CN117679613A - Guide wire control method, guide wire control device, electronic equipment and computer readable medium - Google Patents
Guide wire control method, guide wire control device, electronic equipment and computer readable medium Download PDFInfo
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Abstract
The invention provides a guide wire control method, a guide wire control device, electronic equipment and a computer readable medium, and relates to the technical field of medical equipment, wherein the guide wire control method comprises the following steps: acquiring target position information and determining first position information of a guide wire so as to enable a motor to control the guide wire to move to the target position; acquiring encoder information, and determining guide wire movement distance information according to the encoder information; determining a deviation value according to the target position information and the guide wire movement distance information; judging whether the deviation value is larger than a preset precision threshold value or not; if not, ending; otherwise, the motor parameter is adjusted according to the deviation value so that the motor controls the guide wire to move towards the target position, and the steps of determining guide wire movement distance information, determining the deviation value and judging the deviation value are repeatedly executed until the deviation value is smaller than or equal to a preset precision threshold value. The invention can improve the control precision when controlling the quantitative movement of the guide wire and ensure the safety and reliability of the operation.
Description
Technical Field
The present invention relates to the technical field of medical apparatuses, and in particular, to a guide wire control method, a device, an electronic apparatus, and a computer readable medium.
Background
A guide wire is a widely used tool in the medical field, and is inserted into the body to make a passage in the body so that a medicine or instrument can reach a target site more accurately, thereby assisting a doctor in treatment. The guide wire is widely applied to the fields of cardiovascular diseases, neurosurgery, urology, breast cancer, orthopaedics, in vivo radiotherapy and the like. For example, in the treatment of cardiovascular disease, a guidewire is a necessary procedure to separate the heart from the pulmonary incarceration catheter into the body. In neurosurgery, the guide wire can be inserted into a metal clip in cerebral hemorrhage operation to reduce the tumor body of the cerebral hemorrhage of a patient, relieve the pressure of the patient and prevent the hemorrhage. In breast cancer examination, the guide wire can enable a doctor to conveniently and accurately take out tumors.
The guide wire has the advantages of advancing, retreating, rotating, screwing, reciprocating and the like in the movement mode, the technical content of the guide wire is high, and doctors can operate medical equipment to accurately insert the guide wire into a patient, so that the guide wire has important significance in improving the success rate of operation, improving the efficiency of operation, relieving the pain of the patient and the like. Therefore, how to improve the control precision of the guide wire movement and ensure the safety and reliability of the operation becomes a problem to be solved urgently.
Disclosure of Invention
The invention provides a guide wire control method, a guide wire control device, electronic equipment and a computer readable medium, which can control quantitative movement of a guide wire, improve control precision during quantitative movement and ensure safety and reliability of operation.
In a first aspect, the present invention provides a guide wire control method applied to a guide wire movement control device, the guide wire movement control device including a motor for controlling movement of a guide wire, the motor being provided with an encoder; the method comprises the following steps:
acquiring target position information and determining first position information of a guide wire so as to enable a motor to control the guide wire to move to the target position;
acquiring encoder information, and determining guide wire movement distance information according to the encoder information;
determining a deviation value according to the target position information and the guide wire movement distance information;
judging whether the deviation value is larger than a preset precision threshold value or not; if not, ending; otherwise, the motor parameter is adjusted according to the deviation value so that the motor controls the guide wire to move towards the target position, and the steps of determining guide wire movement distance information, determining the deviation value and judging the deviation value are repeatedly executed until the deviation value is smaller than or equal to a preset precision threshold value.
In an alternative embodiment, adjusting the motor parameter to move the motor control wire toward the target location based on the offset value includes:
determining a step interval range in which the deviation value is located, wherein the number of the step interval ranges is at least two, and each step interval range corresponds to a preset motor speed value;
and adjusting the motor speed to a preset motor speed value corresponding to the range of the step interval where the deviation value is located so as to control the guide wire to move towards the target position.
In an alternative embodiment, the method further comprises:
acquiring motor torque and current information;
and determining guide wire stress information according to the motor torque current information so as to display the guide wire stress information.
In an alternative embodiment, the encoder information is obtained, and the guide wire movement distance information is determined according to the encoder information, including:
the current position information of the guidewire is determined according to the following,
wherein x represents encoder information, c represents the maximum value of the encoder information, z represents the number of rotations of the motor, and k represents the gear ratio;
and determining guide wire movement distance information according to the guide wire first position information and the guide wire current position information.
