CN114948210A - Catheter control method, system, computer device, storage medium and program product - Google Patents
Catheter control method, system, computer device, storage medium and program product Download PDFInfo
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Abstract
The present application relates to a catheter control method, system, computer device, storage medium and computer program product. The method comprises the following steps: acquiring influence factors on a natural cavity when a catheter moves in the natural cavity; detecting the relation between the influence factor and a preset threshold condition; outputting control information for adjusting the catheter operation based on the impact factor when the impact factor does not satisfy the threshold condition. The method can reduce the damage of the catheter to the natural orifice.
Description
Technical Field
The present application relates to the field of medical device 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 surgery robots based on navigation systems are increasingly widely used. In the using process, the guide pipe is operated by a user to move and bend in the natural cavity so as to reach the position near the operation target point.
However, the tip of the catheter is typically a rigid material, and the catheter will also have some stiffness when bent. Therefore, during operation, when the catheter is operated in the natural cavity, the catheter head end and the catheter may cause unnecessary damage to the natural cavity.
Disclosure of Invention
In view of the above, there is a need to provide a catheter control method, system, computer device, computer readable storage medium and computer program product capable of reducing injury of a catheter to a natural orifice.
In a first aspect, the present application provides a catheter control method, the method comprising:
acquiring influence factors on a natural cavity when a catheter moves in the natural cavity;
detecting the relation between the influence factor and a preset threshold condition;
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 obtaining the influence factor of the catheter moving in the natural cavity on the natural cavity comprises:
acquiring influence factors of different influence types of the natural cavity when the catheter moves in the natural cavity;
the detecting the relationship between the influence factor and a preset threshold condition comprises:
judging whether the influence factors meet threshold conditions of corresponding influence types;
said outputting control information for adjusting the catheter operation based on the impact factor when the impact factor does not satisfy the threshold condition, comprising:
outputting control information for adjusting the catheter operation based on the impact factors when the impact factors of at least one of the impact types do not satisfy the threshold condition for the corresponding impact type.
In one embodiment, the detecting the relationship between the influence factor and a preset threshold condition includes:
judging whether the influence factors meet threshold conditions of corresponding catheter parts;
said outputting control information for adjusting the catheter operation based on the impact factor when the impact factor does not satisfy the threshold condition, comprising:
outputting control information for adjusting the catheter operation based on the impact factor when the impact factor for at least one catheter site does not satisfy the threshold condition for the corresponding catheter site.
In one embodiment, the influence factor of the acquisition catheter on the natural cavity when the acquisition catheter moves in the natural cavity comprises at least one of the following factors:
acquiring the force of the catheter on the natural cavity, which is acquired by a force sensor on the catheter, and taking the force of the catheter on the natural cavity as an influence factor of the catheter moving in the natural cavity on the natural cavity; or
Acquiring the distance between a catheter and the natural cavity channel, which is acquired by an image sensor on the catheter, and taking the distance between the catheter and the natural cavity channel as an influence factor of the catheter moving in the natural cavity channel on the natural cavity channel; or
The method comprises the steps of obtaining the position of a catheter collected by a position sensor on the catheter, mapping the position of the catheter 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 of the catheter 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 a control instruction of the catheter based on the influence factor and outputting the control instruction; or
Generating guiding operation information of the catheter based on the influence factor, and outputting the guiding operation information.
In one embodiment, the generating the control instruction of the catheter based on the influence factor comprises:
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;
when the operation instruction can produce a result of increasing or maintaining the influence factor, generating a control instruction which does not respond to the operation instruction, otherwise generating a control instruction which controls the motion of the catheter based on the operation instruction.
In one embodiment, the generating the control instruction of the catheter based on the influence factor comprises:
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 for increasing or maintaining the influence factor or a second catheter operation for reducing the influence factor according to the influence factor and the motion range of the catheter;
performing at least one of generating control instructions to filter the first catheter operation, generating de-enable control instructions corresponding to the first catheter operation, and generating automatic control instructions for the catheter based on the second catheter operation.
In one embodiment, the generating the guiding operation information of the catheter based on the influence factor includes:
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 for increasing or maintaining the influence factor or a second catheter operation for decreasing the influence factor according to the influence factor and the motion range of the catheter;
generating guidance operation information for a prohibited operation range from the first catheter operation or generating guidance operation information for an allowable operation range based on the second catheter operation.
In a second aspect, the present application also provides a catheter control system, the system comprising:
a catheter for movement in a natural orifice;
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 orifice;
and the processor is used for executing the control information obtained by the catheter control method in any one of the above embodiments according to the influence factor.
