CN114948210B

CN114948210B - Catheter control method, system, computer device, storage medium and program product

Info

Publication number: CN114948210B
Application number: CN202210628086.7A
Authority: CN
Inventors: 请求不公布姓名
Original assignee: Shanghai Weiwei Aviation Robot Co ltd
Current assignee: Shanghai Weiwei Aviation Robot Co ltd
Priority date: 2022-06-06
Filing date: 2022-06-06
Publication date: 2024-12-27
Anticipated expiration: 2042-06-06
Also published as: CN114948210A

Abstract

The present application relates to a catheter control method, system, computer device, storage medium and computer program product. The method comprises: obtaining an influence factor of a catheter on a natural cavity when the catheter moves in the natural cavity; detecting the relationship between the influence factor and a preset threshold condition; when the influence factor does not meet the threshold condition, outputting control information for adjusting the operation of the catheter based on the influence factor. The use of this method can reduce the damage of the catheter to the natural cavity.

Description

Catheter control method, system, computer device, storage medium and program product

Technical Field

The present application relates to the field of medical instrument control technology, and in particular, to a catheter control method, system, computer device, storage medium and computer program product.

Background

With the development of computer technology and medical imaging technology, natural cavity surgical robots based on navigation systems are becoming more and more widely used. In the use process, the catheter needs to be operated by a user to move and bend in the natural cavity so as to reach the purpose of reaching the vicinity of the operation target point.

However, the catheter tip is typically a material having a certain hardness, which also occurs when the catheter is bent. So during surgery, the catheter tip and catheter may cause unnecessary damage to the natural orifice as it is manipulated.

Disclosure of Invention

In view of the foregoing, it is desirable to provide a catheter control method, system, computer device, computer readable storage medium and computer program product that can reduce the damage of a catheter to a natural orifice.

In a first aspect, the present application provides a catheter control method, the method comprising:

acquiring an influence factor on a natural cavity when a catheter moves in the natural cavity;

detecting the relation between the influence factors and preset threshold conditions;

when the impact factor does not meet the threshold condition, control information for adjusting the catheter operation is output based on the impact factor.

In one embodiment, the factors affecting the natural orifice when the acquisition catheter moves in the natural orifice include:

Acquiring influence factors of different influence types on a natural cavity when a catheter moves in the natural cavity;

the detecting the relation between the influence factors and preset threshold conditions comprises the following steps:

judging whether the influence factors meet threshold conditions of corresponding influence types or not;

The outputting control information for adjusting the catheter operation based on the impact factor when the impact factor does not satisfy the threshold condition includes:

when the influence factor of at least one influence type does not meet the threshold condition of the corresponding influence type, control information for adjusting the catheter operation is output based on the influence factor.

In one embodiment, the detecting the relationship between the impact factor and a preset threshold condition includes:

Judging whether the influence factors meet the threshold conditions of the corresponding catheter parts or not;

When an influence factor of at least one catheter site does not meet the threshold condition of a corresponding catheter site, control information for adjusting the catheter operation is output based on the influence factor.

In one embodiment, the influence factors on the natural orifice when the acquisition catheter moves in the natural orifice include at least one of the following:

Acquiring force of the catheter on the natural cavity channel as the influence factor of the catheter on the natural cavity channel when the catheter moves in the natural cavity channel, or

Acquiring the distance between the catheter and the natural cavity, wherein the distance between the catheter and the natural cavity is used as an influence factor on the natural cavity when the catheter moves in the natural cavity; or (b)

And acquiring the catheter position acquired by a position sensor on the catheter, mapping the catheter position to a target medical image to obtain a target position, and taking the distance between the target position and a natural cavity in the target medical image as an influence factor on the natural cavity when the catheter moves in the natural cavity.

In one embodiment, the outputting control information for adjusting the operation of the catheter based on the impact factor includes:

Generating control instructions for the catheter based on the influencing factors and outputting the control instructions, or

And generating guiding operation information of the catheter based on the influence factors, and outputting the guiding operation information.

In one embodiment, the generating the control instructions of the catheter based on the impact factor includes:

receiving an operation instruction of an operator on the catheter, and judging whether the operation instruction can generate a result of enlarging or maintaining the influence factor;

when the operation instruction generates a result of increasing or maintaining the influence factor, a control instruction which does not respond to the operation instruction is generated, otherwise, a control instruction which controls the movement of the catheter based on the operation instruction is generated.

acquiring an operation plan or a current movement direction, and determining a movement range of the catheter based on the operation plan or the current movement direction;

Determining a first catheter operation that increases or maintains the influencing factor or a second catheter operation that decreases the influencing factor based on the influencing factor and the range of motion of the catheter;

at least one of generating control instructions to filter the first conduit operation, generating disabling control instructions corresponding to the first conduit operation, and generating automatic control instructions for the conduit based on the second conduit operation is performed.

In one embodiment, the generating guiding operation information of the catheter based on the influence factor includes:

And generating guide operation information of a forbidden operation range according to the first duct operation or generating guide operation information of an allowable operation range based on the second duct operation.

