wire stress conversion module is used for converting the feedback optical signal into guide wire stress by the demodulator;
and the guide wire stress feedback module is used for feeding the guide wire stress back to the manipulator by the demodulator.
9. A computer device comprising a memory and a processor, the memory having stored therein a computer program, wherein the processor when executing the computer program implements the steps of the intelligent force feedback guidewire control method of any of claims 3-7.
10. A computer-readable storage medium, having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the intelligent force feedback guidewire control method of any of claims 3-7.
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| CN202211549315.2A CN115837114A (en) | 2022-12-05 | 2022-12-05 | Intelligent ability feedback guide wire control system and corresponding control method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211549315.2A CN115837114A (en) | 2022-12-05 | 2022-12-05 | Intelligent ability feedback guide wire control system and corresponding control method |
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