In an alternative embodiment, the step of obtaining encoder information and determining guide wire movement distance information according to the encoder information further comprises, before:
the encoder information that the motor needs to rotate when the guide wire advances to the target position is calculated according to the following formula, the motor is started to control the guide wire to advance,
and judging whether the motor is stopped.
In an alternative embodiment, the guide wire motion control device further comprises an external sensor mounted to the guide wire motion end, the external sensor having a precision that is higher than the encoder precision, the method further comprising:
and acquiring encoder information of an external sensor, and determining guide wire movement distance information according to the encoding information.
In a second aspect, the present invention provides a guidewire motion control device comprising a motor having an encoder mounted thereto; the apparatus further comprises:
the first determining module is used for acquiring target position information and determining first position information of the guide wire so as to enable the motor to control the guide wire to move to the target position;
the second determining module is used for acquiring encoder information and determining guide wire movement distance information according to the encoder information;
the deviation value module is used for determining a deviation value according to the target position information and the guide wire movement distance information;
the judging module is used for judging whether the deviation value is larger than a preset precision threshold value or not; if not, ending; otherwise, the motor parameter is adjusted according to the deviation value so that the motor controls the guide wire to move towards the target position, and the steps of determining guide wire movement distance information, determining the deviation value and judging the deviation value are repeatedly executed until the deviation value is smaller than or equal to a preset precision threshold value.
In a third aspect, an embodiment provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the method of any of the preceding embodiments when the computer program is executed.
In a fourth aspect, an embodiment provides a computer readable medium having non-volatile program code executable by a processor, the program code causing the processor to perform the method of any of the preceding embodiments.
The beneficial effects of the invention are as follows: according to the guide wire control method, the guide wire control device, the electronic equipment and the computer readable medium, the guide wire movement distance information is determined through the encoder information, the deviation value is further determined, and the motor parameter is adjusted according to the comparison result of the deviation value and the preset precision threshold value, so that the motor gradually controls the guide wire to move further to the target position until the deviation value is smaller than or equal to the preset precision threshold value.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.
In order to make the above objects, features and advantages of the present invention more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a method for controlling a guide wire according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a guide wire control device according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a system of a guidewire control device according to an embodiment of the present invention;
FIG. 4 is a schematic flow chart of a method for controlling a guide wire according to an embodiment of the present invention;
FIG. 5 is a schematic flow chart of a method for controlling a guide wire according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a waveform diagram of a deviation value b and a time axis according to an embodiment of the present invention;
fig. 7 is a schematic diagram of a waveform curve of another deviation value b and a time axis according to an embodiment of the present invention, which is intended to embody a local amplification of the waveform curve in fig. 6;
FIG. 8 is a schematic flow chart of the MCU according to the embodiment of the present invention for controlling the first motor and the second motor to realize different forms of movement of the guide wire respectively;
FIG. 9 is a schematic diagram showing actual current variation curves after a guide wire is blocked according to an embodiment of the present invention;
FIG. 10 is a schematic diagram of another system principle of a guidewire control device according to an embodiment of the present invention;
fig. 11 is a schematic diagram of a system principle of an electronic device according to an embodiment of the present invention.
In the figure: 21-a first motor; 22-a second motor; 23-a first gear set; 24-a second gear set; 25-advance/retract mechanism; 26-a rotation mechanism; 27-a guidewire; a 32-display; 31-MCU; 32-a display machine; 33-an upper computer; 41-a first determination module; 42-a second determination module; 343-offset module; 44-a judging module; 400-an electronic device; 401-a communication interface; 402-a processor; 403-memory; 404-bus.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The guide wire plays a vital role in the fields of neurosurgery, heart disease treatment, urology department, breast cancer, orthopedics, in vivo radiotherapy and the like, not only improves the success rate of the operation, but also can reduce the wound and recovery time. The movement of the guide wire has higher requirements on the control precision of the guide wire, and how to improve the control precision of the guide wire and realize quantitative movement, thereby ensuring the safety and reliability of the operation, and becoming a problem to be solved urgently. In addition, the current guide wire control device drives the guide wire to move through the rotation and/or the up-and-down displacement of the two groups of friction wheels according to the corresponding directions. The actual movement of the guide wire is influenced by the friction coefficient and abrasion of the friction wheel, even the sliding phenomenon of the guide wire caused by aging, and the movement precision of the guide wire cannot be ensured; meanwhile, an additional force feedback device is required to be added for detecting the guide wire, so that the cost is increased, and meanwhile, the reliability of the force feedback device influences the stability of the whole system.