In a second aspect, the present application also provides a catheter control system, the system comprising:

a catheter for movement in a natural lumen;

The influence factor acquisition equipment is used for acquiring influence factors on the natural cavity when the catheter moves in the natural cavity;

a catheter control device for manipulating movement of the catheter in the natural lumen;

and the processor is used for executing the control information obtained by the catheter control method in any embodiment according to the influence factors.

In one embodiment, the influence factor collection device comprises at least one of:

A force sensor for acquiring the force of the catheter on the natural orifice and transmitting the force of the catheter on the natural orifice to a processor, or

An image sensor for acquiring the distance between the catheter and the natural cavity and transmitting the distance to a processor, or

And the position sensor is used for acquiring the position of the catheter and sending the acquired position of the catheter to the processor.

In a third aspect, the present application also provides a computer device comprising a memory storing a computer program and a processor implementing the steps of the method of any one of the embodiments described above when the computer program is executed by the processor.

In a fourth aspect, the present application also provides a computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of the method of any of the embodiments described above.

In a fifth aspect, the application also provides a computer program product comprising a computer program which, when executed by a processor, implements the steps of the method of any of the embodiments described above.

The catheter control method, the system, the computer equipment, the storage medium and the computer program product acquire the influence factors on the natural cavity when the catheter moves in the natural cavity, determine whether the catheter damages the natural cavity or not by detecting the relation between the influence factors and the preset threshold condition, and output control information for adjusting the operation of the catheter based on the influence factors when the influence factors do not meet the threshold condition so as to reduce the damages to the natural cavity.

Drawings

FIG. 1 is a schematic diagram of a catheter control system in one embodiment;

FIG. 2 is a schematic structural view of a surgical system in one embodiment;

FIG. 3 is a flow chart of a catheter control method in one embodiment;

FIG. 4 is a schematic diagram of a system when the type of effect in one embodiment is force;

FIG. 5 is a schematic diagram of a system when the type of effect in one embodiment is distance;

FIG. 6 is a schematic diagram of a system when the type of effect in another embodiment is distance;

FIG. 7 is a flow chart of a method of catheter control when the type of effect is distance in one embodiment;

FIG. 8 is a flow chart of a catheter control method according to another embodiment;

FIG. 9 is a schematic illustration of the movement pattern of a catheter in one embodiment;

FIG. 10 is a schematic illustration of a catheter in one embodiment in a manner that would damage a natural orifice;

FIG. 11 is a schematic diagram of an automated operation according to an operation plan in one embodiment;

FIG. 12 is a schematic diagram of an automatic operation according to the current direction of motion in one embodiment;

FIG. 13 is a flow chart of a catheter control method in yet another embodiment;

FIG. 14 is a block diagram of a catheter control system device in one embodiment;

fig. 15 is an internal structural view of a computer device in one embodiment.

Detailed Description

The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.

The catheter control method provided by the embodiment of the application can be applied to a catheter control system shown in fig. 1. The catheter control system comprises a catheter 101, a catheter control device 102, an influence factor acquisition device 103 and a processor 104. Wherein the catheter 101 may comprise any medical catheter 101, such as a medical catheter 101 for providing a surgical instrument channel, etc., without specific limitation herein. Catheter control device 102 is used to manipulate movement of catheter 101, and catheter control device 102 includes, but is not limited to, a handle, a mouse, and a keyboard. The impact factor acquisition device 103 is used for acquiring relevant data of impact factors which may cause injury in real time, and transmitting the relevant data to the processor 104 for processing, wherein the impact factor acquisition device 103 comprises, but is not limited to, a force sensor, an image sensor, a position sensor and the like, and the image sensor can be a depth camera. The force sensor is used for acquiring the force of the catheter 101 on the natural cavity and sending the force of the catheter 101 on the natural cavity to the processor 104, the image sensor is used for acquiring the distance between the catheter 101 and the natural cavity and sending the distance between the catheter 101 and the natural cavity to the processor 104, and the position sensor is used for acquiring the position of the catheter and sending the acquired position of the catheter to the processor 104. The processor 104 may perform at least one of the functions of pre-operatively calculating a threshold value corresponding to the type of impact that may cause injury, processing instructions for controlling the catheter 101 by the catheter control device 102, sending instructions to the catheter control device 102, calculating relevant impact factors that may cause injury, calculating a relationship between impact factors and threshold values, calculating a guidance mode, and the like.

In practical application, the catheter control device 102 is configured to operate the catheter 101 to move in the natural orifice, so that the influence factor acquisition device 103 may acquire the influence factor of the catheter 101 on the natural orifice when the catheter moves in the natural orifice, and then send the acquired influence factor to the processor 104, where the processor 104 detects the relation between the influence factor and a preset threshold condition, and when the influence factor does not meet the threshold condition, outputs control information for adjusting the operation of the catheter based on the influence factor. Wherein the control information for adjusting the operation of the catheter based on the influence factor output may comprise at least two types, one being guiding information, i.e. the processor 104 generates guiding information of the catheter 101 based on the influence factor, such that the operator may control the movement of the catheter 101 by looking at the guiding information, reducing the influence factor. One is automatic control, i.e. the processor 104 generates automatic control information of the catheter 101 based on the influencing factors. Wherein the automatic control information may include control information of the catheter 101 control instruction transmitted to the catheter control device 102, such as control information for determining whether to execute the catheter 101 control instruction. The automatic control information may also include control instructions for the catheter generated based on filtering the first catheter operation that increases or maintains the influencing factor, disabling control instructions corresponding to the first catheter operation that increases or maintains the influencing factor, and generating control instructions for the catheter based on the second catheter operation that decreases the influencing factor. In other embodiments, the processor 104 outputs an alarm message to alert the operator when it is determined that the impact factor does not meet the threshold condition. In one embodiment, the catheter control system further comprises a display 105 for displaying alarm information and/or control information for adjusting catheter operation.

