WO2024073933A1

WO2024073933A1 - \interventional surgical robot catheter guide wire action control method and related device thereof

Info

Publication number: WO2024073933A1
Application number: PCT/CN2022/137291
Authority: WO
Inventors: 刘胜
Original assignee: 深圳市爱博医疗机器人有限公司
Priority date: 2022-10-08
Filing date: 2022-12-07
Publication date: 2024-04-11
Also published as: CN115414130A

Abstract

Provided are an interventional surgical robot catheter guide wire action control method and a related device (600) thereof. The method comprises: acquiring target control information (201); determining a target controlled object according to the target control information, determining whether the target controlled object satisfies a preset safety distance condition and satisfies a preset low-speed following condition (202); if the target controlled object satisfies the preset safety distance condition and satisfies the preset low-speed following condition, controlling, according to a first preset optimization parameter, the target controlled object to perform low-speed following motion (203); and if the target controlled object satisfies the preset safety distance condition but does not satisfy the preset low-speed following condition, controlling, according to a second preset optimization parameter, the target controlled object to perform high-speed following motion (204). The control method and the device (600) of the present invention can reduce the motion noise of a catheter guide wire, thereby more facilitating carrying out surgery.

Description

Interventional surgery robot catheter guidewire motion control method and related equipment

This application claims the priority of a Chinese patent application filed on October 8, 2022, with application number 202211221930.0 and invention name “Interventional surgical robot catheter guidewire motion control method and related equipment”. The entire contents of this Chinese patent application are incorporated by reference into this application.

Technical Field

The present application relates to the field of artificial intelligence technology, and more specifically, to a method for controlling the motion of a catheter guidewire of an interventional surgery robot and related equipment.

Background technique

In recent years, research on interventional surgical robots has emerged. It simulates the doctor's hand movements to achieve various movements of the catheter guidewire. The doctor can control it remotely without having to be at the catheter bedside, avoiding the problem of radiation radiation, and has extremely important clinical value. The existing interventional surgical robot includes a master-slave operating system. The master end operating system is provided with an operating rod, and the slave end is provided with multiple driving carts for clamping and delivering rotating catheter guidewires. The doctor controls the operating rod to generate control information and send it to the slave end. The slave end controls the cart to perform the corresponding operation. The inventor found that the noise during the execution of the cart is too loud, which causes noise interference to doctors and patients, which is not conducive to the operation.

Summary of the invention

The technical problem to be solved by the embodiments of the present application is that the existing catheter guidewire control method has excessive noise, which causes noise interference to doctors and patients and is not conducive to the operation.

In order to solve the above technical problems, the present application embodiment provides a method for controlling the guidewire motion of an interventional surgery robot catheter, which adopts the following technical solution:

The interventional surgery robot catheter guidewire motion control method comprises:

Obtain target control information;

Determining a target controlled object according to the target control information, and judging whether the target controlled object satisfies a preset safety distance condition and a preset low-speed following condition;

If the target controlled object meets the preset safety distance condition and the preset low-speed following condition, the target controlled object is controlled to perform low-speed following motion according to the first preset optimization parameter;

If the target controlled object meets the preset safety distance condition but does not meet the preset low-speed following condition, the target controlled object is controlled to perform high-speed following motion according to a second preset optimization parameter.

Further, the target control information includes a target operating rod identifier, a target operating rod propulsion displacement, and a target operating rod propulsion speed; the step of determining a target controlled object according to the target control information, and judging whether the target controlled object satisfies a preset safety distance condition and a preset low-speed following condition, includes:

Determine the target controlled object according to the target operating rod identifier, where there is a corresponding relationship between the target controlled object and the target operating rod;

Obtaining the current position of the target controlled object;

Determining whether the target controlled object meets a preset safety distance condition according to the current position of the target controlled object;

If the target controlled object meets the preset safety distance condition, determining the target position of the target controlled object according to the target operating rod advancement displacement and the current position of the target controlled object, and determining the current speed of the target controlled object according to the target operating rod advancement speed;

According to the target position and current speed of the target controlled object, it is determined whether the target controlled object satisfies the preset low-speed following condition.

Further, the target controlled object includes a first driving trolley and a second driving trolley, and the first driving trolley and the second driving trolley are used to jointly drive the movement of the catheter; when the first driving trolley and the second driving trolley are controlled at the same time, judging whether the target controlled object meets a preset safety distance condition according to the current position of the target controlled object includes:

According to the current position of the first driving trolley and the current position of the second driving trolley, determining whether the distance between the first driving trolley and the second driving trolley is not less than a first preset safety distance threshold;

If the distance between the first driving trolley and the second driving trolley is not less than the first preset safety distance threshold, it is determined that the target controlled object meets the preset safety distance condition;

If the distance between the first driving trolley and the second driving trolley is less than the first preset safety distance threshold, it is determined that the target controlled object does not meet the preset safety distance condition.

Further, the target controlled object further includes a third driving trolley. When only the third driving trolley is controlled, the third driving trolley is used to drive the guide wire to move. The step of judging whether the target controlled object meets a preset safety distance condition according to the current position of the target controlled object includes:

According to the current position of the third driving trolley, determining whether the distance between the third driving trolley and the second driving trolley is not less than a second preset safety distance threshold;

If the distance between the third driving trolley and the second driving trolley is not less than the second preset safety distance threshold, it is determined that the target controlled object meets the preset safety distance condition;

If the distance between the third driving trolley and the second driving trolley is less than the second preset safety distance threshold, it is determined that the target controlled object does not meet the preset safety distance condition.

Further, when the first driving trolley, the second driving trolley and the third driving trolley are simultaneously operated, judging whether the target controlled object meets the preset safety distance condition according to the current position of the target controlled object includes:

According to the current positions of the first driving trolley, the second driving trolley and the third driving trolley, determining whether the distance between the first driving trolley and the second driving trolley is not less than the first preset safety distance threshold, and whether the distance between the third driving trolley and the second driving trolley is not less than the second preset safety distance threshold;

If the safety distance between the first driving trolley and the second driving trolley is not less than the first preset safety distance threshold, and the distance between the third driving trolley and the second driving trolley is not less than the second preset safety distance threshold, it is determined that the target controlled object meets the preset safety distance condition;

If the distance between the first driving trolley and the second driving trolley is less than the first preset safety distance threshold, and the distance between the third driving trolley and the second driving trolley is less than the second preset safety distance threshold, it is determined that the target controlled object does not meet the preset safety distance condition.

Further, judging whether the target controlled object satisfies the preset low-speed following condition according to the target position and current speed of the target controlled object includes:

According to the target position and current speed of the target controlled object, determining whether the distance between the target position of the target controlled object and the current position of the target controlled object is less than a preset distance, whether the current speed of the target controlled object is less than a preset speed, and whether the target controlled object is in a homing process;

If the distance between the target position of the target controlled object and the current position of the target controlled object is less than the preset distance, and the current speed of the target controlled object is less than the preset speed, and the target controlled object is not in the homing process, then it is determined that the target controlled object meets the preset low-speed following condition; otherwise, it is determined that the target controlled object does not meet the preset low-speed following condition.