In one embodiment, the impact factor collecting device includes at least one of:
the force sensor is used for acquiring the force of the catheter on the natural cavity and sending the force of the catheter on the natural cavity to the processor; or
The image sensor is used for acquiring the distance between the catheter and the natural cavity and sending the distance between the catheter and the natural cavity to the processor; or
A position sensor to acquire a catheter position and to send the acquired catheter position to the processor.
In a third aspect, the present application further provides a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method in any one of the above embodiments when executing the computer program.
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 in any of the above embodiments.
In a fifth aspect, the present application also provides a computer program product comprising a computer program which, when executed by a processor, performs the steps of the method in any of the above embodiments.
According to the catheter control method, the catheter control system, the computer device, the storage medium and the computer program product, the influence factor of the catheter on the natural orifice when the catheter moves in the natural orifice is obtained, whether the catheter damages the natural orifice is determined by detecting the relation between the influence factor and a preset threshold condition, and when the influence factor does not meet the threshold condition, control information for adjusting the operation of the catheter is output based on the influence factor so as to reduce the damage to the natural orifice.
Drawings
FIG. 1 is a schematic diagram of a catheter control system in one embodiment;
FIG. 2 is a schematic structural diagram of a surgical system in one embodiment;
FIG. 3 is a schematic flow chart of a catheter control method in one embodiment;
FIG. 4 is a schematic diagram of the system when the type of influence is force in one embodiment;
FIG. 5 is a schematic diagram of a system in which the impact type is distance in one embodiment;
FIG. 6 is a schematic diagram of the system when the influence type is distance in another embodiment;
FIG. 7 is a schematic flow chart diagram of a catheter control method for distance influencing in one embodiment;
FIG. 8 is a schematic flow chart of a catheter control method according to another embodiment;
FIG. 9 is a schematic view of the motion of the catheter in one embodiment;
FIG. 10 is a schematic view of one embodiment of a catheter for injury to a natural orifice;
FIG. 11 is a schematic diagram of an embodiment for automating operations according to an operation plan;
FIG. 12 is a schematic view of an embodiment for automating operation according to a current direction of movement;
FIG. 13 is a schematic flow chart of a catheter control method according to yet another embodiment;
FIG. 14 is a block diagram of the structure of a catheter control system apparatus in one embodiment;
FIG. 15 is a diagram showing an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
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 impact 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., and is not particularly limited herein. The catheter control device 102 is used to manipulate the movement of the catheter 101, the catheter control device 102 including, but not limited to, a handle, a mouse, and a keyboard. The impact factor collecting device 103 is used for acquiring data related to impact factors which may cause injury in real time, and transmitting the data to the processor 104 for processing, and the impact factor collecting device 103 includes, but is not limited to, a force sensor, an image sensor, a position sensor, and the like, wherein the image sensor may be a depth camera. The force sensor is used for acquiring the force of the catheter 101 on the natural orifice and sending the force of the catheter 101 on the natural orifice to the processor 104; the image sensor is used for acquiring the distance between the catheter 101 and the natural orifice and sending the distance between the catheter 101 and the natural orifice to the processor 104; the position sensor is used to acquire the catheter position and send the acquired catheter position to the processor 104. The processor 104 may implement at least one of the following functions: calculating a threshold corresponding to an influence type which may cause injury before an operation, processing an instruction of the control catheter 101 of the catheter control apparatus 102, sending the instruction to the catheter control apparatus 102, calculating a relevant influence factor which may cause injury, calculating a relationship between the influence factor and the threshold, calculating a guidance manner, and the like.
In practical applications, the catheter control device 102 is configured to operate the movement of the catheter 101 in the natural orifice, so that the influence factor acquiring device 103 can acquire the influence factor on the natural orifice when the catheter 101 moves in the natural orifice, and further send the acquired influence factor to the processor 104, the processor 104 detects a relationship between the influence factor and a preset threshold condition, and when the influence factor does not satisfy the threshold condition, outputs control information for adjusting the catheter operation based on the influence factor. The control information in which catheter operation is adjusted based on the impact factor output may include at least two types: one is guidance information, i.e., the processor 104 generates guidance information for the catheter 101 based on the impact factor, so that the operator can control the movement of the catheter 101 by viewing the guidance information, reducing the impact factor. One is automatic control, i.e. the processor 104 generates automatic control information of the catheter 101 based on the impact factors. Wherein the automatic control information may comprise control information for a control instruction of the catheter 101 sent to the catheter control device 102, e.g. control information for determining whether to execute a control instruction of the catheter 101. The automated control information may also include control instructions for the catheter generated based on filtering a first catheter operation that increases or maintains the impact factor, disabling control instructions for the first catheter operation that increases or maintains the impact factor, and generating control instructions for the catheter based on a second catheter operation that decreases the impact factor. In other embodiments, when determining that the impact factor does not satisfy the threshold condition, the processor 104 outputs an alarm message to alert the operator. In one embodiment, the catheter control system further includes a display 105 for displaying alarm information and/or control information for adjusting the operation of the catheter.
As shown in connection with fig. 2, the present application also provides 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, which is exemplified by the application of the method to the processor in fig. 1, and comprises the following steps:
s302: and acquiring the influence factors on the natural cavity when the catheter moves in the natural cavity.
Specifically, the catheter can move in the natural cavity based on navigation, for example, the user operates the catheter to move and bend in the natural cavity, so as to reach the position near the operation target point, but the head end of the catheter is usually made of a material with certain hardness, and when the catheter bends, the catheter also has certain hardness. Therefore, during operation, when the catheter is operated in the natural cavity, the catheter head end and the catheter may cause unnecessary damage to the natural cavity. If the user misoperates, great harm may be caused. For this reason, the influence on the natural cavity channel when the catheter moves in the natural cavity channel is characterized by the influence factor.
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 on the natural orifice, and the like, and is not particularly limited herein.
In one embodiment, the processor may obtain the influence factors of multiple influence types, wherein for convenience, the user may set the acquisition mode of the influence factors of different influence types as required before the operation. In one embodiment, the obtaining of the influence factor of the catheter on the natural orifice while moving in the natural orifice includes at least one of the following: acquiring the force of the catheter on the natural cavity, which is acquired by a force sensor on the catheter, and taking the force of the catheter on the natural cavity as an influence factor of the catheter on the natural cavity when the catheter moves in the natural cavity; or acquiring the distance between the catheter and the natural cavity channel, which is acquired by an image sensor on the catheter, and taking the distance between the catheter and the natural cavity channel as an influence factor of the catheter moving in the natural cavity channel on the natural cavity channel; or acquiring the position of the catheter acquired by the position sensor on the catheter, mapping the position of the catheter to the target medical image to obtain the target position, and taking the distance between the target position and the natural orifice in the target medical image as an influence factor on the natural orifice when the catheter moves in the natural orifice.
Specifically, as shown in fig. 4, when the influence type is the magnitude of the force of the catheter on the natural orifice, a plurality of force sensors may be added to the catheter, so that the force of the catheter tip or the catheter body on the natural orifice is obtained in real time by the force sensors on the catheter, and each force sensor is connected to the processor, so that the processor may obtain the influence factor collected by the force sensor in real time, where the processor may further store the position information of each force sensor, for example, whether the force sensor is installed at the catheter tip or the catheter body, so that when the influence factor collected by the force sensor is received, the catheter position corresponding to the influence factor may be determined, and a foundation is laid for the accuracy of the subsequent threshold comparison.
Specifically, referring to fig. 5, when the influence type is the distance between the catheter and the natural lumen, an image sensor, such as a depth camera, may be added to the tip of the catheter, so as to obtain the distance between the tip of the catheter and the natural lumen in real time through the image sensor, and if the distance is smaller than or equal to 0, that is, the distance does not satisfy the threshold condition, and is greater than 0, the tip of the catheter may damage the natural lumen.
Specifically, as shown in fig. 6, when the influence type is the distance between the catheter and the natural orifice, the position of the catheter may be acquired by the distance sensor, and the acquired position of the catheter may be mapped to the target medical image to obtain the target position. Specifically, with reference to fig. 7, a target medical image is acquired before an operation, and then a mapping relationship between a natural orifice world coordinate system and a medical image coordinate system of the target medical image is established, according to which the position of the catheter acquired by the distance sensor can be mapped to the target medical image. For internal organs such as natural orifices, registration is mostly completed (namely, the mapping relation is established based on a magnetic navigation positioning system, wherein a world coordinate system is a magnetic navigation coordinate system), a target medical image is obtained before an operation, a natural orifice corresponding to the operation is extracted, a catheter provided with a position sensor is operated to walk in the natural orifice in the operation, the characteristics of the natural orifice are obtained, the characteristics of the natural orifice obtained in the operation are mapped with the characteristics of the natural orifice in the target medical image before the operation, and the mapping relation can be obtained. It should be noted that the obtaining manner of the mapping relationship is not limited to the above magnetic navigation positioning system, but also includes a method for acquiring the structural features of the natural orifice based on an endoscope, a depth camera, a real-time CT, and the like, and is not limited specifically herein. In practical applications, a plurality of position sensors may be respectively installed, for example, dispersed at the head end and the catheter body of the catheter, and the position of the head end of the catheter in the world coordinate system and the position of the catheter body in the actual coordinate system (the catheter body may be characterized by a series of point sets) are obtained through the position sensors, so that the point sets are mapped to the target medical image, and the distance from the points in the point sets to the natural orifice is calculated. Optionally, the processor may obtain a mathematical statistic of the distance corresponding to each point in the point set to characterize the final influence factor, such as a minimum value, etc., which is not specifically limited herein.
S304: the relationship of the influence factor to a preset threshold condition is detected.
Specifically, the threshold condition is preset by the user according to the type of the natural orifice and the type and characteristics of the influence factor. For example, in different natural orifices, the threshold conditions for different parts 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 firstly determines the type of the natural orifice according to the operation scene, then acquires the threshold condition of the catheter position corresponding to the type of the natural orifice, and detects the relationship between the influence factor and the preset threshold condition.
When the influence type is the magnitude of the force of the catheter on the natural cavity, preoperatively, a threshold value of the force of the catheter body damaging the natural cavity and/or a threshold value of the force of the catheter head damaging the natural cavity are obtained through multiple simulation experiments or animal experiments, and a threshold value condition is generated according to the threshold value, for example, the threshold value condition is smaller than the threshold value, so that after the influence factor is obtained, the corresponding threshold value condition of the force is determined according to different parts of the catheter, namely the position of the force sensor, and the relation between the influence factor and the preset threshold value condition is detected.
Wherein, when the influence type is the distance between the catheter and the natural orifice, the threshold condition may be directly obtained, for example, the threshold condition is that the distance is greater than a certain value, for example, 0.
S306: when the impact factor does not satisfy the threshold condition, control information for adjusting catheter operation is output based on the impact factor.
In particular, the control information for adjusting the catheter operation based on the impact factor output may include at least two types: one is guidance information, i.e., the processor generates guidance information for the catheter based on the impact factor, so that the operator can control catheter movement by viewing the guidance information, reducing the impact factor. One is automatic control, i.e. the processor generates automatic control information of the catheter based on the impact factors. Wherein the automatic control information may comprise control information of catheter control instructions sent to the catheter control device, e.g. control information to determine whether to execute the catheter control instructions. The automatic control information may also include control instructions to filter first catheter operations that increase or maintain the impact factor, de-enable control instructions corresponding to the first catheter operations that increase or maintain the impact factor, and generate automatic control instructions for the catheter based on second catheter operations that decrease the impact factor.
In other embodiments, when the processor determines that the influence factor does not satisfy the threshold condition, it outputs an alarm message to alert the operator.
According to the catheter control method, the influence factor of the catheter on the natural orifice is obtained when the catheter moves in the natural orifice, whether the catheter damages the natural orifice is determined by judging the influence factor and the threshold value, and when the influence factor is larger than or equal to the threshold value, control information for adjusting catheter operation is output based on the influence factor so as to reduce damage to the natural orifice.
In one embodiment, acquiring the influence factors of the catheter moving in the natural cavity on the natural cavity comprises: acquiring influence factors of different influence types of the natural cavity when the catheter moves in the natural cavity; detecting the relation between the influence factors and preset threshold conditions, wherein the relation comprises the following steps: and judging whether the influence factors meet the threshold conditions corresponding to the influence types. Accordingly, when the impact factor does not satisfy the threshold condition, outputting control information for adjusting catheter operation based on the impact factor, comprising: when the impact factor of at least one impact type does not satisfy the threshold condition for the corresponding impact type, control information for adjusting catheter operation is output based on the impact factor.
In particular, the impact type may comprise a force and/or a distance, and thus the threshold condition may comprise a threshold condition for a stress and/or a threshold condition for a corresponding distance. Wherein the threshold condition is less than the maximum force when the type of influence is force and greater than the minimum distance, e.g. greater than 0, when the type of influence is distance.
In practical applications, the processor may obtain the impact factors of at least one impact type, so that when there is an impact factor of an impact type that does not satisfy the threshold condition of the corresponding impact type, the processor outputs control information for adjusting the catheter operation according to the impact factor that does not satisfy the threshold condition of the corresponding impact type.
In one embodiment, detecting the relationship between the impact factor and a preset threshold condition comprises: judging whether the influence factors meet the threshold condition of the corresponding catheter part; outputting control information for adjusting catheter operation based on the impact factor when the impact factor does not satisfy the threshold condition, comprising: when the impact factor for at least one catheter site does not satisfy the threshold condition for the corresponding catheter site, control information for adjusting catheter operation is output based on the impact factor.
Specifically, the threshold conditions corresponding to different natural orifices and different catheter positions are different, so that the processor determines whether the influence factor satisfies the threshold condition of the corresponding catheter position of the corresponding natural orifice, and outputs control information for adjusting catheter operation based on the influence factor if the influence factor of at least one catheter position does not satisfy the threshold condition of the corresponding catheter position.
For convenience of understanding, the description will be given by taking as an example that the natural orifice is divided into oral cavity, anus, urethra and vagina, the catheter part is divided into a catheter head and a catheter body, and the influence type is divided into force and distance. The preoperative user sets different types of threshold conditions of natural orifices respectively, the threshold conditions of different catheter parts in different types of natural orifices are different, and the threshold conditions of different influence types of different catheter parts are different. Thus, a natural orifice type, a catheter site, and 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 according to an operation scene, loads a threshold condition set corresponding to the type of the natural cavity into a memory, acquires the influence type of the acquired influence factor, and determines a catheter part according to the influence factor acquisition equipment, so that a corresponding threshold condition is determined from the threshold condition set. The processor determines whether the impact factors satisfy corresponding threshold conditions, and if not, generates control information for adjusting catheter operation based on the impact factors that do not satisfy the threshold conditions.
In the above embodiment, the threshold condition is determined according to different operation 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 factor 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 comprises: generating a control instruction of the catheter based on the influence factor and outputting the control instruction; or generating the guiding operation information of the catheter based on the influence factor and outputting the guiding operation information.
Specifically, after the relationship between the influence factor and the threshold condition is calculated, the user is prevented from continuing to operate the catheter in the direction of increasing the influence factor, so that the catheter is prevented from damaging the natural orifice. Wherein, optionally, the processor outputs alarm information, and reminds the user first, for example, displays the alarm information through a display, outputs the alarm information through a buzzer, or reports at least one of the alarm information through a voice device.
In one embodiment, in conjunction with FIG. 8, control information for adjusting the operation of the catheter may include guidance information and/or automation information. The guidance information, i.e., the processor, generates guidance information for the catheter based on the impact factor, such that an operator can control catheter movement by viewing the guidance information, reducing the impact factor. The automatic control is that the processor generates automatic control information of the catheter based on the influence factors. Wherein the automatic control information may comprise control information of catheter control instructions sent to the catheter control device, e.g. control information to determine whether to execute the catheter control instructions. The automatic control information may also include control instructions to filter first catheter operations that increase or maintain the impact factor, de-enable control instructions corresponding to the first catheter operations that increase or maintain the impact factor, and generate automatic control instructions for the catheter based on second catheter operations that decrease the impact factor. In this context, increasing and holding is understood to mean increasing or holding the injury, for example by increasing or holding the force if the type of influence is force, or by decreasing the distance if the type of influence is distance.
The automatic control information, namely the control instruction for generating the catheter based on the influence factor, can include two ideas, one is trial operation, namely the catheter control device receives the control instruction of the user on the catheter and then sends the control instruction to the processor, and the processor simulates the control instruction of the user on the catheter to judge whether the control instruction of the user on the catheter can generate a result of increasing or keeping the influence factor, if so, the instruction is withdrawn, otherwise, the instruction is sent to the catheter to control the motion of the catheter. The other is pre-calculation, i.e. the processor pre-calculates the operation of the second catheter to avoid damage to the natural orifice according to the operation plan or the current motion direction, or pre-calculates the operation of the first catheter to increase or maintain the influence factor on the natural orifice, so that the processor sends different instructions to the catheter control device to control the catheter operation according to different methods for preventing the user from continuing to damage the natural orifice.
In order to reduce the damage of the catheter to the natural orifice, the treatment can be carried out in various ways: the first is that the processor is connected with a display, and the processor sends alarm information and guide 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 control instructions for avoiding injury to the catheter control device. The third is that the processor is connected to a catheter control device that is connected to the catheter and that applies operating instructions to the catheter that avoid injury.
In one embodiment, generating control instructions for the catheter based on the impact factors includes: receiving an operation instruction of an operator on the catheter, and judging whether the operation instruction can generate a result of increasing or maintaining an influence factor; when the operation instruction can produce 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.
Specifically, in this embodiment, after receiving an operation instruction of an operator on a catheter, the catheter control device first sends the operation instruction of the operator on the catheter to the processor, and the processor determines whether the operation instruction will generate a result of increasing or maintaining an influence factor, and 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: 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 for increasing or maintaining the influence factor or a second catheter operation for decreasing the influence factor according to the influence factor and the motion range of the catheter; executing at least one of generating control instructions to filter a first catheter operation, generating de-enable control instructions corresponding to the first catheter operation, and generating automatic control instructions to the catheter based on a second catheter operation.
In one embodiment, generating the guiding operation information of the catheter based on the influence factor comprises: 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 for increasing or maintaining the influence factor or a second catheter operation for decreasing the influence factor according to the influence factor and the motion range of the catheter; the guidance operation information of the operation-prohibited range is generated in accordance with the first catheter operation, or the guidance operation information of the operation-allowable range is generated based on the second catheter operation.
Specifically, as shown in fig. 9, the movement of the catheter is divided into three dimensions, the first dimension is forward or backward, the second dimension is bending in a certain direction, and the third dimension is bending amplitude, and the movement of the catheter in the above three dimensions may cause damage to the natural orifice. Therefore, the processor can pre-calculate the operation of the second catheter for avoiding damage to the natural cavity in combination with the operation plan or the current motion direction or pre-calculate the operation of the first catheter for increasing or maintaining the influence factor on the natural cavity, so as to facilitate the subsequent generation of a control instruction of the catheter based on the influence factor and output the control instruction; or generating the guiding operation information of the catheter based on the influence factor and outputting the guiding operation information.
Specifically, referring to fig. 10, if the catheter and the natural orifice are in the relative position of fig. 10, the bending angle 1 is continuously increased along the direction, which may cause damage to the natural orifice, so the processor obtains the current bending angle and generates a first catheter operation causing damage, including increasing the bending angle, adjusting the bending angle to a certain area 2 around, and continuing to advance along the direction, etc., except for the above operations, other operations may be used as a safety operation for guiding the user, that is, a second catheter operation.
Preventing the user from continuing to operate in a direction that damages the natural orifice; the processor may send three commands to the navigation control device: filtering first catheter operations that increase or maintain the influential factor (i.e., cause injury); or to disable the first catheter operation that increases or maintains the impact factor (i.e., produces the injury) and generate automatic control instructions for the catheter based on the second catheter operation that decreases the impact factor.
For this purpose, with reference to fig. 11, if there is an operation plan, such as the operation path 5 in fig. 11, and the influence factor does not satisfy the threshold condition, a guidance operation is displayed on the display, and the guidance operation may be guidance operation information for generating a prohibited operation range according to the first catheter operation, or guidance operation information for generating an allowable operation range according to the second catheter operation, so as to guide the user to continue to advance from the current position to the operation path. Or at least one of directly generating a de-enable control command corresponding to the first catheter operation and generating an automatic control command for the catheter based on the second catheter operation, and sending the automatic control command 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, a warning message is displayed on the display, and a guidance operation is displayed on the display, where the guidance operation may be to generate guidance operation information in a prohibited operation range from a first catheter operation or to generate guidance operation information in an allowable operation range based on a second catheter operation, and to guide the user to continue to move from the current position to the surgical path. Or directly generating at least one of a disable control command corresponding to the first catheter operation and an automatic control command for the catheter based on the second catheter operation, and sending the automatic control command to the catheter control device to control the movement of the catheter.
In the embodiment, the situation that the action force of the catheter on the natural cavity is too large and unnecessary damage to the natural cavity is caused under the condition of misoperation of a user is prevented; the intelligent degree and the convenience of the system are improved by guiding or automatically adjusting the motion of the catheter.
Specifically, referring to fig. 13, fig. 13 is a flowchart of a catheter control method in a further embodiment, in which before operation, the influence type and characteristics of the injury that the catheter may cause to the natural orifice after the catheter enters the natural orifice are determined, and the threshold condition of the injury is determined according to the influence type and characteristics.
Therefore, when the operation is started, after the catheter enters the natural cavity, the processor calculates the influence factor in real time, judges whether the influence factor meets the threshold condition or not, and adjusts the operation on the catheter if the influence factor does not meet the threshold condition, so as to achieve the purpose of preventing the catheter from damaging the natural cavity.
According to the catheter control method, the influence factor of the catheter on the natural orifice is obtained when the catheter moves in the natural orifice, whether the catheter damages the natural orifice is determined by detecting the relation between the influence factor and a preset threshold condition, and when the influence factor does not meet the threshold condition, control information for adjusting catheter operation is output based on the influence factor so as to reduce damage to the natural orifice.
It should be understood that, although the steps in the flowcharts related to the embodiments are shown in sequence as indicated by the arrows, the steps are not necessarily executed in sequence as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a part of the steps in the flowcharts related to the above embodiments may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the steps or stages is not necessarily sequential, but may be performed alternately or alternately with other steps or at least a part of the steps or stages in other steps.
Based on the same inventive concept, the embodiment of the present application further provides a catheter control device for implementing the above-mentioned catheter control method. The solution to the problem provided by the device is similar to the solution described in the above method, so the specific limitations in one or more embodiments of the catheter control device provided below can be referred to the limitations in the above catheter control method, and are not described herein again.
In one embodiment, as shown in fig. 14, there is provided a catheter control device comprising: an influence factor obtaining module 1401, a judging module 1402 and an output module 1403, wherein:
an influence factor acquiring module 1401, configured to acquire an influence factor on a natural lumen when the catheter moves in the natural lumen.
The determining module 1402 is 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 acquiring module 1401 is further configured to acquire 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 corresponding to the impact type.
In one embodiment, the determining module 1402 is further configured to determine whether the influence factor satisfies a threshold condition of the corresponding catheter site.
The output module 1403 is further configured to output control information for adjusting catheter operation based on the impact factor when the impact factor for at least one catheter site does not satisfy the threshold condition for the corresponding catheter site.
In one embodiment, the influence factor acquiring module 1401 is configured to acquire the influence factor of the catheter moving in the natural orifice on the natural orifice according to at least one of the following: acquiring the force of the catheter on the natural cavity, which is acquired by a force sensor on the catheter, and taking the force of the catheter on the natural cavity as an influence factor of the catheter on the natural cavity when the catheter moves in the natural cavity; or acquiring the distance between the catheter and the natural cavity channel, which is acquired by an image sensor on the catheter, and taking the distance between the catheter and the natural cavity channel as an influence factor of the catheter moving in the natural cavity channel on the natural cavity channel; or acquiring the position of the catheter acquired by the position sensor on the catheter, mapping the position of the catheter to the target medical image to obtain the target position, and taking the distance between the target position and the natural orifice in the target medical image as an 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 command of the catheter based on the influence factor and output the control command; or generating the guiding operation information of the catheter based on the influence factor and outputting 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 to the catheter and judging whether the operation instruction can generate a result of increasing or maintaining the influence factor.
And the instruction generating unit is used for generating a control instruction which does not respond to the operation instruction when the operation instruction can generate a result of increasing or maintaining the influence factor, and otherwise, generating a control instruction for controlling the motion of the catheter based on the operation instruction.
In one embodiment, the output module 1403 includes:
and the first motion range acquisition unit is used for acquiring the operation plan or the current motion direction and determining the motion range of the catheter based on the operation plan or the current motion direction.
And the first catheter operation generation unit is used for determining a first catheter operation for increasing or maintaining the influence factor or a second catheter operation for reducing the influence factor according to the influence factor and the motion range of the catheter.
An execution unit to execute at least one of generating a control instruction to filter a first catheter operation, generating a de-enable control instruction corresponding to the first catheter operation, and generating an automatic control instruction of the catheter based on a second catheter operation.
In one embodiment, the output module 1403 includes:
and the second motion range acquisition unit is used for acquiring the operation plan or the current motion direction and determining the motion range of the catheter based on the operation plan or the current motion direction.
A second catheter operation generation unit for determining the first catheter operation for increasing or maintaining the influence factor or the second catheter operation for decreasing the influence factor according to the influence factor and the motion range of the catheter
A guide information generating unit for generating guide operation information of the operation-prohibited range according to the first catheter operation or generating guide operation information of the operation-allowable range based on the second catheter operation.
The various modules in the above-described pilot control apparatus may be implemented in whole or in part by software, hardware, and combinations thereof. The modules can be embedded in a hardware form or independent of a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram 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 comprises a nonvolatile 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 operating system and the computer program to run on the non-volatile storage medium. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, a moving 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, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 15 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is further provided, which includes a memory and a processor, the memory stores a computer program, and the processor implements the steps of the above method embodiments when executing the computer program.
In an embodiment, a computer-readable storage medium is provided, on which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned method embodiments.
In an embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, carries out the steps in the method embodiments described above.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, database, or other medium used in the 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), Magnetic Random Access Memory (MRAM), Ferroelectric Random Access Memory (FRAM), Phase Change Memory (PCM), graphene Memory, and the like. Volatile Memory can include Random Access Memory (RAM), external cache Memory, and the like. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others. The databases referred to in various embodiments provided herein may include at least one of relational and non-relational databases. The non-relational database may include, but is not limited to, a block chain based distributed database, and the like. The processors referred to in the various embodiments provided herein may be, without limitation, general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, or the like.
All possible combinations of the technical features in the above embodiments may not be described for the sake of brevity, but should be considered as being within the scope of the present disclosure as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.
Claims (13)
1. A catheter control method, the method comprising:
acquiring influence factors on a natural cavity when a catheter moves in the natural cavity;
detecting the relation between the influence factor and a preset threshold condition;
outputting control information for adjusting the catheter operation based on the impact factor when the impact factor does not satisfy the threshold condition.
2. The method of claim 1, wherein obtaining an impact factor on a natural orifice as the catheter moves in the natural orifice comprises:
acquiring influence factors of different influence types of the natural cavity when the catheter moves in the natural cavity;
the detecting the relationship between the influence factor and a preset threshold condition comprises:
judging whether the influence factors meet threshold conditions of corresponding influence types;
said outputting control information for adjusting the catheter operation based on the impact factor when the impact factor does not satisfy the threshold condition, comprising:
outputting control information for adjusting the catheter operation based on the impact factors when the impact factors of at least one of the impact types do not satisfy the threshold condition for the corresponding impact type.
3. The method of claim 1, wherein the detecting the relationship between the impact factor and a preset threshold condition comprises:
judging whether the influence factors meet threshold conditions of corresponding catheter parts;
said outputting control information for adjusting the catheter operation based on the impact factor when the impact factor does not satisfy the threshold condition, comprising:
outputting control information for adjusting the catheter operation based on the impact factor when the impact factor for at least one catheter site does not satisfy the threshold condition for the corresponding catheter site.
4. The method of claim 1, wherein obtaining the impact factors on the natural orifice as the catheter moves in the natural orifice comprises at least one of:
acquiring the force of the catheter on the natural cavity, which is acquired by a force sensor on the catheter, and taking the force of the catheter on the natural cavity as an influence factor of the catheter moving in the natural cavity on the natural cavity; or
Acquiring the distance between a catheter and the natural cavity channel, which is acquired by an image sensor on the catheter, and taking the distance between the catheter and the natural cavity channel as an influence factor of the catheter moving in the natural cavity channel on the natural cavity channel; or
The method comprises the steps of obtaining the position of a catheter collected by a position sensor on the catheter, mapping the position of the catheter to a target medical image to obtain a target position, and taking the distance between the target position and a natural orifice in the target medical image as an influence factor of the catheter moving in the natural orifice on the natural orifice.
5. The method of any of claims 1-4, wherein outputting control information for adjusting operation of the catheter based on the impact factor comprises:
generating a control instruction of the catheter based on the influence factor and outputting the control instruction; or
Generating guiding operation information of the catheter based on the influence factor, and outputting the guiding operation information.
6. The method of claim 5, wherein the generating control instructions for the catheter based on the impact factor comprises:
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;
when the operation instruction can produce a result of increasing or maintaining the influence factor, generating a control instruction which does not respond to the operation instruction, otherwise generating a control instruction which controls the motion of the catheter based on the operation instruction.
7. The method of claim 5, wherein the generating control instructions for the catheter based on the impact factor comprises:
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 for increasing or maintaining the influence factor or a second catheter operation for decreasing the influence factor according to the influence factor and the motion range of the catheter;
performing at least one of generating control instructions to filter the first catheter operation, generating de-enable control instructions corresponding to the first catheter operation, and generating automatic control instructions for the catheter based on the second catheter operation.
8. The method of claim 5, wherein the generating the guidance operation information for the catheter based on the impact factor comprises:
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 for increasing or maintaining the influence factor or a second catheter operation for decreasing the influence factor according to the influence factor and the motion range of the catheter;
generating guidance operation information for a prohibited operation range from the first catheter operation or generating guidance operation information for an allowable operation range based on the second catheter operation.
9. A catheter control system, the system comprising:
a catheter for movement in a natural orifice;
the influence factor acquisition equipment is used for acquiring the influence factors on the natural cavity channel when the catheter moves in the natural cavity channel;
a catheter control device for manipulating movement of the catheter in the natural orifice;
a processor for executing control information obtained by the catheter control method according to any one of claims 1 to 8, based on the influence factor.
10. The system of claim 9, wherein the impact factor acquisition device comprises at least one of:
the force sensor is used for acquiring the force of the catheter on the natural cavity and sending the force of the catheter on the natural cavity to the processor; or
The image sensor is used for acquiring the distance between the catheter and the natural cavity and sending the distance between the catheter and the natural cavity to the processor; or
A position sensor to acquire a catheter position and to send the acquired catheter position to the processor.
11. 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, implements the steps of the method of any of claims 1 to 8.
12. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 8.
13. A computer program product comprising a computer program, characterized in that the computer program realizes the steps of the method of any one of claims 1 to 8 when executed by a processor.
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