The present application also provides, in conjunction with fig. 2, a surgical system including the catheter control system shown in fig. 1.

In one embodiment, as shown in fig. 3, a catheter control method is provided, and the method is applied to the processor in fig. 1 for illustration, and includes the following steps:

s302, acquiring an influence factor on a natural cavity channel when the catheter moves in the natural cavity channel.

Specifically, the catheter may be moved in the natural lumen based on navigation, for example, the user manipulates the catheter to move, bend, etc. in the natural lumen to reach the vicinity of the surgical target point, but the tip of the catheter is typically a material having a certain hardness, which may also be present when the catheter is bent. So during surgery, the catheter tip and catheter may cause unnecessary damage to the natural orifice as it is manipulated. If the user operates by mistake, a large injury may be caused. For this purpose, the influence on the natural orifice is characterized by an influence factor when the catheter moves in the natural orifice.

In one embodiment, the influencing factor may include various types, such as a distance between the catheter and the natural orifice, a force of the catheter against the natural orifice, etc., and is not particularly limited herein.

In one embodiment, the processor may obtain the influence factors of multiple influence types, where for convenience, a user may set the collection mode of the influence factors of different influence types as needed before operation. In one embodiment, the method comprises the steps of acquiring an influence factor on a natural cavity when a catheter moves in the natural cavity, wherein the influence factor comprises at least one of acquiring force of a force sensor on the catheter, which is acquired by the force sensor on the catheter, and taking the force of the catheter on the natural cavity as the influence factor on the natural cavity when the catheter moves in the natural cavity, or acquiring a distance of the catheter from the natural cavity, which is acquired by an image sensor on the catheter, and taking the distance of the catheter from the natural cavity as the influence factor on the natural cavity when the catheter moves in the natural cavity, or acquiring the position of the catheter, which is acquired by the position sensor on the catheter, and mapping the position of the catheter to a target medical image to obtain the target position, and taking the target position and the distance of the natural cavity in the target medical image as the influence factor on the natural cavity when the catheter moves in the natural cavity.

Specifically, as shown in fig. 4, when the influence type is the force of the catheter on the natural cavity, a plurality of force sensors can be added on the catheter, so that the force of the catheter head end or the catheter body on the natural cavity is obtained in real time through the force sensors on the catheter, each force sensor is connected with a processor, so that the processor can obtain the influence factors collected by the force sensors in real time, wherein the processor can also store the position information of each force sensor, such as the position information of the position sensor, which is installed at the catheter head end or the catheter body, when the influence factors collected by the force sensors are received, the catheter position corresponding to the influence factors can be determined, and the basis is laid for the accuracy of the subsequent threshold comparison.

Specifically, as shown in fig. 5, when the influence type is the distance between the catheter and the natural cavity, an image sensor, such as a depth camera, may be added to the head end of the catheter, so that the distance between the head end of the catheter and the natural cavity is obtained in real time through the image sensor, and if the distance is less than or equal to 0, that is, the distance does not satisfy the threshold condition, the head end of the catheter may damage the natural cavity.

Specifically, as shown in connection with fig. 6, when the influence type is the distance of the catheter from the natural orifice, the catheter position may be acquired by the distance sensor, and the acquired catheter position may be mapped into the target medical image to obtain the target position. Specifically, in connection with fig. 7, a target medical image is acquired before an operation, and then a mapping relation between a natural cavity world coordinate system and a medical image coordinate system of the target medical image is established, and according to the mapping relation, a catheter position acquired by a distance sensor can be mapped into the target medical image. For internal organs such as natural cavities, most of internal organs are registered based on a magnetic navigation positioning system (namely, the mapping relation is established, wherein a world coordinate system is a magnetic navigation coordinate system), a target medical image is acquired before operation, a corresponding natural cavity in operation is extracted, a catheter provided with a position sensor is operated to walk in the natural cavity in operation, the characteristics of the natural cavity are acquired, and the characteristics of the natural cavity acquired in operation and the characteristics of the natural cavity in a preoperative target medical image are mapped, so that the mapping relation can be acquired. It should be noted that, the method for acquiring the mapping relationship is not limited to the magnetic navigation positioning system, but also includes a method for acquiring the structural characteristics of the natural cavity channel based on an endoscope, a depth camera, a real-time CT, and the like, which is not particularly limited herein. In practical application, a plurality of position sensors may be installed respectively, for example, scattered at the head end of the catheter and the catheter body, and the position of the catheter head end in the world coordinate system and the position of the catheter body in the actual coordinate system are obtained through the position sensors (the catheter body may be characterized by a series of point sets), so that the point sets are mapped to the target medical image, and the distance from the point in the point set to the natural cavity is calculated. Wherein optionally the processor may obtain mathematical statistics of the distance corresponding to each point in the set of points to characterize the final influencing factor, such as a minimum, etc., without limitation.