In order to facilitate understanding of the present embodiment, a method, an apparatus, an electronic device, and a computer readable medium for controlling a guide wire disclosed in the present invention are described in detail below by using embodiments.
The embodiment provides a guide wire control method which is applied to a guide wire motion control device, wherein the guide wire motion control device comprises a motor for controlling the motion of a guide wire, and an encoder is arranged on the motor. The motor of the embodiment comprises a first motor and a second motor, and at least one encoder is arranged on the first motor. As shown in fig. 2, the guide wire movement control device further includes a rotation mechanism 26 and an advancing/retreating mechanism 25, the first motor 21 controls the advancing/retreating mechanism 25 to operate through the first gear set 23, and the second motor 22 controls the rotation mechanism 26 to operate through the second gear set 24. As shown in fig. 3, the guide wire motion control device further comprises an MCU 31 and a display 32. The display 32 is used for showing the movement speed and the acceptance of the guide wire, and the method of the embodiment is applied to the MCU. The MCU 31 is connected to an upper computer 33, and the upper computer 33 is used for performing related operations such as man-machine interaction and log information storage.
Specifically, referring to fig. 1, the method of the present embodiment includes:
step S110, acquiring target position information and determining first position information of the guide wire so as to enable the motor to control the guide wire to move to the target position.
Here, the doctor inputs target position information through the upper computer, and the guide wire movement control device acquires the target position information from the upper computer and controls the motor to operate so that the guide wire moves to the target position.
Step S120, obtaining encoder information, and determining guide wire movement distance information according to the encoder information.
Specifically, the encoder information refers to an output value of the encoder; the current position information of the guidewire is determined according to the following,(equation 1), wherein x represents encoder information, c represents the maximum value of the encoder information, z represents the number of rotations of the motor, and k represents the gear ratio; determining guide wire movement distance information according to the guide wire first position information and the guide wire current position information; the difference between the first position information and the current position information of the guide wire is guide wire movement distance information.
Prior to this step, it may further include:
the encoder information that the motor needs to rotate when the guide wire advances to the target position is calculated according to the following formula, the motor is started to control the guide wire to advance,
and judging whether the motor is stopped.
Step S130, determining a deviation value according to the target position information and the guide wire movement distance information.
Here, the difference between the target position information and the guide wire movement information is a deviation value.
Step S140, judging whether the deviation value is larger than a preset precision threshold value; if not, ending; otherwise, the motor parameter is adjusted according to the deviation value so that the motor control guide wire moves to the target position, and the steps S12 to S140 are repeatedly executed until the deviation value is smaller than or equal to the preset precision threshold value.
Wherein the step of adjusting the motor parameter to move the motor-controlled wire toward the target location based on the deviation value, in one possible embodiment, is to move the motor-controlled wire by the deviation value; in another possible embodiment it is:
determining a step interval range in which the deviation value is located, wherein the number of the step interval ranges is at least two, and each step interval range corresponds to a preset motor speed value; and adjusting the motor speed to a preset motor speed value corresponding to the range of the step interval where the deviation value is located.
Specifically, the preset motor speed value in the range of the step interval is set from high to low according to the deviation value from high to low. For example, three step interval ranges are set, namely, a deviation value larger than 1000 μm is rapid, a deviation value between 500 and 1000 μm is medium speed, and a deviation value within 500 μm is slow, and the rotating speed of the motor is controlled according to preset motor speed values corresponding to the rapid speed, the medium speed and the slow speed respectively. Thus, the target position can be reached quickly while ensuring the control accuracy.
The method of this embodiment is further described below.
Referring to fig. 4, in one possible embodiment, taking the target position as the guidewire retraction 5000 μm as an example, the method of this embodiment may include the steps of:
starting;
step S210, obtaining target position information sent by the upper computer, namely back 5000 μm (-5000 μm): controlling the first motor to work so as to enable the guide wire to retreat by 5000 mu m; obtaining first position information according to encoder information of a first motor;
step S220, reading encoder information of the first motor and obtaining a guide wire movement distance a according to a formula 1;
step S230, calculating the difference value between the guide wire movement distance a and target position information-5000 mu m to obtain a deviation value b;
step S240, judging whether the deviation value b is smaller than or equal to a preset precision threshold value of 0.05mm, and if not, adjusting the speed of the first motor according to the deviation value b; the speed is stepwise, the first motor is regulated to a fast value when the deviation value b is larger than or equal to 1000 mu m, the first motor is regulated to a medium speed value when the deviation value b is between 500 and 1000 mu m, and the first motor is regulated to a slow value when the deviation value b is smaller than or equal to 500 mu m; repeatedly executing the steps S210 to S240 until the deviation value b is smaller than or equal to 0.05mm; if so, the process ends.
As shown in fig. 6 and 7, the final position deviation of the guide wire is 25 μm, which is a waveform graph of the deviation value b and the time axis, and meets the accuracy requirement of 0.05mm of the preset accuracy threshold.
Referring to fig. 5, in one possible embodiment, taking the target position as an example of a guide wire advancing by 1mm, the method of this embodiment may include the steps of:
starting;
step S310, acquiring target position information sent by an upper computer, wherein the target position information advances by 1mm; controlling the first motor to work so as to enable the guide wire to advance by 1mm; obtaining first position information according to encoder information of a first motor;
step S320, calculating encoder information required to be rotated by the first motor when the guide wire advances by 1mm according to the formula 1, and starting the first motor to control the guide wire to advance;
step S330, judging whether the first motor is stopped;
step S340, reading the information of the first motor encoder again and obtaining the guide wire movement distance a according to the formula 1;
step S350, calculating a deviation value b of the guide wire movement distance a and the target position information advancing by 1mm;
step S360, judging whether the deviation value b is smaller than or equal to a preset precision threshold value of 0.05mm, if not, using the deviation value b as target position information to start the first motor continuously, and executing the step S330 continuously; if so, ending the flow.
In this case, an external sensor with higher installation accuracy may be added to the guide wire moving end to identify the guide wire moving state, so that the guide wire moving accuracy can be further improved, for example, the micro rotary encoder, and the read encoder information is used as the encoder information in the step S350 of the scheme, so as to determine the guide wire moving example a and the deviation value b. Thus, the method of the present embodiment further comprises: and acquiring encoder information of an external sensor, and determining guide wire movement distance information according to the encoding information.
Preferably, the method of the present embodiment further includes the steps of:
acquiring motor torque and current information;
and determining guide wire stress information according to the motor torque current information so as to display the guide wire stress information.
This step may be run at a certain frequency of operation, for example 100Hz, to reveal the guide wire stress information during guide wire movement. Here, as in fig. 9, the actual current change after the guide wire is blocked during the actual operation (the actual current in fig. 9 is not subjected to software and hardware filtering). As can be seen from FIG. 9, the current is changed from-300 mA to-700 mA, and the analysis of the stress condition of the guide wire can be well performed after the filtering treatment. Therefore, the embodiment feeds back the stress condition of the guide wire through the torque and current information of the motor, and uploads the stress condition of the guide wire to the upper computer and the display for displaying the stress information of the guide wire, so that a doctor can feel the motion condition of the guide wire more intuitively, and the doctor can perform operation conveniently.
The guide wire movement control device shown in fig. 2 can realize constant-speed advancing/retreating, rotating, quantitative movement, screwing and reciprocating movement of the guide wire through the first motor and the second motor, and the movement speed of the guide wire can be adjusted by controlling the rotating speed of the first motor when the guide wire advances/retreats; when the guide wire rotates, the rotating speed of the guide wire can be adjusted by controlling the rotating speed of the second motor, and the screwing and reciprocating movement of the guide wire can be realized by the matched movement of the first motor and the second motor.
In this embodiment, the specific control flow is shown in fig. 8, and step S410, the MCU reads the torque current of the first motor, and uploads the torque current to the display and the upper computer for threshold judgment and alarm prompt, respectively; step S420, the MCU receives a guide wire control instruction sent by the upper computer, and then selects one of the following operations to operate according to the guide wire control instruction: the first motor controls the guide wire to advance/retreat, the first motor controls the guide wire to rotate, the first motor controls the guide wire to quantitatively move, the first motor controls the guide wire to screw, the first motor and the second motor controls the guide wire to move in a screwing way, and the first motor and the second motor controls the guide wire to reciprocate; step S430, end. In the embodiment shown in fig. 8, the program operates at a certain operating frequency, for example, the operating frequency is 100Hz, and the torque current of the first motor is calculated first during each execution, and the stress feedback can be well represented according to the torque current of the first motor, so that compared with the existing scheme, the force feedback detection device is omitted, thereby reducing the equipment volume and the number of components, and reducing the cost.
