CN113712674A

CN113712674A - Catheter robot, catheter robot system, catheter robot control method, readable storage medium, and electronic device

Info

Publication number: CN113712674A
Application number: CN202111070675.XA
Authority: CN
Inventors: 占雄; 李自汉; 张飘艺; 王家寅
Original assignee: Shanghai Microport Medbot Group Co Ltd
Current assignee: Shanghai Weiwei Aviation Robot Co ltd
Priority date: 2021-09-13
Filing date: 2021-09-13
Publication date: 2021-11-30
Anticipated expiration: 2041-09-13
Also published as: CN113712674B; WO2023036078A1

Abstract

The invention relates to a catheter robot, a catheter robot system, a catheter robot control method, a readable storage medium and electronic equipment, wherein the catheter robot comprises a communication motion control device and a communication motion execution device; the motion control apparatus includes a readable storage medium and a processor that executes a program in the readable storage medium, and when the program is executed performs: outputting a master-slave control instruction to the catheter robot; wherein the catheter robot holds a flexible catheter; selectively outputting a motion auxiliary instruction or a master-slave control instruction according to the determined movement information of the flexible catheter moving in the natural cavity, so that the catheter robot can control the flexible catheter to move in the natural cavity according to the received master-slave control instruction or motion auxiliary instruction; wherein the motion assistance instructions are for adjusting movement information of the flexible catheter performed based on master-slave control instructions. The invention can make the operation of the flexible conduit more flexible and convenient, and more safe and reliable.

Description

Catheter robot, catheter robot system, catheter robot control method, readable storage medium, and electronic device

Technical Field

The present invention relates to the field of medical devices, and in particular, to a catheter robot, a catheter robot system, a readable storage medium, an electronic device, and a control method for a catheter robot.

Background

Bronchoscopes are medical instruments that are placed into the lower respiratory tract of a patient orally or nasally and are commonly used for observation, biopsy sampling, bacteriological and cytological examination of lesions of pulmonary lobes, segments and subsegments. The bronchoscope is used for carrying out alveolar lavage treatment and examination on the lung lobes of the lower respiratory tract where the focus is located, so that the detection rate and accuracy of infectious respiratory diseases can be effectively improved. Particularly, in the cases of respiratory infectious diseases, early stage lung cancer, and the like, the nucleic acid detection accuracy of specimens obtained by alveolar lavage of the lower respiratory tract is higher than that of specimens obtained by pharyngeal swab detection. And lavage treatment directly to the lungs with a bronchoscope can also alleviate the symptoms of the lower respiratory tract.

Most of bronchoscope diagnosis processes utilize medical image information to assist bronchoscope movement. There are two main forms of bronchoscope movement (or navigation) using medical image information:

(1) visual marking: the method comprises the steps of assisting bronchoscope movement by using a bronchus central line (non-smooth broken line) generated based on a medical image, and setting a visual marker at a bronchus bifurcation in image navigation to remind an operator of next path selection in real time;

(2) displaying the three-dimensional model: the three-dimensional anatomical structure model of the bronchus is reconstructed by utilizing the medical image, the relative space relationship between the three-dimensional anatomical structure model and the bronchus is displayed in real time by combining the real-time pose and shape information of the catheter, and an operator makes the next catheter motion decision by observing the relative space relationship.

Most bronchoscope robots provide a master-slave control man-machine interaction device for operators, and realize catheter motion control by means of visual (such as an endoscope, a three-dimensional anatomical structure model, a visual marker and the like) and empirical operation. However, during the master control operation, the behavior mapped to the end of the catheter is easy to be abnormal due to the active operation of the operator. For example, the tail end of the catheter is subjected to master-slave control in a bent space to generate attitude anomaly and the like.

Disclosure of Invention

In order to solve the technical problems in the prior art, an object of the present invention is to provide a catheter robot, a catheter robot system, a readable storage medium, an electronic device, and a control method for a catheter robot, which enable the catheter robot to execute a motion assistance command to assist an operator in manipulating the motion of a catheter, and enable a flexible catheter to be more flexible and convenient to operate, and to be safer and more reliable.

To achieve the above object, according to a first aspect of the present invention, there is provided a readable storage medium storing a program which, when executed, performs the steps of:

outputting a master-slave control instruction to a catheter robot; wherein the catheter robot holds a flexible catheter;

selectively outputting a motion auxiliary command or a master-slave control command according to the determined movement information of the flexible catheter moving in the natural cavity, so that the catheter robot controls the flexible catheter to move in the natural cavity according to the received master-slave control command or motion auxiliary command;

wherein the motion assistance instructions are to adjust movement information that the flexible conduit performs based on the master-slave control instructions.

Optionally, the movement information comprises at least one of a current movement speed of the flexible catheter, a current position of the flexible catheter, and a current morphology of the flexible catheter.

Optionally, the method further comprises performing at least one of the following steps:

detecting whether the mobile information meets a preset requirement or not to obtain a corresponding detection result; wherein the preset requirement is determined based on at least one of position, form and speed in the movement information and judgment logic thereof; and the number of the first and second groups,

and determining that the master-slave control instruction is output when the flexible conduit is positioned on the same road section according to the number of times of alternation of the motion auxiliary instruction and the master-slave control instruction generated by the flexible conduit on the same road section.

Optionally, the movement information comprises a morphology of the flexible catheter at the current location;

selectively outputting a motion-assist command based on the determined movement information of the flexible catheter moving within the natural lumen, comprising:

generating a motion auxiliary instruction for adjusting the form of the flexible conduit according to the difference between the form of the flexible conduit at the current position and the natural form of the natural orifice corresponding to the current position;

wherein the natural form is obtained based on a pre-acquired three-dimensional anatomical structure model of the natural orifice.

Optionally, the readable storage medium further prestores a navigation path, wherein the navigation path is obtained by simulating a natural shape of a natural lumen with the three-dimensional anatomical structure model, and the motion assistance instruction is obtained according to a deviation between a position of the flexible catheter in the navigation path and the navigation path.

Optionally, the motion-assist instructions are for adjusting a flexible catheter configuration to change its curvature of movement within the natural orifice; or the motion-assist instructions are used to adjust the flexible catheter configuration to change its orientation within the natural orifice.

Optionally, the movement information comprises a current movement speed of the flexible catheter;

selectively outputting a motion-assist command based on the determined movement information of the flexible catheter moving within the natural lumen, comprising: when the current moving speed exceeds a preset value, generating a motion auxiliary instruction containing a speed lower than the current moving speed so as to control the flexible conduit to reduce the moving speed.

Optionally, the selectively outputting a motion assistance instruction according to the determined movement information of the flexible catheter moving in the natural orifice includes:

detecting a current position and a current velocity in the movement information to determine that the flexible catheter is ready to move in one of the access branch directions of the natural orifice; detecting the angle deviation between the current form in the movement information and a preset target orientation; wherein the target orientation represents a respective pathway branch direction in which to align a flexible conduit with the natural orifice;

and outputting a motion auxiliary instruction for adjusting the current form to align the path branch direction according to the angle deviation so as to control the flexible conduit to adjust the angle.

Optionally, the detecting the current position and the current moving speed in the moving information includes:

mapping the current position in the movement information to a model position in a pre-acquired three-dimensional anatomical structure model of the natural cavity; and determining that the flexible conduit is proximate to one of the access branches based on the model location;

detecting that the absolute value of the current moving speed in the moving information is smaller than a preset speed threshold; and the number of the first and second groups,

detecting that the current configuration of the flexible catheter in the movement information branches towards one of the pathways under control of master-slave control instructions.

Optionally, the selectively outputting a motion assistance command or a master-slave control command according to the determined movement information of the flexible catheter moving in the natural cavity comprises: when the flexible conduit is detected to be adjusted to the target orientation, a master-slave control instruction is output to enable the flexible conduit to enter the access branch.

detecting a current position in the movement information to determine that the flexible catheter has entered one of the access branches of the natural orifice; and detecting a curvature deviation between a current shape in the movement information and the path branch;

outputting a motion assist instruction for adjusting the current configuration to move along the curvature of the path branch in accordance with the curvature deviation.

Optionally, the detecting the current position in the movement information to determine that the flexible catheter has entered one of the access branches of the natural orifice includes:

mapping the current position into a three-dimensional anatomical model of a corresponding natural lumen to detect whether the flexible catheter is located in a curved segment of a respective access branch; wherein the curvature is determined based on a degree of curvature of the curved segment.

Optionally, the curvature is determined based on a path curvature of the pre-acquired navigation path corresponding to the curved segment.

Optionally, the selectively outputting a motion assistance command or a master-slave control command according to the determined movement information of the flexible catheter moving in the natural cavity comprises: and when the flexible guide pipe is detected to move to the straight line section of the passage branch, outputting a master-slave control instruction to enable the flexible guide pipe to move along the passage branch.

To achieve the above object, according to a second aspect of the present invention, there is provided a catheter robot comprising a motion control device and a motion execution device which are communicatively connected;

the motion control device comprises any one of the readable storage media and a processor; wherein the processor is configured to execute a program in the readable storage medium to output a motion assist instruction or a master-slave control instruction;

the motion actuator is configured to control movement of the flexible catheter within the natural lumen according to the received master-slave control commands or motion-assist commands.

Optionally, the motion execution device comprises a pose adjustment unit and a form adjustment unit;

the pose adjusting unit comprises an adjusting arm with at least five degrees of freedom, and the tail end of the adjusting arm is connected with the flexible guide pipe so as to drive the flexible guide pipe to move to adjust the position of the flexible guide pipe;

the shape adjusting unit comprises a power box, the power box is arranged on the adjusting arm, and the power box is in transmission connection with an instrument box at the near end of the flexible catheter to adjust the shape of the flexible catheter.

Optionally, the motion control device further comprises a sensing unit;

the sensing unit is configured to detect movement information of the flexible catheter as it moves within the natural orifice.