S304, detecting the relation between the influence factors and preset threshold conditions.

Specifically, the threshold condition is preset by the user according to the type of the natural cavity channel and the type and characteristics of the influence factors. For example, in different natural lumens, the threshold conditions for different locations of the catheter are different. The processor also determines the position of the catheter corresponding to the influence factor when acquiring the influence factor, so that the processor determines the type of the natural cavity channel according to the operation scene, acquires the threshold condition of the catheter position corresponding to the type of the natural cavity channel, and detects the relation between the influence factor and the preset threshold condition.

When the influence type is the force of the catheter on the natural cavity, a threshold value of the force of the catheter body on the natural cavity and/or a threshold value of the force of the catheter head end on the natural cavity are obtained through multiple simulation experiments or animal experiments before operation, threshold value conditions are generated according to the threshold value, for example, the threshold value conditions are smaller than the threshold value, so that after the influence factors are obtained, the corresponding threshold value conditions of the force are determined according to different parts of the catheter, namely the positions of the force sensors, and the relation between the influence factors and the preset threshold value conditions is detected.

When the influence type is the distance between the catheter and the natural cavity, the threshold condition can be directly obtained, for example, the threshold condition is that the distance is larger than a certain value, for example, 0.

And S306, outputting control information for adjusting the operation of the catheter based on the influence factor when the influence factor does not meet the threshold condition.

Specifically, the output of control information for adjusting the operation of the catheter based on the influence factor may include at least two types, one being guide information, i.e., the processor generates guide information of the catheter based on the influence factor, so that the operator can control the movement of the catheter by viewing the guide information, reducing the influence factor. One is automatic control, i.e. the processor generates automatic control information of the catheter based on the influencing factors. Wherein the automatic control information may include control information of a catheter control instruction transmitted to the catheter control device, such as control information for determining whether to execute the catheter control instruction. The automatic control information may also include control instructions to filter a first conduit operation that increases or maintains an impact factor, disable control instructions corresponding to the first conduit operation that increases or maintains an impact factor, and generate automatic control instructions for the conduit based on a second conduit operation that decreases the impact factor.

In other embodiments, the processor outputs an alarm message to alert the operator when it is determined that the impact factor does not meet the threshold condition.

According to the catheter control method, the influence factors on the natural cavity channel are obtained when the catheter moves in the natural cavity channel, whether the catheter hurts the natural cavity channel or not is determined by judging the influence factors and the threshold value, and when the influence factors are larger than or equal to the threshold value, control information for adjusting the operation of the catheter is output based on the influence factors so as to reduce the damage to the natural cavity channel, so that the damage to the natural cavity channel by the catheter can be reduced, and unnecessary damage is avoided.

In one embodiment, acquiring the influence factors on the natural cavity when the catheter moves in the natural cavity comprises acquiring the influence factors of different influence types on the natural cavity when the catheter moves in the natural cavity, and detecting the relation between the influence factors and preset threshold conditions comprises judging whether the influence factors meet the threshold conditions of the corresponding influence types. Accordingly, outputting control information for adjusting the operation of the catheter based on the impact factors when the impact factors do not meet the threshold conditions includes outputting control information for adjusting the operation of the catheter based on the impact factors when the impact factors of at least one impact type do not meet the threshold conditions of the corresponding impact type.

In particular, the type of influence may comprise a force and/or a distance, and thus the threshold condition may comprise a threshold condition for stress and/or a threshold condition for a corresponding distance. Wherein the threshold condition is less than a maximum force when the type of influence is a force and greater than a minimum distance, such as greater than 0, when the type of influence is a distance.

In practical applications, the processor may obtain the influence factors of at least one influence type, so that when the influence factor of one influence type does not meet the threshold condition of the corresponding influence type, the processor outputs control information for adjusting the catheter operation according to the influence factor which does not meet the threshold condition of the corresponding influence type.

In one embodiment, detecting the relationship of the impact factors and the preset threshold conditions comprises judging whether the impact factors meet the threshold conditions of the corresponding catheter sites, and outputting control information for adjusting the catheter operation based on the impact factors when the impact factors do not meet the threshold conditions, wherein the control information for adjusting the catheter operation based on the impact factors is output when the impact factors of at least one catheter site do not meet the threshold conditions of the corresponding catheter sites.

Specifically, the threshold conditions corresponding to different natural cavities and different catheter positions are different, so that the processor judges whether the influence factors meet the threshold conditions of the corresponding catheter positions of the corresponding natural cavities, and if the influence factors of at least one catheter position do not meet the threshold conditions of the corresponding catheter position, the processor outputs control information for adjusting the catheter operation based on the influence factors.

For the convenience of understanding, the natural cavity is divided into oral cavity, anus, urethra and vagina, the catheter part is divided into catheter head end and catheter body, and the influence type is divided into force and distance. The preoperative user sets the threshold conditions of different types of natural passages respectively, the threshold conditions of different catheter positions in different types of natural passages are also different, and the threshold conditions of different influence types of different catheter positions are also different. Thus, a natural lumen type, a catheter site, an impact type correspond to unique threshold conditions that the processor may store prior to surgery. During operation, the processor determines the type of a natural cavity channel according to an operation scene, loads a threshold condition set corresponding to the type of the natural cavity channel into the memory, acquires the influence type of the acquired influence factors, and determines the catheter part according to the influence factor acquisition equipment, so that the corresponding threshold condition is determined from the threshold condition set. The processor judges whether the influence factors meet the corresponding threshold conditions, and if the influence factors do not meet the corresponding threshold conditions, control information for adjusting the catheter operation is generated according to the influence factors which do not meet the threshold conditions.

In the above embodiment, the threshold condition is determined according to different surgical scenes, different catheter positions and/or different influence types, and then the judgment is performed, so that the accuracy of the judgment of the influence factors can be improved, and the catheter can be accurately controlled.

In one embodiment, outputting control information for adjusting operation of the catheter based on the impact factor includes generating control instructions for the catheter based on the impact factor and outputting the control instructions, or generating pilot operation information for the catheter based on the impact factor and outputting the pilot operation information.

Specifically, after calculating the relation between the influence factor and the threshold condition, the user is also prevented from continuously operating the catheter along the direction of increasing the influence factor, so that the damage of the catheter to the natural cavity is avoided. The processor outputs alarm information, and prompts a user, for example, the alarm information is displayed through a display, the alarm information is output through a buzzer, or at least one of the alarm information is broadcasted through voice equipment.

In one embodiment, in connection with fig. 8, the control information for adjusting the operation of the catheter may include guidance information and/or automatic control information. The guidance information, i.e. the guidance information of the catheter is generated by the processor based on the impact factors, such that the operator can control the catheter movement by looking at the guidance information, reducing the impact factors. The automatic control, i.e. the processor generates automatic control information of the catheter based on the influencing factors. Wherein the automatic control information may include control information of a catheter control instruction transmitted to the catheter control device, such as control information for determining whether to execute the catheter control instruction. The automatic control information may also include control instructions to filter a first conduit operation that increases or maintains an impact factor, disable control instructions corresponding to the first conduit operation that increases or maintains an impact factor, and generate automatic control instructions for the conduit based on a second conduit operation that decreases the impact factor. Where increasing and maintaining is understood here to mean increasing or maintaining the injury, for example increasing or maintaining the force if the type of effect is force, decreasing the distance if the type of effect is distance.

The automatic control information, that is, the control instruction of the catheter generated based on the influence factor, may include two ideas, one is an attempted operation, that is, after the catheter control device receives the control instruction of the user on the catheter, the control instruction of the user on the catheter is sent to the processor, the processor simulates the control instruction of the user on the catheter to determine whether the control instruction of the user on the catheter can generate a result of increasing or maintaining the influence factor, if yes, the instruction is withdrawn, otherwise, the instruction is sent to the catheter to control the movement of the catheter. The other is pre-calculation, namely, the processor pre-calculates a second catheter operation avoiding injuring the natural cavity channel according to an operation plan or the current movement direction or pre-calculates a first catheter operation capable of enlarging or maintaining an influence factor on the natural cavity channel, so that according to different methods for preventing a user from continuing to injure the natural cavity channel, the processor sends different instructions to the catheter control device to control the catheter operation.

The first is that the processor is connected with the display, and the processor sends alarm information and guiding information for avoiding injury to the display. The second is that the processor is connected with the catheter control device, the catheter control device is connected with the catheter, and the processor sends a control instruction for avoiding injury to the catheter control device. The third is that the processor is connected with the catheter control device, the catheter control device is connected with the catheter, and the catheter control device applies the operation instructions for avoiding injury to the catheter.

In one embodiment, the control instruction of the catheter is generated based on the influence factors, and the control instruction comprises the steps of receiving an operation instruction of an operator on the catheter and judging whether the operation instruction can generate a result of increasing or maintaining the influence factors, generating a control instruction which does not respond to the operation instruction when the operation instruction can generate the result of increasing or maintaining the influence factors, and otherwise, generating a control instruction which controls the movement of the catheter based on the operation instruction.

Specifically, in this embodiment, after receiving an operation instruction from an operator to a catheter, the catheter control device sends the operation instruction from the operator to the catheter to the processor, and the processor determines whether the operation instruction generates a result of increasing or maintaining an influence factor, if so, generates a control instruction that does not respond to the operation instruction, otherwise, generates a control instruction that controls movement of the catheter based on the operation instruction.

In one embodiment, generating control instructions for the catheter based on the impact factors includes at least one of obtaining an operational plan or current direction of motion and determining a range of motion of the catheter based on the operational plan or current direction of motion, determining a first catheter operation to increase or maintain the impact factors or a second catheter operation to decrease the impact factors based on the impact factors and the range of motion of the catheter, executing the generating control instructions to filter the first catheter operation, generating a disable control instruction corresponding to the first catheter operation, and generating an automatic control instruction for the catheter based on the second catheter operation.