In other embodiments, the specific control flow may also be that, in step S420, the MCU receives a guide wire control instruction sent by the host computer, and then selects one of the following operations to operate according to the guide wire control instruction: the guide wire is controlled to advance/retreat by a first motor, is controlled to rotate by the first motor, is controlled to quantitatively move by the first motor, is controlled to screw by the first motor and a second motor, and is controlled to reciprocate by the first motor and the second motor; step S410, the MCU reads the torque current of the first motor, and the torque current is uploaded to the display and the upper computer to respectively judge the threshold value and prompt the alarm; step S430, end. Alternatively, in other embodiments, step S410 and step S420 may also operate independently of each other.
In summary, according to the method of the embodiment, the deviation value is obtained by processing the data of the motor encoder, and the control precision can reach 0.05mm by repeatedly judging the deviation value and the preset precision threshold, so that the control precision in the process of quantitatively moving the guide wire is improved, and the safety and reliability in the process of operating the device are improved; meanwhile, the running speed of the motor can be adjusted according to the range of the step interval where the deviation value is located, so that the motor can more efficiently control the guide wire to reach the target position. The embodiment also carries out force feedback detection through motor current, and obtains force feedback of the guide wire by calculating motor torque current without adopting a force feedback detection device, thereby reducing equipment volume and the number of devices and lowering cost.
Referring to fig. 10, the guide wire motion control device provided in this embodiment includes a motor, and an encoder is mounted on the motor; the device of this embodiment further includes:
a first determining module 41, configured to acquire target position information and determine first position information of the guide wire, so as to enable the motor to control the guide wire to move to the target position;
a second determining module 42, configured to obtain encoder information, and determine guide wire movement distance information according to the encoder information;
a deviation value module 43 for determining a deviation value according to the target position information and the guide wire movement distance information;
a judging module 44, configured to judge whether the deviation value is greater than a preset precision threshold; if not, ending; otherwise, the motor parameter is adjusted according to the deviation value so that the motor controls the guide wire to move towards the target position, and the steps of determining guide wire movement distance information, determining the deviation value and judging the deviation value are repeatedly executed until the deviation value is smaller than or equal to a preset precision threshold value.
In a possible embodiment, the second determining module 42 in the above apparatus includes:
a first calculation module for determining the current position information of the guide wire according to the following formula,
wherein x represents encoder information, c represents the maximum value of the encoder information, z represents the number of rotations of the motor, and k represents the gear ratio;
and the second calculation module is used for determining guide wire movement distance information according to the guide wire first position information and the guide wire current position information.
In a possible implementation manner, the determining module 44 in the foregoing apparatus includes:
the range determining module is used for determining the range of the step interval where the deviation value is located, the number of the step interval ranges is at least two, and each step interval range corresponds to a preset motor speed value;
and the parameter adjustment module is used for adjusting the motor speed to a preset motor speed value corresponding to the range of the step interval where the deviation value is located so as to control the guide wire to move towards the target position.
In a possible embodiment, the above device further comprises:
the torque current module is used for acquiring motor torque current information;
and the stress information module is used for determining the stress information of the guide wire according to the torque current information of the motor so as to display the stress information of the guide wire.
Referring to fig. 11, an embodiment of the present invention further provides an electronic device 400, including a communication interface 401, a processor 402, a memory 403, and a bus 404, where the processor 402, the communication interface 401, and the memory 403 are connected by the bus 404; the memory 403 is used for storing a computer program supporting the processor 402 to execute the guide wire motion control method, and the processor 402 is configured to execute the program stored in the memory 403.
Optionally, embodiments of the present invention also provide a computer readable medium having non-volatile program code executable by the processor 402, the program code causing the processor 402 to perform the guide wire motion control method as in the above embodiments.
In the description of embodiments of the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Finally, it should be noted that: the above examples are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention, but it should be understood by those skilled in the art that the present invention is not limited thereto, and that the present invention is described in detail with reference to the foregoing examples: any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or perform equivalent substitution of some of the technical features, while remaining within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. The guide wire motion control method is characterized by being applied to a guide wire motion control device, wherein the guide wire motion control device comprises a motor for controlling the guide wire to move, and an encoder is arranged on the motor; the method comprises the following steps:
acquiring target position information and determining first position information of a guide wire so as to enable a motor to control the guide wire to move to the target position;
acquiring encoder information, and determining guide wire movement distance information according to the encoder information;
determining a deviation value according to the target position information and the guide wire movement distance information;
judging whether the deviation value is larger than a preset precision threshold value or not; if not, ending; otherwise, the motor parameter is adjusted according to the deviation value so that the motor controls the guide wire to move towards the target position, and the steps of determining guide wire movement distance information, determining the deviation value and judging the deviation value are repeatedly executed until the deviation value is smaller than or equal to a preset precision threshold value.
2. The method of claim 1, wherein obtaining encoder information, determining guidewire movement distance information from the encoder information, comprises:
the current position information of the guidewire is determined according to the following,
wherein x represents encoder information, c represents the maximum value of the encoder information, z represents the number of rotations of the motor, and k represents the gear ratio;
and determining guide wire movement distance information according to the guide wire first position information and the guide wire current position information.
3. The method of claim 1, wherein adjusting the motor parameter to move the motor control wire toward the target location based on the offset value comprises:
determining a step interval range in which the deviation value is located, wherein the number of the step interval ranges is at least two, and each step interval range corresponds to a preset motor speed value;
and adjusting the motor speed to a preset motor speed value corresponding to the range of the step interval where the deviation value is located so as to control the guide wire to move towards the target position.
4. The method according to claim 1, wherein the method further comprises:
acquiring motor torque and current information;
and determining guide wire stress information according to the motor torque current information so as to display the guide wire stress information.
5. The method of claim 2, wherein the step of obtaining encoder information and determining guidewire movement distance information from the encoder information is preceded by the step of:
the encoder information that the motor needs to rotate when the guide wire advances to the target position is calculated according to the following formula, the motor is started to control the guide wire to advance,
and judging whether the motor is stopped.
6. The method of claim 1, wherein the guidewire motion control device further comprises an external sensor mounted to the guidewire motion end, the external sensor having a precision that is higher than the encoder precision, the method further comprising:
and acquiring encoder information of an external sensor, and determining guide wire movement distance information according to the encoding information.
7. A guide wire motion control device, comprising a motor, wherein the motor is provided with an encoder; the apparatus further comprises:
the first determining module is used for acquiring target position information and determining first position information of the guide wire so as to enable the motor to control the guide wire to move to the target position;
the second determining module is used for acquiring encoder information and determining guide wire movement distance information according to the encoder information;
the deviation value module is used for determining a deviation value according to the target position information and the guide wire movement distance information;
the judging module is used for judging whether the deviation value is larger than a preset precision threshold value or not; if not, ending; otherwise, the motor parameter is adjusted according to the deviation value so that the motor controls the guide wire to move towards the target position, and the steps of determining guide wire movement distance information, determining the deviation value and judging the deviation value are repeatedly executed until the deviation value is smaller than or equal to a preset precision threshold value.
8. The guide wire motion control device is characterized by comprising a first motor, a second motor, a front-back motion control mechanism and a rotary motion control mechanism, wherein the first motor is connected with the front-back motion control mechanism, and the second motor is connected with the rotary motion control mechanism.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the method of any of the preceding claims 1 to 6 when the computer program is executed by the processor.
10. A computer readable medium having non-volatile program code executable by a processor, the program code causing the processor to perform the method of any one of claims 1 to 6.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202410015975.5A CN117679613A (en) | 2024-01-04 | 2024-01-04 | Guide wire control method, guide wire control device, electronic equipment and computer readable medium |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410015975.5A CN117679613A (en) | 2024-01-04 | 2024-01-04 | Guide wire control method, guide wire control device, electronic equipment and computer readable medium |
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| Publication Number | Publication Date |
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| CN117679613A true CN117679613A (en) | 2024-03-12 |
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| CN202410015975.5A Pending CN117679613A (en) | 2024-01-04 | 2024-01-04 | Guide wire control method, guide wire control device, electronic equipment and computer readable medium |
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| Country | Link |
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| CN (1) | CN117679613A (en) |
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