Further, before controlling the target controlled object to perform high-speed following motion according to a second preset optimization parameter if the target controlled object satisfies the preset safety distance condition but does not satisfy the preset low-speed following condition, the method further includes:

Acquire multiple sets of preset parameters, and output the speed-time curve of the target controlled object according to the multiple sets of preset parameters, wherein the multiple sets of preset parameters are set on a preset parameter simulator;

Determining the maximum acceleration of the target controlled object according to the speed-time curve;

A set of preset parameters corresponding to the maximum acceleration is determined as second preset optimization parameters.

An embodiment of the present invention further provides a device for controlling the movement of a catheter guidewire of an interventional surgery robot, the device comprising:

A first acquisition module, used to acquire target control information;

A judgment module, used to determine a target controlled object according to the target control information, and judge whether the target controlled object meets a preset safety distance condition and a preset low-speed following condition;

A first control module, configured to control the target controlled object to perform a low-speed following motion according to a first preset optimization parameter if the target controlled object satisfies the preset safety distance condition and the preset low-speed following condition;

The second control module is used to control the target controlled object to perform high-speed following motion according to a second preset optimization parameter if the target controlled object meets the preset safety distance condition but does not meet the preset low-speed following condition.

An embodiment of the present invention further provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the following steps when executing the computer program:

Obtain target control information;

The embodiment of the present invention further provides a computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium. When the computer program is executed by a processor, the processor executes the following steps:

Obtain target control information;

Compared with the prior art, the embodiments of the present application have the following beneficial effects:

By acquiring target control information; determining the target controlled object according to the target control information, and judging whether the target controlled object meets the preset safety distance condition and the preset low-speed following condition; if the target controlled object meets the preset safety distance condition and the preset low-speed following condition, then according to the first preset optimization parameter, the target controlled object is controlled to perform low-speed following motion; if the target controlled object meets the preset safety distance condition but does not meet the preset low-speed following condition, then according to the second preset optimization parameter, the target controlled object is controlled to perform high-speed following motion. In this way, the determination of the preset safety distance condition and the preset low-speed following condition can be combined, and the driving trolley can perform low-speed motion control or high-speed motion control on the catheter or guidewire according to the first preset optimization parameter or the second preset optimization parameter while ensuring the normal movement of the driving trolley. The high-speed and low-speed combined control method of the driving trolley can significantly reduce the noise of the driving trolley during the operation. Without affecting the following performance of the driving trolley, the driving trolley can be operated with a smooth acceleration and deceleration curve, reducing the running noise of the motor in the driving trolley at low speed: at the same time, the driving trolley will follow the pushing or pushing speed of the target joystick with a larger acceleration, thereby reducing the running noise of the motor in the driving trolley at high speed. Avoiding noise interference to doctors and patients is more conducive to the operation.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the solutions in the present application or the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

FIG1 is an architecture diagram of a master-slave operating system provided by an embodiment of the present invention;

FIG2 is a flow chart of a method for controlling the movement of a catheter guidewire of an interventional surgery robot provided by an embodiment of the present invention;

FIG3 is a flow chart of a method provided by step 202 in the embodiment of FIG2 ;

4 is a flow chart of another method for controlling the guidewire motion of a catheter in an interventional surgery robot provided by an embodiment of the present invention;

FIG5 is a schematic structural diagram of a catheter guidewire motion control device for an interventional surgery robot provided by an embodiment of the present invention;

FIG6 is a schematic diagram of a structure provided by a judgment module in the embodiment of FIG5 ;

7 is a schematic structural diagram of another interventional surgery robot catheter guidewire motion control device provided by an embodiment of the present invention;

FIG. 8 is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention.

Detailed ways

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by technicians in the technical field of this application; the terms used in the specification of the application herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. The terms "first", "second", etc. in the specification and claims of this application or the above-mentioned drawings are used to distinguish different objects, not to describe a specific order.

Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

As shown in FIG1 , the catheter guidewire motion control method of the interventional surgery robot provided in this embodiment can be applied in the application environment shown in FIG1 . Among them, the embodiment of the present invention provides a master-slave operating system, the master-slave operating system 100 includes a master-end operating system 101 and a slave-end operating system 103, the master-end operating system 101 is provided with an operating rod, and the operating rod includes a catheter operating rod 1011 and a guidewire operating rod 1012. The slave-end operating system 103 is provided with a plurality of driving carts. In this embodiment, three driving carts are specifically used as an example for explanation. The three driving carts are respectively a first driving cart 1031, a second driving cart 1032 and a third driving cart 1033, wherein the first driving cart 1031 and the second driving cart 1032 jointly drive the movement of the catheter, and the third driving cart 1033 drives the movement of the guidewire. The first driving cart 1031, the second driving cart 1032 and the third driving cart 1033 correspond to a control motor respectively. Among them, the master-end operating system 101 and the slave-end operating system 103 communicate with each other through the network 102. The network 102 communication may be a wired connection or a wireless connection for data processing and communication with other devices. It should be noted that the wireless connection may include but is not limited to 3G/4G connection, WiFi connection, Bluetooth connection, WiMAX connection, Zigbee connection, UWB (ultra wideband) connection, and other wireless connection methods currently known or to be developed in the future.

In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings.

As shown in FIG2 , an embodiment of the present application provides a method for controlling the motion of a catheter guidewire of an interventional surgery robot. The method for controlling the motion of a catheter guidewire of an interventional surgery robot comprises the following steps:

Step 201: Obtain target control information.

The target control information includes a target operating rod identifier, a target operating rod advancement displacement, and a target operating rod advancement speed.

The above target control information is sent by the master-side operating system and is used to control the control information of the slave-side operating system. The above target operating rod identification is the identification of the operating rod being operated in the master-side operating system. For example, when the staff operates the catheter operating rod in the master-side operating system, the target operating rod identification is the identification of the catheter operating rod, wherein the target operating rod is the catheter operating rod. Of course, when the staff operates the guide wire operating rod in the master-side operating system, the target operating rod identification is the identification of the guide wire operating rod, wherein the target operating rod is the guide wire operating rod. The target operating rod identification can be marked with numbers, letters, symbols, text or pictures.

The target operating rod advancement displacement is the distance and direction that the target operating rod is moved by operation, specifically the distance from the initial position to the final position of the target operating rod. The target operating rod advancement displacement is directly detected by a displacement encoder.

The target operating rod advancing speed is the speed at which the target operating rod is operated and moved.

Specifically, when the joystick on the master operating system is operated, the master operating system will obtain specific control information and send it to the slave operating system.

Step 202: determine the target controlled object according to the target control information, and judge whether the target controlled object meets the preset safety distance condition and the preset low-speed following condition.

Wherein, the target controlled object includes the first driving trolley and the second driving trolley; or the third driving trolley; or the first driving trolley, the second driving trolley and the third driving trolley, the first driving trolley and the second driving trolley are used to jointly drive the movement of the catheter, and the third driving trolley is used to drive the movement of the guidewire. Specifically, when it is necessary to control the movement of the catheter, it is necessary to obtain the identification of the catheter operating rod, and at the same time, according to the corresponding relationship between the catheter operating rod and the driving trolley, determine that the target controlled object is the first driving trolley and the second driving trolley, so as to drive the movement of the catheter through the first driving trolley and the second driving trolley. Alternatively, when it is necessary to control the movement of the guidewire, it is necessary to obtain the identification of the guidewire operating rod, and at the same time, according to the corresponding relationship between the guidewire operating rod and the driving trolley, determine that the target controlled object is the third driving trolley, so as to drive the movement of the guidewire through the third driving trolley. Of course, when it is necessary to control the movement of the catheter and the guidewire at the same time, it is necessary to obtain the identification of the catheter operating lever and the guidewire operating lever, and at the same time, according to the correspondence between the catheter operating lever and the guidewire operating lever and the driving cart, determine that the target controlled objects are the first driving cart, the second driving cart and the third driving cart, so as to drive the movement of the catheter through the first driving cart and the second driving cart, and drive the movement of the guidewire through the third driving cart.

The above-mentioned preset safety distance condition is whether the distance between the target controlled objects is within the preset safety distance range. If the distance between the target controlled objects is within the preset safety distance range, it means that the target controlled objects meet the preset safety distance condition, otherwise, they do not meet it.

The above-mentioned low-speed following condition is whether the distance between the target position of the target controlled object and its current position is within a preset distance range. If the distance between the target position of the target controlled object and its current position is within the preset distance range, it means that the target controlled object meets the low-speed following condition, otherwise it does not meet it.

Specifically, as shown in FIG3 , step 202 includes:

Step 301: determine a target controlled object according to a target operating rod identifier, and there is a corresponding relationship between the target controlled object and the target operating rod.

Among them, there is a corresponding relationship between the target controlled object and the target operating rod: when the target operating rod is a catheter operating rod, the target controlled object corresponds to the first driving trolley and the second driving trolley; when the target operating rod is a guide wire operating rod, the target controlled object corresponds to the third driving trolley.

Specifically, once the identification of the target operating lever is obtained, the target controlled object can be determined according to the corresponding relationship.

Step 302: Obtain the current position of the target controlled object.

Specifically, after the target controlled object is determined, the current position of the target controlled object is directly determined. The current position of the target controlled object may be detected by a self-positioning system of the target controlled object.

Step 303: Determine whether the target controlled object meets a preset safety distance condition according to the current position of the target controlled object.

Specifically, the target controlled object includes a first driving car and a second driving car; when the first driving car and the second driving car are controlled at the same time, step 303 includes: judging whether the distance between the first driving car and the second driving car is not less than a first preset safety distance threshold value according to the current position of the first driving car and the current position of the second driving car. If the distance between the first driving car and the second driving car is not less than the first preset safety distance threshold value, it is determined that the target controlled object meets the preset safety distance condition. If the safety distance between the first driving car and the second driving car is less than the first preset safety distance threshold value, it is determined that the target controlled object does not meet the preset safety distance condition.

The first preset safety distance threshold can be set to 30 mm, or other values. The purpose of setting the first preset safety distance threshold is to avoid collision between the first driving trolley and the second driving trolley during movement, so as to ensure normal movement of the catheter.

When the target controlled object also includes the third driving trolley, when only the third driving trolley is controlled, step 303 includes: judging whether the distance between the third driving trolley and the second driving trolley is not less than the second preset safety distance threshold according to the current position of the third driving trolley. If the distance between the third driving trolley and the second driving trolley is not less than the second preset safety distance threshold, it is determined that the target controlled object meets the preset safety distance condition. If the distance between the third driving trolley and the second driving trolley is less than the second preset safety distance threshold, it is determined that the target controlled object does not meet the preset safety distance condition.

Among them, the second preset safety distance threshold can be 30mm, or other values. Of course, the first preset safety distance threshold and the second preset safety distance threshold can be the same or different. The purpose of setting the second preset safety distance threshold is to avoid the third driving trolley and the second driving trolley from colliding during movement, so as to ensure the normal movement of the guide wire.

When the control is performed on the first driving trolley, the second driving trolley and the third driving trolley at the same time, step 303 includes: judging whether the distance between the first driving trolley and the second driving trolley is not less than the first preset safety distance threshold, and whether the distance between the third driving trolley and the second driving trolley is not less than the second preset safety distance threshold according to the current positions of the first driving trolley, the second driving trolley and the third driving trolley. If the distance between the first driving trolley and the second driving trolley is not less than the first preset safety distance threshold, and the distance between the third driving trolley and the second driving trolley is not less than the second preset safety distance threshold, it is determined that the target controlled object meets the preset safety distance condition. If the distance between the first driving trolley and the second driving trolley is less than the first preset safety distance threshold, and the distance between the third driving trolley and the second driving trolley is less than the second preset safety distance threshold, it is determined that the target controlled object does not meet the preset safety distance condition.

In the embodiment of the present invention, when the target controlled object includes the first driving trolley, the second driving trolley and the third driving trolley, it is also possible to first determine whether the advancement displacement of the catheter operating rod and the guide wire operating rod is in the same direction. If it is in the same direction, it is necessary to determine whether the distance between the first driving trolley and the second driving trolley is not less than the first preset safety distance threshold (30mm or other values), and whether the distance between the second driving trolley and the third driving trolley is the second preset safety distance threshold (30mm or other values). If it is not in the same direction, an operation error warning message is generated and displayed on the display screen to prompt the staff to take measures.

Step 304: if the target controlled object meets the preset safety distance condition, determine the target position of the target controlled object according to the target operating rod propulsion displacement and the current position of the target controlled object, and determine the current speed of the target controlled object according to the target operating rod propulsion speed.

Specifically, if the target controlled object meets the preset safety distance condition, the target position of the target controlled object can be calculated by combining the target operating lever propulsion displacement, the target displacement corresponding to the target controlled object and the current position of the target controlled object, that is, the target position of the target controlled object is equal to the target propulsion displacement plus the current position of the target controlled object.

There is a corresponding relationship between the target operating rod advancement speed and the current speed of the target controlled object. The current speed of the target controlled object will change with the advancement speed of the target operating rod, so that the delivery speed of the catheter and the guide wire will also follow the advancement speed of the target operating rod. Therefore, once the advancement speed of the target operating rod is determined, the current speed of the target controlled object can be obtained.

Step 305: According to the target position and current speed of the target controlled object, determine whether the target controlled object meets a preset low-speed following condition.

Specifically, according to the target position and current speed of the target controlled object, it is determined whether the distance between the target position of the target controlled object and the current position of the target controlled object is less than a preset distance, whether the current speed of the target controlled object is less than a preset speed, and whether the target controlled object is in a homing process. If the distance between the target position of the target controlled object and the current position of the target controlled object is less than the preset distance, the current speed of the target controlled object is less than the preset speed, and the target controlled object is not in a homing process, it is determined that the target controlled object meets the preset low-speed following condition, otherwise, it is determined that the target controlled object does not meet the preset low-speed following condition.

The preset distance is pre-set and used to determine the distance range of a single movement of the target controlled object. The preset speed is also pre-set and used to determine the speed range of a single movement of the target controlled object. In this way, it is determined whether the target controlled object is in a low-speed following condition by limiting the preset distance and the preset speed.

The homing process is that when the doctor's hand leaves the operating lever and the touch switch on the operating lever jumps to the off state, the reset motor drives the operating lever to automatically reset. At the same time, the master operating system will send a reset command to the slave controller. The slave controller controls the driving trolley equipped with the catheter/guidewire to reset to a specific position to achieve the reset of the operating lever and further achieve the reset of the catheter guidewire.

In an embodiment of the present invention, as shown in FIG4 , before step 203, the catheter guidewire motion control device of the interventional surgery robot further includes the following steps:

Step 401: Obtain a target operating rod advancement displacement and a first time corresponding to the target operating rod advancement displacement.

Step 402: Obtain a target displacement of a target controlled object and a second time corresponding to the target displacement of the target controlled object, wherein the target displacement of the target controlled object is obtained according to the advancing displacement of the target operating rod.

Step 403: Calculate the time difference between the first time and the second time, and determine the time difference as the following delay between the target operating rod and the target controlled object.

Specifically, during the delivery process of the catheter and the guidewire, the target position changes in real time. Take the example of the joystick running from 0 to s. The driving vehicle will drive the catheter and the guidewire to run from 0 to s in the shortest time. The operation of the catheter and the guidewire includes but is not limited to acceleration, uniform speed, and deceleration and stopping. During the operation of the catheter and the guidewire, they will chase the position of the joystick in the shortest time. Therefore, when determining the time difference, the shorter the time difference, the shorter the follow-up delay, and the movement of the catheter and the guidewire is closer to the movement of the joystick.

Step 203: If the target controlled object meets the preset safety distance condition and the preset low-speed following condition, the target controlled object is controlled to perform low-speed following motion according to the first preset optimization parameter.

The above-mentioned first preset optimization parameter is pre-set, and the first preset optimization parameter includes a P parameter and an I parameter, that is, the first preset optimization parameter can also be called a first optimized PI parameter. Specifically, the second preset optimization parameter (the second preset optimized PI parameter) is adjusted, and the optimal PI parameter with low noise in the high-speed stage and low noise in the low-speed stage is determined as the first optimized PI parameter. Specifically, the research and development personnel gradually adjust the second preset optimized PI parameter so that the second preset optimized PI parameter gradually decreases, and the corresponding maximum acceleration of the driving car also gradually decreases. In the process of gradually decreasing the maximum acceleration of the driving car, the speed change operation noise of the driving car in the low-speed stage gradually decreases, and the noise of the driving car in the high-speed stage meets the noise condition. At the same time, the noise of the driving car in the low-speed stage also meets the noise condition, then the corresponding preset parameter is determined as the first optimized PI parameter (that is, the optimal PI parameter with low noise in the high-speed stage and low noise in the low-speed stage is determined as the first optimized PI parameter), and the first optimized PI parameter is the low-speed response parameter.

Specifically, when the target controlled object meets the preset safety distance condition and the preset low-speed following condition, the driving car will move according to the first preset optimization parameter, and the driving car will deliver the guidewire/catheter with a smooth acceleration/deceleration curve (a PI parameter corresponds to an acceleration curve, and a smooth acceleration/deceleration curve is a curve corresponding to low response parameters P0 and I0, which indicates a smooth acceleration/deceleration curve, which can be understood as a small acceleration) with very little noise, thereby achieving the optimization process.

Step 204: If the target controlled object meets the preset safety distance condition but does not meet the preset low-speed following condition, the target controlled object is controlled to perform high-speed following motion according to the second preset optimization parameter.

The above-mentioned second preset optimization parameters are pre-set, and the second preset optimization parameters include P parameters and I parameters, that is, the second preset optimization parameters can also be called second preset optimization PI parameters.

Specifically, before step 204, multiple groups of preset parameters can be obtained first, and speed-time curves of the target controlled object can be output according to the multiple groups of preset parameters, and the multiple groups of preset parameters are set on a preset parameter simulator; the maximum acceleration of the target controlled object is determined according to the speed-time curve; and a group of preset parameters corresponding to the maximum acceleration is determined as the second preset optimization parameters.

Among them, each set of preset parameters includes P parameters and I parameters. The preset parameter simulator is a PI parameter simulator. More specifically, the adjustment process of the second preset optimization parameter is: determine the maximum acceleration suitable for driving the car, and the maximum acceleration ensures that the driving car can follow the operating lever with minimal delay. The R&D personnel set multiple sets of P parameters and I parameters on the PI parameter simulator, and each set of PI parameters corresponds to the output speed-time curve; the speed-time curve is used to determine the maximum acceleration, and then the preset parameters corresponding to the maximum acceleration are determined as the second optimized PI parameters, and the second optimized PI parameters are the high-speed response PI parameters P1 and I1.

Specifically, when the driving car does not meet the low-speed following conditions, it will be set to high-speed response PI parameters P1 and I1 (which can be understood as a larger acceleration). The driving car will follow the push or push speed of the main end joystick with a larger acceleration. At this time, the car will respond quickly and the noise will be small.

In an embodiment of the present invention, by acquiring target control information; determining the target controlled object according to the target control information, and judging whether the target controlled object meets the preset safety distance condition and the preset low-speed following condition; if the target controlled object meets the preset safety distance condition and the preset low-speed following condition, then according to the first preset optimization parameter, the target controlled object is controlled to perform low-speed following motion; if the target controlled object meets the preset safety distance condition but does not meet the preset low-speed following condition, then according to the second preset optimization parameter, the target controlled object is controlled to perform high-speed following motion. In this way, the determination of the preset safety distance condition and the preset low-speed following condition can be combined, and the driving trolley can perform low-speed motion control or high-speed motion control on the catheter or guidewire according to the first preset optimization parameter or the second preset optimization parameter while ensuring the normal movement of the driving trolley. The high-speed and low-speed combined control method of the driving trolley can significantly reduce the noise of the driving trolley during the operation. Without affecting the following performance of the driving trolley, the driving trolley can run with a smooth acceleration and deceleration curve, reducing the running noise of the motor in the driving trolley at low speed: at the same time, the driving trolley will follow the push-in or push-out speed of the target joystick with a larger acceleration, thereby reducing the running noise of the motor in the driving trolley at high speed. Avoiding noise interference to doctors and patients is more conducive to the operation.

As shown in FIG5 , an embodiment of the present invention further provides a catheter guidewire motion control device for an interventional surgery robot. The catheter guidewire motion control device 500 for an interventional surgery robot includes:

A first acquisition module 501 is used to acquire target control information;

A determination module 502 is used to determine a target controlled object according to the target control information, and to determine whether the target controlled object satisfies a preset safety distance condition and a preset low-speed following condition;

The first control module 503 is used to control the target controlled object to perform a low-speed following motion according to a first preset optimization parameter if the target controlled object meets a preset safety distance condition and a preset low-speed following condition;

The second control module 504 is used to control the target controlled object to perform high-speed following motion according to a second preset optimization parameter if the target controlled object meets the preset safety distance condition but does not meet the preset low-speed following condition.

Optionally, the target control information includes a target operating rod identifier, a target operating rod advancement displacement, and a target operating rod advancement speed. As shown in FIG6 , the determination module 502 includes:

The first determining unit 5021 is used to determine a target controlled object according to the target operating rod identifier, and there is a corresponding relationship between the target controlled object and the target operating rod.

The acquisition unit 5022 is used to acquire the current position of the target controlled object.

The first judgment unit 5023 is used to judge whether the target controlled object meets the preset safety distance condition according to the current position of the target controlled object;

The second determining unit 5024 determines the target position of the target controlled object according to the target operating rod propulsion displacement and the current position of the target controlled object, and determines the current speed of the target controlled object according to the target operating rod propulsion speed, if the target controlled object meets the preset safety distance condition;

The second judgment unit 5025 is used to judge whether the target controlled object meets a preset low-speed following condition according to the target position and current speed of the target controlled object.

Optionally, the target controlled object includes a first driving trolley and a second driving trolley, and the first driving trolley and the second driving trolley are used to jointly drive the movement of the catheter; when the first driving trolley and the second driving trolley are controlled at the same time, the first judgment unit 5023 is also used to judge whether the distance between the first driving trolley and the second driving trolley is not less than the first preset safety distance threshold according to the current position of the first driving trolley and the current position of the second driving trolley. If the safety distance between the first driving trolley and the second driving trolley is not less than the first preset safety distance threshold, it is determined that the target controlled object meets the preset safety distance condition. If the distance between the first driving trolley and the second driving trolley is less than the first preset safety distance threshold, it is determined that the target controlled object does not meet the preset safety distance condition.

Optionally, the target controlled object also includes a third driving trolley, which is used to drive the guide wire to move; when only the third driving trolley is controlled, the first judgment unit 5023 is also used to judge whether the distance between the third driving trolley and the second driving trolley is not less than the second preset safety distance threshold according to the current position of the third driving trolley. If the distance between the third driving trolley and the second driving trolley is not less than the second preset safety distance threshold, it is determined that the target controlled object meets the preset safety distance condition. If the distance between the third driving trolley and the second driving trolley is less than the second preset safety distance threshold, it is determined that the target controlled object does not meet the preset safety distance condition.

Optionally, when the first driving trolley, the second driving trolley and the third driving trolley are controlled at the same time, the first judgment unit 5023 is also used to judge whether the distance between the first driving trolley and the second driving trolley is not less than the first preset safety distance threshold, and whether the distance between the third driving trolley and the second driving trolley is not less than the second preset safety distance threshold according to the current positions of the first driving trolley, the second driving trolley and the third driving trolley. If the distance between the first driving trolley and the second driving trolley is not less than the first preset safety distance threshold, and the distance between the third driving trolley and the second driving trolley is not less than the second preset safety distance threshold, it is determined that the target controlled object meets the preset safety distance condition. If the distance between the first driving trolley and the second driving trolley is less than the first preset safety distance threshold, and the distance between the third driving trolley and the second driving trolley is less than the second preset safety distance threshold, it is determined that the target controlled object does not meet the preset safety distance condition.

Optionally, the second judgment unit 5025 is further used to judge whether the distance between the target position of the target controlled object and the current position of the target controlled object is less than a preset distance, whether the current speed of the target controlled object is less than a preset speed, and whether the target controlled object is in a homing process according to the target position and current speed of the target controlled object. If the distance between the target position of the target controlled object and the current position of the target controlled object is less than the preset distance, the current speed of the target controlled object is less than the preset speed, and the target controlled object is not in a homing process, then it is determined that the target controlled object meets the preset low-speed following condition, otherwise, it is determined that the target controlled object does not meet the preset low-speed following condition.

Optionally, as shown in FIG. 7 , based on FIG. 5 , before the first control module, the interventional surgery robot catheter guidewire motion control device 500 further includes:

The second acquisition module 505 acquires the target operating rod advancement displacement and the first time corresponding to the target operating rod advancement displacement.

The third acquisition module 506 is used to acquire the target displacement of the target controlled object and the second time corresponding to the target displacement of the target controlled object, where the target displacement of the target controlled object is obtained according to the advancing displacement of the target operating rod.

The calculation module 507 is used to calculate the time difference between the first time and the second time, and determine the time difference as the following delay between the target operating rod and the target controlled object.

As shown in FIG8 , an embodiment of the present invention further provides an electronic device, wherein the electronic device 600 includes: a memory 602, a processor 601, a network interface 603, and a computer program stored in the memory 602 and executable on the processor 601, wherein:

The processor 601 is used to call the computer program stored in the memory 602 and execute the following steps:

Obtain target control information;

Determine the target controlled object according to the target control information, and judge whether the target controlled object meets the preset safety distance condition and whether it meets the preset low-speed following condition;

If the target controlled object meets the preset safety distance condition but does not meet the preset low-speed following condition, the target controlled object is controlled to perform high-speed following motion according to the second preset optimization parameter.

Optionally, the target control information includes a target joystick identifier, a target joystick propulsion displacement, and a target joystick propulsion speed; the processor 601 determines the target controlled object according to the target control information, and determines whether the target controlled object meets a preset safety distance condition and a preset low-speed following condition, including:

Determine the target controlled object according to the target operating lever identifier, and there is a corresponding relationship between the target controlled object and the target operating lever;

Get the current position of the target controlled object;

Determine whether the target controlled object meets a preset safety distance condition according to the current position of the target controlled object;

If the target controlled object meets the preset safety distance condition, the target position of the target controlled object is determined according to the target operating rod advancement displacement and the current position of the target controlled object, and the current speed of the target controlled object is determined according to the target operating rod advancement speed;

According to the target position and current speed of the target controlled object, it is determined whether the target controlled object meets the preset low-speed following condition.

Optionally, the target controlled object includes a first driving trolley and a second driving trolley, and the first driving trolley and the second driving trolley are used to jointly drive the movement of the catheter; when the first driving trolley and the second driving trolley are controlled at the same time, the processor 601 executes the following steps to determine whether the target controlled object meets a preset safety distance condition according to a current position of the target controlled object:

If the distance between the first driving trolley and the second driving trolley is not less than a first preset safety distance threshold, it is determined that the target controlled object meets the preset safety distance condition;

If the distance between the first driving trolley and the second driving trolley is less than a first preset safety distance threshold, it is determined that the target controlled object does not meet the preset safety distance condition.

Optionally, the target controlled object includes a third driving trolley, and the third driving trolley is used to drive the guide wire to move; when only the third driving trolley is controlled, the processor 601 executes the following steps:

Optionally, when the first driving trolley, the second driving trolley and the third driving trolley are controlled simultaneously; the processor 601 determines whether the target controlled object meets the preset safety distance condition according to the current position of the target controlled object, including:

According to the current positions of the first driving trolley, the second driving trolley and the third driving trolley, it is determined whether the distance between the first driving trolley and the second driving trolley is not less than a first preset safety distance threshold, and whether the distance between the third driving trolley and the second driving trolley is not less than a second preset safety distance threshold;

If the distance between the first driving trolley and the second driving trolley is not less than the first preset safety distance threshold, and the distance between the third driving trolley and the second driving trolley is not less than the second preset safety distance threshold, it is determined that the target controlled object meets the preset safety distance condition;

If the safety distance between the first driving trolley and the second driving trolley is less than the first preset safety distance threshold, and the distance between the third driving trolley and the second driving trolley is less than the second preset safety distance threshold, it is determined that the target controlled object does not meet the preset safety distance condition.

Optionally, the processor 601 determines whether the target controlled object meets a preset low-speed following condition according to the target position and current speed of the target controlled object, including:

Optionally, before controlling the target controlled object to perform low-speed following motion according to the first preset optimization parameter, or, if the target controlled object meets the preset safety distance condition but does not meet the preset low-speed following condition, controlling the target controlled object to perform high-speed following motion according to the second preset optimization parameter, the processor 601 further executes:

Obtaining a target operating rod advancement displacement and a first time corresponding to the target operating rod advancement displacement;

Acquire a target displacement of a target controlled object and a second time corresponding to the target displacement of the target controlled object, wherein the target displacement of the target controlled object is obtained according to the advancing displacement of the target operating rod;

The time difference between the first time and the second time is calculated, and the time difference is determined as the following delay between the target operating rod and the target controlled object.

The electronic device 600 provided in the embodiment of the present invention can implement various implementations in the embodiment of the catheter guidewire motion control method of the interventional surgery robot, as well as the corresponding beneficial effects, which will not be described again here to avoid repetition.

It should be noted that the figure only shows a processor 601, a memory 602 and a network interface 603 with components, but it should be understood that it is not required to implement all the components shown, and more or fewer components can be implemented instead. Among them, those skilled in the art can understand that the electronic device here is a device that can automatically perform numerical calculations and/or information processing according to pre-set or stored instructions, and its hardware includes but is not limited to microprocessors, application specific integrated circuits (ASIC), programmable gate arrays (FPGA), digital signal processors (DSP), embedded devices, etc.

Electronic devices can be computing devices such as desktop computers, notebooks, PDAs, and cloud servers. Electronic devices can perform human-computer interaction through keyboards, mice, remote controls, touchpads, or voice-controlled devices.

The memory 602 includes at least one type of readable storage medium, and the readable storage medium includes flash memory, hard disk, multimedia card, card-type memory (for example, SD or DX memory, etc.), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, disk, optical disk, etc. In some embodiments, the memory 602 can be an internal storage unit of an electronic device, such as a hard disk or memory of the electronic device. In other embodiments, the memory 602 can also be an external storage device of the electronic device, such as a plug-in hard disk equipped on the electronic device, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. Of course, the memory 602 can also include both the internal storage unit of the electronic device and its external storage device. In this embodiment, the memory 602 is generally used to store the operating system and various application software installed in the electronic device, such as the program code of the catheter guidewire motion control method of the interventional surgery robot, etc. In addition, the memory 602 can also be used to temporarily store various types of data that have been output or are to be output.

In some embodiments, the processor 601 may be a central processing unit (CPU), a controller, a microcontroller, a microprocessor, or other data processing chip. The processor 601 is generally used to control the overall operation of the electronic device. In this embodiment, the processor 601 is used to run the program code stored in the memory 602 or process data, such as running the program code of the catheter guidewire motion control method of the interventional surgery robot.

The network interface 603 may include a wireless network interface or a wired network interface. The network interface 603 is generally used to establish a communication connection between the electronic device and other electronic devices.

An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by the processor 601, the various processes of the embodiment of the interventional surgical robot catheter guidewire motion control method provided in the embodiment of the present invention are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

A person of ordinary skill in the art may understand that the implementation of all or part of the processes in the method for controlling the motion of a catheter guidewire of an interventional surgical robot according to an embodiment may be accomplished by instructing related hardware through a computer program, and the program of the method for controlling the motion of a catheter guidewire of an interventional surgical robot may be stored in a computer-readable storage medium, which, when executed, may include processes such as those in the embodiments of the methods.

Obviously, the embodiments described above are only some embodiments of the present application, rather than all embodiments. The preferred embodiments of the present application are given in the accompanying drawings, but they do not limit the patent scope of the present application. The present application can be implemented in many different forms. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present application more thorough and comprehensive. Although the present application is described in detail with reference to the aforementioned embodiments, for those skilled in the art, it is still possible to modify the technical solutions recorded in the aforementioned specific implementation methods, or to replace some of the technical features therein with equivalents. Any equivalent structure made using the contents of the specification and drawings of this application, directly or indirectly used in other related technical fields, is similarly within the scope of patent protection of this application.

Claims

A method for controlling the motion of a catheter guidewire of an interventional surgery robot, wherein the method comprises:

Obtain target control information;

Determining a target controlled object according to the target control information, and judging whether the target controlled object satisfies a preset safety distance condition and a preset low-speed following condition;

If the target controlled object meets the preset safety distance condition and the preset low-speed following condition, the target controlled object is controlled to perform low-speed following motion according to the first preset optimization parameter;

If the target controlled object meets the preset safety distance condition but does not meet the preset low-speed following condition, the target controlled object is controlled to perform high-speed following motion according to a second preset optimization parameter.
According to the interventional surgical robot catheter guidewire motion control method of claim 1, wherein the target control information includes a target operating rod identifier, a target operating rod advancement displacement, and a target operating rod advancement speed; the target controlled object is determined according to the target control information, and whether the target controlled object satisfies a preset safety distance condition and a preset low-speed following condition is determined, including:

Determine the target controlled object according to the target operating rod identifier, where there is a corresponding relationship between the target controlled object and the target operating rod;

Obtaining the current position of the target controlled object;

Determining whether the target controlled object meets a preset safety distance condition according to the current position of the target controlled object;

If the target controlled object meets the preset safety distance condition, determining the target position of the target controlled object according to the target operating rod advancement displacement and the current position of the target controlled object, and determining the current speed of the target controlled object according to the target operating rod advancement speed;

According to the target position and current speed of the target controlled object, it is determined whether the target controlled object satisfies the preset low-speed following condition.
According to the interventional surgical robot catheter guidewire motion control method of claim 2, wherein the target controlled object includes a first driving trolley and a second driving trolley, and the first driving trolley and the second driving trolley are used to jointly drive the movement of the catheter; when the first driving trolley and the second driving trolley are controlled at the same time, judging whether the target controlled object meets a preset safety distance condition according to the current position of the target controlled object includes:

According to the current position of the first driving trolley and the current position of the second driving trolley, determining whether the distance between the first driving trolley and the second driving trolley is not less than a first preset safety distance threshold;

If the distance between the first driving trolley and the second driving trolley is not less than the first preset safety distance threshold, it is determined that the target controlled object meets the preset safety distance condition;

If the safety distance between the first driving trolley and the second driving trolley is less than the first preset safety distance threshold, it is determined that the target controlled object does not meet the preset safety distance condition.
According to the interventional surgical robot catheter guidewire motion control method of claim 3, wherein the target controlled object further includes a third driving trolley, and the third driving trolley is used to drive the guidewire to move; when only the third driving trolley is controlled, judging whether the target controlled object meets the preset safety distance condition according to the current position of the target controlled object includes:

According to the current position of the third driving trolley, determining whether the distance between the third driving trolley and the second driving trolley is not less than a second preset safety distance threshold;

If the distance between the third driving trolley and the second driving trolley is not less than the second preset safety distance threshold, it is determined that the target controlled object meets the preset safety distance condition;

If the distance between the third driving trolley and the second driving trolley is less than the second preset safety distance threshold, it is determined that the target controlled object does not meet the preset safety distance condition.
According to the interventional surgical robot catheter guidewire motion control method of claim 4, wherein, when the first driving trolley, the second driving trolley, and the third driving trolley are controlled at the same time, judging whether the target controlled object meets the preset safety distance condition according to the current position of the target controlled object includes:

According to the current positions of the first driving trolley, the second driving trolley and the third driving trolley, determining whether the distance between the first driving trolley and the second driving trolley is not less than the first preset safety distance threshold, and whether the distance between the third driving trolley and the second driving trolley is not less than the second preset safety distance threshold;

If the distance between the first driving trolley and the second driving trolley is not less than the first preset safety distance threshold, and the distance between the third driving trolley and the second driving trolley is not less than the second preset safety distance threshold, it is determined that the target controlled object meets the preset safety distance condition;

If the distance between the first driving trolley and the second driving trolley is less than the first preset safety distance threshold, and the distance between the third driving trolley and the second driving trolley is less than the second preset safety distance threshold, it is determined that the target controlled object does not meet the preset safety distance condition.
According to the interventional surgical robot catheter guidewire motion control method of claim 2, wherein the step of judging whether the target controlled object satisfies the preset low-speed following condition according to the target position and current speed of the target controlled object comprises:

According to the target position and current speed of the target controlled object, determining whether the distance between the target position of the target controlled object and the current position of the target controlled object is less than a preset distance, whether the current speed of the target controlled object is less than a preset speed, and whether the target controlled object is in a homing process;

If the distance between the target position of the target controlled object and the current position of the target controlled object is less than the preset distance, and the current speed of the target controlled object is less than the preset speed, and the target controlled object is not in the homing process, then it is determined that the target controlled object meets the preset low-speed following condition; otherwise, it is determined that the target controlled object does not meet the preset low-speed following condition.
According to the interventional surgical robot catheter guidewire motion control method of claim 1, wherein, if the target controlled object meets the preset safety distance condition but does not meet the preset low-speed following condition, before controlling the target controlled object to perform high-speed following motion according to the second preset optimization parameter, the method further includes:

Acquire multiple sets of preset parameters, and output the speed-time curve of the target controlled object according to the multiple sets of preset parameters, wherein the multiple sets of preset parameters are set on a preset parameter simulator;

Determining the maximum acceleration of the target controlled object according to the speed-time curve;

A set of preset parameters corresponding to the maximum acceleration is determined as second preset optimization parameters.
A catheter guidewire motion control device for an interventional surgery robot, wherein the device comprises:

A first acquisition module, used to acquire target control information;

A judgment module, used to determine a target controlled object according to the target control information, and judge whether the target controlled object meets a preset safety distance condition and a preset low-speed following condition;

a first control module, configured to control the target controlled object to perform a low-speed following motion according to a first preset optimization parameter if the target controlled object satisfies the preset safety distance condition and the preset low-speed following condition;

The second control module is used to control the target controlled object to perform high-speed following motion according to a second preset optimization parameter if the target controlled object meets the preset safety distance condition but does not meet the preset low-speed following condition.
An electronic device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the following steps when executing the computer program:

Obtain target control information;

Determining a target controlled object according to the target control information, and judging whether the target controlled object satisfies a preset safety distance condition and a preset low-speed following condition;

If the target controlled object meets the preset safety distance condition and the preset low-speed following condition, the target controlled object is controlled to perform low-speed following motion according to the first preset optimization parameter;

If the target controlled object meets the preset safety distance condition but does not meet the preset low-speed following condition, the target controlled object is controlled to perform high-speed following motion according to a second preset optimization parameter.
The electronic device according to claim 9, wherein the target control information includes a target operating rod identifier, a target operating rod propulsion displacement, and a target operating rod propulsion speed; when the processor executes the computer-readable instructions to implement the steps of determining a target controlled object according to the target control information, and judging whether the target controlled object satisfies a preset safety distance condition and a preset low-speed following condition, the following steps are specifically implemented:

Determine the target controlled object according to the target operating rod identifier, where there is a corresponding relationship between the target controlled object and the target operating rod;

Obtaining the current position of the target controlled object;

Determining whether the target controlled object meets a preset safety distance condition according to the current position of the target controlled object;

If the target controlled object meets the preset safety distance condition, determining the target position of the target controlled object according to the target operating rod advancement displacement and the current position of the target controlled object, and determining the current speed of the target controlled object according to the target operating rod advancement speed;

According to the target position and current speed of the target controlled object, it is determined whether the target controlled object satisfies the preset low-speed following condition.
The electronic device according to claim 10, wherein the target controlled object comprises a first driving trolley and a second driving trolley, and the first driving trolley and the second driving trolley are used to jointly drive the movement of the catheter; when the electronic device controls the first driving trolley and the second driving trolley at the same time, the processor executes the computer-readable instructions to implement the step of judging whether the target controlled object meets the preset safety distance condition according to the current position of the target controlled object, and specifically implements the following steps:

According to the current position of the first driving trolley and the current position of the second driving trolley, determining whether the distance between the first driving trolley and the second driving trolley is not less than a first preset safety distance threshold;

If the distance between the first driving trolley and the second driving trolley is not less than the first preset safety distance threshold, it is determined that the target controlled object meets the preset safety distance condition;

If the safety distance between the first driving trolley and the second driving trolley is less than the first preset safety distance threshold, it is determined that the target controlled object does not meet the preset safety distance condition.
The electronic device according to claim 11, wherein the target controlled object further includes a third driving trolley, and the third driving trolley is used to drive the guide wire to move; when the electronic device only controls the third driving trolley, the processor executes the computer-readable instructions to implement the judgment of whether the target controlled object meets the preset safety distance condition according to the current position of the target controlled object, specifically implementing the following steps:

According to the current position of the third driving trolley, determining whether the distance between the third driving trolley and the second driving trolley is not less than a second preset safety distance threshold;

If the distance between the third driving trolley and the second driving trolley is not less than the second preset safety distance threshold, it is determined that the target controlled object meets the preset safety distance condition;

If the distance between the third driving trolley and the second driving trolley is less than the second preset safety distance threshold, it is determined that the target controlled object does not meet the preset safety distance condition.
The electronic device according to claim 12, wherein, when the electronic device controls the first driving vehicle, the second driving vehicle, and the third driving vehicle at the same time, the processor executes the computer-readable instructions to implement the step of determining whether the target controlled object meets the preset safety distance condition according to the current position of the target controlled object, specifically implementing the following steps:

According to the current positions of the first driving trolley, the second driving trolley and the third driving trolley, determining whether the distance between the first driving trolley and the second driving trolley is not less than the first preset safety distance threshold, and whether the distance between the third driving trolley and the second driving trolley is not less than the second preset safety distance threshold;

If the distance between the first driving trolley and the second driving trolley is not less than the first preset safety distance threshold, and the distance between the third driving trolley and the second driving trolley is not less than the second preset safety distance threshold, it is determined that the target controlled object meets the preset safety distance condition;

If the distance between the first driving trolley and the second driving trolley is less than the first preset safety distance threshold, and the distance between the third driving trolley and the second driving trolley is less than the second preset safety distance threshold, it is determined that the target controlled object does not meet the preset safety distance condition.
The electronic device according to claim 10, wherein when the processor executes the computer-readable instructions to implement the step of determining whether the target controlled object satisfies the preset low-speed following condition according to the target position and current speed of the target controlled object, the following steps are specifically implemented:

According to the target position and current speed of the target controlled object, determining whether the distance between the target position of the target controlled object and the current position of the target controlled object is less than a preset distance, whether the current speed of the target controlled object is less than a preset speed, and whether the target controlled object is in a homing process;

If the distance between the target position of the target controlled object and the current position of the target controlled object is less than the preset distance, and the current speed of the target controlled object is less than the preset speed, and the target controlled object is not in the homing process, then it is determined that the target controlled object meets the preset low-speed following condition; otherwise, it is determined that the target controlled object does not meet the preset low-speed following condition.
A computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the processor is caused to perform the following steps.

Obtain target control information;

Determining a target controlled object according to the target control information, and judging whether the target controlled object satisfies a preset safety distance condition and a preset low-speed following condition;

If the target controlled object meets the preset safety distance condition and the preset low-speed following condition, the target controlled object is controlled to perform low-speed following motion according to the first preset optimization parameter;

If the target controlled object meets the preset safety distance condition but does not meet the preset low-speed following condition, the target controlled object is controlled to perform high-speed following motion according to a second preset optimization parameter.
The computer-readable storage medium according to claim 15, wherein the target control information includes a target operating rod identifier, a target operating rod propulsion displacement, and a target operating rod propulsion speed; the computer-readable instructions are executed by the processor, so that when the processor executes the steps of determining a target controlled object according to the target control information and judging whether the target controlled object satisfies a preset safety distance condition and a preset low-speed following condition, the following steps are specifically implemented:

Determine the target controlled object according to the target operating rod identifier, where there is a corresponding relationship between the target controlled object and the target operating rod;

Obtaining the current position of the target controlled object;

Determining whether the target controlled object meets a preset safety distance condition according to the current position of the target controlled object;

If the target controlled object meets the preset safety distance condition, determining the target position of the target controlled object according to the target operating rod advancement displacement and the current position of the target controlled object, and determining the current speed of the target controlled object according to the target operating rod advancement speed;

According to the target position and current speed of the target controlled object, it is determined whether the target controlled object satisfies the preset low-speed following condition.
The computer-readable storage medium according to claim 16, wherein the target controlled object includes a first driving trolley and a second driving trolley, and the first driving trolley and the second driving trolley are used to jointly drive the movement of the catheter; when the computer-readable instructions are executed by the processor to simultaneously control the first driving trolley and the second driving trolley, so that the processor executes the step of judging whether the target controlled object meets the preset safety distance condition according to the current position of the target controlled object, the following steps are specifically implemented:

According to the current position of the first driving trolley and the current position of the second driving trolley, determining whether the distance between the first driving trolley and the second driving trolley is not less than a first preset safety distance threshold;

If the distance between the first driving trolley and the second driving trolley is not less than the first preset safety distance threshold, it is determined that the target controlled object meets the preset safety distance condition;

If the safety distance between the first driving trolley and the second driving trolley is less than the first preset safety distance threshold, it is determined that the target controlled object does not meet the preset safety distance condition.
According to the computer-readable storage medium of claim 17, wherein the target controlled object further includes a third driving trolley, and the third driving trolley is used to drive the guide wire to move; when the computer-readable instruction is executed by the processor to control only the third driving trolley, so that the processor executes the step of judging whether the target controlled object meets the preset safety distance condition according to the current position of the target controlled object, the following steps are specifically implemented:

According to the current position of the third driving trolley, determining whether the distance between the third driving trolley and the second driving trolley is not less than a second preset safety distance threshold;

If the distance between the third driving trolley and the second driving trolley is not less than the second preset safety distance threshold, it is determined that the target controlled object meets the preset safety distance condition;

If the distance between the third driving trolley and the second driving trolley is less than the second preset safety distance threshold, it is determined that the target controlled object does not meet the preset safety distance condition.
According to the computer-readable storage medium of claim 18, wherein, when the computer-readable instructions are executed by the processor to simultaneously control the first driving vehicle, the second driving vehicle, and the third driving vehicle, so that the processor executes the step of determining whether the target controlled object meets the preset safety distance condition according to the current position of the target controlled object, the following steps are specifically implemented:

According to the current positions of the first driving trolley, the second driving trolley and the third driving trolley, determining whether the distance between the first driving trolley and the second driving trolley is not less than the first preset safety distance threshold, and whether the distance between the third driving trolley and the second driving trolley is not less than the second preset safety distance threshold;

If the distance between the first driving trolley and the second driving trolley is not less than the first preset safety distance threshold, and the distance between the third driving trolley and the second driving trolley is not less than the second preset safety distance threshold, it is determined that the target controlled object meets the preset safety distance condition;

If the distance between the first driving trolley and the second driving trolley is less than the first preset safety distance threshold, and the distance between the third driving trolley and the second driving trolley is less than the second preset safety distance threshold, it is determined that the target controlled object does not meet the preset safety distance condition.
The computer-readable storage medium according to claim 16, wherein the computer-readable instructions are executed by the processor, so that when the processor executes the step of determining whether the target controlled object satisfies the preset low-speed following condition according to the target position and current speed of the target controlled object, the following steps are specifically implemented:

According to the target position and current speed of the target controlled object, determining whether the distance between the target position of the target controlled object and the current position of the target controlled object is less than a preset distance, whether the current speed of the target controlled object is less than a preset speed, and whether the target controlled object is in a homing process;

If the distance between the target position of the target controlled object and the current position of the target controlled object is less than the preset distance, and the current speed of the target controlled object is less than the preset speed, and the target controlled object is not in the homing process, then it is determined that the target controlled object meets the preset low-speed following condition; otherwise, it is determined that the target controlled object does not meet the preset low-speed following condition.