In one embodiment, the guiding operation information of the catheter is generated based on the influence factors, and the guiding operation information comprises the steps of acquiring an operation plan or a current movement direction, determining the movement range of the catheter based on the operation plan or the current movement direction, determining a first catheter operation for increasing or maintaining the influence factors or a second catheter operation for decreasing the influence factors according to the influence factors and the movement range of the catheter, and generating guiding operation information for prohibiting the operation range according to the first catheter operation or generating guiding operation information for allowing the operation range according to the second catheter operation.

Specifically, as shown in connection with fig. 9, the motion of the catheter is divided into three dimensions, the first dimension being forward or backward, the second dimension being curved in a direction, the third dimension being the magnitude of the curve, and the motion of the catheter in all three dimensions being likely to cause damage to the natural orifice. The processor can pre-calculate the second catheter operation avoiding the damage to the natural cavity channel or pre-calculate the first catheter operation capable of enlarging or maintaining the influence factor to the natural cavity channel in combination with the operation planning or the current movement direction so as to facilitate the subsequent generation of the control instruction of the catheter based on the influence factor and output the control instruction, or generate the guiding operation information of the catheter based on the influence factor and output the guiding operation information.

Specifically, as shown in fig. 10, if the catheter and the natural orifice are in the relative positions of fig. 10, the bending angle 1 is continuously increased along the direction, which may possibly damage the natural orifice, so that the processor obtains the current bending angle and generates a first catheter operation that causes damage, including increasing the bending angle and adjusting the bending angle to a certain surrounding area 2, and continuing to advance along the direction, and the like, other than the above operation may be used as a safety operation for guiding the user, namely, a second catheter operation.

The processor may send three commands to the catheter control device, filtering a first catheter operation that would increase or maintain the impact factor (i.e., create an injury), or disabling the first catheter operation that increases or maintains the impact factor (i.e., create an injury), generating an automatic control instruction for the catheter based on a second catheter operation that decreases the impact factor.

For this reason, in connection with fig. 11, if there is an operation plan such as the surgical path 5 in fig. 11 and the influence factor does not satisfy the threshold condition, a guiding operation is displayed on the display, which may be guiding operation information for generating a forbidden operation range according to the first catheter operation or guiding operation information for generating an allowable operation range based on the second catheter operation, guiding the user to proceed from the current position toward the surgical path. Or at least one of directly generating a de-enabling control instruction corresponding to the first catheter operation and generating an automatic control instruction for the catheter based on the second catheter operation, and transmitting the automatic control instruction to the catheter control device to control the movement of the catheter.

As shown in fig. 12, if there is no operation plan, the current movement direction 5 is acquired, the alarm information is displayed on the display, and the guiding operation may be that guiding operation information for prohibiting the operation range is generated according to the first catheter operation or guiding operation information for allowing the operation range is generated based on the second catheter operation, so that the user is guided to proceed from the current position toward the operation path. Or at least one of directly generating a de-enabling control instruction corresponding to the first catheter operation and generating an automatic control instruction for the catheter based on the second catheter operation, and transmitting the automatic control instruction to the catheter control device to control the movement of the catheter.

In the embodiment, the situation that the acting force of the guide pipe to the natural cavity channel is excessive and unnecessary damage to the natural cavity channel is caused under the condition of misoperation of a user is prevented, and the intelligent degree and the convenience of the system are improved through guiding or automatically adjusting the movement of the guide pipe.

Specifically, in connection with fig. 13, fig. 13 is a flow chart of a catheter control method in yet another embodiment, in which, before an operation, the type of influence and the characteristics of the injury that the catheter may cause to the natural orifice after entering the natural orifice are determined, and the threshold condition that may cause the injury is determined according to the type of influence and the characteristics.

Thus, when the operation is started, after the catheter enters the natural cavity, the processor calculates the influence factors in real time, judges whether the influence factors meet the threshold condition, and if the influence factors do not meet the threshold condition, adjusts the operation of the catheter, thereby achieving the purpose of preventing the catheter from damaging the natural cavity.

According to the catheter control method, the influence factors on the natural cavity channel are obtained when the catheter moves in the natural cavity channel, whether the catheter damages the natural cavity channel or not is determined by detecting the relation between the influence factors and the preset threshold condition, and when the influence factors do not meet the threshold condition, the control information for adjusting the operation of the catheter is output based on the influence factors so as to reduce the damage to the natural cavity channel, so that the damage to the natural cavity channel by the catheter can be reduced, and unnecessary damage is avoided.

It should be understood that, although the steps in the flowcharts related to the above embodiments are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described in the above embodiments may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages is not necessarily performed sequentially, but may be performed alternately or alternately with at least some of the other steps or stages.

Based on the same inventive concept, the embodiment of the application also provides a catheter control device for realizing the catheter control method. The implementation of the solution provided by the device is similar to that described in the above method, so the specific limitations in one or more embodiments of the catheter control device provided below may be referred to above for limitations of the catheter control method, and will not be repeated here.

In one embodiment, as shown in FIG. 14, there is provided a catheter control device comprising an influence factor acquisition module 1401, a judgment module 1402, and an output module 1403, wherein:

The influence factor obtaining module 1401 is configured to obtain an influence factor on the natural orifice when the catheter moves in the natural orifice.

A judging module 1402, configured to detect a relationship between the impact factor and a preset threshold condition.

An output module 1403 for outputting control information for adjusting the catheter operation based on the impact factor when the impact factor does not satisfy the threshold condition.

In one embodiment, the influence factor obtaining module 1401 is further configured to obtain influence factors of different influence types on the natural orifice when the catheter moves in the natural orifice;

the determining module 1402 is further configured to determine whether the impact factor satisfies a threshold condition for a corresponding impact type.

The output module 1403 is further configured to output control information for adjusting the operation of the catheter based on the impact factors when the impact factor of at least one impact type does not meet the threshold condition of the corresponding impact type.

In one embodiment, the determination module 1402 is further configured to determine whether the impact factor satisfies a threshold condition for the corresponding catheter site.

The output module 1403 is further configured to output control information for adjusting the catheter operation based on the impact factor when the impact factor of the at least one catheter site does not meet the threshold condition of the corresponding catheter site.

In one embodiment, the influence factor obtaining module 1401 is configured to obtain an influence factor on the natural orifice according to at least one of a force sensor on the catheter, a force on the natural orifice by the catheter, or a distance between the catheter and the natural orifice by an image sensor on the catheter, a distance between the catheter and the natural orifice by the image sensor, or a position of the catheter by the position sensor on the catheter, and map the position of the catheter to a target medical image to obtain a target position, and a distance between the target position and the natural orifice in the target medical image is used as the influence factor on the natural orifice when the catheter moves in the natural orifice.

In one embodiment, the output module 1403 is further configured to generate a control instruction of the catheter based on the impact factor and output the control instruction, or generate guiding operation information of the catheter based on the impact factor and output the guiding operation information.

In one embodiment, the output module 1403 includes:

And the receiving unit is used for receiving an operation instruction of an operator on the catheter and judging whether the operation instruction can generate a result of increasing or maintaining the influence factor.

And the instruction generation unit is used for generating a control instruction which does not respond to the operation instruction when the operation instruction generates a result of increasing or maintaining the influence factor, and otherwise generating a control instruction for controlling the movement of the catheter based on the operation instruction.

In one embodiment, the output module 1403 includes:

And the first movement range acquisition unit is used for acquiring the operation plan or the current movement direction and determining the movement range of the catheter based on the operation plan or the current movement direction.

And the first conduit operation generating unit is used for determining a first conduit operation for increasing or maintaining the influence factor or a second conduit operation for decreasing the influence factor according to the influence factor and the movement range of the conduit.

And an execution unit for executing at least one of generating control instructions for filtering the first conduit operation, generating disabling control instructions corresponding to the first conduit operation, and generating automatic control instructions for the conduit based on the second conduit operation.

In one embodiment, the output module 1403 includes:

And the second movement range acquisition unit is used for acquiring the operation plan or the current movement direction and determining the movement range of the catheter based on the operation plan or the current movement direction.

A second catheter operation generating unit for determining a first catheter operation for increasing or maintaining the influence factor or a second catheter operation for decreasing the influence factor based on the influence factor and the movement range of the catheter

And a guide information generating unit for generating guide operation information of the forbidden operation range according to the first catheter operation or generating guide operation information of the allowed operation range based on the second catheter operation.

The various modules in the catheter control device described above may be implemented in whole or in part by software, hardware, and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.

In one embodiment, a computer device is provided, which may be a terminal, and an internal structure diagram thereof may be as shown in fig. 15. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless mode can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a catheter control method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, can also be keys, a track ball or a touch pad arranged on the shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.

It will be appreciated by those skilled in the art that the structure shown in fig. 15 is merely a block diagram of a portion of the structure associated with the present inventive arrangements and is not limiting of the computer device to which the present inventive arrangements are applied, and that a particular computer device may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.

In an embodiment, there is also provided a computer device comprising a memory and a processor, the memory having stored therein a computer program, the processor implementing the steps of the method embodiments described above when the computer program is executed.

In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored which, when executed by a processor, carries out the steps of the method embodiments described above.

In an embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the steps of the method embodiments described above.

Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, database, or other medium used in embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high density embedded nonvolatile Memory, resistive random access Memory (ReRAM), magneto-resistive random access Memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric Memory (Ferroelectric Random Access Memory, FRAM), phase change Memory (PHASE CHANGE Memory, PCM), graphene Memory, and the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration, and not limitation, RAM can be in various forms such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), etc. The databases referred to in the embodiments provided herein may include at least one of a relational database and a non-relational database. The non-relational database may include, but is not limited to, a blockchain-based distributed database, and the like. The processor referred to in the embodiments provided in the present application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, or the like, but is not limited thereto.

The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The foregoing examples illustrate only a few embodiments of the application and are described in detail herein without thereby limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of the application should be assessed as that of the appended claims.