To achieve the above object, according to a third aspect of the present invention, there is provided a catheter robot system comprising a master end and a slave end communicatively connected, the master end comprising an operation unit, the slave end comprising a catheter robot; the main end comprises any readable storage medium and a processor; the operation unit is used for receiving an external instruction; the processor is used for converting the external instruction into a master-slave control instruction and sending the master-slave control instruction to the catheter robot.

Optionally, the main end further comprises a navigation device for establishing a three-dimensional anatomical structure model of the natural orifice according to the medical image data, and creating a navigation path simulating a natural form of the natural orifice according to the three-dimensional anatomical structure model to provide a reference for the flexible catheter to move.

Optionally, the navigation device comprises an image display unit comprising a medical image display module, an endoscopic lens image display module and an animation display module;

the medical image display module is used for displaying the three-dimensional anatomical structure model;

the endoscope head image display module is used for displaying images fed back by an endoscope, and the endoscope is arranged at the tail end of the flexible catheter;

the animation display module is used for displaying the shape of the flexible catheter in real time in a dynamic mode and displaying the shape of the flexible catheter on the position corresponding to the three-dimensional anatomical structure model.

Optionally, the operation unit is further configured to detect an enable or disable interaction command of a user to control the catheter robot to correspondingly enable or disable output of the motion assistance command.

Optionally, the operation unit displays text prompt information and provides a first key and a second key;

the text prompt information is used for prompting whether to start the exercise assisting function;

the first button is configured to send an instruction to the catheter robot to turn on a motion assist function when triggered, and the catheter robot allows for selective output of motion assist instructions;

the second button is configured to send an instruction to the catheter robot to disable motion assist functionality when triggered, and the catheter robot drives the flexible catheter according to the master-slave control instruction.

To achieve the above object, according to a fourth aspect of the present invention, there is provided an electronic device comprising a processor and a memory, the memory including any one of the readable storage media, the memory having stored thereon a program for execution by the processor.

To achieve the above object, according to a fifth aspect of the present invention, there is provided a control method for a catheter robot for controlling a flexible catheter to move, the control method comprising:

acquiring movement information for reflecting the movement of the flexible catheter in a space provided by a natural cavity;

detecting the movement information according to the three-dimensional anatomical structure model of the natural cavity;

selectively outputting a motion auxiliary instruction or a master-slave control instruction according to the obtained detection result, so that the catheter robot drives the flexible catheter to move according to the master-slave control instruction or the motion auxiliary instruction;

The catheter robot, the catheter robot system, the readable storage medium, the electronic device and the control method for the catheter robot provided by the invention have the following advantages:

firstly, when an operator carries out master-slave control operation by means of a catheter robot so as to drive a flexible catheter to move in a space formed by a natural cavity, such as a bronchus and the like, the catheter robot can be switched between master-slave control and motion-assisted control to realize that the catheter can stably move in the space according to the operation intention of the operator. The motion assistance can execute catheter operation corresponding to the intention of an operator, so that decision and operation burden of the operator are shared, the operation is more flexible and convenient, and unsafe factors in the master-slave control process, such as overlarge movement speed of the catheter, unreasonable bending of the catheter and easy damage to the wall of a cavity channel, and the like, can be avoided by the motion assistance. For example, the catheter robot can detect the movement information of the flexible catheter in real time, such as the form, the speed, the form and the like, in the process of operating the flexible catheter to move by an operator in a master-slave control mode, and when the flexible catheter moves to a fork of the bronchus along a path, the catheter robot can assist in operating to enable the flexible catheter to be aligned to the fork, or when the flexible catheter enters a straight line section from the fork, the catheter robot can assist in operating to enable the flexible catheter to pass through the path near the fork of the bronchus, and the like, so that the catheter operation is more convenient, and the operation is more accurate, safe and reliable.

Secondly, when the flexible catheter needs to enter the straight line segment of the bronchus from the bifurcation during the operation of the operator in a master-slave mode, such as moving in the bronchus, the catheter robot can generate a movement auxiliary instruction for adjusting the shape according to the difference between the shape of the flexible catheter at the current position and the natural shape of the flexible catheter at the current position of the bronchus, thereby the guide tube robot assists the operator to control the movement of the flexible guide tube, the flexible guide tube can quickly, smoothly and smoothly enter the straight line section of the bronchus from the bifurcation, the mode ensures that the movement of the flexible conduit in the operation process is more in line with the natural shape of the natural cavity, and reaches the focus part (such as a lung nodule) more quickly, smoothly and smoothly through the human anatomy structure, and the contact or friction of the flexible catheter to the anatomical structure is reduced, the accidental injury to the anatomical structure in the treatment process is reduced, and the operation risk is reduced.

Thirdly, when an operator operates the flexible conduit in a master-slave mode, if the flexible conduit needs to enter the next branch from the straight line section of the bronchus in the moving process of the flexible conduit in the bronchus, the conduit robot can assist the flexible conduit to align to the next branch according to the master-slave operation intention of the operator, so that the operation difficulty of the operator is reduced, the operation time is shortened, particularly after the orientation of the flexible conduit is adjusted in an auxiliary mode, the conduit robot can also exit the motion auxiliary mode in an active mode according to the master-slave operation intention of the operator, and therefore the mode is switched before the motion auxiliary mode and the master-slave control mode, and the mode is more flexible and convenient.

Drawings

The features, nature, and advantages of embodiments of the invention will be described with reference to the accompanying drawings, in which:

FIG. 1 is a block diagram of the configuration of a catheter robot system of a preferred embodiment of the present invention;

FIG. 2 is a schematic diagram of an application scenario of a catheter robot system in accordance with a preferred embodiment of the present invention;

FIG. 3 is a schematic view of the catheter robot of the preferred embodiment of the present invention mounted on a surgical trolley;

FIG. 4 is a schematic structural diagram of a navigation device according to a preferred embodiment of the present invention;

FIG. 5 is an overall flow diagram of the catheter robot system of the preferred embodiment of the present invention;

FIG. 6 is a schematic diagram of the creation of an initial path of movement of a flexible catheter on a three-dimensional anatomical model of a bronchus in accordance with a preferred embodiment of the present invention;

FIG. 7 is a schematic diagram of the creation of a first smooth navigation path on a three-dimensional anatomical model of a bronchus in accordance with a preferred embodiment of the present invention;

FIG. 8 is a schematic diagram of the creation of a second smooth navigation path over a three-dimensional anatomical model of a bronchus in accordance with a preferred embodiment of the present invention;

FIG. 9a is a state diagram of a comparative embodiment of the present invention assisting the movement of a flexible conduit through an initial path;

FIG. 9b is a state diagram of a preferred embodiment of the present invention assisting the movement of a flexible catheter through a smooth navigation path;

FIG. 10 is a flow chart of a preferred embodiment of the present invention for registering a three-dimensional anatomical model of a bronchus with a lung feature of a patient;

FIG. 11 is a flow chart of the flexible conduit assisted movement of the preferred embodiment of the present invention;

FIG. 12 is a schematic diagram of a human-machine interface of a preferred embodiment of the present invention;

FIG. 13 is a schematic diagram of the operation of the preferred embodiment of the present invention to adjust curvature;

FIG. 14 is a flow chart of adjusting curvature in accordance with a preferred embodiment of the present invention;

FIG. 15 is an operational schematic diagram of the orientation adjustment of the preferred embodiment of the present invention;

FIG. 16 is a flow chart of the orientation adjustment of the preferred embodiment of the present invention;

FIG. 17 is a schematic diagram of a preferred embodiment of the present invention for estimating the bending profile of a flexible conduit by three points;

FIG. 18 is a schematic diagram of the estimation of the bending profile of a flexible catheter from shape sensor point array information in accordance with a preferred embodiment of the present invention.

The reference numerals are explained below:

100-a motion control device;

101-a processing unit; 102-a sensing unit; 1021-a magnetic field generator; 1022 — a magnetic sensor; 103-a storage unit;

200-a navigation device;

201-an image display unit; 202-a medical image display module; 203-endoscope head image display module; 204-an animation display module; 205-image trolley; 206-human-computer interaction interface; 207-first key; 208-a second key;

300-a motion-performing device; 301-pose adjusting means; 3011-adjusting the arm; 3012-a mobile joint; 302-pose fine tuning unit;

400-surgical trolley; 500-a hospital bed; 600-a sensing unit support structure;

10-a flexible conduit;

11-a passively bendable portion; 12-an actively bendable portion;

20-patient;

s0 — initial path; s1-a first smooth navigation path; s2-second smooth navigation path.

Detailed Description

The technical solutions in the preferred embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As used in this application, the singular forms "a," "an," and "the" include plural referents unless the content clearly dictates otherwise. As used in this disclosure, the term "or" is generally employed in its sense including "and/or" unless the content clearly dictates otherwise. As used in this disclosure, the term "plurality" is generally employed in its sense including "at least one" unless the content clearly dictates otherwise. As used in this disclosure, the term "at least two" is generally employed in a sense including "two or more" unless the content clearly dictates otherwise. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or at least two of the feature. Additionally, the term "tip" or "distal end" generally refers to the end that is distal from the operator of the instrument.

The following examples further illustrate the invention in terms of a bronchial anatomy, but it is to be understood that the invention is not limited to a bronchial tube, but may also be used in other anatomies, such as an intestinal or gastric anatomy.

Fig. 1 shows a block diagram of a catheter robot system according to a preferred embodiment of the present invention. As shown in fig. 1, the present embodiment provides a catheter robot system including a master end and a slave end that are communicatively connected. Wherein, the master end and the slave end can be configured with separate computing devices or share the same computing device. The main terminal comprises an operation unit and further comprises a navigation device 200; the operation unit is used for receiving an external instruction; the main end further comprises a readable storage medium and a processor; and the processor of the master end is used for converting the external instruction into a master-slave control instruction, and the master-slave control instruction comprises motion information and a master-slave mapping relation. The slave end comprises a catheter robot, and the processor of the master end sends the master-slave control instruction to the catheter robot. The catheter robot includes a motion control device 100 and a motion performing device 300 communicatively connected. The motion control apparatus 100 includes a readable storage medium and a processor, and the processor of the motion control apparatus 100 is configured to execute a program in the readable storage medium to output a motion assist command or a master-slave control command. The motion executing device 300 controls the flexible catheter 10 of the catheter robot to move in the natural cavity according to the received master-slave control command or the motion auxiliary command. The natural orifice is, for example, a bronchus.

In more detail, the processor of the motion control device 100 is configured to output a master-slave control instruction according to the motion information sent by the processor at the master end and a preset master-slave mapping relationship, so as to control the motion execution device 300 to execute the master-slave control instruction to drive the flexible catheter 10 to move in the natural orifice. For example, the motion control device 100 controls the motion actuator 300 to drive the flexible guide tube 10 to move according to the acquired moving speed of the operation unit, controls the motion actuator 300 to drive the flexible guide tube 10 to rotate according to the acquired rotating angle or rotating speed of the operation unit, and also controls the motion actuator 300 to drive the flexible guide tube 10 to bend according to the acquired bending angle or bending direction of the operation unit. The operator and master end are preferably located in different rooms from the slave end to achieve physical isolation of the operator from the patient.

The main end and the slave end can also be respectively arranged in different hospitals and different regions and are in communication connection through a remote communication technology. In this manner, during the diagnosis and treatment of respiratory diseases, the operator performs a desired surgical operation in another room, another hospital or another city based on image information acquired by the endoscope, and the motion actuator 300 reproduces all actions of the operator, thereby physically isolating the operator from the patient during the surgical operation.

Further, the operation unit is used for receiving a position instruction, a shape instruction and/or a speed instruction of an operator and feeding back position information, shape information and/or speed information to the catheter robot through a processor at the main end. The form is also called as a posture, a turning angle, etc., and is used to indicate an angle of the catheter tip in a coordinate system, or a turning angle relative to the initial posture. The catheter robot is specifically configured to perform a master-slave mapping calculation on the received position information, shape information, and/or velocity information to output a master-slave control command, where the master-slave control command may include a desired position, shape, and/or velocity of the distal end of the flexible catheter, and accordingly control the motion actuator 300 to drive the flexible catheter 10 to move to a desired position according to the desired velocity and/or position, and to enable the distal end of the flexible catheter 10 to achieve a desired pose and shape in a natural orifice. The present application is not particularly limited as to the type and size of the flexible conduit 10. Wherein, the end of the flexible conduit 10 is provided with an endoscope, and the endoscope is used for acquiring images in the natural cavity and can further feed back to the navigation device 200. The distal end of the flexible catheter 10 is also provided with a magnetic sensor for providing position information within the magnetic field environment, and can be further fed back to the navigation device 200.

Fig. 2 is a schematic diagram illustrating an application scenario of the catheter robot system according to the preferred embodiment of the present invention. As shown in fig. 2, the slave end further includes a surgical trolley 400. The movement performing apparatus 300 includes an adjustment arm 3011 provided on the surgical cart 400. The catheter robot can move in the operating room in a large range through the operating trolley 400, so that the operation process is more convenient. The slave end may also include other ancillary equipment such as a hospital bed 500, the hospital bed 500 being responsible for supporting and adjusting the height of the patient 20. The main end performs an operation, such as a minimally invasive surgery treatment, on the patient 20 on the patient bed 500 through the operation unit.

For purposes of viewing, diagnosing, biopsy, treating pulmonary nodules, etc., the navigation device 200 is configured to generate a three-dimensional anatomical model of a natural lumen from pre-operative medical image data, and to plan a navigation path to a focal site (e.g., a pulmonary nodule) based on the three-dimensional anatomical model of the natural lumen. The operation unit converts the operation information of the operator on the operation unit into a master-slave control instruction of the tail end of the flexible catheter according to the master-slave control relationship between the operation unit and the catheter robot, and transmits the master-slave control instruction to the motion control device 100, and the motion control device 100 outputs a driving signal to the motion execution device 300 according to the master-slave control instruction, so that the motion execution device 300 controls the moving mode of the flexible catheter 10 in the natural orifice according to the master-slave control instruction. For example, the operator may operate according to the navigation path such that the flexible catheter 10 moves within the natural lumen along the planned navigation path. As another example, the operator may operate according to the image provided by the endoscope, such that the endoscope may provide images of the flexible catheter 10 at the same location and in different orientations in the natural orifice.

As can be seen from the examples above, the operator has a variety of controls over the flexible catheter 10. Correspondingly, the space provided by the natural orifice of the human body is complex, such as the branch of the bronchus is numerous, the structural curve is complex, and the like. An operator utilizes the master-slave control mapping relation to operate the flexible catheter 10, and in the movement process, no matter an endoscope at the tail end of the flexible catheter is adopted to observe a local scene inside a natural cavity or a navigation path is used for controlling the posture of the tail end of the flexible catheter, the problems of improper moving speed or uncontrolled direction of the tail end of the catheter exist. For example, the image provided by the endoscope may have a limited field of view because its position is located in the turn-space section of the natural orifice, and the operator cannot know the comprehensive information such as the spatial form of the turn-space section of the natural orifice corresponding to the current position of the flexible catheter, which makes it difficult for the operator to make an optimal or correct catheter motion decision quickly during the operation of the flexible catheter, resulting in problems such as jamming, blockage, and failure of direction control when the flexible catheter 10 is moved.

For this reason, the catheter robot of the present invention has a motion assist mode in addition to a master-slave control mode. In the master-slave control mode, the catheter robot controls the movement mode of the flexible catheter 10 in the natural cavity according to master-slave control instructions; in the motion-assisted mode, the catheter robot controls the movement of the flexible catheter 10 within the natural orifice according to the motion-assisted commands. To this end, the present application provides a control method for a catheter robot. Wherein, the control method can be executed by the motion control device 100 in the catheter robot, and the motion control device 100 and the motion execution device 300 cooperate to control the end of the flexible catheter; it may also be performed by a computer device in the main terminal of the navigation robot system through information interaction with the catheter robot.

In the example of catheter robot execution, the motion control device 100 outputs a master-slave control instruction to the motion execution device 300; and selectively outputting a motion auxiliary command or a master-slave control command according to the determined movement information of the flexible catheter moving in the natural cavity, so that the motion execution device 300 controls the flexible catheter to move in the natural cavity according to the received master-slave control command or motion auxiliary command; wherein the motion assistance instructions are to adjust movement information that the flexible conduit performs based on the master-slave control instructions.

In an example of catheter robotic system execution, the main end performs the steps of: outputting a master-slave control instruction to the catheter robot; selectively outputting a motion auxiliary command or a master-slave control command according to the determined movement information of the flexible catheter moving in the natural cavity, so that the catheter robot can control the flexible catheter to move in the natural cavity according to the received master-slave control command or the received motion auxiliary command; wherein the motion assistance instructions are to adjust movement information that the flexible conduit performs based on the master-slave control instructions. Wherein, the motion control device 100 in the catheter robot converts the received master-slave control command or motion auxiliary command into a master-slave control command or motion auxiliary command that can be recognized by the motion execution device 300.

It is to be understood that the above movement information is movement information of the tip of the flexible catheter 10, and the movement information may include one or more of current movement speed, current position, current form, etc. of the flexible catheter. The movement information may be provided by a sensor disposed at the distal end of the flexible catheter or calculated from drive data of the catheter robot driving the catheter to move. During the master-slave control mode, the movement information (also referred to as first movement information) reflects information that the tip of the flexible catheter moves in accordance with the operation of the operator; during the motion-assisted mode, the movement information (also referred to as second movement information) reflects information that the tip of the flexible catheter moves in accordance with the control of the motion control device 100.

With such a structure, when an operator operates the flexible catheter 10 to move in the natural orifice, the catheter robot can switch back and forth between a master-slave control mode and a motion-assisted mode, wherein the motion-assisted mode can execute catheter operation which is matched with the intention of the operator and enables the movement of the tail end of the flexible catheter to conform to a navigation path, thereby sharing the decision and operation burden of the operator, enabling the operation to be more flexible and convenient, and the motion-assisted mode can avoid unsafe factors in the master-slave control mode, such as damage to the orifice wall of the natural orifice caused by overlarge moving speed of the flexible catheter and unreasonable bending of the catheter, and enabling the operation process to be safer and more reliable. In more detail, when an operator operates the flexible catheter 10 to move in the natural lumen, the catheter robot can detect movement information of the flexible catheter 10 in real time, such as posture, speed and the like, and if the flexible catheter 10 moves to a branch (also called a bifurcation) of the natural lumen along a navigation path, the catheter robot can assist a doctor to operate so that the flexible catheter 10 is aligned with the bifurcation, or when the flexible catheter 10 enters a straight line segment of the natural lumen from the bifurcation, the catheter robot can also assist the doctor to operate so that the flexible catheter 10 can pass along the planned navigation path and smoothly enter the straight line segment near a section of the natural lumen including the bifurcation, which makes the operation of the flexible catheter more convenient, more accurate, safe and reliable.

In some examples, an operator controls the rotation of the flexible catheter tip in a master-slave mode in order to more carefully view the image around a location on the natural orifice. Such an operation may trigger a switching condition of the exercise assisting mode of the exercise control apparatus 100. In order to reduce the interference of the motion assistance mode to the operator, the motion control device 100 determines to output the master-slave control command during the flexible catheter is located in the same section according to the number of times of alternation between the motion assistance command and the master-slave control command generated by the flexible catheter 10 in the same section, that is, the master-slave control command is output according to the number of times of alternation.

Taking a natural orifice as a bronchus as an example, during the movement of the flexible catheter 10 in the space provided by the bronchus under the control of the catheter robot, when the end of the flexible catheter is located at a certain position, such as near the bifurcation of the bronchus, or located: the three-dimensional anatomical structure model is mapped to the position near the corresponding position of the bronchus according to the position marked with the focus or the suspected focus, and a doctor observes information of a road section at the corresponding position through an image provided by an endoscope, so that the doctor can conveniently and accurately diagnose a patient. Therefore, when the catheter robot detects that the movement information of the tail end of the catheter accords with the switching condition according to the master-slave control instruction, the catheter robot switches into the motion auxiliary mode and outputs the motion auxiliary instruction to adjust the shape of the tail end of the flexible catheter, and after the adjustment, the catheter robot switches into the master-slave control mode again to receive the operation of an operator. The reciprocating switching can be performed on the same road section for a plurality of times of alternation according to the requirements of doctors. When the catheter robot detects that the position, the speed and the alternation times in the movement information reach the condition of abandoning switching, the catheter robot controls the shape of the tail end of the flexible catheter in a master-slave control mode until the position and the speed in the detected movement information do not meet the condition of abandoning switching.

In other examples, the motion control apparatus 100 determines whether the first movement information meets a preset requirement; if not, the motion control device 100 outputs a motion assisting instruction according to the first movement information; if yes, the motion control device 100 controls the motion execution device 300 to drive the flexible catheter 10 to move in the natural cavity according to the master-slave control instruction. By the method, the state of the flexible catheter can be timely known by the catheter robot, the motion assisting mode can be timely started, and the flexibility and the convenience of the catheter robot in use are further improved.

Wherein the preset requirement is switching logic for determining whether to switch the master-slave control mode to the exercise assisting mode, which is set according to an operation mode of an operator. The preset requirement is related to at least one of position, form and speed in the mobile information and corresponding judgment logic thereof. In some examples, the predetermined requirement includes at least a location and a location determination logic corresponding to the location. For example, by detecting that the position of the catheter tip in the natural orifice is located near the turning section of the natural orifice, the motion control device 100 determines to switch from the master-slave control mode to the motion assist mode to improve the posture accuracy of the catheter tip movement; or by detecting that the position of the catheter tip in the natural orifice is located in a straight section of the natural orifice, the motion control device 100 switches from the motion assist mode to the master-slave control mode, so that the operator can flexibly adjust the moving speed of the catheter tip. For another example, the motion control device 100 determines to switch from the master-slave control mode to the motion assist mode by detecting a position in the movement information to determine that the catheter tip is located at a branch section that is about to enter the natural orifice, detecting that the velocity in the movement information decreases to near-stop, and detecting an angular deviation between the form in the movement information and a preset target orientation of one of the branches. For another example, the motion control apparatus determines to switch from the master-slave control mode to the motion-assist mode by detecting a position in the motion information to determine that the catheter tip is located along a branch into a straight section, detecting that a velocity in the motion information reaches a preset velocity threshold, and detecting an angular deviation between a form in the motion information and a preset path curvature.

For each of the above examples, the motion control device switches to the master-slave control mode after outputting the motion assist command. Or the motion control device maintains the motion auxiliary mode under the preset duration condition and/or the road section condition, and switches to the master-slave control mode when the switching condition is not met.

In one embodiment, the catheter robot detects a current pose of the flexible catheter 10 during movement in the bronchus, acquires a form of the flexible catheter 10 at a current position according to the current pose, and generates a motion assist command for adjusting the form of the flexible catheter according to the form of the flexible catheter at the current position to adjust the flexible catheter 10 to a target form. In this case, it is understood that the above first movement information includes a form of the flexible catheter at the current position, and the second movement information includes a target form of the flexible catheter at the current position. Further, the motion control apparatus 100 is configured to: and generating a motion auxiliary instruction for adjusting the form of the flexible conduit according to the difference between the form of the flexible conduit 10 at the current position and the natural form of the natural cavity corresponding to the current position. And the motion executing device 300 can control the flexible conduit 10 to enter the straight line section from the bifurcation and move in the natural cavity according to the motion assisting instruction of the form. With the structure, the movement of the flexible catheter 10 in the operation process is more in accordance with the natural shape of the natural cavity, the flexible catheter can more quickly, smoothly and smoothly reach the focus part (such as a pulmonary nodule) through the natural cavity of the human body, the contact or friction of the catheter on the natural cavity is reduced, the accidental injury to the natural cavity in the treatment process is reduced, and the operation risk is reduced.

Further, the navigation device 200 performs path planning on the basis of the three-dimensional anatomical structure model of the natural orifice for the target lesion site (e.g., the target pulmonary nodule), so as to create an initial path (e.g., a broken line) for the movement of the flexible catheter 10. The initial path is generally along the centerline of a true natural orifice, such as the centerline of a bronchus. Further, the motion control device 100 smoothes the planned initial path, so that the planned path better conforms to the natural shape of the real bronchus. Because the smooth path reflects the natural form of the natural cavity more truly and the tangential direction changes continuously, the information can be utilized to optimize the direction and speed of the flexible catheter movement, thereby assisting the flexible catheter movement. That is, the natural form of the natural orifice is obtained based on a three-dimensional anatomical model of the natural orifice acquired in advance.

Referring to fig. 1, the motion control device 100 includes a processing unit 101 and a sensing unit 102. Further, the processing unit 101 is communicatively connected with a navigation device 200. The processing unit 101 comprises a processor and a storage medium for smoothing the initial path to obtain a smoothed navigation path. The navigation path is used for simulating the natural form of the real natural cavity (the natural form is the real form). The sensing unit 102 is capable of detecting movement information of the flexible catheter 10 as it moves within the natural orifice. The processing unit 101 is further capable of generating a motion assistance instruction corresponding to the movement information according to the first movement information. In a specific embodiment, the sensing unit 102 can acquire the current pose of the flexible catheter 10 in the bronchus, and the processing unit 101 can learn the form (including the bending form) of the flexible catheter 10 at the current position according to the current pose of the flexible catheter 10, and then compare the form of the flexible catheter 10 at the current position with the natural form of the real natural orifice, and if the form difference is large, generate a motion assisting instruction corresponding to the form adjustment. The motion executing device 300 is communicatively connected to the processing unit 101, and is configured to control the flexible catheter 10 according to the motion assisting instruction adjusted according to the corresponding form, so as to adjust the form of the flexible catheter 10 at the current position to the target form, so that the flexible catheter 10 can enter the next position of the natural orifice (such as the next bronchial bifurcation or the straight segment of the bronchus) in the target form.

The motion control device 100 further comprises a memory unit 103. The storage unit 103 is used for storing information, such as various programs, and storing movement information and the like provided by the sensing unit 102. More specifically, the information stored in the storage unit 103 includes a path smoothing program, a navigation path, movement information acquired in real time, and the like. The processing unit 101 accesses the storage unit 103 to retrieve the corresponding information.

With continued reference to fig. 1, the motion performing apparatus 300 may specifically include a pose adjusting unit 301 and a form adjusting unit 302. The posture adjustment unit 301 includes an adjustment arm 3011, and the distal end of the adjustment arm 3011 is connected to the flexible guide 10 and is configured to drive the flexible guide 10 to move so as to adjust the position of the flexible guide 10, so that the flexible guide 10 can enter the human body at an appropriate angle. The structure of the adjusting arm 3011 is not limited in this application, for example, the adjusting arm 3011 is a mechanical arm having at least five degrees of freedom, but in other cases, the adjusting arm 3011 may also be a mechanical arm having more than five degrees of freedom, for example, a mechanical arm having six degrees of freedom or seven degrees of freedom. The adjustment arm 3011 may be actively controlled or passively controlled. "active control" means that the adjusting arm 3011 is driven to move by a driving device, such as a driving motor, carried by the catheter robot. "Passive control" refers to manual actuation of the adjustment arm 3011. The adjusting arm 3011 is provided with a moving joint 3012 (see fig. 2) at the end, and the flexible conduit 10 is detachably provided on the moving joint 3012. The locomotion joint 3012 is primarily responsible for pushing the flexible catheter 10 deep into the bronchus of the human lung and retracting the flexible catheter.

The form adjusting unit 302 includes a power box, which is disposed on the adjusting arm 3011, and may be disposed on the moving joint 3012. The power box is in transmission connection with an instrument box at the proximal end of the flexible catheter 10. The power box outputs power, and the instrument box receives the power output by the power box and then adjusts the shape of the flexible conduit 10. The configuration includes a bending curvature and a bending direction. Specifically, the power box outputs power through a traction motor to control a transmission wire in the instrument box to drive the distal end of the flexible catheter 10 to bend, so that the shape of the flexible catheter 10 is adjusted.

Fig. 3 shows a schematic structural diagram of the catheter robot provided on the operation trolley according to the preferred embodiment of the present invention.

As shown in fig. 3, the sensing unit 102 and the adjustment arm 3011 are both disposed on the surgical cart 400. In a preferred embodiment, the sensing unit 102 is a magnetic sensing device, and specifically includes a magnetic field generator 1021 and a magnetic sensor 1022; a magnetic field generator 1021 is provided on the surgical cart 400 and is provided independently of the adjustment arm 3011; the magnetic sensors 1022 are disposed on the flexible catheter 10, and the magnetic sensors 1022 are at least three and are spaced apart in the axial direction of the flexible catheter 10; the magnetic field generator 1021 is used to generate a magnetic field to determine the current position and configuration of the flexible catheter 10, primarily the active bendable portion 12 of the flexible catheter 10, from the position of the magnetic sensor 1022 in the magnetic field.

The catheter robot system may further include a sensing unit support structure 600 disposed on the surgical cart 400, and a magnetic field generator 1021 is disposed at a distal end of the sensing unit support structure 600. The sensing unit support structure 600 is comprised of a number of movable joints and is used to adjust the position of the magnetic field generator 1021 to adjust the position of the magnetic field preoperatively and to position the catheter tip in the natural orifice using the magnetic field it generates and the magnetic sensor in the flexible catheter near its tip. Of course, in addition to the detection of the pose of the flexible catheter 10 by the magnetic field, a catheter positioning scheme designed based on a structured light technique and a three-dimensional anatomical model can be performed by a structural pattern projected by an endoscope and a light source at the tip of the catheter. The hardware structure of the magnetic sensing technology or the structured light technology is easy to integrate, the calculation process is convenient, and the implementation is easy.

With continued reference to fig. 3, the flexible catheter 10 generally includes two portions, a proximal passive bendable portion 11 and a distal active bendable portion 12 (also referred to as a catheter tip, a flexible catheter tip, etc.). The active bendable part 12 is controlled by a catheter robot, and free bending in space can be realized. The passive bendable part 11 is not controlled by the catheter robot and can bend along the natural shape of the natural cavity. An endoscope (not shown) is provided at the distal end of the actively bendable section 12, and the endoscope is used to take an image of the inside of the natural orifice. In fact, the driving wire of the instrument box is connected with the actively bendable portion 12 to change the shape of the actively bendable portion 12, and the sensing unit 102 is also used for sensing the moving information of the actively bendable portion 12 of the flexible catheter 10 in real time. Further, the processing unit 101 compares the form of the active bendable portion 12 at the current position with the natural form of the natural orifice corresponding to the current position, and generates a motion assisting instruction for adjusting the form of the catheter according to the difference between the two forms, so that the form adjusting unit 302 controls the flexible catheter according to the motion assisting instruction, and adjusts the form of the active bendable portion 12 at the current position to the target form. It is also understood that the motion assist instructions for adjusting the catheter configuration are derived from the deviation between the position of the flexible catheter in the navigation path and the navigation path.

Fig. 4 shows the structure of a navigation device of a preferred embodiment of the present invention. As shown in fig. 4, the navigation device 200 includes an image display unit 201, and the image display unit 201 is responsible for displaying information such as system interface programs, input controls, and the like, and specifically may display an endoscope image and a three-dimensional anatomical structure model of a bronchus, and further may dynamically display a catheter shape at a current position corresponding to the three-dimensional anatomical structure model in real time. Further, the software interface of the image display unit 201 is displayed in modules, and may include a medical image display module 202, an endoscopic image display module 203, and an animation display module 204. The medical image display module 202 is responsible for displaying a three-dimensional anatomical structure model of a natural lumen reconstructed from a preoperative medical image, and may also display information such as a preoperative planned navigation path. The endoscope head image display module 203 is responsible for displaying images inside natural cavities such as bronchus and the like shot by the endoscope module in real time. The animation display module 203 is responsible for displaying the morphology of the flexible catheter 10 (i.e. the morphology of the actively bendable portion 12) in real time in a dynamic manner, and displaying the morphology of the flexible catheter at a position corresponding to the three-dimensional anatomical structure model.

Further, the catheter robot system further includes an image trolley 205, the image display unit 201 is disposed on the image trolley 205, and the image trolley 205 is used for realizing a wide range of movement of the navigation device 200 in the operating room.

Further preferably, the main-end or catheter robot is further configured to determine a state of whether to perform the motion assist mode according to an external instruction. The states of performing the exercise assisting mode include turning the exercise assisting mode on and turning the exercise assisting mode off. Specifically, when the catheter robot receives an external instruction for starting a motion assistance function, the catheter robot allows a motion assistance mode to be started to selectively output a motion assistance instruction; on the contrary, when the catheter robot receives the command of disabling the motion auxiliary function, the catheter robot does not start the motion auxiliary mode, and does not output the motion auxiliary command, and at the moment, the catheter robot drives the flexible catheter according to the master-slave control command. In a specific embodiment, the operation unit is used for detecting enabling or disabling interaction instructions of a user to control the catheter robot to enable or disable output of the motion assistance instructions correspondingly.

As shown in fig. 12, the operation unit includes a human-machine interface 206, and the human-machine interface 206 is preferably integrated with the image display unit 201 of the navigation device 200, so that the state of performing the exercise assisting mode is determined through the human-machine interface 206 of the image display unit 201, and the operator can autonomously select whether to turn on the exercise assisting function. The human machine interface 206 is capable of receiving an operator's instruction to generate an instruction to turn on the exercise assisting function. Further, the human-computer interface 206 displays a text prompt message, the text prompt message is used for prompting whether to start the exercise assisting function, and a first key 207 and a second key 208 are arranged below the text prompt message. When the first key 207 is triggered, sending an instruction for starting a motion assistance function to the catheter robot, so that the catheter robot starts a motion assistance mode, and the catheter robot allows a motion assistance instruction to be selectively output; conversely, when the second button 208 is triggered, an instruction to disable the motion assist function is sent to the catheter robot, so that the catheter robot does not turn on the motion assist mode and executes the master-slave control mode. Further, when the first button 207 is activated, the catheter robot is configured to lock the master-slave control mode so that the catheter robot is not erroneously activated to perform master-slave control.

Referring to fig. 5, a flow of the catheter robot system according to a preferred embodiment of the present invention is shown, in this embodiment, the natural orifice is used as the bronchus to perform the working process of the catheter robot system, and the catheter robot performs the working process by using the space provided by the other natural orifice, which is similar to that described above and will not be described in detail herein. The workflow is mainly executed by a computer device, wherein for the convenience of description, a master end, a slave end and a cooperative execution process of the master end and the slave end are represented by a catheter robot system. The workflow comprises the following steps:

step S1: a three-dimensional anatomical model of the bronchus is created and an initial path is generated, and the initial path is smoothed to generate a navigation path.

Specifically, the navigation device 200 reconstructs a three-dimensional anatomical structure model of the patient bronchial structure and the pulmonary nodule focus based on medical image data such as CT or MRI scanned before the operation; then, the navigation device 200 plans an initial path of the flexible catheter 10 from the main airway to the pulmonary junction focus according to the three-dimensional anatomical structure model of the bronchus; then, the motion control device 100 smoothes the initial path to generate a smooth navigation path.

Step S2: the three-dimensional anatomical model of the bronchus is registered with the actual anatomical structure.

In order to realize the correlation between the three-dimensional anatomical structure model of the bronchus and the real bronchus, and match the mapping of the positions of the three-dimensional anatomical structure model of the bronchus and the real bronchus, the three-dimensional anatomical structure model of the bronchus and the lung characteristics of the patient need to be registered. However, it should be understood that the reconstructed three-dimensional anatomical structure model is not limited to CT scan data, and in other embodiments, the three-dimensional anatomical structure model may be reconstructed from image data scanned by other image scanning devices. Therefore, the source of the image data is not particularly limited in the present application. In addition, the flexible catheter 10 is inserted into the bronchus before operation, and at least three feature points of the lung of the patient are extracted with the aid of the sensing unit 102 to facilitate registration of the three-dimensional anatomical model. After the feature points of the lung of the patient are extracted, registration can be carried out according to the feature points on the three-dimensional anatomical structure model of the bronchus and the extracted actual feature points of the lung of the patient, so that the association between the three-dimensional anatomical structure model of the bronchus and the real bronchus is established.

Step S3: whether the exercise assisting mode is turned on is selected.

After the registration is completed, and before the operation is started, the operator can control whether to start the motion assistance mode through the human-computer interface 206. The human-machine interface 206 can be configured in an operation unit (also called human-machine interaction device).

Step S4: detecting movement information of the flexible catheter during movement in the bronchus in the master-slave control mode after the motion assist mode is started;

in some embodiments, the current pose (including position and morphology) of the flexible catheter 10 as it moves within the bronchus is detected. For example, the position and morphology of the flexible catheter may be acquired by detecting the shape of the flexible catheter 10, such as a shape sensor. Shape sensors are exemplified, among others, as sensors distributed over a length of flexible catheter to provide discrete locations and configurations within the length of the length. As another example, the position and morphology of the flexible catheter may be obtained by sensing the position of the flexible catheter 10, such as a magnetic sensor. In some embodiments, it is also desirable to detect the velocity of the flexible catheter 10 as it moves within the bronchus.

Step S5: and selectively outputting a motion auxiliary command or a master-slave control command according to the movement information.

It should be understood that, in step S5, the catheter robot needs to determine whether the movement information meets the preset requirement, and if not, generates the motion assistance command according to the movement information. The preset requirements include the moving speed of the flexible conduit, the shape of the flexible conduit, the position of the flexible conduit, etc.

For example, the catheter robot system first determines the current position of the flexible catheter in the bronchus, determines whether to execute a motion assist mode according to the position of the flexible catheter in the bronchial segment, and if the catheter robot system determines that the current form of the flexible catheter needs to be adjusted in time, generates a motion assist command corresponding to form adjustment to adjust the form of the flexible catheter, so that the flexible catheter enters a straight-line segment from a bifurcation of the bronchus according to a smooth navigation path.

More specifically, the processing unit 101 compares the form of the flexible catheter at the current position acquired in step S4 with the natural form of the bronchus in which the flexible catheter is located, and if the curvature deviation of the two is not within the threshold, the processing unit 101 generates a motion assist command corresponding to the form adjustment. Specifically, the processing unit 101 compares the form of the active bendable part 12 at the current position with the tangential direction of the corresponding position of the natural form of the located bronchus, and if the curvature deviation of the two is not within the threshold, the processing unit 101 generates the exercise assisting instruction adjusted according to the form.

For another example, the catheter robot system first determines the current position of the flexible catheter in the bronchus and the current moving speed of the flexible catheter, and if the moving speed of the flexible catheter in the current position is close to 0 or equal to 0, it indicates that the current intention of the operator is to make an optimal catheter movement decision in consideration to adjust the posture and the orientation of the catheter, so that the catheter smoothly enters the path branch of the next stage of the bronchus bifurcation, and at this time, the catheter robot system determines that the orientation of the flexible catheter is at the moment that the orientation needs to be adjusted in time, and generates a movement auxiliary instruction corresponding to the posture adjustment to adjust the orientation of the flexible catheter, so that the tail end of the flexible catheter aligns with the branch of the next stage bronchus.

For another example, the catheter robot system can further generate a motion assisting instruction including a speed lower than the current moving speed when the current moving speed of the flexible catheter exceeds a preset value, so that the motion executing device 300 controls the flexible catheter to move in the bronchus according to the motion assisting instruction of the moving speed, for example, the moving speed of the catheter can be reduced, so as to prevent the flexible catheter from impacting the bronchus tissue and causing damage to the bronchus tissue.

Step S6: and controlling the flexible catheter to move in the bronchus according to the second movement information according to the movement auxiliary instruction. The second movement information may include orientation, form and speed of the flexible catheter, and speed may include magnitude and direction, such as advancement and bending.

The following is a further description of specific embodiments of the various steps in the workflow of the catheter robot system.

As shown in fig. 6, the navigation device 200 plans an initial path S0 on the three-dimensional anatomical model of the bronchus. The initial path S0 is a broken line formed by sequentially connecting a start point P0, several branch points P1, P2, P3, P4, and a target point P5. The invention has no requirement on the number of the branch points, the number of the branch points is generally consistent with or less than the number of the branches of the bronchus, and the number of the branch points is not less than 3. The starting point P0 is the starting position of the catheter movement and the target point P5 is the ending position of the catheter movement. Four branch points P1, P2, P3, P4 on the initial path S0 are shown in fig. 6. Since the front and rear paths have abrupt changes in direction at the branch point, the initial path S0 is not smooth, and cannot represent the natural shape of the real bronchus, and it is necessary to smooth the path. The smoothing of the initial path S0 may be performed in various ways.

According to an embodiment of the present invention, as shown in fig. 7, only the navigation paths near the branch points P1, P2, P3, and P4 may be locally smoothed, while at a distance from the branch points P1, P2, P3, and P4, the straight line shape of the initial path S0 is retained, and then the retained initial path S0 and the smoothed path are locally smoothed and curve-fitted to obtain the first smoothed navigation path S1. It should be understood that the dotted line in fig. 7 is a straight line portion of the initial path S0, and the solid line is a partially smoothed path portion. There are many ways of local smooth curve fitting, such as circular arc curves, spline curves, polynomial curves, Bezier curves, etc. Regardless of which fitting method is used, a continuous smooth condition needs to be satisfied, that is, both ends of the smooth curve are tangent to the straight dotted line far away from the bifurcation point, and the fitting curve itself can not pass through the bifurcation point. The specific parameters of different fitting curves can be flexibly adjusted according to requirements, such as the curvature of a circular arc curve, the order of a spline curve, the times of a polynomial curve and a Bezier curve, and the like. The local smoothing algorithm is simple and easy to use, and has high applicability to complex bifurcation structures.

According to another embodiment of the invention, as shown in fig. 8, the fitted curve passes through all the branch points P1, P2, P3, P4, and of course also the starting point P0 and the target point P5. In this manner, a cubic spline curve, a multi-segment circular arc curve, or the like may be used for fitting to obtain the second smooth navigation path S2.

Fig. 9a shows the state of the auxiliary flexible catheter moving under the initial path S0, and fig. 9b shows the state of the auxiliary flexible catheter moving under the smoothed navigation path. Wherein fig. 9a and 9b show that near the bifurcation point P3, a smooth fore-and-aft path is used for the flexible catheter motion assist distinction, and the arrow at point P3 indicates the forward direction of the flexible catheter motion.

The present invention compares the possible movements of the flexible catheter guided by the initial path S0 and the smoothed navigation path (S2 or S1). As can be seen from the comparison, when the flexible catheter 10 moves along the initial path S0 in fig. 9a, there is a risk of the tip of the flexible catheter traveling in the direction indicated by the arrow breaking off in speed and hitting the bronchial wall, and therefore it is not available for motion assistance; while flexible catheter 10 is moving along the smoothed navigation path of fig. 9b, the navigation path is along the extension direction of the bronchus, as indicated by the arrow, and the velocity direction is continuous and smooth, so that the operator can be assisted in controlling flexible catheter 10 to safely and rapidly pass through bifurcation point P3 with reference to the direction. That is, it will be appreciated that the catheter robotic system can assist a physician in performing a catheter operation based on the navigation path, enabling the flexible catheter to pass along the navigation path through the bifurcation of the bronchus, such as by moving along the path, while avoiding the risk of hitting the bronchial tissue.

The above step S1 is the preparation required to be completed before the operation. After the smoothing of the preoperative planned path is completed, the registration of the three-dimensional anatomical structure model of the bronchus and the actual characteristics of the lung of the patient is needed when the operation is started.

Fig. 10 shows a flowchart of a registration process provided by the preferred embodiment of the present invention, which mainly includes the following steps:

step S11: including step S11-1 and step S11-2.

Step S11-1: and extracting the lung characteristic points of the patient. The position of the patient's lung feature points (which are typically the location of the bifurcation extracting the bronchi, as well as the location of the target lung nodule) are picked up by sensors inside the flexible catheter 10. The number of extracted lung feature points of the patient is not less than 3. It will be appreciated that the feature points of the anatomical structure are locations corresponding to the bifurcation where extraction of the feature points is facilitated.

Step S11-2: and extracting feature points on the three-dimensional anatomical structure model of the bronchus, and specifically extracting the positions of the bifurcation points on the three-dimensional anatomical structure model of the bronchus.

Step S12: and registering the three-dimensional anatomical structure model of the bronchus and the lung of the patient by adopting a characteristic point method, and generating a registration matrix. Here, it should be noted that, it is easy for those skilled in the art to perform registration of the three-dimensional anatomical model of the bronchus and the lung of the patient according to a feature point-based registration method in the well-known art and generate a registration matrix, so that the present invention does not describe the registration process in more detail, and those skilled in the art should know how to perform registration of the two and how to acquire the registration matrix.

Step S13: and after the registration matrix is generated, the registration of the three-dimensional anatomical structure model of the lung and the bronchus of the patient is completed.

The registration process establishes a mapping relationship between the patient's lungs and the three-dimensional anatomical model of the bronchus by which a smooth path (i.e., a reference navigation path) generated based on the three-dimensional anatomical model of the bronchus can be used to assist in flexible catheter movement.

After the registration is completed, before the operation is started, whether the motion assistance mode is started or not can be further determined by the main end or the catheter robot. In practice, there are generally two situations in which an operator needs assistance in manipulating the flexible catheter 10 to move in the bronchus:

the first case is: when the flexible catheter 10 enters a straight section of a corresponding passage branch from a curved section of a branch of the bronchus, and the current shape of the actively bendable part 12 of the flexible catheter 10 cannot be adjusted according to the curvature of the curved section, the tip of the catheter is easily pressed against the bronchus wall of the curved section, so that the movement of the catheter is blocked, and even the bronchus wall or the catheter itself is damaged. Therefore, the catheter robot adjusts the curvature of the active bendable part 12 by switching to the motion assisting mode by detecting that the movement information of the tail end of the catheter meets the switching condition, so that the advance of the catheter robot is more compliant with the shape of the bronchus and smoother; it will be appreciated that in this case the catheter robot controls the bending profile of the flexible catheter directly from the motion assist commands, ignoring master-slave control commands at the master end, where it is preferable to lock the master-slave control mode.

The second case is: the flexible catheter 10 enters a curved section of a bifurcation of a bronchus from a straight section of the bronchus, an operator aligns one bifurcation of the bronchus by using master-slave operation, the operator usually needs to try for many times in the operation process, the operation time is long, and therefore the orientation of the flexible catheter needs to be automatically adjusted by a catheter robot in an auxiliary mode so as to align the next bifurcation quickly; in this case, the catheter robot system switches to the motion assist mode by detecting the movement information to adjust the orientation of the flexible catheter under the motion assist command, ignoring the master-slave control command at the master end, and after the tip of the flexible catheter is aligned with the next branch point, the catheter robot continues to execute the master-slave control command to control the motion of the flexible catheter 10.

Therefore, the catheter robot system of the present invention mainly controls the pose and form of the flexible catheter 10 according to the master-slave control command, but if necessary, the catheter robot system ignores the master-slave control command and executes the motion assistance command to assist the doctor in adjusting the form of the flexible catheter 10, so as to improve the safety of the operation, share the work of the operator, and shorten the operation time.

As described above, there are generally two situations in which the flexible catheter 10 needs to be moved within the bronchus for motion assistance, and correspondingly, the motion assistance mode of the catheter robot includes a curvature adjustment mode (i.e., adjusting the curvature in the motion assistance mode) and an orientation adjustment mode (i.e., adjusting the orientation in the motion assistance mode). When the flexible tube 10 moves within the bronchus, the motion control device 100 can selectively perform one of the curvature adjustment mode and the orientation adjustment mode according to the current position of the flexible tube 10 in the bronchus. In the present embodiment, the motion control apparatus 100 is configured to: when it is determined that the distal end of the flexible catheter 10 enters the straight section (also called a trunk lumen, or a straight section or a passage) from the transition lumen (also called a turning section, a curved section, or a passage branch) of the bronchus according to the movement information, the exercise assisting mode is selected to be executed to control the curved form of the flexible catheter 10; and when the terminal of the flexible catheter is judged to enter the switching channel from the main channel, the motion auxiliary mode is selected to be executed so as to control the orientation of the flexible catheter 10.

FIG. 11 shows a flow chart of the catheter robotic system motion assist of the preferred embodiment of the present invention. As shown in fig. 11, after the registration is completed, the motion assistance mode selection process is started in step S20, and after the process is entered, in step S21, whether to start the motion assistance may be prompted on the human-computer interface 206 of the image display unit 201; if the on motion assist in step S22 is selected, proceed to step S24; if the exercise assistance is disabled, the process preferably proceeds to the exercise safety protection function in step S23; however, regardless of whether the movement assist is turned on or not, it is necessary to turn on the movement safety protection function to safely protect the movement posture of the flexible catheter 10 in the bronchus. The motion attitude of the flexible catheter at least comprises the moving speed, for example, when the speed detection device detects that the speed of the flexible catheter 10 is too high, the catheter robot system actively controls the flexible catheter 10 to reduce the moving speed, and ignores the master-slave control instruction.

When the exercise assisting function is turned on, the exercise control device 100 enters the exercise assisting mode, and the processing unit 101 determines the specific position of the bronchus where the active bendable portion 12 is currently located according to the information (current position and current speed) detected by the sensing unit 102, and specifically determines whether the end of the catheter enters the straight line segment of the bronchus through step S24; if the end of the catheter is near the bifurcation and is entering the straight line segment of the bronchus, the flow goes to step S25 to adjust the curvature, so as to adjust the curvature of the active bendable part 12 in real time through the form adjusting unit 302 to adapt to the curvature change of the bronchus, so that the active bendable part 12 smoothly enters the straight line segment of the bronchus; conversely, if the distal end of the catheter is leaving the straight segment of the bronchus, i.e., is about to enter the next bifurcation (i.e., it is determined to be ready to move to one of the branch directions of the bronchial passageways), the flow goes to step S26 to adjust the orientation, and the current configuration of the flexible catheter is controlled by the configuration adjusting unit 302 to adjust the orientation of the actively bendable portion 12 so that the distal end of the catheter is aligned with the next bifurcation to assist the operator in positioning.

More specifically, the current position and the current speed of the flexible catheter moving in the bronchus are detected, the angular deviation between the current form of the flexible catheter and the preset target orientation is detected, and a motion auxiliary instruction for adjusting the current form to align with the path branching direction is output according to the angular deviation so as to control the flexible catheter to adjust the angle; wherein the target orientation represents aligning the flexible catheter in a respective access branch direction in the bronchus.

Further, detecting a current position and a current moving speed in the movement information includes: mapping a current position of the flexible catheter to a model position in a pre-acquired three-dimensional anatomical model of the bronchus; and determining that the flexible conduit is proximate to one of the access branches based on the model location; detecting that an absolute value of a current moving speed of the flexible conduit is less than a preset speed threshold; and detecting that the current configuration of the flexible conduit branches towards one of the pathways under control of the master-slave control instructions.

Further, after the curvature adjustment or the orientation adjustment is performed, the motion optimization command (i.e., the auxiliary motion command) in step S27 is generated, and finally the motion optimization command is sent to the shape adjusting unit 302, so that the shape adjusting unit 302 executes the motion optimization command in step S28, so that the flexible catheter 10 moves in the bronchus more smoothly or the bifurcation is aligned quickly to shorten the operation time.

Figure 13 illustrates a functional diagram of the operative curvature adjustment of the preferred embodiment of the present invention wherein the catheter tip enters the straight segment from the bronchial bifurcation for the proposed curvature. Three equally spaced discrete time points (t1, t1+ Δ t and t1+2 Δ t) are taken as an example in fig. 13 for illustration. At time t1, the solid line a1) of the active bendable portion 12 is at the bifurcation point, at which the bending curvature of the active bendable portion 12 is locally maximum; as the catheter is pushed downwards, the catheter gradually enters the straight line section, the curvature of the bronchus gradually becomes smaller, and the active bendable part 12 needs to be gradually straightened; at time t1+ Δ t, the curvature of the active bendable portion 12 (dotted line a2) is smaller than at time t 1; further at time t1+2 Δ t, the curvature of the active bendable portion 12 (dashed line a3) is smaller than at time t1+ Δ t; in this manner, the actively bendable section 12 is substantially straight after it has fully entered the straight bronchial segment. Therefore, during the process of entering the straight line segment from the bifurcation point, the form adjusting unit 302 can gradually adjust the curvature of the actively bendable part 12 according to the current posture of the end of the catheter, so that the curvature is gradually reduced, and the straight line segment can smoothly enter the bronchus. And when it is detected that the flexible catheter moves to the straight line segment of the path branch, the motion control device 100 outputs a master-slave control command to move the flexible catheter 10 along the path branch.

In more detail, fig. 14 shows a flow of curvature adjustment of the preferred embodiment of the present invention, including:

step S31: the processing unit 101 judges the position of the tail end of the catheter in the bronchus according to the information detected by the sensor (namely, the sensing unit 102);

step S32: the processing unit 101 obtains the optimal curvature of the catheter at the current position (i.e. the current optimal curvature of the catheter) according to the current position of the catheter tip (or the catheter head) in the bronchus and the distance from the catheter tip to a branch point (i.e. the upper level of the anatomy);

step S33: the processing unit 101 inversely solves the driving parameters (i.e. target motion parameters) of the bending of the conduit from the optimal curvature, wherein the driving parameters include information such as a motor rotation angle, a length of a traction steel wire in the conduit, a unit conduit bending angle and the like;

step S34: and finally, the driving parameters are issued to the motion executing device 300 for execution, and the motion executing device 300 drives the flexible catheter 10 to move according to the driving parameters so as to adjust the bending form of the catheter in the current pose to the target bending form.

Further, the optimal curvature and driving parameters may be calculated by the following formulas:

c(x)＝c_max*(L-x)/((L/2)

wherein: c _ max is the maximum curvature of the bronchial centerline near the bifurcation point; l is the length of the actively bendable section 12; x is the distance of the catheter tip from the last bifurcation point; c (x) is the optimal curvature of the catheter.

And then according to the optimal curvature c (x), solving through an inverse kinematics algorithm to obtain information such as a motor rotation angle, the length of a traction steel wire in the conduit, a unit conduit bending angle and the like. It should also be appreciated that the above optimal curvature can also be obtained from the curvature of the smoothed navigation path at the current position of the catheter, and thus is not limited to obtaining the optimal curvature by the above algorithm.

Therefore, in this embodiment, the selectively outputting the motion assistance command according to the determined movement information of the flexible catheter moving in the natural orifice includes: detecting a current position in the movement information to determine that the flexible catheter has entered one of the access branches of the natural orifice; and detecting a curvature deviation between a current shape in the movement information and the path branch; outputting a motion assist instruction for adjusting the current configuration to move along the curvature of the path branch in accordance with the curvature deviation. Further, detecting a current position in the movement information to determine that the flexible catheter has entered one of the access branches of the natural orifice, comprising: mapping the current position into a three-dimensional anatomical model of a corresponding natural lumen to detect whether the flexible catheter is located in a curved segment of a respective access branch; wherein the curvature is determined based on a degree of curvature of the curved segment. Further, the curvature is determined based on a path curvature of the pre-acquired navigation path corresponding to the curved segment.

Fig. 15 shows a schematic diagram of the operation of the orientation adjustment mode of the preferred embodiment of the present invention. Fig. 15 illustrates the orientation heuristics that may occur within a predetermined range of the flexible catheter 10 (only the actively bendable section 12 is shown) just before entering a bronchial ostium at the bifurcation of P3, as indicated by the dashed circle, represented by dashed O1, dotted O2, and solid O3 in fig. 15. Where O3 represents the best possible orientation, determined by the natural extension of the bronchus in which the catheter is located, which, as previously mentioned, is considered to coincide with the smoothed path direction. Thus, the path direction at the smoothed P3 bifurcation point may be used as a reference optimal catheter orientation.

In this embodiment, the motion control apparatus 100 is configured to: detecting whether the mobile information meets a preset requirement or not to obtain a corresponding detection result; wherein the preset requirement is determined based on a judgment logic corresponding to at least one of a position, a form and a speed in the movement information. For example, the motion control device 100 obtains the current position, shape and current moving speed of the flexible catheter 10 in the bronchus according to the moving information; judging according to a preset switching condition: and when the current position is positioned near a bifurcation section to be selectively entered into the bronchus, the current moving speed is close to 0, and the current form deviates to any bifurcation passage, switching to the exercise assisting mode, and outputting an exercise assisting instruction for aligning the next bifurcation of the bronchus.

Further, the catheter robot is further configured to execute a master-slave control mode when at least one of the three conditions is not satisfied.

More specifically, fig. 16 shows a flow of the orientation adjustment mode in the preferred embodiment of the present invention, which specifically includes:

firstly, in step S41, the catheter robot determines whether the current advancing speed of the flexible catheter is close to zero, and if so, the catheter robot determines that the operator does not currently master and slave control the catheter, and may consider the adjustment strategy of the catheter; the determination of step S42 and step S43 are continued.

Step S42 is to determine that the flexible pipe is being subjected to fine adjustment of the master-slave control and the flexible pipe is always oriented toward the target branch.

Step S43 is to judge that the end position of the flexible conduit is close to the target branch or the target inlet; when the flexible catheter satisfies the conditions in step S42 and step S43, the catheter robot assists in adjusting the catheter orientation so that the catheter tip is aligned with the target bronchial entrance.

As shown in fig. 15, the catheter robotic system may set a predefined spatial region C, which may be spherical, cubic, ellipsoidal, conical, etc., and when the processing unit 101 determines that the catheter tip enters the predefined spatial region near the bifurcation point, it determines that the catheter tip is positioned near the target bifurcation.

It should be understood that, when the orientation of the catheter is adjusted in an auxiliary manner, the catheter robot performs auxiliary adjustment on the orientation of the catheter while ignoring the master-slave control command, and actively adjusts the orientation of the catheter to the optimal orientation, and further, a visual prompt (or a voice prompt dedicated to exercise assistance) can be given on a display interface at the master end, so as to promote the operator that the current orientation of the catheter is adjusted to the optimal orientation in an auxiliary manner.

However, during the direction adjustment, the catheter robot system may misjudge the intention of the operator, that is, misjudge the intention of the operator when the operator stops manipulating the flexible catheter in order to align the flexible catheter with the target branch, but may need to move forward to align with another branch, and at this time, the intention of the operator may be further judged through step S45, that is, after the flexible catheter 10 is adjusted to the target direction, the catheter robot system continues to judge whether the posture of the flexible catheter has changed, and if the posture of the flexible catheter has changed, the catheter robot system exits the direction adjustment mode and executes the master-slave control mode, and the catheter robot system continues to control the flexible catheter to enter the passage branch according to the master-slave control command. In this embodiment, the catheter robot may obtain the motion information of the operation unit from the master end to further determine the master-slave adjustment posture of the catheter, and if it is determined that the master end continuously changes the posture of the catheter in the master-slave manner, the catheter robot exits the orientation adjustment mode and continues to execute the master-slave control instruction, so that the orientation adjustment mode enters a loop, and waits for the next trigger of the switching condition to restart the orientation adjustment mode.

It will be appreciated that either the curvature adjustment mode or the orientation adjustment mode is dependent on the position of the catheter tip and is determined taking into account the difference between the configuration of the catheter tip and the natural configuration of the corresponding location of the natural orifice. The catheter's morphology may be provided by movement information, the natural morphology being derived based on a pre-acquired three-dimensional anatomical model of the natural orifice.

In one embodiment, as shown in fig. 17, at least three position sensors P1, P2, and P3 (i.e., magnetic sensors) may be provided on the active bendable portion 12 of the catheter, the relative positions of the three position sensors being arbitrary but not coincident, and then the bending curvature of the active bendable portion 12 (considered to be curved into a circular arc) is estimated by the three-point method.

Specifically, it can be calculated by the following formula:

firstly, projecting three-dimensional space points to a bending plane of the active bendable part 12; on the bending plane, the coordinates of the three position sensors are: p1 ═ (x1, y 1); p2 ═ (x2, y 2); p3 ═ (x3, y 3);

calculating the curvature radius r of the active bendable portion 12:

wherein:

A＝x1(y2-y3)-y1(x2-x3)+x2y3-x3y2；

B＝(x1²+y1²)(y3-y2)+(x2²+y2²)(y1-y3)

+(x3²+y3²)(y2-y1)；

C＝(x1²+y1²)(x2-x3)+(x2²+y2²)(x3-x1)

+(x3²+y3²)(x1-x2)；

D＝(x1²+y1²)(x3y2-x2y3)+(x2²+y2²)(x1y3-x3y1)

+(x3²+y3²)(x2y1-x1y2)。

the bending curvature is further calculated:

wherein: c is the curvature of curvature; r is the radius of curvature.

In another embodiment, the radius of curvature r of the active bendable portion 12 may be calculated using the point column information of the shape sensor and a least squares method, if shown at 18. Specifically, an optional implementation is as follows:

firstly, three-dimensional space points are projected to a curved plane, and on the curved plane, the coordinates of the point rows are respectively as follows:

P1＝(x1，y1)；

P2＝(x2，y2)；

…

Pn＝(xN，yN)；

the radius of curvature of the active bendable portion 12 is calculated:

wherein (x)_c，y_c) As the coordinates of the circle center; p1, P2, P3, P4,. and. Pn are point rows; n is the number of the point rows, and the number of the point rows is at least 3.

Further, an embodiment of the present invention also provides a readable storage medium, which stores a program, and when the program is executed, the program performs all the steps performed by the motion control apparatus 100.

In addition, the invention also provides an electronic device which comprises a processor and a memory, wherein the memory comprises the readable storage medium. Wherein the readable storage medium has stored thereon a program for execution by the processor to perform all the steps performed by the motion control apparatus 100.

In addition, the present invention also provides a control method for a catheter robot, comprising: acquiring movement information for reflecting the movement of the flexible catheter in a space provided by a natural cavity; detecting the movement information according to the three-dimensional anatomical structure model of the natural cavity; selectively outputting a motion auxiliary instruction or a master-slave control instruction according to the obtained detection result, so that the catheter robot drives the flexible catheter to move according to the master-slave control instruction or the motion auxiliary instruction; wherein the motion assistance instructions are to adjust movement information that the flexible conduit performs based on the master-slave control instructions.

It is to be understood that the present invention is not particularly limited as to the type of processor. The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor 301 (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. The general purpose processor may be a microprocessor or it may be any conventional processor or the like which is the control center for the electronic device and which connects the various parts of the overall electronic device using various interfaces and lines.

Also, the present invention has no particular limitation on the kind of the memory. The memory may be non-volatile and/or volatile memory. The non-volatile Memory may include Read Only Memory (ROM), programmable ROM (prom), electrically programmable ROM (eprom), electrically erasable programmable ROM (eeprom), variable resistive Memory (ReRAM), phase change Memory (PCRAM), or Flash Memory (Flash Memory). Volatile memory can include Random Access Memory (RAM), registers, or cache. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

It should be understood that the type of the processing unit is not particularly limited, and the processing unit may be hardware for executing Logic operation, such as a single chip, a microprocessor, a Programmable Logic Controller (PLC) or a Field-Programmable Gate Array (FPGA), or a software program, a function module, a function, an Object library (Object Libraries) or a Dynamic-Link library (Dynamic-Link Libraries) for implementing the above functions on a hardware basis. Alternatively, a combination of the above two. Those skilled in the art will know how to implement the functions of the processing unit based on the disclosure of the present application.

The above description is only for the purpose of describing the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention, and any variations and modifications made by those skilled in the art based on the above disclosure are within the scope of the present invention.

Claims

1. A readable storage medium storing a program which, when executed, performs the steps of:

2. The readable storage medium of claim 1, wherein the movement information includes at least one of a current movement speed of the flexible catheter, a current location of the flexible catheter, and a current morphology of the flexible catheter.

3. The readable storage medium of claim 1, further comprising performing at least one of:

and determining to output a master-slave control instruction during the period that the flexible conduit is positioned on the same road section according to the number of times of alternation of the motion auxiliary instruction and the master-slave control instruction generated by the flexible conduit on the same road section.

4. The readable storage medium of claim 1, wherein the movement information includes a morphology of the flexible catheter at the current location;

5. The readable storage medium of claim 4, wherein the readable storage medium further prestores a navigation path, wherein the navigation path is obtained by simulating a natural shape of a natural lumen using the three-dimensional anatomical structure model, and wherein the motion-assist instruction is obtained from a deviation between a position of the flexible catheter in the navigation path and the navigation path.

6. The readable storage medium of claim 4, wherein the motion-assist instructions are for adjusting a flexible catheter configuration to change its curvature of movement within the natural orifice; or the motion-assist instructions are used to adjust the flexible catheter configuration to change its orientation within the natural orifice.

7. The readable storage medium of claim 1, wherein the movement information includes a current movement speed of the flexible catheter;

8. The readable storage medium of claim 1, wherein selectively outputting motion assist instructions based on the determined movement information of the flexible catheter moving within the natural lumen comprises:

9. The readable storage medium of claim 8, wherein the detecting the current position and the current moving speed in the moving information comprises:

10. The readable storage medium of claim 8, wherein the selectively outputting a motion assist command or a master-slave control command based on the determined movement information of the flexible catheter moving within the natural lumen comprises: when the flexible conduit is detected to be adjusted to the target orientation, a master-slave control instruction is output to enable the flexible conduit to enter the access branch.

11. The readable storage medium of claim 1, wherein selectively outputting motion assist instructions based on the determined movement information of the flexible catheter moving within the natural lumen comprises:

12. The readable storage medium of claim 11, wherein said detecting a current location in the movement information to determine that the flexible catheter has entered one of the access branches of the natural orifice comprises:

13. The readable storage medium of claim 12, wherein the curvature is determined based on a path curvature corresponding to the curved segment in a pre-acquired navigation path.

14. The readable storage medium of claim 12, wherein the selectively outputting a motion assist command or a master-slave control command based on the determined movement information of the flexible catheter moving within the natural lumen comprises: and when the flexible guide pipe is detected to move to the straight line section of the passage branch, outputting a master-slave control instruction to enable the flexible guide pipe to move along the passage branch.

15. A catheter robot comprising a motion control device and a motion actuator communicatively coupled;

the motion control apparatus comprising a readable storage medium as recited in any of claims 1-14, and a processor; wherein the processor is configured to execute a program in the readable storage medium to output a motion assist instruction or a master-slave control instruction;

16. The catheter robot of claim 15, wherein the motion performing means includes a pose adjusting unit and a form adjusting unit;

17. The catheter robot of claim 16, wherein the motion control device further comprises a sensing unit;

18. A catheter robot system comprising a master end and a slave end communicatively connected, the master end comprising an operating unit, characterized in that the slave end comprises a catheter robot; the master comprising a readable storage medium and a processor as recited in any of claims 1-14; the operation unit is used for receiving an external instruction; the processor is used for converting the external instruction into a master-slave control instruction and sending the master-slave control instruction to the catheter robot.

19. The catheter robotic system of claim 18, wherein the main tip further comprises a navigation device for creating a three-dimensional anatomical model of the natural orifice from the medical image data and creating a navigation path from the three-dimensional anatomical model that simulates a natural shape of the natural orifice to provide a reference for flexible catheter movement.

20. The catheter robot system of claim 19, wherein the navigation device comprises an image display unit including a medical image display module, an endoscopic lens image display module, and an animation display module;

21. The catheter robot system of claim 18, wherein the operating unit is further configured to detect an enable or disable interactive command of a user to control the catheter robot to correspondingly enable or disable output of the motion assist command.

22. The catheter robot system of claim 21, wherein the operating unit displays a text prompt and provides a first button and a second button;

23. An electronic device comprising a processor and a memory, the memory comprising a readable storage medium as claimed in any one of claims 1 to 14, the memory having stored thereon a program for execution by the processor.

24. A control method for a catheter robot for controlling movement of a flexible catheter, the control method comprising: