WO2024016471A1

WO2024016471A1 - Interventional robotic system, control method, and medium

Info

Publication number: WO2024016471A1
Application number: PCT/CN2022/121200
Authority: WO
Inventors: 黄韬; 王琳
Original assignee: 北京唯迈医疗设备有限公司
Priority date: 2022-07-22
Filing date: 2022-09-26
Publication date: 2024-01-25
Also published as: CN114917029A; CN114917029B

Abstract

An interventional robotic system (10), a control method, and a medium. The system comprises a master mechanism (101) and a slave mechanism (102). The master mechanism (101) comprises a processor (1011), a display part (1012), and a user manipulation part (1013). The processor (1011) is configured to acquire intraoperative images comprising physiological tubular structures and analyze and process the intraoperative images to generate automatic navigation instructions. The user manipulation part (1013) is configured to receive manual manipulations of a user and transmit manual control instructions corresponding to manual manipulations. The slave mechanism (102) is configured to receive instructions from the processor (1011) and the user manipulation part (1013), control a medical intervention device to travel on the basis of automatic navigation instructions when receiving the automatic navigation instructions but not manual navigation instructions, and control the medical intervention device to travel on the basis of manual navigation instructions when receiving the manual control instructions. Therefore, the interaction between the user and the system can be realized, and the safety of the intervention robot in an automatic execution process is guaranteed.

Description

一种介入手术机器人***、控制方法和介质An interventional surgical robot system, control method and medium

技术领域Technical field

本申请涉及介入手术机器人控制技术领域，具体涉及一种介入手术机器人***、控制方法和介质。The present application relates to the technical field of interventional surgery robot control, and specifically relates to an interventional surgery robot system, control method and medium.

背景技术Background technique

心脑血管微创介入疗法是针对心脑血管疾病的主要治疗手段，和传统外科手术相比，有着切口小、术后恢复时间短等明显优势。心脑血管介入手术是由医生手动将导管、导丝以及支架等器械送入病患体内来完成治疗的过程。介入手术存在诸多问题，比如，在手术过程中，由于DSA会发出X射线，医生体力下降较快，注意力及稳定性也会下降，将导致操作精度下降，易发生因推送力不当引起的血管内膜损伤、血管穿孔破裂等事故，导致病人生命危险。其次，长期电离辐射的积累伤害会大幅地增加医生患白血病、癌症以及急性白内障的几率。医生因为做介入手术而不断积累射线的现象，已经成为损害医生职业生命、制约介入手术发展不可忽视的问题。Minimally invasive cardiovascular and cerebrovascular interventional therapy is the main treatment method for cardiovascular and cerebrovascular diseases. Compared with traditional surgery, it has obvious advantages such as smaller incisions and shorter postoperative recovery time. Cardiovascular and cerebrovascular interventional surgery is a process in which doctors manually insert catheters, guidewires, stents and other instruments into the patient's body to complete the treatment. There are many problems in interventional surgery. For example, during the operation, because the DSA emits X-rays, the doctor's physical strength decreases quickly, and his concentration and stability will also decrease, which will lead to a decrease in operating accuracy and prone to vascular injuries caused by improper pushing force. Accidents such as intimal injury and blood vessel perforation and rupture can put patients' lives in danger. Secondly, long-term cumulative damage from ionizing radiation will significantly increase doctors' chances of suffering from leukemia, cancer, and acute cataracts. The phenomenon that doctors continue to accumulate radiation due to interventional surgeries has become a problem that cannot be ignored, damaging doctors' professional lives and restricting the development of interventional surgeries.

通过借助机器人技术能够有效应对这一问题，还可以大幅提高手术操作的精度与稳定性，同时能够有效降低放射线对介入医生的伤害，降低术中事故的发生几率。然而，目前介入机器人都是由人工进行操作，血管介入手术机器人进行手术作业时间长，医生需要长时间进行专注的手术操作容易产生疲劳感从而造成操作失误。因此，心脑血管介入手术辅助机器人的自动手术越来越多的被人们所关注，逐渐成为当今各科技强国在医疗机器人领域的重点研发对象。By using robotic technology, we can effectively deal with this problem and greatly improve the accuracy and stability of surgical operations. At the same time, we can effectively reduce the harm of radiation to interventional doctors and reduce the probability of intraoperative accidents. However, currently interventional robots are operated manually, and vascular interventional surgery robots take a long time to perform operations. Doctors need to perform focused surgical operations for a long time, which can easily cause fatigue and cause operational errors. Therefore, automatic surgery assisted by robots in cardiovascular and cerebrovascular interventional surgeries has attracted more and more attention, and has gradually become a key research and development target in the field of medical robots in today's technologically powerful countries.

但是，目前血管介入机器人自动手术***目前没有成熟可用的自动介入手术控制方法，无法进行自动操作，通常都是人工手动控制，导致完成介入手术的作用时间长，准确度不高，效率低，因此存在改善空间。However, the current vascular interventional robot automatic surgery system currently has no mature and available automatic interventional surgery control method, and cannot perform automatic operations. It is usually manually controlled, resulting in a long action time to complete the interventional surgery, low accuracy, and low efficiency. Therefore, There is room for improvement.

发明内容Contents of the invention

针对现有技术中存在的上述技术问题，提出了本申请。本申请旨在提供一种介入手术机器人***、控制方法和介质，其能够实现自动导航功能以及介入手术机器人***与医生的人机交互，医生能够指导介入手术机器人进行自动手术，也能够及时地对自动手术过程中遇到的问题进行监督和处理，以提高介入手术机器人自动手术的准确度和安全性。In view of the above technical problems existing in the prior art, this application is proposed. This application aims to provide an interventional surgery robot system, control method and medium, which can realize automatic navigation function and human-computer interaction between the interventional surgery robot system and the doctor. The doctor can guide the interventional surgery robot to perform automatic surgery, and can also perform timely surgery. Supervise and deal with problems encountered during automatic surgery to improve the accuracy and safety of interventional surgery robot automatic surgery.

根据本申请的第一方案，提供一种介入手术机器人***，用于操纵医疗介入器件在患者的生理管状结构的腔内运动。其中，介入手术机器人***包括主端机构和从端机构。所述主端机构包括至少一个处理器、显示部和用户操纵部。其中，至少一个处理器配置为获取包含所述生理管状结构的术中图像，通过对所述术中图像进行分析处理来生成自动导航指令。显示部用于呈现所述术中图像和所述医疗介入器件的当前运动状态。用户操纵部被配置为接收用户的手动操纵，并传输所述手动操纵对应的手动控制指令。所述从端机构设有机械臂和末端执行器，且配置为接收来自所述至少一个处理器和所述用户操纵部的指令，在接收到自动导航指令而没有接收到所述手动控制指令的情况下，基于所述自动导航指令操纵医疗介入器件行进，而在接收到所述手动控制指令的情况下，基于所述手动控制指令操纵医疗介入器件。According to a first aspect of the present application, an interventional surgical robot system is provided, which is used to manipulate a medical interventional device to move within the cavity of a patient's physiological tubular structure. Among them, the interventional surgical robot system includes a master mechanism and a slave mechanism. The main end mechanism includes at least one processor, a display part and a user control part. Wherein, at least one processor is configured to acquire an intraoperative image including the physiological tubular structure, and generate automatic navigation instructions by analyzing and processing the intraoperative image. The display part is used to present the intraoperative image and the current motion state of the medical interventional device. The user manipulation part is configured to receive a user's manual manipulation and transmit a manual control instruction corresponding to the manual manipulation. The slave mechanism is provided with a robotic arm and an end effector, and is configured to receive instructions from the at least one processor and the user control unit. When an automatic navigation instruction is received but the manual control instruction is not received, In this case, the medical interventional device is controlled to travel based on the automatic navigation instruction, and in the case where the manual control instruction is received, the medical interventional device is operated based on the manual control instruction.

根据本申请的第二方案，提供一种介入手术机器人的控制方法，用于操纵医疗介入器件在患者的生理管状结构的腔内运动。经由主端机构的至少一个处理器获取包含所述生理管状结构的术中图像，通过对所述术中图像进行分析处理来生成自动导航指令。经由显示部呈现所述术中图像和所述医疗介入器件的当前运动状态。经由用户操纵部接收用户的手动操纵，并传输所述手动操纵对应的手动控制指令。经由从端机构接收来自所述至少一个处理器和所述用户操纵部的指令，其中，所述从端机构设有机械臂和末端执行器，以及所述从端机构在接收到自动导航指令而没有接收到所述手动控制指令的情况下，基于所述自动导航指令操纵医疗介入器件行进，而在接收到所述手动控制指令的情况下，基于所述手动控制指令操纵医疗介入器件。According to a second aspect of the present application, a control method for an interventional surgical robot is provided, which is used to control the movement of a medical interventional device within the cavity of a patient's physiological tubular structure. Intraoperative images containing the physiological tubular structure are acquired via at least one processor of the main end mechanism, and automatic navigation instructions are generated by analyzing and processing the intraoperative images. The intraoperative image and the current motion state of the medical interventional device are presented via the display part. The user's manual manipulation is received via the user manipulation unit, and manual control instructions corresponding to the manual manipulation are transmitted. Receive instructions from the at least one processor and the user control part via a slave mechanism, wherein the slave mechanism is provided with a robotic arm and an end effector, and the slave mechanism receives an automatic navigation instruction and If the manual control instruction is not received, the medical interventional device is operated based on the automatic navigation instruction, and if the manual control instruction is received, the medical interventional device is operated based on the manual control instruction.

根据本申请的第三方案，提供一种计算机可读存储介质，所述计算机可读存储介质上存储有计算机程序指令，所述计算机程序指令在被处理器运行时使得所述处理器执行本申请各个实施例所述的介入手术机器人的控制方法。According to a third aspect of the present application, a computer-readable storage medium is provided. Computer program instructions are stored on the computer-readable storage medium. When run by a processor, the computer program instructions cause the processor to execute the present application. Control methods of interventional surgical robots described in various embodiments.

与现有技术相比，本申请实施例的有益效果在于：Compared with the prior art, the beneficial effects of the embodiments of the present application are:

本申请实施例的介入手术机器人***，在进行血管介入手术时，能够自动完成手术中的主要操作步骤。该介入手术机器人***的主端机构包括处理器，该处理器获取包含生理管状结构的术中的图像，可以通过识别图像并对术中图像进行分析生成自动导航指令。在实时手术过程中，伴随着介入手术机器人自动手术的执行，介入手术机器人的末端执行器的执行状态也会发生变化。而基于本申请实施例提供的介入手术机器人***，能够生成自动导航指令，该自动导航指令能够实时指导并控制机器人的从端机构完成对末端执行器的控制动作，使其到达指定的位置。在自动手术执行过程中，该介入手术机器人***会给予医生术中实时参数信息。医生通过与该介入手术机器人***进行人机交互，不仅可以通过核实***反馈的相关参数，对其进行调整，以提高生成的自动导航指令的准确性，而且，医生还可以在自动操作过程中控制从端机构随时暂停，并对其执行情况进行审核和修正。如此，能够有效实现医生和介入手术机器人***的人机交互，介入手术机器人***不仅能够实现自动手术，而且，通过这种医生和***的人机交互，实现对自动手术执行过程的多重安全保护，可以有效保护自动执行手术过程中的安全。The interventional surgery robot system in the embodiment of the present application can automatically complete the main operation steps during the vascular interventional surgery. The main end mechanism of the interventional surgical robot system includes a processor, which acquires intraoperative images containing physiological tubular structures and can generate automatic navigation instructions by identifying the images and analyzing the intraoperative images. During real-time surgery, as the interventional surgery robot performs automatic surgery, the execution state of the end effector of the interventional surgery robot will also change. The interventional surgery robot system provided by the embodiments of the present application can generate automatic navigation instructions, which can guide and control the slave mechanism of the robot in real time to complete the control action of the end effector so that it reaches a designated position. During the execution of automatic surgery, the interventional surgery robot system will provide the doctor with real-time intraoperative parameter information. By interacting with the interventional surgery robot system, doctors can not only verify the relevant parameters fed back by the system and adjust them to improve the accuracy of the generated automatic navigation instructions, but they can also control during the automatic operation. The secondary organization will suspend the operation at any time and review and correct its implementation. In this way, the human-computer interaction between the doctor and the interventional surgery robot system can be effectively realized. The interventional surgery robot system can not only realize automatic surgery, but also achieve multiple safety protections for the automatic surgery execution process through this human-computer interaction between the doctor and the system. It can effectively protect the safety during automatic surgery.

上述说明仅是本申请技术方案的概述，为了能够更清楚了解本申请的技术手段，而可依照说明书的内容予以实施，并且为了让本申请的上述和其它目的、特征和优点能够更明显易懂，以下特举本申请的具体实施方式。The above description is only an overview of the technical solutions of the present application. In order to have a clearer understanding of the technical means of the present application, they can be implemented according to the content of the description, and in order to make the above and other purposes, features and advantages of the present application more obvious and understandable. , the specific implementation methods of the present application are specifically listed below.

附图说明Description of drawings

在不一定按比例绘制的附图中，相同的附图标记可以在不同的视图中描述相似的部件。具有字母后缀或不同字母后缀的类似附图标记可以表示相似组件的不同示例。附图通过举例而不是以限制的方式大体上示出各种实施例，并且与说明书以及权利要求书一起用于对所公开的实施例进行说明。这样的实施例是说明性和示例性的，而并非旨在作为本方法、装置、***或具有用于实现该方法的指令的非暂时性计算机可读介质的穷尽或排他的实施例。In the drawings, which are not necessarily to scale, the same reference numbers may describe similar components in the different views. Similar reference numbers with a letter suffix or different letter suffixes may represent different examples of similar components. The drawings generally illustrate various embodiments by way of example, not limitation, and together with the description and claims serve to explain the disclosed embodiments. Such embodiments are illustrative and exemplary, and are not intended to be exhaustive or exclusive embodiments of the method, apparatus, system, or non-transitory computer-readable medium having instructions for implementing the method.

图1(a)示出根据本申请实施例的介入手术机器人***的组成示意图。Figure 1(a) shows a schematic diagram of the composition of an interventional surgical robot system according to an embodiment of the present application.

图1(b)示出根据本申请实施例的介入手术机器人***的整体结构示意图。Figure 1(b) shows a schematic diagram of the overall structure of an interventional surgical robot system according to an embodiment of the present application.

图1(c)示出根据基于本申请实施例的介入手术机器人***进行自动手术整体方法流程图。Figure 1(c) shows a flow chart of the overall method for automatic surgery according to the interventional surgery robot system based on the embodiment of the present application.

图2示出根据本申请实施例的介入手术机器人***生成自动导航指令的方法流程图。Figure 2 shows a flowchart of a method for generating automatic navigation instructions by an interventional surgical robot system according to an embodiment of the present application.

图3示出根据本申请实施例的介入手术机器人***生成自动导航指令的示意图。Figure 3 shows a schematic diagram of an interventional surgical robot system generating automatic navigation instructions according to an embodiment of the present application.

图4示出根据本申请实施例的介入手术机器人***生成降低进行速度的自动导航指令的方法流程图。FIG. 4 shows a flowchart of a method for the interventional surgical robot system to generate automatic navigation instructions that reduce the speed according to an embodiment of the present application.

图5示出根据本申请实施例的介入手术机器人***基于偏差对自动手术过程进行控制的方法流程图。Figure 5 shows a flowchart of a method for the interventional surgical robot system to control an automatic surgical process based on deviations according to an embodiment of the present application.

图6示出根据本申请实施例的介入手术机器人***进行自动手术过程中进行人机交互的方法流程图。Figure 6 shows a flow chart of a method for human-computer interaction during automatic surgery performed by the interventional surgery robot system according to an embodiment of the present application.

图7示出根据本申请实施例的介入手术机器人的控制方法流程图。Figure 7 shows a flow chart of a control method for an interventional surgical robot according to an embodiment of the present application.

具体实施方式Detailed ways

为使本领域技术人员更好的理解本申请的技术方案，下面结合附图和具体实施方式对本申请作详细说明。下面结合附图和具体实施例对本申请的实施例作进一步详细描述，但不作为对本申请的限定。In order to enable those skilled in the art to better understand the technical solutions of the present application, the present application will be described in detail below in conjunction with the drawings and specific implementation modes. The embodiments of the present application will be further described in detail below in conjunction with the accompanying drawings and specific examples, but this is not intended to limit the present application.

本申请中使用的“第一”、“第二”以及类似的词语并不表示任何顺序、数量或者重要性，而只是用来区分。本申请中使用的“包括”或者“包含”等类似的词语意指在该词前的要素涵盖在该词后列举的要素，并不排除也涵盖其他要素的可能。在本申请中，各个步骤在图中所示的箭头仅仅作为执行顺序的示例，而不是限制，本申请的技术方案并不限于实施例中描述的执行顺序，执行顺序中的各个步骤可以合并执行，可以分解执行，可以调换顺序，只要不影响执行内容的逻辑关系即可。"First", "second" and similar words used in this application do not indicate any order, quantity or importance, but are only used for distinction. Similar words such as "include" or "include" used in this application mean that the element before the word covers the elements listed after the word, and does not exclude the possibility of also covering other elements. In this application, the arrows shown in the figures for each step are only examples of the execution sequence, rather than limitations. The technical solutions of this application are not limited to the execution sequence described in the embodiments, and the various steps in the execution sequence can be combined and executed. , the execution can be decomposed and the order can be changed, as long as it does not affect the logical relationship of the execution content.

本申请使用的所有术语(包括技术术语或者科学术语)与本申请所属领域的普通技术人员理解的含义相同，除非另外特别定义。还应当理解，在诸如通用字典中定义的术语应当被解释为具有与它们在相关技术的上下文中的含义相一致的含义，而不应用理想化或极度形式化的意义来解释，除非这里明确地这样定义。对于相关领域普通技术人员已知的技术、方法和设备可能不作详细讨论，但在适当情况下，所述技术、方法和设备应当被视为说明书的一部分。All terms (including technical terms or scientific terms) used in this application have the same meanings as understood by one of ordinary skill in the art to which this application belongs, unless otherwise specifically defined. It should also be understood that terms defined in, for example, general dictionaries should be construed to have meanings consistent with their meanings in the context of the relevant technology and should not be interpreted in an idealized or highly formalized sense, except as expressly stated herein. Define it this way. Techniques, methods and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such techniques, methods and devices should be considered a part of the specification.

根据本申请实施例提供一种介入手术机器人***，该介入手术机器人***例如可以包括主端机构、从端机构。其中，主端机构和从端机构分别执行根据本申请各个实施例的一种介入手术机器人的控制方法中对应的步骤。According to an embodiment of the present application, an interventional surgical robot system is provided. The interventional surgical robot system may include, for example, a master mechanism and a slave mechanism. Among them, the master mechanism and the slave mechanism respectively perform corresponding steps in a control method of an interventional surgical robot according to various embodiments of the present application.

图1(a)示出根据本申请实施例的介入手术机器人***的组成示意图。其中，所述介入手术机器人***10用于操纵医疗介入器件在患者的生理管状结构的腔内运动。该介入手术机器人***10包括主端机构101和从端机构102。所述主端机构101包括至少一个处理器1011、显示部1012和用户操纵部1013。Figure 1(a) shows a schematic diagram of the composition of an interventional surgical robot system according to an embodiment of the present application. Wherein, the interventional surgical robot system 10 is used to manipulate the medical interventional device to move within the cavity of the patient's physiological tubular structure. The interventional surgical robot system 10 includes a master mechanism 101 and a slave mechanism 102 . The main end mechanism 101 includes at least one processor 1011, a display part 1012 and a user control part 1013.

在该实施例中，所述至少一个处理器1011被配置为获取包含所述生理管状结构的术中图像，通过对所述术中图像进行分析处理来生成自动导航指令。所述图像可以是从图像数据库中取得的血管图像或者基于其他方式获取的图像，具体不做限定。对于图像的获取方式包括但不限于通过各种成像模态直接获取，例如但不限于通过DSA、内窥镜等术中医学造影成像技术，或基于由成像装置获取的原始图像后处理或者重建获得。其中，技术术语“获取”表示在有或没有附加降噪、裁剪、重建等图像处理的情况下直接或间接获得的任何方式。In this embodiment, the at least one processor 1011 is configured to acquire an intraoperative image containing the physiological tubular structure, and generate automatic navigation instructions by analyzing and processing the intraoperative image. The image may be a blood vessel image obtained from an image database or an image obtained in other ways, and is not specifically limited. The acquisition method of the image includes but is not limited to direct acquisition through various imaging modalities, such as but not limited to intraoperative medical contrast imaging technology such as DSA, endoscopy, or acquisition based on post-processing or reconstruction of the original image acquired by the imaging device. . Among them, the technical term "acquisition" refers to any method of direct or indirect acquisition with or without additional image processing such as noise reduction, cropping, reconstruction, etc.

其中，所述术中可以理解为在手术过程中，而不是在术前以及术后。例如，以利用导丝在血管中推进为例进行说明。在术中，伴随着自动手术的进行，导丝的前进位置、前进距离、导丝头的变化角度以及血管的曲率、狭窄程度等相关运动参数都会发生变化，这种变化极大地提高了自动手术的操作难度，进行自动手术的介入手术机器人难以得到安全的、正确的行进路径和操纵方式，相比于在术前、术后(术前、术后状态下相关参数相对稳定)进行行进路径、操纵方式的预测具有更大的难度。所述处理器1011通过对术中图像进行分析处理生成用于指导医疗介入器件在生理管状结构的腔内进行运动的自动导航指令，基于该自动导航指令进行自动手术操纵，提高了自动手术的效率。The term "intraoperative" can be understood as during the operation, rather than before and after the operation. For example, the use of a guide wire to advance in a blood vessel is used as an example for explanation. During the operation, as the automatic surgery proceeds, the advancement position and distance of the guide wire, the changing angle of the guide wire head, the curvature of the blood vessel, the degree of stenosis and other related motion parameters will change. This change greatly improves the efficiency of automatic surgery. The difficulty of operation makes it difficult for interventional surgery robots to obtain safe and correct travel paths and manipulation methods for automatic surgeries. Compared with pre-operative and post-operative (relevant parameters are relatively stable in pre-operative and post-operative states), it is difficult to obtain safe and correct travel paths and control methods. Prediction of manipulation patterns is more difficult. The processor 1011 generates automatic navigation instructions for guiding the movement of the medical interventional device in the cavity of the physiological tubular structure by analyzing and processing the intraoperative images, and performs automatic surgical manipulation based on the automatic navigation instructions, thereby improving the efficiency of the automatic surgery. .

具体地，处理器1011可以是可以包括一个或多个通用处理装置的处理装置，诸如微处理器、中央处理单元(CPU)、图形处理单元(GPU)等。更具体地，处理器1011可以是复杂指令集计算(CISC)微处理器、精简指令集计算(RISC)微处理器、超长指令字(VLIW)微处理器、运行其他指令集的处理器或者运行指令集的组合的处理器。处理器1011还可以是一个或多个专用处理装置，诸如专用集成电路(ASIC)、现场可编程门阵列(FPGA)、数字信号处理器(DSP)，片上***(SoC)等。如本领域技术人员将理解的，在一些实施例中，处理器1011可以是专用处理器，而不是通用处理器。处理器1011可以包括一个或多个已知的处理装置，例如来自Intel TM制造的Pentium TM、Core TM、Xeon TM或Itanium系列的微处理器，由AMD TM制造的TurionTM、Athlon TM、Sempron TM、Opteron TM、FX TM、Phenom TM系列，或由Sun Microsystems制造的各种处理器。处理器1011还可以包括图形处理单元，诸如来自

的GPU，由Nvidia TM制造的

系列，由Intel TM制造的GMA，Iris TM系列，或由AMD TM制造的Radeon TM系列。处理器1011还可以包括加速处理单元，例如由AMD TM制造的Desktop A-4(6,6)系列，由Intel TM制造的Xeon Phi TM系列。所公开的实施例不限于任何类型的处理器或处理器电路，其以其他方式被配置为执行根据本申请各个实施例的介入手术机器人的控制方法。另外，术语“处理器”或“图像处理器”可以包括一个以上的处理器，例如，多核设计或多个处理器，每个处理器具有多核设计。处理器1011可以执行存储在存储器中的计算机程序指令序列，以执行本文公开的各种操作、过程和方法。处理器1011可以通信地耦合到存储器并且被配置为执行存储在其中的计算机可执行指令。 Specifically, the processor 1011 may be a processing device that may include one or more general-purpose processing devices, such as a microprocessor, a central processing unit (CPU), a graphics processing unit (GPU), or the like. More specifically, processor 1011 may be a complex instruction set computing (CISC) microprocessor, a reduced instruction set computing (RISC) microprocessor, a very long instruction word (VLIW) microprocessor, a processor running other instruction sets, or A processor that runs a combination of instruction sets. The processor 1011 may also be one or more special purpose processing devices, such as an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), a digital signal processor (DSP), a system on a chip (SoC), etc. As those skilled in the art will appreciate, in some embodiments, processor 1011 may be a special purpose processor rather than a general purpose processor. The processor 1011 may include one or more known processing devices, such as microprocessors from the Pentium™, Core™, Xeon™ or Itanium series manufactured by Intel™, Turion™, Athlon™, Sempron™ manufactured by AMD™, Opteron TM, FX TM, Phenom TM series, or various processors manufactured by Sun Microsystems. Processor 1011 may also include a graphics processing unit, such as from

GPU, manufactured by Nvidia TM

series, the GMA series manufactured by Intel TM, the Iris TM series, or the Radeon TM series manufactured by AMD TM. The processor 1011 may also include accelerated processing units, such as the Desktop A-4(6,6) series manufactured by AMD™, the Xeon Phi™ series manufactured by Intel™. The disclosed embodiments are not limited to any type of processor or processor circuit that is otherwise configured to perform the control method of an interventional surgical robot according to various embodiments of the present application. Additionally, the term "processor" or "image processor" may include more than one processor, for example, a multi-core design or multiple processors, each processor having a multi-core design. Processor 1011 may execute sequences of computer program instructions stored in memory to perform the various operations, procedures, and methods disclosed herein. Processor 1011 may be communicatively coupled to memory and configured to execute computer-executable instructions stored therein.

显示部1012用于呈现所述术中图像和所述医疗介入器件的当前运动状态，以便于医生或者其他用户及时知晓当前医疗介入器件的运动状态。比如，可以通过显示部呈现的术中图像判断该显示结果是否符合预期，或者，也可以及时判断出该医疗接入器件在血管中的位置等运动状态是否处于安全的、正确的范围内，以便于在将要出现安全问题时，提前对介入手术机器人的自动手术过程进行人工干预。该显示部1012例如可以是图1(b)所示的显示器1015，也可以是显示器1015与其他装置配合而成的部件，对此不做具体限定。The display unit 1012 is used to present the intraoperative image and the current motion state of the medical interventional device, so that doctors or other users can know the current motion state of the medical interventional device in a timely manner. For example, it can be judged by the intraoperative image presented by the display part whether the display result is in line with expectations, or it can be judged in time whether the position of the medical access device in the blood vessel and other motion states are within a safe and correct range, so that When safety issues are about to arise, manual intervention is performed in advance in the automatic surgical process of the interventional surgical robot. The display unit 1012 may be, for example, the display 1015 shown in FIG. 1(b) , or may be a component in which the display 1015 cooperates with other devices, and is not specifically limited.

用户操纵部1013被配置为接收用户的手动操纵，并传输所述手动操纵对应的手动控制指令，以便于用户对介入手术机器人执行自动手术的过程进行有效控制。如图1(b)所示，用户操纵部1013包括但不限于控制盒1017，控制盒1017用于医生进行人工控制机器人执行动作。例以利用机器人在血管中对导丝和导管进行推进、旋转为例，当机器人动作有误或有其他突发情况时，医生可以通过控制控制盒1017上的摇杆和滚轮，来控制机器人完成对导管和导丝的操作，从而让手术顺利进行。控制盒1017可以包括两种方式将手动控制指令传输到从端机构102。比如，可以在控制盒1017中嵌入电路板，手动控制指令经由控制盒1017直接发送到从端机构102。或者，控制盒1017将手动控制指令传输给处理器1011，后续可以经由主端机构101中的中继装置(例如但不限于图1(b)中的控制机柜1014)转发到从端机构102。The user manipulation unit 1013 is configured to receive the user's manual manipulation and transmit manual control instructions corresponding to the manual manipulation, so that the user can effectively control the process of the interventional surgical robot performing automatic surgery. As shown in Figure 1(b), the user manipulation part 1013 includes but is not limited to a control box 1017. The control box 1017 is used by doctors to manually control the robot to perform actions. For example, taking the use of a robot to advance and rotate guidewires and catheters in blood vessels, when the robot moves incorrectly or has other emergencies, the doctor can control the robot to complete the task by controlling the rocker and roller on the control box 1017 Manipulation of catheters and guidewires to allow smooth operation. The control box 1017 may include two ways to transmit manual control instructions to the slave mechanism 102 . For example, a circuit board can be embedded in the control box 1017, and manual control instructions are directly sent to the slave mechanism 102 via the control box 1017. Alternatively, the control box 1017 transmits the manual control instructions to the processor 1011, which can then be forwarded to the slave mechanism 102 via a relay device in the master mechanism 101 (such as but not limited to the control cabinet 1014 in Figure 1(b)).

进一步地，所述从端机构102设有机械臂1021和末端执行器1022，比如，末端执行器1022是导丝执行器和/或导管执行器，配合DSA 104完成对介入手术的操作动作。其中，导丝执行器用于夹持导丝以在机械臂1021的作用下执行导丝的推送和旋转，导管执行器用于夹持导管以在机械臂1021的作用下执行导管的推送和旋转。如图1(b)所示，从端机构102安装在导管床103上，DSA104、导管床103和介入手术机器人放置在导管室内，主端机构101放置在控制室内，主端机构101包括控制机柜1014、显示器1015、触摸屏1016和控制盒1017，控制盒1017、触摸屏1016和显示器1015都和控制机柜1014进行连接。医生在控制室内可以通过导管室的铅玻璃窗口来观察导管室内的情况。控制机柜1014包括至少一个处理器1011，可以获取并分析来自DSA104采集到的图像信息，生成自动导航指令，并将自动导航指令发送到从端机构102，从端机构102也会将执行动作的数据等相关信息反馈到控制机柜1014。在控制机柜1014中，包括但不限于用于数据分析处理的处理器，用于供电的UPS，用于稳定电压的隔离变压器和开关电源灯。显示器1015呈现自动导航指令、医疗介入器件的运动状态图像信息以及机器人的预期动作、路径规划等信息。触摸屏1016用于进行人机交互，如进行参数设置，命令确认等，同时也会呈现机器人检测导管、导丝的实时阻力信息。Further, the slave mechanism 102 is provided with a robotic arm 1021 and an end effector 1022. For example, the end effector 1022 is a guide wire effector and/or a catheter effector, and cooperates with the DSA 104 to complete the operation of the interventional surgery. The guidewire actuator is used to clamp the guidewire to push and rotate the guidewire under the action of the robot arm 1021 , and the catheter actuator is used to clamp the catheter to push and rotate the catheter under the action of the robot arm 1021 . As shown in Figure 1(b), the slave mechanism 102 is installed on the catheter bed 103, the DSA 104, the catheter bed 103 and the interventional surgery robot are placed in the catheter room, and the master mechanism 101 is placed in the control room. The master mechanism 101 includes a control cabinet. 1014, display 1015, touch screen 1016 and control box 1017. The control box 1017, touch screen 1016 and display 1015 are all connected to the control cabinet 1014. Doctors in the control room can observe the situation in the cath lab through the leaded glass window of the cath lab. The control cabinet 1014 includes at least one processor 1011, which can acquire and analyze the image information collected from the DSA 104, generate automatic navigation instructions, and send the automatic navigation instructions to the slave mechanism 102. The slave mechanism 102 will also perform the action data. Wait for relevant information to be fed back to the control cabinet 1014. The control cabinet 1014 includes but is not limited to a processor for data analysis and processing, a UPS for power supply, an isolation transformer for voltage stabilization, and a switching power supply light. The display 1015 presents information such as automatic navigation instructions, motion status image information of the medical interventional device, and expected actions and path planning of the robot. The touch screen 1016 is used for human-computer interaction, such as parameter setting, command confirmation, etc., and also displays real-time resistance information of the robot's detection catheter and guide wire.

从端机构102被配置为接收来自所述至少一个处理器1011和所述用户操纵部1013的指令，在接收到自动导航指令而没有接收到所述手动控制指令的情况下，基于所述自动导航指令操纵医疗介入器件行进，而在接收到所述手动控制指令的情况下，基于所述手动控制指令操纵医疗介入器件，如此，实现医生与介入手术机器人的兼顾工作负荷和安全性能的人机交互，在没有手动控制指令的情况下可以自动导航，医生只需实时监控即可，在医生发现了任何问题时，可以随时发出手动控制指令来超控自动导航指令而迅速介入干预，提高了自动手术的安全性、准确性。具体地，如图1(c)所示，在步骤 S101中，DSA 104实时采集图像信息，在主端机构101中，控制机柜1014内的处理器1011能够通过分析DSA 104实时采集的术中的图像生成自动导航指令(步骤S102)，并在显示器1015上呈现相关信息(步骤S104)，该相关信息可以包括但不限于自动导航指令、术中图像、医疗介入器件(例如导丝、导管)的当前运动状态、下一步动作指令、规划路径等，对此不做具体限定。基于显示器1015呈现的相关信息，医生可以进行人工干预并进行相应的调整。例如，在手术自动执行过程中，介入手术机器人将术中实时图像和医疗介入器件的当前运动状态等信息反馈到显示器1015，医生可以实时掌握机器人状态和动作，对有处理不妥之处，可以随时进行人工干预。比如，医生可以在触摸屏1016上修改自动导航指令中的相关参数或者其他相关参数，以提高自动导航指令的正确性和安全性。再比如，在步骤S103中，医生可以基于所述相关信息人工判断是否执行自动手术。当执行自动手术时，机器人基于自动导航指令进行自动手术，主端机构101自动操纵(步骤S105)执行自动手术。当医生认为继续执行自动手术存在较高的风险时，需要进行人工干预，医生通过点击触摸屏1016的按键进入人工干预步骤，机器人***将暂时停止自动操作，等待医生进行调整。比如，医生可以通过控制触摸屏1016和控制盒1017这两个装置对机器人进行手动操作，同样可以给机器人的从端机构102发送指令，基于手动控制指令，从端机构102执行操纵指令(步骤S106)。当医生调整完成后，可以继续恢复自动操作模式，***会依次步骤循环直至完成任务。这种策略可实现在人工监督的情况下，实时准确安全的对病人进行自动化手术。极大改善了医生的操作体验，减轻医生的体力负担，在医疗机器人的领域具有较高的实用性和可研究价值。而当从端机构102没有接收到手动控制指令的情况下，血管介入手术机器人根据自动导航指令操纵从端机构102进行运动，从而带动导管和/或导丝进行动作，然后将运动信息反馈到控制机柜1014，DSA 104图像在导丝和/或导管的运动之后将会发生变化，基于更新后的术中图像及时更新自动导航指令，推进自动手术的执行。The slave mechanism 102 is configured to receive instructions from the at least one processor 1011 and the user control part 1013, and when an automatic navigation instruction is received but the manual control instruction is not received, based on the automatic navigation The instruction controls the medical interventional device to move, and when the manual control instruction is received, the medical interventional device is manipulated based on the manual control instruction. In this way, human-computer interaction between the doctor and the interventional surgical robot that takes into account workload and safety performance is realized. , can automatically navigate without manual control instructions. The doctor only needs to monitor in real time. When the doctor discovers any problems, he can issue manual control instructions at any time to override the automatic navigation instructions and quickly intervene, which improves automatic surgery. safety and accuracy. Specifically, as shown in Figure 1(c), in step S101, the DSA 104 collects image information in real time. In the main end mechanism 101, the processor 1011 in the control cabinet 1014 can analyze the intraoperative images collected by the DSA 104 in real time. The image generates automatic navigation instructions (step S102), and presents relevant information on the display 1015 (step S104). The related information may include but is not limited to automatic navigation instructions, intraoperative images, and medical interventional devices (such as guide wires, catheters) The current motion status, next action instructions, planned path, etc. are not specifically limited. Based on the relevant information presented on the display 1015, the doctor can perform manual intervention and make corresponding adjustments. For example, during the automatic execution of surgery, the interventional surgery robot feeds back information such as intraoperative real-time images and the current motion status of the medical interventional device to the display 1015. The doctor can grasp the status and actions of the robot in real time, and can correct any inappropriate handling. Manual intervention is possible at any time. For example, the doctor can modify the relevant parameters in the automatic navigation instruction or other relevant parameters on the touch screen 1016 to improve the accuracy and safety of the automatic navigation instruction. For another example, in step S103, the doctor can manually determine whether to perform automatic surgery based on the relevant information. When performing automatic surgery, the robot performs automatic surgery based on automatic navigation instructions, and the main end mechanism 101 automatically operates (step S105) to perform automatic surgery. When the doctor believes that there is a high risk in continuing to perform automatic surgery, manual intervention is required. The doctor enters the manual intervention step by clicking the button on the touch screen 1016. The robot system will temporarily stop automatic operation and wait for the doctor to make adjustments. For example, the doctor can manually operate the robot by controlling the touch screen 1016 and the control box 1017. He can also send instructions to the slave mechanism 102 of the robot. Based on the manual control instructions, the slave mechanism 102 executes the manipulation instructions (step S106). . After the doctor's adjustment is completed, he can continue to restore the automatic operation mode, and the system will cycle through the steps until the task is completed. This strategy enables automated surgery on patients to be performed accurately and safely in real time under manual supervision. It greatly improves the doctor's operating experience, reduces the doctor's physical burden, and has high practicality and research value in the field of medical robots. When the slave mechanism 102 does not receive manual control instructions, the vascular interventional surgery robot controls the slave mechanism 102 to move according to the automatic navigation instructions, thereby driving the catheter and/or guide wire to move, and then feedbacks the movement information to the control The cabinet 1014 and DSA 104 images will change after the movement of the guide wire and/or catheter, and the automatic navigation instructions will be updated in a timely manner based on the updated intraoperative images to promote the execution of the automatic surgery.

如此，通过医生与介入手术机器人***之间高效的人机交互，不仅提高了利用介入手术机器人进行自动手术的执行效率，而且极大地提高了手术的准确性和安全性。In this way, the efficient human-computer interaction between the doctor and the interventional surgery robot system not only improves the efficiency of automatic surgery using the interventional surgery robot, but also greatly improves the accuracy and safety of the surgery.

图2示出根据本申请实施例的介入手术机器人***生成自动导航指令的方法流程图。在步骤S201中，获取包含生理管状结构的代表图像，图像数据来源为从DSA中获取的医学图像信息和大量医生临床操作数据。所获取的医学图像信息指的是通过DSA数字减影血管造影获取的图像，其获取数据的具体部位不做限定，包括但不限于神经、胸腔等。医生操作数据指的是医生通过介入机器人自动手术***(以下简称机器人***)屏幕进行的操作数据或传统临床手术中的数据。在步骤S202中，对所述代表图像进行分析处理以得到规划路径，比如，可以利用学习网络对代表图像进行血管中心线的提取，并将提取得到的血管中心线作为规划路径，具体生成规划路径的方法将会在下文中详细阐述。这里所述的规划路径，可以理解为医疗介入器件沿着真实的血管延伸方向移动的路径。规划路径的获得可以通过***计算得到也可以是医生人为设定的，或者基于***计算结果进行人工修正得到的。在步骤S203中，对所述术中图像进行分析以确定医疗介入器件的当前运动状态，所述当前运动状态可以理解为医疗介入器件当前的运动趋势，比如，医疗介入器件将要向前移动、将要旋转或者其他运动趋势。当前运动状态也可以包括医疗介入器件在当前时刻的运动方向、角度等。对于当前运动状态不做具体限定，具体以实际操纵过程中的需要为准。在步骤S204中，基于所述规划路径和所述医疗介入器件的当前运动状态，来生成自动导航指令，以提高介入手术机器人执行自动手术的安全性。Figure 2 shows a flowchart of a method for generating automatic navigation instructions by an interventional surgical robot system according to an embodiment of the present application. In step S201, a representative image containing a physiological tubular structure is obtained. The source of the image data is medical image information obtained from DSA and a large amount of doctor's clinical operation data. The medical image information obtained refers to images obtained through DSA digital subtraction angiography. The specific parts where the data is obtained are not limited, including but not limited to nerves, chest, etc. Doctor operation data refers to the operation data performed by doctors through the screen of the interventional robot automatic surgery system (hereinafter referred to as the robot system) or the data in traditional clinical operations. In step S202, the representative image is analyzed and processed to obtain the planned path. For example, a learning network can be used to extract the blood vessel center line of the representative image, and the extracted blood vessel center line is used as the planned path to specifically generate the planned path. The method will be explained in detail below. The planned path described here can be understood as the path in which the medical interventional device moves along the true blood vessel extension direction. The planned path can be obtained through system calculation, or it can be set manually by the doctor, or it can be obtained by manual correction based on the system calculation results. In step S203, the intraoperative image is analyzed to determine the current motion state of the medical interventional device. The current motion state can be understood as the current motion trend of the medical interventional device. For example, the medical interventional device is about to move forward, about to move forward, or about to move forward. Rotation or other movement tendencies. The current motion state may also include the motion direction, angle, etc. of the medical interventional device at the current moment. There are no specific restrictions on the current motion state, and the specific requirements will prevail during the actual manipulation process. In step S204, an automatic navigation instruction is generated based on the planned path and the current motion state of the medical interventional device to improve the safety of the interventional surgery robot performing automatic surgery.

在一些实施例中，基于所述规划路径和所述医疗介入器件的当前运动状态，来生成自动导航指令具体包括获取所述医疗介入器件的代表部的当前的第一位置和第一运动方向，确定在所述第一运动方向上的代表部的第二位置，确定所述代表部的第二位置与所述规划路径的最短连接线，确定所述最短连接线与所述规划路径的交点，获取所述交点和所述第一位置的连线与所述第一运动方向的夹角，当所述夹角小于第一阈值角度时，生成前进的自动导航指令，以使得医疗介入器件在收到前进的自动导航指令下向前移动。所述代表部包括但不限于医疗介入器件本身、医疗介入器件的头部或者用户指定的其他能够标定医疗介入器件运动变化情况的部位。对于代表部不做具体限定，而是依据医生在实际操作过程中的实际情况而定。In some embodiments, generating an automatic navigation instruction based on the planned path and the current motion state of the medical interventional device specifically includes obtaining the current first position and first motion direction of the representative part of the medical interventional device, Determine the second position of the representative part in the first movement direction, determine the shortest connection line between the second position of the representative part and the planned path, and determine the intersection point of the shortest connection line and the planned path, Obtain the angle between the line connecting the intersection point and the first position and the first movement direction. When the angle is less than the first threshold angle, generate a forward automatic navigation instruction so that the medical interventional device is retracted. to move forward under forward autopilot instructions. The representative part includes but is not limited to the medical interventional device itself, the head of the medical interventional device, or other parts specified by the user that can calibrate the movement changes of the medical interventional device. There is no specific limit for the representative department, but it is determined based on the actual situation of the doctor during the actual operation.

其中，所述第一位置可以理解为医疗介入器件在执行下一动作之前的位置。比如，医疗介入器件在a位置向前移动，到达b位置，又从b位置向前移动到达c位置，那么，a位置相对于b位置是第一位置，b位置相对于c位置是第一位置。所述第一运动方向与第一位置的理解类似，第一运动方向可以理解为医疗介入器件在执行下一动作之前的运动方向，运动方向的确定可以是相应位置处的切线方向，也可以是计算机设定的方向，对此不做具体限定。具体地，以导丝在血管中推进、旋转为例，如图3所示，其中，301是规划路径，302是血管，303是终点，304是导丝。其中，导丝304的代表部为导丝头，处于起始位置时，导丝头位于规划路径301上的第一位置A处，第一位置A处的第一运动方向即为AC的延伸方向。然后，在第一运动方向上确定第二位置C，将第二位置C与规划路径301连线获得最短连接线BC，其中，B点是最短连接线BC和规划路径301的交点。其中，对于第二位置的确定方式不做具体限定，比如，可以是处理器在第一运动方向上任意选取的一个位置，只要基于所述第二位置获得的夹角∠BAC不大于第一阈值角度即可。再比如，通过人工设定或者***设置默认的导丝推进速度，假设导丝304的行进速度为2mm/s，控制机柜中的处理器可以在第一运动方向上，按照间隔0.5s的行进距离确定第二位置。比如，处理器提前计算在行进0.5s处确定第二位置，并计算夹角∠BAC是否小于第一阈值角度，如果小于第一阈值角度，则生成前进的自动导航指令。此时，导丝304可以在收到前进的导航指令的情况下继续前进，并更新第二位置为第一位置，继续上述过程。在导丝304推进的过程中，导丝304推进的速度是可以根据需要随时进行调整的。上述仅仅是一种实施方式，不排除其他确定第二位置的方法。Wherein, the first position can be understood as the position of the medical interventional device before performing the next action. For example, if a medical interventional device moves forward at position a, reaches position b, and then moves forward from position b to position c, then position a is the first position relative to position b, and position b is the first position relative to position c. . The first movement direction is similar to the first position. The first movement direction can be understood as the movement direction of the medical interventional device before performing the next action. The determination of the movement direction can be the tangential direction at the corresponding position, or it can be The direction set by the computer is not specifically limited. Specifically, take the advancement and rotation of the guidewire in the blood vessel as an example, as shown in Figure 3, where 301 is the planned path, 302 is the blood vessel, 303 is the end point, and 304 is the guidewire. Among them, the representative part of the guide wire 304 is the guide wire head. When it is in the starting position, the guide wire head is located at the first position A on the planned path 301, and the first movement direction at the first position A is the extension direction of AC. . Then, determine the second position C in the first movement direction, and connect the second position C with the planned path 301 to obtain the shortest connection line BC, where point B is the intersection point of the shortest connection line BC and the planned path 301 . There is no specific limit on how the second position is determined. For example, it can be a position arbitrarily selected by the processor in the first movement direction, as long as the angle ∠BAC obtained based on the second position is not greater than the first threshold. Just the angle. For another example, through manual setting or system setting of the default guide wire advancement speed, assuming that the traveling speed of the guide wire 304 is 2 mm/s, the processor in the control cabinet can travel a distance of 0.5 s in the first movement direction. Determine the second position. For example, the processor calculates in advance to determine the second position at 0.5 seconds of travel, and calculates whether the included angle ∠BAC is less than the first threshold angle. If it is less than the first threshold angle, it generates a forward automatic navigation instruction. At this time, the guide wire 304 can continue to move forward after receiving the forward navigation instruction, and update the second position to the first position, and continue the above process. During the advancement of the guide wire 304, the advancement speed of the guide wire 304 can be adjusted at any time as needed. The above is only an implementation manner and does not exclude other methods of determining the second position.

在一些实施例中，当所述夹角不超过第一阈值角度时，确定所述第二位置与所述第一位置之间的距离为前进距离。如图3，假设∠BAC等于第一阈值角度，那么，第一位置A和第二位置C之间的距离即为前进距离。基于该前进距离的自动导航指令下，用户可以知晓将导丝304从第一位置A推进到第二位置C是安全的，是与规划路径301几乎保持一致的。如果导丝304经过第二位置C继续向前推进，则会出现危险，***会发出警报提示用户进行核查。在从端机构收到前进距离的自动导航指令时，可以直接操控导丝304按照前进距离行进至第二位置C，也可以直接对导丝304进行旋转之后再向前行进，具体实施例方式以用户对***的设定以及人工手动操纵为准。此外，在另一些实施例中，当∠BAC小于第一阈值角度时，导丝304按照安全的且符合规划路径301的行进路径进行推进，处理器既可以按照设定自动生成前进的自动导航指令，也可以按照设定自动生成前进距离的自动导航指令，以指示导丝304向前的距离。比如，当∠BAC为60°时，处理器也可以设定AC之间的距离为前进距离。In some embodiments, when the included angle does not exceed the first threshold angle, the distance between the second position and the first position is determined to be the forward distance. As shown in Figure 3, assuming that ∠BAC is equal to the first threshold angle, then the distance between the first position A and the second position C is the forward distance. Under the automatic navigation instruction based on the forward distance, the user can know that it is safe to advance the guide wire 304 from the first position A to the second position C, which is almost consistent with the planned path 301 . If the guide wire 304 continues to advance forward after passing the second position C, a danger will occur, and the system will issue an alarm to prompt the user to check. When the slave mechanism receives the automatic navigation instruction of the forward distance, it can directly control the guide wire 304 to move to the second position C according to the forward distance, or it can also directly rotate the guide wire 304 and then move forward. The specific embodiment is as follows The user's system settings and manual operation shall prevail. In addition, in other embodiments, when ∠BAC is less than the first threshold angle, the guidewire 304 advances according to a safe and consistent travel path of the planned path 301, and the processor can automatically generate forward automatic navigation instructions according to the settings. , it is also possible to automatically generate an automatic navigation instruction of the forward distance according to the settings to indicate the forward distance of the guide wire 304. For example, when ∠BAC is 60°, the processor can also set the distance between ACs as the forward distance.

在一些实施例中，当所述夹角大于第一阈值角度时，确定要操纵所述医疗介入器件旋转的角度，并生成指示旋转该角度的自动旋转指令作为所述自动导航指令。其中，所述旋转的角度不超过第一阈值角度，既可以是小于第一阈值角度的其他角度，也可以就是第一阈值角度，通过操纵医疗介入器件旋转一定的角度，使得所述医疗介入器件的代表部落在规划路径上或者落在规划路径附近。比如，假设图3中的∠BAC大于第一阈值角度，继续推进导丝304可能会产生危险，导致血管破裂。此时，可以生成指示导丝304进行旋转的自动导航指令。旋转的角度可以是第一阈值角度，也可以是小于第一阈值角度的其他合理角度。比如，导丝304旋转第一阈值角度之后，导丝304的头落在规划路径301上的B点。或者，导丝304按照小于第一阈值角度的角度旋转，导丝304的头落在B点附近。仅以此为示例，不构成对保护范围的具体限定。In some embodiments, when the included angle is greater than the first threshold angle, the angle at which the medical interventional device is to be manipulated to rotate is determined, and an automatic rotation instruction indicating the rotation of the angle is generated as the automatic navigation instruction. Wherein, the angle of rotation does not exceed the first threshold angle, and may be other angles smaller than the first threshold angle, or may be the first threshold angle. By manipulating the medical interventional device to rotate at a certain angle, the medical interventional device The representative tribe is on the planned path or falls near the planned path. For example, assuming that ∠BAC in FIG. 3 is greater than the first threshold angle, continuing to advance the guidewire 304 may cause danger and cause blood vessel rupture. At this time, an automatic navigation instruction instructing the guidewire 304 to rotate may be generated. The angle of rotation may be the first threshold angle, or it may be another reasonable angle smaller than the first threshold angle. For example, after the guide wire 304 rotates by a first threshold angle, the head of the guide wire 304 lands at point B on the planned path 301 . Alternatively, the guide wire 304 rotates at an angle smaller than the first threshold angle, and the head of the guide wire 304 falls near point B. This is only used as an example and does not constitute a specific limitation on the scope of protection.

此外，在导丝向前行进的过程中还可以包括多种方式。比如，当夹角小于第一阈值角度时，可以操纵导丝沿着第一运动方向行进，并同时更新第一位置。再基于更新后的第一位置继续确定新的第二位置，并重新计算夹角，当夹角等于第一阈值角度时，用户可以直接将导丝的头推进到前进距离自动导航指令指示的第二位置处，也可以直接将导丝旋转第一阈值角度后再继续向前推进。前进的自动导航指令、前进距离的自动导航指令、旋转的自动导航指令都不是相互孤立的，而是分开进行又协同配合的。在自动手术过程中，基于导丝等医疗介入器件的运动状况，持续更新第一位置，重复计算直至得到一系列自动导航指令。对于医疗介入器件的前进、前进距离和旋转角度的控制分开进行又相互协同配合，通过协同控制，使得医疗介入器件能够以更加准确、安全的方式执行自动手术。In addition, various methods can be included in the advancement of the guidewire. For example, when the included angle is less than the first threshold angle, the guide wire can be manipulated to travel along the first movement direction and the first position is updated at the same time. Then continue to determine the new second position based on the updated first position, and recalculate the included angle. When the included angle is equal to the first threshold angle, the user can directly advance the head of the guidewire to the advance distance indicated by the automatic navigation command. At the second position, you can also directly rotate the guidewire to the first threshold angle and then continue to advance forward. The forward automatic navigation instructions, the forward distance automatic navigation instructions, and the rotating automatic navigation instructions are not isolated from each other, but are carried out separately and coordinated. During the automatic surgery, based on the movement status of medical interventional devices such as guide wires, the first position is continuously updated, and calculations are repeated until a series of automatic navigation instructions are obtained. The advancement, advancement distance and rotation angle of the medical interventional device are controlled separately and collaboratively. Through collaborative control, the medical interventional device can perform automatic surgery in a more accurate and safe manner.

在一些实施例中，所述规划路径在术中保持稳定，以使得自动导航指令的生成基于所述规划路径获得，进而能够提高机器人自动手术的安全性。所述生理管状结构的图像包括神经血管、内脏血管、和外周血管中的至少一种的血管图像，以使得基于所述生理管状结构的图像获得的规划路径在术中保持稳定，以区别于其他在术中随时发生变化的血管图像。比如，靠近主动脉的血管伴随着心脏的运动，其在术中的血管图像随时发生变化，无法获得相对稳定的血管图像，也无法得到能够用于生成自动导航指令的稳定的规划路径。In some embodiments, the planned path remains stable during surgery, so that the generation of automatic navigation instructions is obtained based on the planned path, thereby improving the safety of robotic automatic surgery. The image of the physiological tubular structure includes a blood vessel image of at least one of neurovascular, visceral blood vessels, and peripheral blood vessels, so that the planned path obtained based on the image of the physiological tubular structure remains stable during the operation to distinguish it from other Images of blood vessels that change at any time during surgery. For example, blood vessels close to the aorta are accompanied by the movement of the heart, and their blood vessel images change at any time during the operation. It is impossible to obtain a relatively stable blood vessel image, and it is impossible to obtain a stable planned path that can be used to generate automatic navigation instructions.

在一些实施例中，所述手动控制指令包括自动暂停指令、自动恢复指令、规划路径修正指令和手动导航指令中的至少一种。比如，在医疗介入器件的运动状态超出预期时，医生可以触发触摸屏上的自动暂停生成自动暂停指令并发送到从端机构。在从端机构暂停后，医生可以进行核查，核查无误后还可以触发触摸屏上的自动恢复生成自动恢复指令并发送到从端机构。其次，基于包含生理管状结构的图像得到规划路径之后，医生也可以对规划路径进行审核，如果规划路径与实际血管分布情况具有较大的偏离，则医生可以对规划路径进行修正，从而生成规划路径修正指令，以进一步提高自动导航指令的准确度。此外，在机器人自动手术过程中，医生一旦发现问题并认为机器人无法继续执行自动手术，则向从端机构发送手动导航指令，进行手动操纵。所述显示部进一步配置为显示规划路径，所显示的规划路径响应于所述规划路径修正指令而被手动改变，以便于用户对规划路径进行核实，确保规划路径符合血管实际情况。In some embodiments, the manual control instructions include at least one of an automatic pause instruction, an automatic recovery instruction, a planned path correction instruction, and a manual navigation instruction. For example, when the motion status of a medical interventional device exceeds expectations, the doctor can trigger the automatic pause on the touch screen to generate an automatic pause command and send it to the slave mechanism. After the slave institution is suspended, the doctor can verify it. If the verification is correct, the doctor can trigger the automatic recovery on the touch screen to generate an automatic recovery instruction and send it to the slave institution. Secondly, after obtaining the planned path based on images containing physiological tubular structures, doctors can also review the planned path. If the planned path deviates greatly from the actual blood vessel distribution, the doctor can correct the planned path to generate a planned path. Corrected instructions to further improve the accuracy of autopilot instructions. In addition, during the robot's automatic surgery, once the doctor discovers a problem and believes that the robot cannot continue to perform automatic surgery, he will send manual navigation instructions to the slave mechanism for manual manipulation. The display unit is further configured to display a planned path, and the displayed planned path is manually changed in response to the planned path correction instruction, so that the user can verify the planned path and ensure that the planned path conforms to the actual condition of the blood vessel.

在一些实施例中，对所述术中图像进行分析，以确定所述医疗介入器件行进前方的血管分支及弯曲状况和血管宽度，在前方的血管分支数量超过第一阈值、或曲率大于第二阈值、或血管宽度小于第三阈值，则生成降低所述医疗介入器件的行进速度的自动导航指令，从而提高自动手术的安全性。具体地，如图4所示，在步骤S401中，确定医疗介入器件行进前方的血管分支、完全状况和血管宽度，在步骤S402中，判断血管分支数量是否超过第一阈值，如果血管分支数量超过第一阈值，则说明该位置处血管分布较为复杂，导致医疗介入器件行进过程中难度较大，此时，执行步骤S405，生成降低行进速度的自动导航指令，以较低的行进速度执行自动手术，提高了手术的安全性。如果血管分支数量没有超过第一阈值，则继续执行步骤S403判断曲率是否超过第二阈值，如果曲率超过第二阈值，则说明此处血管完全程度较大，容易造成安全问题，此时，同样执行步骤S404生成降低行进速度的自动导航指令，以使得医疗介入器件以缓慢的速度在曲率较大的路径上行进。此外，如果曲率没有超过第二阈值，则继续判断血管宽度是否超过第三阈值(步骤S404)，如果超过第三阈值，则说明此处血管宽度较窄，不利于医疗介入器件高速行进，因此，同样生成降低行进速度的自动导航指令以使得医疗介入器件能够以安全的速度执行自动手术，保证手术的安全性。其中，第一阈值、第二阈值和第三阈值可以是人工设定的值也可以是***自动设置的值，对此不做具体限定。对于不同血管状况，可选择不同速度模式，给予不同策略，节约手术时间，提高手术效率。根据上述分析和计算后，在显示器上向医生呈现出最优路径和最优执行方式，同时也提供了多种备选执行方式，需要医生根据病人病情等实际情况，在进行确认后***将进入下一个步骤。上述仅为其中一种实施例，并非对保护范围的限定。In some embodiments, the intraoperative image is analyzed to determine the blood vessel branches and curvature conditions and blood vessel width in front of the medical interventional device. The number of blood vessel branches in front exceeds a first threshold, or the curvature is greater than a second threshold. If the threshold value or the blood vessel width is less than the third threshold value, an automatic navigation instruction is generated to reduce the traveling speed of the medical interventional device, thereby improving the safety of automatic surgery. Specifically, as shown in Figure 4, in step S401, the blood vessel branches, complete status and blood vessel width in front of the medical interventional device are determined. In step S402, it is determined whether the number of blood vessel branches exceeds the first threshold. If the number of blood vessel branches exceeds The first threshold value indicates that the distribution of blood vessels at this location is relatively complex, making it more difficult for the medical interventional device to travel. At this time, step S405 is executed to generate an automatic navigation instruction to reduce the traveling speed, and perform the automatic surgery at a lower traveling speed. , improving the safety of surgery. If the number of blood vessel branches does not exceed the first threshold, continue to execute step S403 to determine whether the curvature exceeds the second threshold. If the curvature exceeds the second threshold, it means that the blood vessels here are relatively complete and may easily cause safety problems. At this time, the same process is performed Step S404 generates an automatic navigation instruction to reduce the traveling speed, so that the medical interventional device travels on a path with a large curvature at a slow speed. In addition, if the curvature does not exceed the second threshold, continue to determine whether the blood vessel width exceeds the third threshold (step S404). If it exceeds the third threshold, it means that the blood vessel width here is narrow, which is not conducive to high-speed travel of medical interventional devices. Therefore, Automatic navigation instructions are also generated to reduce the traveling speed so that the medical interventional device can perform automatic surgery at a safe speed to ensure the safety of the surgery. The first threshold, the second threshold and the third threshold may be manually set values or values automatically set by the system, and there is no specific limitation on this. For different vascular conditions, different speed modes can be selected to provide different strategies, saving surgical time and improving surgical efficiency. Based on the above analysis and calculation, the optimal path and optimal execution method are presented to the doctor on the display, and a variety of alternative execution methods are also provided. The doctor needs to confirm the system according to the patient's condition and other actual conditions. Next step. The above is only one of the embodiments and does not limit the scope of protection.

在一些实施例中，所述至少一个处理器进一步配置为接收来自所述从端机构的操纵所述医疗介入器件的第一运动参数，基于术中图像，确定所述医疗介入器件的第二运动参数，对所述第一运动参数和所述第二运动参数进行比较以确定偏差，在所确定的偏差没有超出第四阈值的情况下，继续生成并发送所述自动导航指令，从而保证自动手术的安全进行。具体地，如图5所示，在步骤S501中，获取第一运动参数和第二运动参数的偏差，其中，第一运动参数反映的是医生预期的、设定的操纵医疗介入器件的相关运动参数值，而第二运动参数反映的是经过操纵医疗介入器件之后实际的相关运动参数值，两者的偏差则能够反映自动手术的准确度，偏差越小则自动手术的执行结果越好。其中，所述偏差可以是第一运动参数与第二运动参数的差，该偏差可以是***直接计算得到，也可以是医生人工计算得到或者以其他可行的方式计算得到，对此不做具体限定。在步骤S502中，判断偏差是否超出第四阈值，如果没有超出第四阈值，则执行步骤S503继续生成并发送自动导航指令，按照之前的设定安全、高效的执行自动手术。In some embodiments, the at least one processor is further configured to receive a first motion parameter from the slave mechanism for manipulating the medical interventional device, and determine a second motion of the medical interventional device based on the intraoperative image. parameters, compare the first motion parameter and the second motion parameter to determine the deviation, and when the determined deviation does not exceed the fourth threshold, continue to generate and send the automatic navigation instruction, thereby ensuring automatic surgery carried out safely. Specifically, as shown in Figure 5, in step S501, the deviation between the first motion parameter and the second motion parameter is obtained, where the first motion parameter reflects the relevant motion of operating the medical interventional device expected and set by the doctor. Parameter value, and the second motion parameter reflects the actual relevant motion parameter value after manipulating the medical interventional device. The deviation between the two can reflect the accuracy of the automatic surgery. The smaller the deviation, the better the execution result of the automatic surgery. The deviation may be the difference between the first motion parameter and the second motion parameter. The deviation may be directly calculated by the system, or may be manually calculated by a doctor or calculated in other feasible ways, and is not specifically limited. . In step S502, it is determined whether the deviation exceeds the fourth threshold. If it does not exceed the fourth threshold, step S503 is executed to continue generating and sending automatic navigation instructions, and perform automatic surgery safely and efficiently according to the previous settings.

进一步地，在步骤S504中，在所确定的偏差超出第四阈值的情况下，生成并发送自动暂停指令，所述自动暂停指令使得所述从端机构的运动暂停，锁定维持所述从端机构的当前状态并提示医生进行核查(步骤S505)。接着，执行步骤S506，判断是否确认故障，在核查结果为排除故障时，解锁恢复所述从端机构的运动(步骤S507)，以使得从端机构继续操纵医疗介入器件执行自动手术。而在核查结果为确认故障时，识别故障水平(步骤S508)，根据故障水平进行相应的修正。在步骤S509中，确认故障水平是否不超过第五阈值，在所识别的故障水平等于或低于第五阈值时，执行步骤S511对从端机构进行修正直到排除故障，具体包括继续锁定维持所述从端机构的当前状态，同时自动或半自动地控制所述从端机构以增加夹紧力和推进力中的至少一种并提示医生进行核查，直到核查结果变为排除故障。夹紧力和推进力对于操纵医疗介入器件在腔内的运动至关重要，夹紧力或推进力无法达到要求时，无法实现对医疗介入器件的精确控制，比如，由于夹紧力较低，导致医疗介入器件在运动过程中脱落。这种故障可以通过增加夹紧力的方式解决，因此，当***显示故障水平等于或低于第五阈值水平时，无需关闭所述介入手术机器人的从端机构，只要通过调节增加夹紧力或推进力即可。此外，不排除其他可以通过对***的调节以排除故障的方法。Further, in step S504, when the determined deviation exceeds the fourth threshold, an automatic suspension instruction is generated and sent. The automatic suspension instruction causes the movement of the slave mechanism to be suspended, and the lock is maintained to maintain the slave mechanism. current status and prompts the doctor for verification (step S505). Next, step S506 is executed to determine whether the fault is confirmed. When the verification result is that the fault is eliminated, the movement of the slave mechanism is unlocked and resumed (step S507), so that the slave mechanism continues to operate the medical interventional device to perform automatic surgery. When the check result is a confirmed fault, the fault level is identified (step S508), and corresponding corrections are made according to the fault level. In step S509, it is confirmed whether the fault level does not exceed the fifth threshold. When the identified fault level is equal to or lower than the fifth threshold, step S511 is executed to correct the slave mechanism until the fault is eliminated, specifically including continuing to lock and maintain the described The current status of the slave end mechanism is simultaneously controlled automatically or semi-automatically to increase at least one of the clamping force and the propulsion force and prompt the doctor to conduct verification until the verification result becomes troubleshooting. Clamping force and propulsion force are crucial for controlling the movement of medical interventional devices in the cavity. When the clamping force or propulsion force cannot meet the requirements, precise control of the medical interventional device cannot be achieved. For example, due to low clamping force, This causes medical interventional devices to fall off during exercise. This kind of fault can be solved by increasing the clamping force. Therefore, when the system shows that the fault level is equal to or lower than the fifth threshold level, there is no need to shut down the slave end mechanism of the interventional surgical robot, as long as the clamping force is increased by adjustment or Just propulsion. In addition, other methods that can be used to troubleshoot the system by adjusting the system are not excluded.

在所识别的故障水平高于所述第五阈值时，关闭所述从端机构，提示医生转为手动操控模式(步骤S510)。此时，较高的故障水平意味着***出现较为严重的难以通过简单调整即可修复的问题，因此，在所识别的故障水平高于第五阈值水平时，关闭所述介入手术机器人的从端机构，进而由医生进行人工操控，从而避免了***故障对患者造成的伤害，确保了患者的生命安全。通过该实施例，能够解决现有介入手术机器人没有异常保护机制，介入机器人无法判断手术异常状态，介入机器人没有实时监测异常状态，当出现异常情况时，机器人没有及时停止，没有实时反馈信息等一系列的问题。此外，在所确定的偏差超出第四阈值的情况下，控制机柜还可以通过发出警报的方式提示医生进行核查。When the identified fault level is higher than the fifth threshold, the slave mechanism is turned off and the doctor is prompted to switch to manual control mode (step S510). At this time, a higher fault level means that the system has a more serious problem that is difficult to repair through simple adjustments. Therefore, when the identified fault level is higher than the fifth threshold level, the slave end of the interventional surgical robot is turned off. The mechanism is then manually controlled by doctors, thereby avoiding harm to patients caused by system failures and ensuring the patient's life safety. Through this embodiment, it is possible to solve the problem that the existing interventional surgery robot does not have an abnormality protection mechanism, the interventional robot cannot judge the abnormality of the operation, the interventional robot does not monitor the abnormality in real time, when an abnormality occurs, the robot does not stop in time, and there is no real-time feedback information, etc. series of questions. In addition, in the event that the determined deviation exceeds the fourth threshold, the control cabinet can also prompt the doctor for verification by sounding an alarm.

在一些实施例中，所述至少一个处理器接收来自所述从端机构的操纵所述医疗介入器件的运动阻力数据和运动轨迹数据，显示部显示所述运动阻力数据和运动轨迹数据，基于运动阻力数据和运动轨迹数据，医生可以判断医疗介入器件当前的运动状态，能够判断出是否具有一定的危险。In some embodiments, the at least one processor receives motion resistance data and motion trajectory data for operating the medical interventional device from the slave mechanism, and the display unit displays the motion resistance data and motion trajectory data, based on the motion. Using resistance data and motion trajectory data, doctors can determine the current motion status of the medical interventional device and determine whether it is dangerous.

在一些实施例中，对所述代表图像进行分析处理以得到规划路径具体包括通过学***翻转、垂直翻转、随机缩放、随机亮度、随机对比度、随机噪声等图像处理方法进行数据增强，使用增强后的训练数据对分割网络模型进行学习训练，得到图像分割模型。将获取的医学图像信息进行图像预处理输入到ResUnet深度学习网络进行训练，训练结果与训练数据进行比较，通过交叉熵损失函数计算法计算损失值，将损失值进行反向传播更新权重。通过深度学习网络进行血管和其他特征提取，可极大的提高特征的提取效率，是实时导航实现的根本保证。上述的深度学习网络模型可以为ResUnet、attentionUnet等分割网络模型，具体不作限定。通过采用多种分割标注信息(血管、导丝、支架)的医学图像的训练数据对分割网络模型进行学习训练，即可得到图像分割模型，从而保证利用得到的图像分割模型对分割目标的分割准确性和速度。所述深度学习网络利用Tensorflow框架进行深度学习的训练即可实现。In some embodiments, analyzing and processing the representative image to obtain the planned path specifically includes analyzing and processing the representative image through a learning network to segment the physiological tubular structure. For example, perform image preprocessing on the acquired medical image information and input it into the ResUnet deep learning network for training, identify guide wires, stents, blood vessels and other target objects, obtain training data, perform a shuffle operation on the data, and convert the image into a fixed size (such as : 512*512), and perform normalization processing to convert the pixels into between 0-1. Among them, the training data includes medical images with segmentation annotation information (blood vessels, guide wires, stents), and the above training data is imaged Image processing methods such as horizontal flipping, vertical flipping, random scaling, random brightness, random contrast, and random noise are used for data enhancement. The enhanced training data is used to learn and train the segmentation network model to obtain the image segmentation model. The acquired medical image information is input into the ResUnet deep learning network for image preprocessing for training. The training results are compared with the training data, the loss value is calculated through the cross-entropy loss function calculation method, and the loss value is backpropagated to update the weight. Extracting blood vessels and other features through deep learning networks can greatly improve the feature extraction efficiency, which is the fundamental guarantee for real-time navigation. The above-mentioned deep learning network model can be a segmentation network model such as ResUnet and attentionUnet, and is not specifically limited. By using the training data of medical images with various segmentation annotation information (blood vessels, guide wires, stents) to learn and train the segmentation network model, the image segmentation model can be obtained, thereby ensuring that the obtained image segmentation model is used to accurately segment the segmentation target. sex and speed. The deep learning network can be implemented by using the Tensorflow framework for deep learning training.

在自动手术的过程中，介入机器人***将实时图像传入已训练好的网络模型，网络模型根据训练好的规则输出识别结果，分割出生理管状结构，将医生操作数据和网络模型输出结果经过图像处理计算转换成导航指令。以病变部作为终端部，将网络血管的预测结果作为“路”，将医疗介入器件的代表部(比如导丝、导管或支架)作为起始部，提取所述生理管状结构的中心线。提取得到的中心线可以直接作为规划路径，也可以启动人工干预对中心线进行修正，修正后的中心线再作为规划路径以确保机器人手术的安全性。During the automatic surgery, the interventional robot system transmits real-time images to the trained network model. The network model outputs the recognition results according to the trained rules, segments the physiological tubular structure, and passes the doctor's operation data and the network model output results through the image. Processes calculations and converts them into navigation instructions. Using the lesion as the terminal part, the prediction result of the network blood vessel as the "road", and the representative part of the medical interventional device (such as a guidewire, catheter or stent) as the starting part, the centerline of the physiological tubular structure is extracted. The extracted center line can be directly used as the planning path, or manual intervention can be initiated to correct the center line. The corrected center line can then be used as the planning path to ensure the safety of robotic surgery.

在一些实施例中，所述至少一个处理器进一步配置为对所述代表图像进行分析处理，以识别病变部。所述显示部进一步配置为显示所识别的病变部，以便于医生确认病变部位置的确认是否正确。如图6所示，在步骤S601中，采集血管代表图像的图像信息，并将该图像信息发送到控制机柜，控制机柜分析血管形态，识别出病变部(步骤S602)。具体来说，当控制机柜得到病人的血管图像后，***基于大量数据的基础上进行自动匹配分析，进行血管的病情诊断并找到病变部(如狭窄区域)，这时***将会弹出提示，需要由医生确认病情分析是否准确，即执行步骤S603由医生判断病变部是否正确。所述至少一个处理器进一步配置为接收用户对所述病变部的交互操作，所述交互操作包括确认、修正和拒绝中的至少一种。如果医生判断病变部位置正确，则由医生执行确认操纵后继续执行步骤S605。如果医生判断病变部位置有误，则执行步骤S604由医生进行修正操作。或者，医生直接执行拒绝操作，***重新对图像信息进行分析处理。例如，医生可以调整***分析指标和参数，由***进行重新分析。或者，由医生指定想要操纵的造影图像，操纵指令不作限定，包括但不限于在屏幕图像中画点、画圆、矩形、划线等方式，机器人***通过识别医生操作指令获取病变部作为终端部。处理器在接收到用户对所述病变部的确认(可能经历了修正操作)后，以所确认的病变部作为终端部来得到所述规划路径。In some embodiments, the at least one processor is further configured to analyze the representative image to identify a lesion. The display part is further configured to display the identified lesion, so as to facilitate the doctor to confirm whether the location of the lesion is correct. As shown in Figure 6, in step S601, the image information of the blood vessel representative image is collected, and the image information is sent to the control cabinet. The control cabinet analyzes the blood vessel shape and identifies the lesion (step S602). Specifically, when the control cabinet obtains the patient's blood vessel image, the system automatically performs matching analysis based on a large amount of data, diagnoses the condition of the blood vessel, and finds the diseased area (such as a stenotic area). At this time, the system will pop up a prompt that requires The doctor confirms whether the condition analysis is accurate, that is, step S603 is executed to let the doctor determine whether the lesion is correct. The at least one processor is further configured to receive a user's interactive operation on the lesion, the interactive operation including at least one of confirmation, correction, and rejection. If the doctor determines that the location of the lesion is correct, the doctor performs a confirmation operation and then proceeds to step S605. If the doctor determines that the location of the lesion is wrong, step S604 is executed and the doctor performs a correction operation. Or, the doctor directly performs the rejection operation, and the system re-analyzes and processes the image information. For example, doctors can adjust the system analysis indicators and parameters, and the system will re-analyze them. Alternatively, the doctor specifies the contrast image that he wants to manipulate. The manipulation instructions are not limited, including but not limited to drawing dots, circles, rectangles, and lines on the screen image. The robot system obtains the lesion as a terminal by recognizing the doctor's operation instructions. department. After receiving the user's confirmation of the lesion (possibly undergoing a correction operation), the processor uses the confirmed lesion as the terminal portion to obtain the planned path.

在步骤S605中，基于上述识别出的病变部作为终端部，利用学习网络提取血管中心线，并根据血管中心线得到规划路径。进一步地，所述显示部进一步配置为显示所述规划路径，以便于医生对规划路径的准确性进行确定。在步骤S606中，医生判断规划路径是否合适。比如，有可能由于血管中心线提取不准确导致规划路径与实际不符，此时，通过人工干预，有利于提高后续自动手术的准确性和安全性。进一步地，所述至少一个处理器进一步配置为接收用户对所述规划路径的交互操作，所述交互操作包括确认、修正和拒绝中的至少一种。具体地，在接收到用户对所述规划路径的修正操作后，响应于所述修正操作而修正所述规划路径以供所述显示部显示。比如，当医生判断规划路径不合适时，医生进行修正操作(步骤S607)，处理器接收到医生的修正操作后，对规划路径进行修正，并将修正后的合适的规划路径在显示器上显示，直到规划路径符合医生的要求即可执行下一步。所述处理器在接收到用户对所述规划路径的确认操作后，基于所确认的规划路径和所述医疗介入器件的当前运动状态，来生成自动导航指令。在得到规划路径后，***会计算如何控制从端机构进行动作，具体表现可以包括计算每个电机的旋转方向、转动角度、转动速度等，这些控制信息作为导航的指令，将导航指令发送给机器人的从端机构，并开始进行运动，同时也在实时采集DSA的图像信息，***自动判断导丝和导管的位置信息。具体来说，如步骤S608，处理器采集术中导丝和导管的图像信息并确定导丝和导管当前运动状态，比如确定导丝和导管的运动方向、位置等相关运动参数。接着，判断***判断是否进行人工干预(步骤S609)，如果需要人工干预，则处理器采集医生手动控制指令(步骤S610)并将自动导航指令发送给从端机构(步骤S613)。比如，当手术过程中出现异常情况，医生可以随时暂停自动手术***，通过人工操作的方式来进行调整。当人工调整完成后，可以重新返回自动手术模式。如果无需人工干预，则执行步骤S611，计算下一步最优执行动作和执行模式，比如，采用上述实施例所述的确认前进的自动导航指令、前进距离的自动导航指令、旋转的自动导航指令的方法计算下一步最优执行动作和执行模式，并把它们转化为机器可以执行的动作指令，同时把这些动作信息显示到显示器上告知医生。接着，如步骤S612，计算下一步最优的介入手术机器人控制方式并生成自动导航指令，将自动导航指令发送到从端机构(步骤S613)，从端机构基于自动导航指令执行自动手术。医生对介入手术机器人的操纵结果进行评估，通过***计算到从端机构操纵导丝、导管的第一运动参数与实际结果相关联的第二运动参数的偏差，判断偏差是否超出第四阈值(步骤S614)，如果偏差超出第四阈值，则***报警(步骤S615)，提示医生确认(步骤S616)，医生对操控过程进行核查和修正。如果偏差没有超出第四阈值，则判断导丝和导管运动阻力数据是否正常(步骤S617)，如果不正常，则***报警，提示医生进行核查和修正，如果正常则继续执行自动手术。显示器显示术中图像，医生随时可以观察导丝和导管是否到达指定位置(步骤S618)，如果到达指定位置，则结束，如果没有到达指定位置，则回到步骤S608，继续执行。如此，能够提高自动手术的执行效率，并且通过人机交互，极大地提高了自动手术的准确度和安全性，可以大大提高自动手术的效率和成功率。In step S605, based on the identified lesion as the terminal portion, the learning network is used to extract the blood vessel centerline, and the planned path is obtained based on the blood vessel centerline. Furthermore, the display part is further configured to display the planned path to facilitate the doctor to determine the accuracy of the planned path. In step S606, the doctor determines whether the planned path is appropriate. For example, it is possible that the planned path is inconsistent with the actual due to inaccurate extraction of the blood vessel centerline. In this case, manual intervention can help improve the accuracy and safety of subsequent automated surgeries. Further, the at least one processor is further configured to receive a user's interactive operation on the planned path, where the interactive operation includes at least one of confirmation, modification, and rejection. Specifically, after receiving a user's correction operation on the planned path, the planned path is corrected in response to the correction operation for display by the display unit. For example, when the doctor determines that the planned path is inappropriate, the doctor performs a correction operation (step S607). After receiving the doctor's correction operation, the processor corrects the planned path and displays the corrected appropriate planned path on the display. The next step can be taken until the planned path meets the doctor's requirements. After receiving the user's confirmation operation on the planned path, the processor generates an automatic navigation instruction based on the confirmed planned path and the current motion state of the medical interventional device. After obtaining the planned path, the system will calculate how to control the slave mechanism to perform actions. Specific performance can include calculating the rotation direction, rotation angle, rotation speed, etc. of each motor. These control information are used as navigation instructions and the navigation instructions are sent to the robot. The slave mechanism starts to move, and at the same time, the DSA image information is collected in real time, and the system automatically determines the position information of the guide wire and catheter. Specifically, in step S608, the processor collects the image information of the guide wire and catheter during the operation and determines the current motion status of the guide wire and catheter, such as determining the motion direction, position and other related motion parameters of the guide wire and catheter. Next, the judgment system determines whether to perform manual intervention (step S609). If manual intervention is required, the processor collects the doctor's manual control instructions (step S610) and sends the automatic navigation instructions to the slave mechanism (step S613). For example, when an abnormality occurs during surgery, the doctor can pause the automatic surgery system at any time and make adjustments through manual operation. When the manual adjustment is completed, you can return to the automatic surgery mode. If manual intervention is not required, step S611 is executed to calculate the next optimal execution action and execution mode. For example, the automatic navigation instruction for confirming the forward movement, the automatic navigation instruction for the forward distance, and the automatic navigation instruction for rotation are used in the above embodiment. The method calculates the next optimal execution action and execution mode, converts them into action instructions that the machine can execute, and displays these action information on the display to inform the doctor. Then, as in step S612, the next optimal interventional surgical robot control method is calculated and an automatic navigation instruction is generated, and the automatic navigation instruction is sent to the slave mechanism (step S613). The slave mechanism performs automatic surgery based on the automatic navigation instruction. The doctor evaluates the manipulation results of the interventional surgery robot, calculates through the system the deviation of the first motion parameter of the slave-end mechanism to manipulate the guidewire and catheter and the second motion parameter associated with the actual result, and determines whether the deviation exceeds the fourth threshold (step S614), if the deviation exceeds the fourth threshold, the system alarms (step S615) and prompts the doctor to confirm (step S616), and the doctor checks and corrects the control process. If the deviation does not exceed the fourth threshold, it is determined whether the guide wire and catheter movement resistance data are normal (step S617). If not, the system alarms and prompts the doctor to check and correct. If normal, the automatic surgery continues. The monitor displays the intraoperative image, and the doctor can observe whether the guide wire and catheter reach the designated position at any time (step S618). If they reach the designated position, it ends. If they do not reach the designated position, they return to step S608 and continue execution. In this way, the execution efficiency of automatic surgery can be improved, and through human-computer interaction, the accuracy and safety of automatic surgery can be greatly improved, and the efficiency and success rate of automatic surgery can be greatly improved.

图7示出根据本申请实施例的介入手术机器人的控制方法流程图。其中，所述介入手术机器人***用于操纵医疗介入器件在患者的生理管状结构的腔内运动。在步骤S701，经由主端机构的至少一个处理器获取包含所述生理管状结构的术中图像，通过对所述术中图像进行分析处理来生成自动导航指令。在步骤S702中，经由显示部呈现所述术中图像和所述医疗介入器件的当前运动状态。在步骤S703中，经由用户操纵部接收用户的手动操纵，并传输所述手动操纵对应的手动控制指令。在步骤S704中，经由从端机构接收来自所述至少一个处理器和所述用户操纵部的指令，其中，所述从端机构设有机械臂和末端执行器。在步骤S705中，所述从端机构在接收到自动导航指令而没有接收到所述手动控制指令的情况下，基于所述自动导航指令操纵医疗介入器件行进，而在接收到所述手动控制指令的情况下，基于所述手动控制指令操纵医疗介入器件。如此，提供了人工监视和人工调整的介入手术机器人的控制方法，同时向医生提供了多种手术参数，当前和下一步执行动作，便于医生了解机器人的状态。医生可以随时停止并进行修正，修改完后可以继续自动进行手术。Figure 7 shows a flow chart of a control method for an interventional surgical robot according to an embodiment of the present application. Wherein, the interventional surgical robot system is used to manipulate the medical interventional device to move within the cavity of the patient's physiological tubular structure. In step S701, an intraoperative image containing the physiological tubular structure is acquired via at least one processor of the main end mechanism, and an automatic navigation instruction is generated by analyzing and processing the intraoperative image. In step S702, the intraoperative image and the current motion state of the medical interventional device are presented via the display part. In step S703, the user's manual manipulation is received via the user manipulation unit, and a manual control instruction corresponding to the manual manipulation is transmitted. In step S704, instructions from the at least one processor and the user manipulation part are received via a slave mechanism, where the slave mechanism is provided with a robotic arm and an end effector. In step S705, when the slave mechanism receives the automatic navigation instruction but does not receive the manual control instruction, it controls the medical interventional device to travel based on the automatic navigation instruction, and after receiving the manual control instruction In this case, the medical interventional device is manipulated based on the manual control instructions. In this way, a control method for the interventional surgical robot with manual monitoring and manual adjustment is provided, and a variety of surgical parameters, current and next execution actions are provided to the doctor, making it easier for the doctor to understand the status of the robot. The doctor can stop and make corrections at any time, and after the modifications are made, the operation can continue automatically.

在一些实施例中，获取包含所述生理管状结构的术中图像，通过对所述术中图像进行分析处理来生成自动导航指令具体包括获取包含生理管状结构的代表图像，对所述代表图像进行分析处理以得到规划路径，对所述术中图像进行分析以确定医疗介入器件的当前运动状态，基于所述规划路径和所述医疗介入器件的当前运动状态，来生成自动导航指令。如此，可以完成自动介入手术，采用最优路径规划，更高效的图像分析和机器人执行策略，可以大大提高自动手术的效率和成功率。In some embodiments, acquiring an intraoperative image containing the physiological tubular structure, and generating an automatic navigation instruction by analyzing and processing the intraoperative image specifically includes acquiring a representative image containing the physiological tubular structure, and performing a processing on the representative image. Analyze and process to obtain the planned path, analyze the intraoperative image to determine the current motion state of the medical interventional device, and generate automatic navigation instructions based on the planned path and the current motion state of the medical interventional device. In this way, automatic interventional surgery can be completed. Using optimal path planning, more efficient image analysis and robot execution strategies can greatly improve the efficiency and success rate of automatic surgery.

在一些实施例中，基于所述规划路径和所述医疗介入器件的当前运动状态，来生成自动导航指令具体包括获取所述医疗介入器件的代表部的当前的第一位置和第一运动方向，确定在所述第一运动方向上的代表部的第二位置，确定所述代表部的第二位置与所述规划路径的最短连接线，确定所述最短连接线与所述规划路径的交点，获取所述交点和所述第一位置的连线与所述第一运动方向的夹角，当所述夹角小于第一阈值角度时，生成前进的自动导航指令，以使得医疗介入器件沿着规划路径前进，保证了安全性。In some embodiments, generating an automatic navigation instruction based on the planned path and the current motion state of the medical interventional device specifically includes obtaining the current first position and first motion direction of the representative part of the medical interventional device, Determine the second position of the representative part in the first movement direction, determine the shortest connection line between the second position of the representative part and the planned path, and determine the intersection point of the shortest connection line and the planned path, Obtain the angle between the line connecting the intersection point and the first position and the first movement direction. When the angle is less than the first threshold angle, generate a forward automatic navigation instruction so that the medical interventional device moves along the Plan the path forward to ensure safety.

在一些实施例中，基于所述规划路径和所述医疗介入器件的当前运动状态，来生成自动导航指令进一步包括当所述夹角不超过第一阈值角度时，确定所述第二位置与所述第一位置之间的距离作为前进距离。In some embodiments, generating an automatic navigation instruction based on the planned path and the current motion state of the medical interventional device further includes determining when the included angle does not exceed a first threshold angle, determining the second position and the The distance between the first positions is taken as the forward distance.

在一些实施例中，基于所述规划路径和所述医疗介入器件的当前运动状态，来生成自动导航指令进一步包括当所述夹角大于第一阈值角度时，确定要操纵所述医疗介入器件旋转的角度，并生成指示旋转该角度的自动旋转指令作为所述自动导航指令。In some embodiments, generating an automatic navigation instruction based on the planned path and the current motion state of the medical interventional device further includes determining to manipulate the rotation of the medical interventional device when the included angle is greater than a first threshold angle. angle, and generate an automatic rotation instruction indicating the rotation of the angle as the automatic navigation instruction.

如此，基于所述介入手术机器人的控制方法，能够减轻医生的体力负担，改善医生的操作体验感，方法简单，容易实现。In this way, the control method based on the interventional surgical robot can reduce the physical burden of the doctor and improve the doctor's operating experience. The method is simple and easy to implement.

本申请的实施例还提供一种计算机存储介质，所述计算机可读存储介质上存储有计算机程序指令，所述计算机程序指令在被处理器运行时使得所述处理器执行根据本申请各个实施例所述的介入手术机器人的控制方法。存储介质可以包括只读存储器(ROM)、闪存、随机存取存储器(RAM)、诸如同步DRAM(SDRAM)或Rambus DRAM的动态随机存取存储器(DRAM)、静态存储器(例如，闪存、静态随机存取存储器)等，其上可以以任何格式存储计算机可执行指令。Embodiments of the present application also provide a computer storage medium. Computer program instructions are stored on the computer-readable storage medium. When the computer program instructions are run by a processor, the computer program instructions cause the processor to execute according to various embodiments of the present application. The control method of the interventional surgical robot. Storage media may include read-only memory (ROM), flash memory, random access memory (RAM), dynamic random access memory (DRAM) such as synchronous DRAM (SDRAM) or Rambus DRAM, static memory (e.g., flash memory, static random access memory). memory), etc., on which computer-executable instructions may be stored in any format.

此外，尽管已经在本文中描述了示例性实施例，其范围包括任何和所有基于本申请的具有等同元件、修改、省略、组合(例如，各种实施例交叉的方案)、改编或改变的实施例。权利要求书中的元件将被基于权利要求中采用的语言宽泛地解释，并不限于在本说明书中或本申请的实施期间所描述的示例，其示例将被解释为非排他性的。因此，本说明书和示例旨在仅被认为是示例，真正的范围和精神由以下权利要求以及其等同物的全部范围所指示。Furthermore, although exemplary embodiments have been described herein, the scope thereof includes any and all implementations based on the present application with equivalent elements, modifications, omissions, combinations (e.g., cross-cutting arrangements of various embodiments), adaptations, or changes example. Elements in the claims are to be construed broadly based on the language employed in the claims and are not limited to the examples described in this specification or during the practice of this application, which examples are to be construed as non-exclusive. It is intended that the specification and examples be considered as examples only, with a true scope and spirit being indicated by the following claims, along with their full scope of equivalents.

以上描述旨在是说明性的而不是限制性的。例如，上述示例(或其一个或更多方案)可以彼此组合使用。例如本领域普通技术人员在阅读上述描述时可以使用其它实施例。另外，在上述具体实施方式中，各种特征可以被分组在一起以简单化本申请。这不应解释为一种不要求保护的公开的特征对于任一权利要求是必要的意图。相反，本申请的主题可以少于特定的公开的实施例的全部特征。从而，以下权利要求书作为示例或实施例在此并入具体实施方式中，其中每个权利要求独立地作为单独的实施例，并且考虑这些实施例可以以各种组合或排列彼此组合。本发明的范围应参照所附权利要求以及这些权利要求赋权的等同形式的全部范围来确定。The above description is intended to be illustrative rather than restrictive. For example, the above examples (or one or more versions thereof) may be used in combination with each other. For example, other embodiments may be used by those of ordinary skill in the art upon reading the above description. Additionally, in the above detailed description, various features may be grouped together to simplify the present application. This should not be interpreted as an intention that an unclaimed disclosed feature is essential to any claim. Rather, the subject matter of this application may lie in less than all features of a particular disclosed embodiment. Thus, the following claims are hereby incorporated into the Detailed Description as examples or embodiments, with each claim standing on its own as a separate embodiment, and with it being contemplated that these embodiments may be combined with one another in various combinations or permutations. The scope of the invention should be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled.

以上实施例仅为本申请的示例性实施例，不用于限制本发明，本发明的保护范围由权利要求书限定。本领域技术人员可以在本申请的实质和保护范围内，对本发明做出各种修改或等同替换，这种修改或等同替换也应视为落在本发明的保护范围内。The above embodiments are only exemplary embodiments of the present application and are not used to limit the present invention. The protection scope of the present invention is defined by the claims. Those skilled in the art can make various modifications or equivalent substitutions to the present invention within the essence and protection scope of the present application, and such modifications or equivalent substitutions should also be deemed to fall within the protection scope of the present invention.

Claims

一种介入手术机器人***，用于操纵医疗介入器件在患者的生理管状结构的腔内运动，其特征在于，包括：An interventional surgical robot system used to manipulate medical interventional devices to move within the cavity of a patient's physiological tubular structure, which is characterized by including:

主端机构，其包括：Main-side institutions include:

至少一个处理器，其配置为：获取包含所述生理管状结构的术中图像，通过对所述术中图像进行分析处理来生成自动导航指令；At least one processor configured to: acquire an intraoperative image containing the physiological tubular structure, and generate automatic navigation instructions by analyzing and processing the intraoperative image;

显示部，所述显示部用于呈现所述术中图像和所述医疗介入器件的当前运动状态；以及A display unit configured to present the intraoperative image and the current motion state of the medical interventional device; and

用户操纵部，所述用户操纵部被配置为：接收用户的手动操纵，并传输所述手动操纵对应的手动控制指令；A user manipulation unit, the user manipulation unit is configured to: receive the user's manual manipulation, and transmit the manual control instructions corresponding to the manual manipulation;

从端机构，所述从端机构设有机械臂和末端执行器，且配置为：接收来自所述至少一个处理器和所述用户操纵部的指令；在接收到自动导航指令而没有接收到所述手动控制指令的情况下，基于所述自动导航指令操纵医疗介入器件行进，而在接收到所述手动控制指令的情况下，基于所述手动控制指令操纵医疗介入器件。The slave mechanism is provided with a mechanical arm and an end effector, and is configured to: receive instructions from the at least one processor and the user control unit; In the case of receiving the manual control instruction, the medical interventional device is controlled to move based on the automatic navigation instruction, and in the case of receiving the manual control instruction, the medical interventional device is operated based on the manual control instruction.
根据权利要求1所述的介入手术机器人***，其特征在于，获取包含所述生理管状结构的术中图像，通过对所述术中图像进行分析处理来生成自动导航指令具体包括：获取包含生理管状结构的代表图像，对所述代表图像进行分析处理以得到规划路径；对所述术中图像进行分析以确定医疗介入器件的当前运动状态；基于所述规划路径和所述医疗介入器件的当前运动状态，来生成自动导航指令。The interventional surgical robot system according to claim 1, wherein acquiring an intraoperative image containing the physiological tubular structure, and generating an automatic navigation instruction by analyzing and processing the intraoperative image specifically includes: acquiring an intraoperative image containing the physiological tubular structure. The representative image of the structure is analyzed and processed to obtain the planned path; the intraoperative image is analyzed to determine the current motion state of the medical interventional device; based on the planned path and the current motion of the medical interventional device status to generate automatic navigation instructions.
根据权利要求2所述的介入手术机器人***，其特征在于，基于所述规划路径和所述医疗介入器件的当前运动状态，来生成自动导航指令具体包括：The interventional surgery robot system according to claim 2, wherein generating an automatic navigation instruction based on the planned path and the current motion state of the medical interventional device specifically includes:

获取所述医疗介入器件的代表部的当前的第一位置和第一运动方向；Obtain the current first position and first movement direction of the representative part of the medical interventional device;

确定在所述第一运动方向上的代表部的第二位置；determining a second position of the representative portion in the first direction of movement;

确定所述代表部的第二位置与所述规划路径的最短连接线；Determine the shortest connecting line between the second position of the representative part and the planned path;

确定所述最短连接线与所述规划路径的交点；Determine the intersection point of the shortest connecting line and the planned path;

获取所述交点和所述第一位置的连线与所述第一运动方向的夹角，当所述夹角小于第一阈值角度时，生成前进的自动导航指令。The angle between the line connecting the intersection point and the first position and the first movement direction is obtained. When the angle is less than a first threshold angle, a forward automatic navigation instruction is generated.
根据权利要求3所述的介入手术机器人***，其特征在于，基于所述规划路径和所述医疗介入器件的当前运动状态，来生成自动导航指令进一步包括：The interventional surgical robot system according to claim 3, wherein generating an automatic navigation instruction based on the planned path and the current motion state of the medical interventional device further includes:

当所述夹角不超过第一阈值角度时，确定所述第二位置与所述第一位置之间的距离作为前进距离。When the included angle does not exceed the first threshold angle, the distance between the second position and the first position is determined as the forward distance.
根据权利要求3所述的介入手术机器人***，其特征在于，基于所述规划路径和所述医疗介入器件的当前运动状态，来生成自动导航指令进一步包括：The interventional surgical robot system according to claim 3, wherein generating an automatic navigation instruction based on the planned path and the current motion state of the medical interventional device further includes:

当所述夹角大于第一阈值角度时，确定要操纵所述医疗介入器件旋转的角度，并生成指示旋转该角度的自动旋转指令作为所述自动导航指令。When the included angle is greater than the first threshold angle, the angle at which the medical interventional device is to be manipulated to rotate is determined, and an automatic rotation instruction indicating the rotation of the angle is generated as the automatic navigation instruction.
根据权利要求2所述的介入手术机器人***，其特征在于，所述规划路径在术中保持稳定，所述生理管状结构的图像包括神经血管、内脏血管、和外周血管中的至少一种的血管图像。The interventional surgical robot system according to claim 2, wherein the planned path remains stable during the operation, and the image of the physiological tubular structure includes at least one of a neurovascular, a visceral blood vessel, and a peripheral blood vessel. image.
根据权利要求1所述的介入手术机器人***，其特征在于，所述手动控制指令包括自动暂停指令、自动恢复指令、规划路径修正指令和手动导航指令中的至少一种，所述显示部进一步配置为显示规划路径，所显示的规划路径响应于所述规划路径修正指令而被手动改变。The interventional surgical robot system according to claim 1, wherein the manual control instructions include at least one of an automatic pause instruction, an automatic recovery instruction, a planned path correction instruction, and a manual navigation instruction, and the display unit is further configured To display the planned path, the displayed planned path is manually changed in response to the planned path modification instructions.
根据权利要求1所述的介入手术机器人***，其特征在于，所述至少一个处理器进一步配置为：对所述术中图像进行分析，以确定所述医疗介入器件行进前方的血管分支及弯曲状况和血管宽度；在前方的血管分支数量超过第一阈值、或曲率大于第二阈值、或血管宽度小于第三阈值，则生成降低所述医疗介入器件的行进速度的自动导航指令。The interventional surgical robot system according to claim 1, wherein the at least one processor is further configured to analyze the intraoperative image to determine the branch and bending conditions of blood vessels ahead of the medical interventional device. and blood vessel width; if the number of blood vessel branches in front exceeds the first threshold, or the curvature is greater than the second threshold, or the blood vessel width is less than the third threshold, then an automatic navigation instruction is generated to reduce the traveling speed of the medical interventional device.
根据权利要求1所述的介入手术机器人***，其特征在于，所述至少一个处理器进一步配置为：接收来自所述从端机构的操纵所述医疗介入器件的第一运动参数；基于术中图像，确定所述医疗介入器件的第二运动参数；对所述第一运动参数和所述第二运动参数进行比较以确定偏差；在所确定的偏差没有超出第四阈值的情况下，继续生成并发送所述自动导航指令。The interventional surgical robot system according to claim 1, wherein the at least one processor is further configured to: receive a first motion parameter from the slave mechanism to manipulate the medical interventional device; based on intraoperative images , determine the second motion parameter of the medical interventional device; compare the first motion parameter and the second motion parameter to determine a deviation; in the case where the determined deviation does not exceed the fourth threshold, continue to generate and Send the automatic navigation command.
根据权利要求9所述的介入手术机器人***，其特征在于，所述至少一个处理器进一步配置为：The interventional surgical robot system according to claim 9, wherein the at least one processor is further configured to:

在所确定的偏差超出第四阈值的情况下，生成并发送自动暂停指令，所述自动暂停指令使得所述从端机构的运动暂停，锁定维持所述从端机构的当前状态并提示医生进行核查；In the event that the determined deviation exceeds the fourth threshold, an automatic pause instruction is generated and sent, which causes the movement of the slave mechanism to be suspended, locks to maintain the current state of the slave mechanism, and prompts the doctor for verification ;

在核查结果为排除故障时，解锁恢复所述从端机构的运动；When the verification result is that the fault is eliminated, unlock and resume the movement of the slave mechanism;

在核查结果为确认故障时，识别故障水平；When the verification result is a confirmed fault, identify the fault level;

在所识别的故障水平等于或低于第五阈值时，继续锁定维持所述从端机构的当前状态，同时自动或半自动地控制所述从端机构以增加夹紧力和推进力中的至少一种并提示医生进行核查，直到核查结果变为排除故障；When the identified fault level is equal to or lower than the fifth threshold, continued locking maintains the current state of the slave mechanism, while automatically or semi-automatically controlling the slave mechanism to increase at least one of the clamping force and the propulsion force. and prompt the doctor to conduct verification until the verification result becomes troubleshooting;

在所识别的故障水平高于所述第五阈值时，关闭所述从端机构，提示医生转为手动操控模式。When the identified fault level is higher than the fifth threshold, the slave mechanism is turned off and the doctor is prompted to switch to manual control mode.
根据权利要求9所述的介入手术机器人***，其特征在于，在所确定的偏差超出第四阈值的情况下，发出警报。The interventional surgical robot system of claim 9, wherein an alarm is issued if the determined deviation exceeds a fourth threshold.
根据权利要求1所述的介入手术机器人***，其特征在于，所述至少一个处理器接收来自所述从端机构的操纵所述医疗介入器件的运动阻力数据和运动轨迹数据，显示部显示所述运动阻力数据和运动轨迹数据。The interventional surgical robot system according to claim 1, characterized in that the at least one processor receives motion resistance data and motion trajectory data for operating the medical interventional device from the slave mechanism, and the display unit displays the Movement resistance data and movement trajectory data.
根据权利要求2所述的介入手术机器人***，其特征在于，对所述代表图像进行分析处理以得到规划路径具体包括：The interventional surgery robot system according to claim 2, wherein analyzing and processing the representative image to obtain the planned path specifically includes:

通过学习网络对所述代表图像进行分析处理，以分割出所述生理管状结构；Analyze and process the representative image through a learning network to segment the physiological tubular structure;

以医疗介入器件的代表部为起始部，以病变部为终端部，提取所述生理管状结构的中心线；以及Taking the representative part of the medical interventional device as the starting part and the lesion part as the terminal part, extract the centerline of the physiological tubular structure; and

根据所提取的中心线，来得到所述规划路径。The planned path is obtained based on the extracted centerline.
根据权利要求2所述的介入手术机器人***，其特征在于，所述至少一个处理器进一步配置为：对所述代表图像进行分析处理，以识别病变部；The interventional surgical robot system according to claim 2, wherein the at least one processor is further configured to: analyze and process the representative image to identify the lesion;

所述显示部进一步配置为显示所识别的病变部；The display portion is further configured to display the identified lesion;

所述至少一个处理器进一步配置为：接收用户对所述病变部的交互操作，所述交互操作包括确认、修正和拒绝中的至少一种；在接收到用户对所述病变部的确认后，以所确认的病变部作为终端部来得到所述规划路径。The at least one processor is further configured to: receive a user's interactive operation on the lesion, the interactive operation including at least one of confirmation, correction, and rejection; after receiving the user's confirmation on the lesion, The planned path is obtained using the confirmed lesion as the terminal portion.
根据权利要求7所述的介入手术机器人***，其特征在于，所述显示部进一步配置为显示所述规划路径；The interventional surgical robot system according to claim 7, wherein the display unit is further configured to display the planned path;

所述至少一个处理器进一步配置为：接收用户对所述规划路径的交互操作，所述交互操作包括确认、修正和拒绝中的至少一种；在接收到用户对所述规划路径的确认操作后，基于所确认的规划路径和所述医疗介入器件的当前运动状态，来生成自动导航指令；在接收到用户对所述规划路径的修正操作后，响应于所述修正操作而修正所述规划路径以供所述显示部显示。The at least one processor is further configured to: receive a user's interactive operation on the planned path, the interactive operation including at least one of confirmation, modification, and rejection; after receiving the user's confirmation operation on the planned path , generate automatic navigation instructions based on the confirmed planned path and the current motion state of the medical interventional device; after receiving the user's correction operation on the planned path, correct the planned path in response to the correction operation for display by the display unit.
一种介入手术机器人的控制方法，用于操纵医疗介入器件在患者的生理管状结构的腔内运动，其特征在于，包括：A control method for an interventional surgical robot, used to control the movement of medical interventional devices in the cavity of a patient's physiological tubular structure, which is characterized by including:

经由主端机构的至少一个处理器获取包含所述生理管状结构的术中图像，通过对所述术中图像进行分析处理来生成自动导航指令；Obtaining intraoperative images containing the physiological tubular structure via at least one processor of the main end mechanism, and generating automatic navigation instructions by analyzing and processing the intraoperative images;

经由显示部呈现所述术中图像和所述医疗介入器件的当前运动状态；Presenting the intraoperative image and the current motion state of the medical interventional device via the display unit;

经由用户操纵部接收用户的手动操纵，并传输所述手动操纵对应的手动控制指令；Receive the user's manual manipulation via the user manipulation part, and transmit the manual control instructions corresponding to the manual manipulation;

经由从端机构接收来自所述至少一个处理器和所述用户操纵部的指令；其中，所述从端机构设有机械臂和末端执行器；以及Receive instructions from the at least one processor and the user control part via a slave mechanism; wherein the slave mechanism is provided with a robotic arm and an end effector; and

所述从端机构在接收到自动导航指令而没有接收到所述手动控制指令的情况下，基于所述自动导航指令操纵医疗介入器件行进，而在接收到所述手动控制指令的情况下，基于所述手动控制指令操纵医疗介入器件。When the slave mechanism receives an automatic navigation instruction but does not receive the manual control instruction, it controls the medical interventional device to advance based on the automatic navigation instruction, and when it receives the manual control instruction, it controls the medical interventional device based on the automatic navigation instruction. The manual control instructions operate the medical interventional device.
根据权利要求16所述的控制方法，其特征在于，获取包含所述生理管状结构的术中图像，通过对所述术中图像进行分析处理来生成自动导航指令具体包括：获取包含生理管状结构的代表图像，对所述代表图像进行分析处理以得到规划路径；对所述术中图像进行分析以确定医疗介入器件的当前运动状态；基于所述规划路径和所述医疗介入器件的当前运动状态，来生成自动导航指令。The control method according to claim 16, wherein acquiring an intraoperative image containing the physiological tubular structure, and generating an automatic navigation instruction by analyzing and processing the intraoperative image specifically includes: acquiring an intraoperative image containing the physiological tubular structure. The representative image is analyzed and processed to obtain the planned path; the intraoperative image is analyzed to determine the current motion state of the medical interventional device; based on the planned path and the current motion state of the medical interventional device, to generate automatic navigation instructions.
根据权利要求17所述的控制方法，其特征在于，基于所述规划路径和所述医疗介入器件的当前运动状态，来生成自动导航指令具体包括：The control method according to claim 17, wherein generating an automatic navigation instruction based on the planned path and the current motion state of the medical interventional device specifically includes:

获取所述医疗介入器件的代表部的当前的第一位置和第一运动方向；Obtain the current first position and first movement direction of the representative part of the medical interventional device;

确定在所述第一运动方向上的代表部的第二位置；determining a second position of the representative portion in the first direction of movement;

确定所述代表部的第二位置与所述规划路径的最短连接线；Determine the shortest connecting line between the second position of the representative part and the planned path;

确定所述最短连接线与所述规划路径的交点；Determine the intersection point of the shortest connecting line and the planned path;

获取所述交点和所述第一位置的连线与所述第一运动方向的夹角，当所述夹角小于第一阈值角度时，生成前进的自动导航指令。The angle between the line connecting the intersection point and the first position and the first movement direction is obtained. When the angle is less than a first threshold angle, a forward automatic navigation instruction is generated.
根据权利要求18所述的控制方法，其特征在于，基于所述规划路径和所述医疗介入器件的当前运动状态，来生成自动导航指令进一步包括：The control method according to claim 18, wherein generating an automatic navigation instruction based on the planned path and the current motion state of the medical interventional device further includes:

当所述夹角不超过第一阈值角度时，确定所述第二位置与所述第一位置之间的距离作为前进距离。When the included angle does not exceed the first threshold angle, the distance between the second position and the first position is determined as the forward distance.
根据权利要求18所述的控制方法，其特征在于，基于所述规划路径和所述医疗介入器件的当前运动状态，来生成自动导航指令进一步包括：The control method according to claim 18, wherein generating an automatic navigation instruction based on the planned path and the current motion state of the medical interventional device further includes:

当所述夹角大于第一阈值角度时，确定要操纵所述医疗介入器件旋转的角度，并生成指示旋转该角度的自动旋转指令作为所述自动导航指令。When the included angle is greater than the first threshold angle, the angle at which the medical interventional device is to be manipulated to rotate is determined, and an automatic rotation instruction indicating the rotation of the angle is generated as the automatic navigation instruction.
一种计算机可读存储介质，所述计算机可读存储介质上存储有计算机程序指令，所述计算机程序指令在被处理器运行时使得所述处理器执行如权利要求16-20中任何一项所述的控制方法。A computer-readable storage medium. Computer program instructions are stored on the computer-readable storage medium. When the computer program instructions are run by a processor, the computer program instructions cause the processor to execute the instructions in any one of claims 16-20. the control method described above.