Claims

1. A catheter control system, the system comprising:

a catheter for movement in a natural lumen;

A processor, configured to execute the following steps according to the impact factor:

when the influence factor does not meet the threshold condition, outputting control information for adjusting the operation of the catheter based on the influence factor, including generating a control instruction of the catheter based on the influence factor, and outputting the control instruction;

Wherein said outputting said control instruction comprises:

simulating the control command of the catheter to judge whether the control command of the catheter generates a result of increasing or maintaining an influencing factor, if so, withdrawing the control command of the catheter, otherwise, sending the control command of the catheter to catheter control equipment, or

And precalculating a second catheter operation avoiding damage to the natural orifice or precalculating a first catheter operation capable of enlarging or maintaining an influence factor on the natural orifice according to an operation plan or a current movement direction, and preventing control instructions of the catheter damaging the natural orifice based on the first catheter operation and the second catheter operation.

2. The system of claim 1, wherein the factor of influence on the natural orifice as the acquisition catheter moves in the natural orifice comprises:

3. The system of claim 1, wherein said detecting the relationship of the impact factor to a pre-set threshold condition comprises:

4. The system of claim 1, wherein the factor of influence on the natural orifice as the acquisition catheter moves in the natural orifice comprises at least one of:

5. The system of any one of claims 1 to 4, wherein the outputting control information for adjusting the operation of the catheter based on the impact factor further comprises:

6. The system of claim 5, wherein the generating control instructions for the catheter based on the impact factor comprises:

7. The system of claim 5, wherein the generating control instructions for the catheter based on the impact factor comprises:

8. The system of claim 5, wherein the generating guiding operation information of the catheter based on the impact factor comprises:

9. The system of claim 1, wherein the impact factor acquisition device comprises at least one of:

10. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor when executing the computer program performs the steps of:

Wherein said outputting said control instruction comprises:

11. The computer device of claim 10, wherein the influence factors on the natural orifice when the acquisition catheter implemented when the processor executes the computer program moves in the natural orifice comprise:

12. The computer device according to claim 10, wherein said detecting the relation of the influence factor to a preset threshold condition, which is implemented when the processor executes the computer program, comprises:

13. The computer device of claim 10, wherein the influence factors on the natural lumen when the acquisition catheter implemented when the processor executes the computer program moves in the natural lumen include at least one of:

14. The computer device according to any one of claims 10 to 13, wherein the output of control information for adjusting the operation of the catheter based on the influence factor, which is implemented when the processor executes the computer program, further comprises:

15. The computer device of claim 14, wherein the control instructions for generating the catheter based on the impact factor implemented when the processor executes the computer program comprise:

16. The computer device of claim 14, wherein the control instructions for generating the catheter based on the impact factor implemented when the processor executes the computer program comprise:

17. The computer device of claim 14, wherein the generating guiding operation information of the catheter based on the influence factor, which is implemented when the processor executes the computer program, comprises:

18. A computer readable storage medium having stored thereon a computer program, characterized in that the computer program when executed by a processor realizes the steps of:

Wherein said outputting said control instruction comprises:

19. The storage medium of claim 18, wherein the influence factors on the natural orifice when the acquisition catheter implemented when the computer program is executed by the processor moves in the natural orifice comprise:

20. The storage medium of claim 18, wherein the detecting the relationship of the impact factor to a pre-set threshold condition, which is implemented when the computer program is executed by a processor, comprises:

21. The storage medium of claim 18, wherein the influence factors on the natural orifice when the acquisition catheter implemented when the computer program is executed by the processor moves in the natural orifice include at least one of:

22. The storage medium according to any one of claims 18 to 21, wherein the outputting of control information for adjusting the operation of the catheter based on the influence factor, which is realized when the computer program is executed by a processor, further comprises:

23. The storage medium of claim 22, wherein the control instructions for generating the catheter based on the impact factor, which are implemented when the computer program is executed by a processor, comprise:

24. The storage medium of claim 22, wherein the control instructions for generating the catheter based on the impact factor, which are implemented when the computer program is executed by a processor, comprise:

25. The storage medium of claim 22, wherein the generating guiding operation information of the catheter based on the impact factor, which is implemented when the computer program is executed by a processor, comprises:

26. A computer program product comprising a computer program, characterized in that the computer program is realized when being executed by a processor

The method comprises the following steps:

Wherein said outputting said control instruction comprises:

27. The computer program product of claim 26, wherein the computer program, when executed by the processor, implements the factor of influence on the natural orifice when the acquisition catheter moves in the natural orifice, comprising:

28. The computer program product according to claim 26, wherein the detecting the relationship of the impact factor to a preset threshold condition, which is implemented when the computer program is executed by a processor, comprises:

29. The computer program product of claim 26, wherein the influence factors on the natural lumen when the acquisition catheter implemented when the computer program is executed by a processor moves in the natural lumen comprise at least one of:

30. The computer program product according to any of claims 26 to 29, wherein the computer program, when executed by a processor, outputs control information for adjusting the operation of the catheter based on the impact factor, further comprising:

31. The computer program product of claim 30, wherein the control instructions for generating the catheter based on the impact factor, which are implemented when the computer program is executed by a processor, comprise:

32. The computer program product of claim 30, wherein the control instructions for generating the catheter based on the impact factor, which are implemented when the computer program is executed by a processor, comprise:

33. The computer program product of claim 30, wherein the generating guiding operation information of the catheter based on the influencing factor, which is implemented when the computer program is executed by a processor, comprises: