CN115957008A - Catheter control method, system and storage medium - Google Patents

Abstract

The embodiment of the specification provides a catheter control method, a catheter control system and a storage medium, which are applied to the technical field of minimally invasive surgery. The method comprises the following steps: calculating the real-time tension of the guide wire according to the driving parameters of the driving module; the guidewire is disposed in a catheter; the guide wire pulls the catheter under the driving of the driving module to bend the catheter; determining environmental impact parameters according to the real-time tension of the guide wire; the environment influence parameter is used for representing the influence degree of the external environment on the catheter; controlling a drive module to pull a guide wire based on the environmental impact parameter to conform the environmental impact parameter to an environmental compliance condition; the conduit conforms to the shape of the external environment in the environmentally compliant condition. According to the method, the environmental influence parameters are directly determined through the tension of the guide wire, so that the catheter is adaptively adjusted, the shape of the catheter is ensured to be fitted with the actual operation environment, the damage to the body of a patient caused by the shape problem of the catheter is avoided, and the operation execution effect is ensured.

Description

Translated fromChinese

一种导管控制方法、系统及存储介质A catheter control method, system and storage medium

技术领域technical field

本说明书实施例涉及微创手术技术领域，特别涉及一种导管控制方法、系统及存储介质。The embodiments of this specification relate to the technical field of minimally invasive surgery, and in particular to a catheter control method, system and storage medium.

背景技术Background technique

微创手术凭借着伤害小、出血少等优势，在外科手术中逐渐扩展了应用。其中，导管机器人凭借着其灵活性、操作性在支气管、血管等介入手术中占据着重要地位。导管机器人的前端导管形状可变化。在支气管等分叉多、形状复杂的人体环境中，前端导管能够适应支气管的形状，进而有效将导管延伸至病灶区域，并执行具体的手术操作。With the advantages of less injury and less bleeding, minimally invasive surgery has gradually expanded its application in surgical operations. Among them, the catheter robot occupies an important position in interventional operations such as bronchi and blood vessels due to its flexibility and operability. The shape of the catheter robot's front end catheter can vary. In the human environment with many bifurcations and complex shapes, such as bronchi, the front-end catheter can adapt to the shape of the bronchi, thereby effectively extending the catheter to the lesion area and performing specific surgical operations.

由于导管本身能够弯曲，在能够有效控制导管形状的情况下，导管的深入不会对患者身体造成较大影响。但是，在导管伸入支气管等空间狭小的环境中时，由于器械的尺寸受到限制，难以在导管上布设传感器来感知导管的受力状况，进而无法确定导管与人体环境之间的接触情况，而一般只能通过医生的经验进行手操控制。这种情况会降低手术的精确性，影响手术执行效果，严重时可能会对患者造成创伤。因此，目前亟需一种能够有效操控导管使其顺应人体内部环境的方法。Since the catheter itself can be bent, under the condition that the shape of the catheter can be effectively controlled, the depth of the catheter will not have a great impact on the patient's body. However, when the catheter is inserted into a narrow environment such as the bronchus, due to the limited size of the device, it is difficult to arrange sensors on the catheter to sense the force of the catheter, and thus it is impossible to determine the contact between the catheter and the human body environment. Generally, it can only be controlled manually by the doctor's experience. This situation will reduce the accuracy of the operation, affect the effect of the operation, and may cause trauma to the patient in severe cases. Therefore, there is an urgent need for a method that can effectively manipulate the catheter to conform to the internal environment of the human body.

发明内容Contents of the invention

本说明书实施例的目的是提供一种导管控制方法、系统及存储介质，以解决如何有效操控导管使其顺应人体内部环境的问题。The purpose of the embodiment of this specification is to provide a catheter control method, system and storage medium to solve the problem of how to effectively control the catheter so that it conforms to the internal environment of the human body.

为了解决上述技术问题，本说明书实施例一种导管控制方法，包括：根据驱动模块的驱动参数计算导丝实时张力；所述导丝设置在导管中；所述导丝在驱动模块的驱动下牵拉导管，以使所述导管弯曲；根据所述导丝实时张力确定环境影响参数；所述环境影响参数用于表示外部环境对导管的影响程度；基于所述环境影响参数控制驱动模块牵拉导丝以使环境影响参数符合环境顺从条件；所述环境顺从条件下所述导管与外界环境的形状相适应。In order to solve the above-mentioned technical problems, the embodiment of this specification presents a catheter control method, including: calculating the real-time tension of the guide wire according to the driving parameters of the driving module; the guide wire is set in the catheter; Pull the catheter to bend the catheter; determine the environmental impact parameters according to the real-time tension of the guide wire; the environmental impact parameters are used to indicate the degree of influence of the external environment on the catheter; control the driving module to pull the guide wire based on the environmental impact parameters The wire is used to make the environmental impact parameters conform to the environmental compliance condition; under the environmental compliance condition, the catheter is adapted to the shape of the external environment.

在一些实施方式中，所述根据所述导丝实时张力确定环境影响参数，包括：基于所述导丝实时张力计算外界接触力；所述外界接触力表示导管外部环境作用于导管上的力；相应的，所述基于所述环境影响参数控制驱动模块牵拉导丝以使环境影响参数符合环境顺从条件，包括：根据所述外界接触力控制驱动模块牵拉导丝以使所述外界接触力不大于接触力阈值。In some embodiments, the determining the environmental impact parameter according to the real-time tension of the guide wire includes: calculating an external contact force based on the real-time tension of the guide wire; the external contact force represents the force exerted on the catheter by the external environment of the catheter; Correspondingly, the controlling the driving module to pull the guide wire based on the environmental impact parameters so that the environmental impact parameters meet the environmental compliance conditions includes: controlling the driving module to pull the guide wire according to the external contact force so that the external contact force Not greater than the contact force threshold.

基于上述实施方式，所述根据所述外界接触力控制驱动模块牵拉导丝以使所述外界接触力不大于接触力阈值，包括：根据所述外界接触力计算导管顺应位移；所述导管顺应位移包括导管角度变化量；确定对应于所述导管顺应位移的电机工作参数；基于所述电机工作参数向驱动模块发送控制指令，以使驱动模块牵拉导丝并使得所述外界接触力不大于接触力阈值。Based on the above embodiment, the controlling the driving module to pull the guide wire according to the external contact force so that the external contact force is not greater than the contact force threshold includes: calculating the compliance displacement of the catheter according to the external contact force; The displacement includes the amount of change in the catheter angle; determine the motor operating parameters corresponding to the compliance displacement of the catheter; send a control command to the drive module based on the motor operation parameters, so that the drive module pulls the guide wire and makes the external contact force not greater than Contact Force Threshold.

在一些实施方式中，所述根据所述导丝实时张力确定环境影响参数，包括：通过比对所述导丝实时张力和期望张力确定针对导丝的张力差异量；所述导丝期望张力包括预先设置的在导管顺应外部环境时的导丝张力大小；相应的，所述基于所述环境影响参数控制驱动模块牵拉导丝以使环境影响参数符合环境顺从条件，包括：基于所述张力差异量控制驱动模块牵拉导丝以使检测单元检测到的导丝实时张力达到所述期望张力。In some embodiments, the determining the environmental impact parameter according to the real-time tension of the guide wire includes: determining the tension difference for the guide wire by comparing the real-time tension of the guide wire with the expected tension; the expected guide wire tension includes The preset tension of the guide wire when the catheter complies with the external environment; correspondingly, the control of the driving module to pull the guide wire based on the environmental impact parameters so that the environmental impact parameters meet the environmental compliance conditions includes: based on the tension difference The amount control driving module pulls the guide wire so that the real-time tension of the guide wire detected by the detection unit reaches the desired tension.

基于上述实施方式，所述基于所述张力差异量控制驱动模块牵拉导丝以使检测单元检测到的导丝实时张力达到所述期望张力，包括：确定对应于所述张力差异量的导管形变量；所述导管形变量包括导管弯曲角度；确定对应于所述导管形变量的电机工作参数；基于所述电机工作参数向驱动模块发送控制指令，以使驱动模块牵拉导丝并使得检测单元检测到的导丝实时张力达到所述期望张力。Based on the above embodiment, the controlling the driving module to pull the guide wire based on the tension difference to make the real-time tension of the guide wire detected by the detection unit reach the desired tension includes: determining the catheter shape corresponding to the tension difference Variable; the deformation of the catheter includes the bending angle of the catheter; determine the motor operating parameters corresponding to the deformation of the catheter; send a control command to the drive module based on the motor operation parameters, so that the drive module pulls the guide wire and makes the detection unit The detected real-time tension of the guidewire reaches the desired tension.

在一些实施方式中，所述根据驱动模块的驱动参数计算导丝实时张力，包括：获取驱动模块的驱动参数；所述驱动参数包括电机转速、电机电流、电机摩擦力、导丝摩擦力中的至少一种；根据所述驱动参数计算导丝实时张力。In some embodiments, the calculating the real-time tension of the guide wire according to the driving parameters of the driving module includes: obtaining the driving parameters of the driving module; the driving parameters include motor speed, motor current, motor friction, and guide wire friction. At least one: calculating the real-time tension of the guide wire according to the driving parameters.

在一些实施方式中，所述基于所述环境影响参数控制驱动模块牵拉导丝以使环境影响参数符合环境顺从条件之前，还包括：根据所述导丝实时张力和弹性形变系数计算弹性形变补偿增量；所述弹性形变补偿增量用于描述导丝在所述导丝实时张力的作用下所产生的弹性形变的大小；相应的，所述基于所述环境影响参数控制驱动模块牵拉导丝以使环境影响参数符合环境顺从条件，包括：结合所述环境影响参数和弹性形变补偿增量，控制驱动模块牵拉导丝以使环境影响参数符合环境顺从条件。In some embodiments, before controlling the driving module to pull the guide wire based on the environmental impact parameters so that the environmental impact parameters meet the environmental compliance conditions, it also includes: calculating elastic deformation compensation according to the real-time tension and elastic deformation coefficient of the guide wire Increment; the elastic deformation compensation increment is used to describe the size of the elastic deformation of the guide wire under the action of the real-time tension of the guide wire; correspondingly, the driving module pulls the guide wire based on the environmental influence parameter The wire so that the environmental impact parameter meets the environmental compliance condition includes: combining the environmental impact parameter and the elastic deformation compensation increment, controlling the driving module to pull the guide wire so that the environmental impact parameter meets the environmental compliance condition.

在一些实施方式中，所述导管中设置有多个导丝；相应的，所述驱动模块中包括分别对应于各个导丝的驱动电机；不同导丝对导管的牵拉效果用于控制导管弯曲至不同的角度。In some embodiments, the catheter is provided with a plurality of guide wires; correspondingly, the driving module includes drive motors respectively corresponding to each guide wire; the pulling effect of different guide wires on the catheter is used to control the bending of the catheter to different angles.

在一些实施方式中，所述导管应用于支气管；所述外部环境包括支气管壁。In some embodiments, the catheter is applied to a bronchi; and the external environment includes a bronchial wall.

本说明书实施例还提出一种导管控制方法，包括：获取腔道分支形状；根据所述腔道分支形状确定目标导管形状；通过传感信号构建导管实时形状；基于所述目标导管形状和导管实时形状确定环境影响参数；所述环境影响参数用于反映目标导管形状和导管实时形状之间的差异；根据所述环境影响参数控制驱动模块牵拉导丝，以使环境影响参数符合环境顺从条件；所述环境顺从条件下导管实时形状变化为所述目标导管形状；所述导丝设置在所述导管中；所述驱动模块用于驱动导丝以使所述导管弯曲。The embodiment of this specification also proposes a catheter control method, including: obtaining the shape of the lumen branch; determining the target catheter shape according to the shape of the lumen branch; constructing the real-time shape of the catheter through the sensing signal; based on the target catheter shape and the catheter real-time The shape determines the environmental impact parameter; the environmental impact parameter is used to reflect the difference between the target catheter shape and the real-time shape of the catheter; according to the environmental impact parameter, the driving module is controlled to pull the guide wire, so that the environmental impact parameter meets the environmental compliance condition; Under the environmental compliance condition, the shape of the catheter changes in real time to the target catheter shape; the guide wire is set in the catheter; the driving module is used to drive the guide wire to bend the catheter.

在一些实施方式中，所述获取腔道分支形状，包括：获取患者的CT数据；根据所述CT数据构造腔道分支形状；所述根据所述腔道分支形状确定目标导管形状，包括：提取所述腔道分支形状的中轴线作为目标导管形状。In some embodiments, the obtaining the shape of the branch of the lumen includes: acquiring CT data of the patient; constructing the shape of the branch of the lumen according to the CT data; and determining the shape of the target catheter according to the shape of the branch of the lumen, including: extracting The central axis of the lumen branch shape is used as the target catheter shape.

在一些实施方式中，所述基于所述环境影响参数控制驱动模块牵拉导丝，包括：根据所述环境影响参数确定导管弯曲角度；根据所述导管弯曲角度计算导丝牵拉长度；将所述导丝牵拉长度转换为对应于驱动模块的控制指令；将所述控制指令发送至驱动模块，以使驱动模块牵拉导丝并弯曲导管至目标导管形状。In some embodiments, the controlling the driving module to pull the guide wire based on the environmental impact parameters includes: determining the catheter bending angle according to the environmental impact parameters; calculating the guide wire pulling length according to the catheter bending angle; The guide wire pulling length is converted into a control command corresponding to the driving module; the control command is sent to the driving module, so that the driving module pulls the guide wire and bends the catheter to the target catheter shape.

本说明书实施例还提出一种导管控制系统，包括导管模块和导管控制模块；所述导管模块包括导管、设置在导管中的导丝和驱动导丝的驱动模块；所述导丝用于牵拉所述导管以使所述导管弯曲；所述导管控制模块用于根据所述驱动电机的驱动参数计算对应于所述导丝的导丝实时张力；根据所述导丝实时张力确定环境影响参数；所述环境影响参数用于表示外部环境对导管的影响程度；基于所述环境影响参数控制驱动模块牵拉导丝以使环境影响参数符合环境顺从条件；所述环境顺从条件下所述导管与外界环境的形状相适应。The embodiment of this specification also proposes a catheter control system, including a catheter module and a catheter control module; the catheter module includes a catheter, a guide wire disposed in the catheter, and a driving module for driving the guide wire; the guide wire is used to pull The catheter is used to bend the catheter; the catheter control module is used to calculate the real-time tension of the guide wire corresponding to the guide wire according to the driving parameters of the drive motor; determine the environmental impact parameters according to the real-time tension of the guide wire; The environmental impact parameter is used to indicate the degree of influence of the external environment on the catheter; based on the environmental impact parameter, the driving module is controlled to pull the guide wire so that the environmental impact parameter meets the environmental compliance condition; Adapt to the shape of the environment.

本说明书实施例还提出一种导管控制系统，包括导管模块和导管控制模块；所述导管模块包括导管、设置在导管中的导丝、驱动导丝的驱动模块和设置在导管中的光纤传感器；所述导丝用于牵拉所述导管以使所述导管弯曲；所述导管控制模块用于获取腔道分支形状；根据所述腔道分支形状确定目标导管形状；根据传感器反馈的传感信号构建导管实时形状；基于所述目标导管形状和导管实时形状之间的差异确定环境影响参数，并根据所述环境影响参数控制驱动模块牵拉导丝以使环境影响参数符合环境顺从条件；所述环境顺从条件下导管实时形状变化为所述目标导管形状。The embodiment of this specification also proposes a catheter control system, including a catheter module and a catheter control module; the catheter module includes a catheter, a guide wire disposed in the catheter, a driving module for driving the guide wire, and an optical fiber sensor disposed in the catheter; The guide wire is used to pull the catheter to bend the catheter; the catheter control module is used to obtain the shape of the lumen branch; determine the target catheter shape according to the shape of the lumen branch; according to the sensor signal fed back by the sensor Constructing the real-time shape of the catheter; determining an environmental impact parameter based on the difference between the target catheter shape and the real-time shape of the catheter, and controlling the driving module to pull the guide wire according to the environmental impact parameter so that the environmental impact parameter meets the environmental compliance condition; The catheter shape changes to the target catheter shape in real time under environmental compliance conditions.

本说明书实施例还提出一种计算机可读存储介质，其上存储有计算机程序/指令，所述计算机程序/指令在被执行时用于实现上述导管控制方法的步骤。The embodiment of the present specification also proposes a computer-readable storage medium, on which a computer program/instruction is stored, and the computer program/instruction is used to implement the steps of the above-mentioned catheter control method when executed.

由以上本说明书实施例提供的技术方案可见，所述方法根据驱动模块的驱动参数计算得到导丝实时张力后，根据导丝实时张力来确定外部环境对于导管的影响程度，即环境影响参数。通过环境影响参数来控制驱动模块牵拉导丝，从而使得实时计算到的环境影响参数能够符合环境顺从条件，使得导管与外界环境的形状相适应。上述方法克服了无法在导管中设置力传感器直接获取反馈力大小的问题，通过导丝的张力直接确定环境影响参数，进而对导管进行适应性调节，保证导管的形状贴合实际手术环境，避免由于导管形状问题对患者身体造成损伤，保证了手术的执行效果。It can be seen from the above technical solutions provided by the embodiments of this specification that after the method calculates the real-time tension of the guide wire according to the driving parameters of the driving module, the degree of influence of the external environment on the catheter is determined according to the real-time tension of the guide wire, that is, the environmental impact parameter. The driving module is controlled to pull the guide wire through the environmental impact parameters, so that the environmental impact parameters calculated in real time can meet the environmental compliance conditions, so that the catheter can adapt to the shape of the external environment. The above method overcomes the problem that the force sensor cannot be installed in the catheter to directly obtain the feedback force, and the environmental impact parameters are directly determined through the tension of the guide wire, and then the catheter is adaptively adjusted to ensure that the shape of the catheter fits the actual operating environment, avoiding the The problem of the shape of the catheter will cause damage to the patient's body and ensure the effect of the operation.

此外，另一种导管控制方法通过获取腔道分支形状，并通过传感信号获取导管形状，通过确定腔道分支形状与导管形状之间的差异，对导管形状进行调节使得其形状与腔道的形状相吻合。上述方法从腔道的实时形状的角度对导管进行调节，同样保证了针对导管的调节效果，使得导管的形状贴合实际手术环境，避免由于导管形状问题对患者身体造成损伤，保证了手术的执行效果。In addition, another catheter control method obtains the shape of the branch of the lumen, and obtains the shape of the catheter through the sensing signal, and adjusts the shape of the catheter so that its shape is consistent with the shape of the lumen by determining the difference between the shape of the branch of the lumen and the shape of the catheter. The shape matches. The above method adjusts the catheter from the perspective of the real-time shape of the cavity, which also ensures the adjustment effect on the catheter, makes the shape of the catheter fit the actual operating environment, avoids damage to the patient's body due to the shape of the catheter, and ensures the execution of the operation. Effect.

附图说明Description of drawings

为了更清楚地说明本说明书实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本说明书中记载的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of this specification or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only These are some embodiments described in this specification. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

图1为本说明书实施例一种导管模块的结构图；FIG. 1 is a structural diagram of a catheter module according to an embodiment of the present specification;

图2为本说明书实施例一种导管控制方法的流程图；Fig. 2 is a flow chart of a catheter control method according to the embodiment of this specification;

图3为本说明书实施例一种计算导丝实时张力的流程示意图；Fig. 3 is a schematic flow chart of calculating the real-time tension of the guide wire according to the embodiment of this specification;

图4为本说明书实施例一种导管闭环控制的流程示意图；Fig. 4 is a schematic flow chart of a catheter closed-loop control according to an embodiment of the present specification;

图5为本说明书实施例一种导管闭环控制的流程示意图；FIG. 5 is a schematic flow diagram of a catheter closed-loop control according to an embodiment of the present specification;

图6为本说明书实施例一种计算弹性形变补偿增量的流程示意图；FIG. 6 is a schematic flow chart of calculating elastic deformation compensation increment according to an embodiment of the present specification;

图7为本说明书实施例一种导管控制方法的流程图；FIG. 7 is a flow chart of a catheter control method according to an embodiment of this specification;

图8为本说明书实施例一种腔道分支形状的结构示意图；Fig. 8 is a schematic structural diagram of a lumen branch shape according to an embodiment of the present specification;

图9为本说明书实施例一种目标导管形状的结构示意图；Fig. 9 is a schematic structural diagram of a target catheter shape according to an embodiment of the present specification;

图10为本说明书实施例一种导管实时形状的结构示意图；Fig. 10 is a schematic structural diagram of a real-time shape of a catheter according to an embodiment of the present specification;

图11为本说明书实施例一种调整导管形状后的结构示意图；Fig. 11 is a schematic structural diagram of an adjusted catheter shape according to the embodiment of this specification;

图12为本说明书实施例一种导管闭环控制过程的流程示意图。Fig. 12 is a schematic flowchart of a catheter closed-loop control process according to an embodiment of the present specification.

具体实施方式Detailed ways

下面将结合本说明书实施例中的附图，对本说明书实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本说明书一部分实施例，而不是全部的实施例。基于本说明书中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都应当属于本说明书保护的范围。The following will clearly and completely describe the technical solutions in the embodiments of the present specification in combination with the drawings in the embodiments of the present specification. Obviously, the described embodiments are only some of the embodiments of the present specification, not all of them. Based on the embodiments in this specification, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the protection scope of this specification.

为了更好地对本说明书实施例中的导管控制方法进行说明，首先介绍本说明书实施例的一种导管控制系统。导管控制系统包括导管模块和所述导管控制模块。In order to better describe the catheter control method in the embodiment of the present specification, a catheter control system in the embodiment of the present specification is firstly introduced. A catheter control system includes a catheter module and the catheter control module.

如图1所示，导管模块中包含有导管、导丝(图中未示出)和驱动模块。As shown in FIG. 1 , the catheter module includes a catheter, a guide wire (not shown in the figure) and a driving module.

在图1中，导管包括插入管和柔性导管。插入管为刚性结构，主要用于保持驱动模块以及机械臂与患者之间的距离，同时有效将导管固定在驱动模块上。柔性导管由柔性材料制成，在受力时可以基于受力方向弯曲。在将导管插入人体后，由于人体中的支气管、血管等存在较多的分叉，在导管到达病灶区域之前，可能需要对导管自身的形状进行弯曲以适应支气管、血管等的外部环境，避免对用户造成损伤。In Fig. 1, the catheter includes an insertion tube and a flexible catheter. The insertion tube is a rigid structure that is primarily used to maintain the distance between the drive block and the manipulator arm and the patient while effectively securing the catheter to the drive block. Flexible catheters are made of flexible material that bends when a force is applied based on the direction of the force. After the catheter is inserted into the human body, because there are many bifurcations in the bronchi and blood vessels in the human body, before the catheter reaches the lesion area, it may be necessary to bend the shape of the catheter itself to adapt to the external environment of the bronchi and blood vessels to avoid damage to the body. User Injury.

导丝设置在导管内部，具体的，导丝的一端可以固定在柔性导管上，另一端与驱动模块中的电机相连接。基于导丝所设置的位置，在导丝受到拉力后，可以向相应的方向拉动柔性导管而使柔性导管弯曲。相应的，在导管内可以设置多个导丝，通过牵拉不同的导丝实现柔性导管向不同的方向偏转，以使导管自身的形状适应不同的外部环境。例如，可以在导管内设置四个导丝，通过对不同导丝的牵拉来实现不同方向的弯曲效果。实际应用中可以根据需求来设置导丝的数量，对此不做限制。The guide wire is arranged inside the catheter. Specifically, one end of the guide wire can be fixed on the flexible catheter, and the other end is connected to the motor in the driving module. Based on the set position of the guide wire, after the guide wire is pulled, the flexible catheter can be pulled in a corresponding direction to make the flexible catheter bend. Correspondingly, multiple guide wires can be arranged in the catheter, and the flexible catheter can be deflected in different directions by pulling different guide wires, so that the shape of the catheter itself can adapt to different external environments. For example, four guide wires can be arranged in the catheter, and bending effects in different directions can be achieved by pulling different guide wires. In practical applications, the number of guide wires can be set according to requirements, and there is no limit to this.

驱动模块包括电机，电机与导丝相连接。电机在工作时转动可以对导丝产生牵拉作用或是释放导丝上的拉力。在设置有多个导丝的情况下，驱动模块中也可以包含多个电机，不同的电机分别与不同导丝相连接，且电机之间可以相互独立并分别进行工作，从而实现不同的控制效果。此外，驱动模块中还可以设置相应的传感器，用于采集对应于驱动模块的驱动参数，例如直接测量得到电极转速，通过霍尔传感器测量当前电机内的实时电流，通过相应的传感器及测量模型获取电机摩擦力和导丝摩擦力等。The driving module includes a motor, which is connected with the guide wire. The rotation of the motor during work can generate a pulling effect on the guide wire or release the pulling force on the guide wire. In the case of multiple guide wires, the drive module can also contain multiple motors, and different motors are connected to different guide wires, and the motors can work independently of each other to achieve different control effects . In addition, corresponding sensors can also be set in the drive module to collect the drive parameters corresponding to the drive module, such as directly measuring the electrode speed, measuring the current real-time current in the motor through the Hall sensor, and obtaining it through the corresponding sensor and measurement model. Motor friction and guide wire friction, etc.

需要说明的是，由于本说明书实施例主要针对柔性导管的控制，针对插入管不做额外控制，因此，在后续过程中，为了表述方便，所提及到的导管均指代柔性导管部分。It should be noted that, since the embodiment of this specification mainly focuses on the control of the flexible catheter and does not provide additional control on the insertion tube, in the subsequent process, for the convenience of expression, the catheter mentioned refers to the part of the flexible catheter.

导管控制模块可以包含相应的处理器和存储器，通过存储器存储预先设置的逻辑程序和指令，在接收到相应的控制指令或参数后，得到相应的控制参数，进而通过向驱动模块下发相应的控制指令，实现对导管的控制，以使导管弯曲而符合实际手术的需求。The catheter control module can contain a corresponding processor and a memory, store preset logic programs and instructions through the memory, obtain corresponding control parameters after receiving corresponding control instructions or parameters, and then issue corresponding control parameters to the drive module Instructions are used to control the catheter so that the catheter can be bent to meet the needs of the actual operation.

基于上述导管控制系统，本说明书实施例提出一种导管控制方法。所述导管控制方法以所述导管控制模块为执行主体来实行。如图2所示，所述导管控制方法包括以下具体实施步骤。Based on the foregoing catheter control system, the embodiment of this specification proposes a catheter control method. The catheter control method is implemented with the catheter control module as an execution body. As shown in Fig. 2, the catheter control method includes the following specific implementation steps.

S210：根据驱动模块的驱动参数计算导丝实时张力；所述导丝设置在导管中；所述导丝在驱动模块的驱动下牵拉导管，以使所述导管弯曲。S210: Calculate the real-time tension of the guide wire according to the driving parameters of the driving module; the guide wire is set in the catheter; the guide wire pulls the catheter under the driving of the driving module to make the catheter bend.

在实际应用中，当导管伸入支气管等形状复杂、空间狭小的手术区域中时，由于对导管本身的尺寸存在一定的要求，无法直接在导管上设置力传感器来获取导丝的受力状况。因此，在本说明书实施例中，通过获取驱动模块的驱动参数来确定导丝实时张力。导丝实时张力即为导丝本身的张力大小。In practical applications, when the catheter is inserted into bronchi and other surgical areas with complex shapes and narrow spaces, due to certain requirements on the size of the catheter itself, it is impossible to directly install a force sensor on the catheter to obtain the force status of the guide wire. Therefore, in the embodiment of this specification, the real-time tension of the guide wire is determined by acquiring the driving parameters of the driving module. The real-time tension of the guide wire is the tension of the guide wire itself.

具体的，可以根据驱动模块的驱动参数来计算导丝实时张力。由于驱动模块与导丝直接连接，且驱动模块本身的参数可以直接获取，因此在不对导丝及导管做额外设置的情况下，可以通过驱动模块的驱动参数来计算得到导丝实时张力。Specifically, the real-time tension of the guide wire can be calculated according to the driving parameters of the driving module. Since the drive module is directly connected to the guide wire, and the parameters of the drive module can be directly obtained, the real-time tension of the guide wire can be calculated through the drive parameters of the drive module without additional settings for the guide wire and catheter.

在一些实施方式中，驱动参数包括电机转速、电机电流、电机摩擦力、导丝摩擦力中的至少一种。具体的，如图3所示，在获取到电机转速

电机电流(I_input)、电机摩擦力(τ_mf)及导丝摩擦力(τ_f)，将电机转速输入低通滤波器中，对电机转速进行低通滤波，并将得到的结果综合电机电流、电机摩擦力和导丝摩擦力，利用张力观测算法计算得到导丝的导丝实时张力。In some embodiments, the driving parameter includes at least one of motor speed, motor current, motor friction, and guide wire friction. Specifically, as shown in Figure 3, after obtaining the motor speed

Motor current (I_input ), motor friction force (τ_mf ) and guide wire friction force (τ_f ), input the motor speed into the low-pass filter, perform low-pass filtering on the motor speed, and combine the obtained results with the motor current , motor friction force and guide wire friction force, using the tension observation algorithm to calculate the real-time tension of the guide wire.

实际应用中也可以通过其他计算方式，基于驱动模块的相关参数计算得到导丝所对应的张力大小，对此不做限制。In practical applications, other calculation methods can also be used to calculate the tension corresponding to the guide wire based on the relevant parameters of the drive module, and there is no limit to this.

需要说明的是，在导管中存在多个导丝的情况下，可以针对不同的导丝分别计算导丝实时张力，各个导丝的导丝实时张力的计算方法可以参照上述描述，在此不再赘述。It should be noted that, when there are multiple guide wires in the catheter, the real-time tension of the guide wires can be calculated separately for different guide wires. repeat.

S220：根据所述导丝实时张力确定环境影响参数；所述环境影响参数用于表示外部环境对导管的影响程度。S220: Determine an environmental impact parameter according to the real-time tension of the guide wire; the environmental impact parameter is used to represent the degree of influence of the external environment on the catheter.

在获取到导丝实时张力后，可以根据导丝实时张力来确定环境影响参数。在导管伸入人体中后，例如伸入支气管中时，若导管形态正常与支气管的形状基本贴合，则支气管与导管之间不会存在较强的作用力；若导管形态与支气管不吻合，则导管的某一部位必然与支气管相接触，且两者之间存在一定大小的相互作用力。这以作用力施加在导管上的同时，也必然会对导管内的导丝的张力造成影响。通过对导丝实时张力进行分析，即可确定外部环境对导管的影响程度。After obtaining the real-time tension of the guide wire, the environmental impact parameters can be determined according to the real-time tension of the guide wire. After the catheter is inserted into the human body, for example, when it is inserted into the bronchi, if the shape of the catheter is normal and basically fits the shape of the bronchi, there will be no strong force between the bronchi and the catheter; if the shape of the catheter does not match the bronchi, Then a certain part of the catheter must be in contact with the bronchus, and there is a certain amount of interaction force between the two. While this exerts force on the catheter, it will inevitably affect the tension of the guide wire in the catheter. By analyzing the real-time tension of the guide wire, the degree of influence of the external environment on the catheter can be determined.

环境影响参数即为定量化地对外部环境对导管的影响程度进行描述的参数。所述环境影响参数可以表示外部环境作用于导管上的力的大小，也可以用于描述导丝上的张力相较于正常情况下的差异值。The environmental impact parameter is a parameter that quantitatively describes the degree of influence of the external environment on the catheter. The environmental impact parameter may represent the force of the external environment acting on the catheter, and may also be used to describe a difference in tension on the guide wire compared to normal conditions.

在一些实施方式中，在所述环境参数为外界接触力时，可以通过导丝实时张力来计算外界接触力。外界接触力用于直接表示导管外部环境作用于导管上的力。例如，在导管伸入支气管中时，所述导管外部环境可以是支气管壁。In some embodiments, when the environmental parameter is an external contact force, the external contact force can be calculated through the real-time tension of the guide wire. The external contact force is used to directly represent the force exerted on the catheter by the environment outside the catheter. For example, when a catheter is inserted into a bronchi, the environment external to the catheter may be the bronchial wall.

基于外力/力矩与笛卡尔空间位置(速度，位移)之间的对应关系，应用到导管控制过程中时，可以通过环境接触力算法，根据导丝张力计算得到导管受外界环境约束所产生的外界接触力。在计算到外界接触力后，若外界接触力达到一定的数值，即表示外界环境针对导管存在一定程度的影响，根据外界接触力的大小和方向，对导管进行相应的调整，使导管所受到的外界接触力减少到预设范围内，即表示导管的形状与外部环境基本吻合，可以利用导管执行正常的手术操作。Based on the corresponding relationship between external force/moment and Cartesian space position (velocity, displacement), when applied to the catheter control process, the external force caused by the catheter's external environmental constraints can be obtained through the calculation of the environmental contact force algorithm and the guide wire tension. contact force. After calculating the external contact force, if the external contact force reaches a certain value, it means that the external environment has a certain degree of influence on the catheter. When the external contact force is reduced to the preset range, it means that the shape of the catheter is basically consistent with the external environment, and normal surgical operations can be performed with the catheter.

在另一些实施方式中，在所述环境参数为张力差异量时，可以是根据所获取的对应于导丝的导丝实时张力和期望张力来计算所述张力差异量。In some other embodiments, when the environmental parameter is a tension difference, the tension difference may be calculated according to the acquired real-time tension and expected tension of the guide wire corresponding to the guide wire.

期望张力可以用于表示导管在特定形态下，且不受外力作用时，导丝所受的张力大小。例如，可以预先采集驱动模块对导丝的不同驱动状态下时，导丝的受力大小情况；相应的，根据当前的驱动模块的状态或是导管的形态，可以确定对应于当前状态的期望张力，进而与当前时刻的导丝实时张力进行比较，得到当前时刻的张力差异量。Expected tension can be used to indicate the tension on the guide wire when the catheter is in a specific configuration and is not subjected to external force. For example, the force on the guidewire under different driving states of the drive module to the guidewire can be collected in advance; correspondingly, according to the current state of the drive module or the shape of the catheter, the expected tension corresponding to the current state can be determined , and then compared with the real-time tension of the guide wire at the current moment to obtain the tension difference at the current moment.

在张力差异量大于一定数值时，表示外部环境对导管存在明显的影响程度，可以通过调节导丝来消除张力差异量而使导管与外部环境相贴合。When the tension difference is greater than a certain value, it means that the external environment has a significant influence on the catheter, and the guide wire can be adjusted to eliminate the tension difference to make the catheter fit the external environment.

需要说明的是，在导管中存在多个导丝时，不同导丝可能会存在不同的张力差异量，可以综合不同的导丝的张力差异量进行调节，以使导管整体均符合手术环境的要求。It should be noted that when there are multiple guide wires in the catheter, different guide wires may have different tension differences, which can be adjusted based on the tension differences of different guide wires so that the catheter as a whole meets the requirements of the surgical environment .

S230：基于所述环境影响参数控制驱动模块牵拉导丝以使环境影响参数符合环境顺从条件；所述环境顺从条件下所述导管与外界环境的形状相适应。S230: Control the driving module to pull the guide wire based on the environmental impact parameter so that the environmental impact parameter meets the environmental compliance condition; under the environmental compliance condition, the catheter is adapted to the shape of the external environment.

在获取到环境影响参数后，可以基于环境影响参数来控制驱动模块牵拉导丝，以使环境影响参数符合环境顺从条件。在满足环境顺从条件时所述导管与外界环境的形状相适应，即达到导管形状适应外界环境的效果。例如，针对环境顺从条件可以设置环境影响参数的相应范围，通过控制导丝牵拉来改变导管的形状，在环境影响参数达到该范围后，即表示导管当前已经符合外界环境的应用条件。After the environmental impact parameters are obtained, the driving module may be controlled to pull the guide wire based on the environmental impact parameters, so that the environmental impact parameters meet the environmental compliance conditions. When the environmental conformity condition is met, the shape of the catheter is adapted to the external environment, that is, the effect that the shape of the catheter adapts to the external environment is achieved. For example, the corresponding range of environmental impact parameters can be set for environmental compliance conditions, and the shape of the catheter can be changed by controlling the pulling of the guide wire. When the environmental impact parameters reach this range, it means that the catheter currently meets the application conditions of the external environment.

具体的，调节导丝的过程可以是闭环控制过程，即在控制驱动模块牵拉导丝的同时，基于上述步骤完成对于导丝张力大小的计算，并根据导丝张力大小计算环境影响参数进而执行判断过程，重复这一循环过程直至调节后的环境影响参数符合环境顺从条件为止。Specifically, the process of adjusting the guide wire can be a closed-loop control process, that is, while controlling the driving module to pull the guide wire, the calculation of the tension of the guide wire is completed based on the above steps, and the environmental impact parameters are calculated according to the tension of the guide wire and then executed. Judgment process, repeating this cycle process until the adjusted environmental impact parameters meet the environmental compliance conditions.

具体的，针对环境影响参数为外界接触力的实施例，可以是基于所述外界接触力的大小和方向，控制驱动模块对导丝执行相应的牵拉操作，使得计算得到的外界接触力不大于接触力阈值为止。Specifically, for the embodiment where the environmental impact parameter is the external contact force, based on the magnitude and direction of the external contact force, the driving module may be controlled to perform a corresponding pulling operation on the guide wire, so that the calculated external contact force is not greater than up to the contact force threshold.

接触力阈值可以用于描述在导管的形状与外部环境基本贴合时导管受力的最大值。当导管顺应外部环境时，导管的各个部位并不会受到外部环境所施加的较强的作用力，相应的，在外部环境没有施加较大的作用力于导管上时，也不会造成导管产生过大的形变，进而使得导管内部的导丝能够维持正常状态，即计算得到的导丝实时张力的大小也符合正常状态下的大小。The contact force threshold can be used to describe the maximum force applied to the catheter when the shape of the catheter substantially conforms to the external environment. When the catheter conforms to the external environment, the various parts of the catheter will not be subjected to strong forces exerted by the external environment. Correspondingly, when the external environment does not apply a large force to the catheter, it will not cause the catheter to generate Excessive deformation enables the guide wire inside the catheter to maintain a normal state, that is, the calculated real-time tension of the guide wire also conforms to the normal state.

具体的调节过程可以是先根据所述外界接触力计算导管顺应位移；所述导管顺应位移包括导管角度变化量。所述导管顺应位移可以是为了消除所述外界接触力的影响，导管所需要产生的位移距离和方向。一般情况下，由于外力/力矩与笛卡尔空间位置(速度，位移)之间存在对应关系，因此，根据外界接触力的大小，能够反推得到使导管顺应环境的空间位移。在应用至导管上时，优选的，可以将这一位移转化为对应于导管的导管角度变化量，以方便在后续步骤中针对导管进行操控。The specific adjustment process may be to first calculate the compliance displacement of the catheter according to the external contact force; the compliance displacement of the catheter includes the change amount of the catheter angle. The compliance displacement of the catheter may be the displacement distance and direction required by the catheter in order to eliminate the influence of the external contact force. In general, since there is a corresponding relationship between the external force/moment and the Cartesian spatial position (velocity, displacement), the spatial displacement of the catheter conforming to the environment can be inversely deduced according to the magnitude of the external contact force. When applied to a catheter, preferably, this displacement can be converted into a change in the angle of the catheter corresponding to the catheter, so as to facilitate manipulation of the catheter in subsequent steps.

在确定导管顺应位移后，可以确定对应的电机工作参数。所述电机工作参数用于表示驱动模块中的电机为了实现所述导管顺应位移而需要采取的运动操作。所述电机工作参数可以根据电机的状态和相应的工作参数而确定。在获得电机工作参数后，基于电机工作参数向驱动模块发送对应的控制指令，使得驱动模块能够基于所述电机工作参数实现对应的牵拉效果，并控制外接接触力不大于接触力阈值。After the catheter compliance displacement is determined, the corresponding motor operating parameters can be determined. The working parameters of the motor are used to indicate the motion operation that the motor in the driving module needs to take to realize the compliant displacement of the catheter. The motor operating parameters may be determined according to the state of the motor and corresponding operating parameters. After obtaining the working parameters of the motor, a corresponding control command is sent to the drive module based on the working parameters of the motor, so that the driving module can realize the corresponding pulling effect based on the working parameters of the motor, and control the external contact force not to exceed the contact force threshold.

下面结合图4，对这一实施方式的闭环控制过程进行描述。如图4所示，针对导管模块检测并计算得到导丝张力后，利用环境接触力算法计算得到外部环境施加给导管的接触力，并利用公式计算得到对应于接触力的导管弯曲角度。基于导管机器人的逆运动学原理，将弯曲角度转化为期望电机执行量，并发送至电机控制单元，由导管机器人基于电机的实际执行量调控导管得到实际导管形状。重复上述步骤直至检测到的导丝实时张力符合需求为止。The closed-loop control process of this embodiment will be described below with reference to FIG. 4 . As shown in Figure 4, after detecting and calculating the tension of the guide wire for the catheter module, the contact force applied to the catheter by the external environment is calculated using the environmental contact force algorithm, and the bending angle of the catheter corresponding to the contact force is calculated using the formula. Based on the principle of inverse kinematics of the catheter robot, the bending angle is converted into the expected motor execution amount and sent to the motor control unit, and the catheter robot controls the catheter based on the actual execution amount of the motor to obtain the actual catheter shape. Repeat the above steps until the detected real-time tension of the guide wire meets the requirement.

在针对环境影响参数为张力差异量的实施方式中，可以是基于所述张力差异量控制驱动模块牵拉导丝，以使导丝实时张力达到所述期望张力为止。In the embodiment where the environmental impact parameter is the tension difference, the driving module may be controlled to pull the guide wire based on the tension difference, so that the real-time tension of the guide wire reaches the desired tension.

由于期望张力用于描述导管在对应的形状下，且不受外力作用时，导丝的张力的大小，因此，通过将导丝实时张力调节至所述期望张力，即表示导管当前的形态与外部环境之间相贴合。Since the expected tension is used to describe the tension of the guide wire when the catheter is in the corresponding shape and is not subjected to external force, by adjusting the real-time tension of the guide wire to the expected tension, it means that the current shape of the catheter is consistent with the external Compatibility between environments.

具体的调节过程可以是先确定对应于所述张力差异量的导管形变量。导管实时张力与期望张力之间的差异量的大小和方向可以用于体现导管在具体部位所受力的作用状况。根据所述张力差异量即可确定对应于张力的导管形变量。所述导管形变量可以用于表示在张力差异量的影响下导管所产生的形变。优选的，所述导管形变量也可以转化为导管角度变化量，以方便在后续步骤中基于电机对导管进行操控。The specific adjustment process may be to first determine the deformation amount of the catheter corresponding to the tension difference amount. The size and direction of the difference between the real-time tension of the catheter and the expected tension can be used to reflect the action of the force on the catheter at a specific location. The catheter deformation corresponding to the tension can be determined according to the tension difference. The amount of catheter deformation can be used to represent the deformation of the catheter under the influence of the amount of tension difference. Preferably, the deformation of the catheter can also be converted into a change in the angle of the catheter, so as to facilitate the manipulation of the catheter based on the motor in subsequent steps.

为了克服这一形变，可以确定对应于所述导管形变量的电机工作参数，所述电机工作参数可以用于表示消除这一导管形变量时，电机所需要执行的操作和对导丝的牵拉效果。相应的，基于所述电机工作参数向驱动模块发送对应的控制指令，使得驱动模块牵拉导丝后，导丝对应的导丝实时张力达到所述期望张力。In order to overcome this deformation, the motor operating parameters corresponding to the deformation of the catheter can be determined, and the operating parameters of the motor can be used to indicate the operations that the motor needs to perform and the pulling of the guide wire when the deformation of the catheter is eliminated Effect. Correspondingly, based on the working parameters of the motor, a corresponding control command is sent to the driving module, so that after the driving module pulls the guide wire, the real-time tension of the guide wire corresponding to the guide wire reaches the desired tension.

具体的，针对电机的控制可以通过以下公式计算：T_ctrlout＝k_p*(F_exp-F_fdb)+k_i*∫(F_exp-F_fdb)dt,T_ctrlout∈[-θ_max,θ_max]，式中，T_ctrlout为驱动模块的输出，即为电机关节角度θ，θ_max为关节端角度最大值，-θ_max即为反向最大值。k_p为比例项增益，k_i为积分项增益，F_exp为期望张力，F_fdb为导丝实时张力。Specifically, the control for the motor can be calculated by the following formula: T_ctrlout =k_p *(F_exp -F_fdb )+k_i *∫(F_exp -F_fdb )dt,T_ctrlout ∈[-θ_max ,θ_max ], where T_ctrlout is the output of the drive module, that is, the motor joint angle θ, θ_max is the maximum value of the joint end angle, and -θ_max is the reverse maximum value. k_p is the gain of the proportional term,_ki is the gain of the integral term, F_exp is the expected tension, and F_fdb is the real-time tension of the guide wire.

下面结合图5，对这一实施方式的闭环控制过程进行描述。如图5所示，针对导丝确定导丝实时张力后，基于低通滤波器对导丝实时张力进行滤波，并结合期望张力计算得到张力差异量后，由张力控制器确定对应的期望电机执行量，即电机关节转动角度。将期望电机执行量发送至电机后，电机完成相应的执行效果，对导管进行弯曲。针对形变后的导管形状，在此执行上述循环操作，直至计算得到的导丝实时张力符合所述期望张力的大小为止。The closed-loop control process of this embodiment will be described below with reference to FIG. 5 . As shown in Figure 5, after the real-time tension of the guidewire is determined for the guidewire, the real-time tension of the guidewire is filtered based on the low-pass filter, and the tension difference is calculated in combination with the expected tension, and the corresponding expected motor is determined by the tension controller to execute The amount is the rotation angle of the motor joint. After the expected motor execution amount is sent to the motor, the motor completes the corresponding execution effect and bends the catheter. For the deformed catheter shape, the above-mentioned cyclic operation is performed here until the calculated real-time tension of the guide wire conforms to the desired tension.

通过设置上述过程为闭环控制过程，使得基于导丝的实际状态来实时调整针对导丝的牵拉效果，保证导管调节效果的有效性，By setting the above process as a closed-loop control process, the pulling effect on the guide wire can be adjusted in real time based on the actual state of the guide wire, ensuring the effectiveness of the catheter adjustment effect.

由于在实际应用中，当导管弯曲时，导丝基于拉力的作用会产生弹性形变，若参照正常状况下的拉力大小对导丝进行控制，则会因为弹性形变的影响造成导管的弯曲程度达不到预期效果。因此，可以基于导丝张力的大小对弹性形变所产生的误差进行补偿，以使导管能够基于预期弯曲程度进行弯曲。In practical applications, when the catheter is bent, the guide wire will produce elastic deformation based on the pulling force. If the guide wire is controlled with reference to the pulling force under normal conditions, the degree of bending of the catheter will be insufficient due to the influence of elastic deformation. to the expected effect. Therefore, the error caused by the elastic deformation can be compensated based on the tension of the guide wire, so that the catheter can be bent based on the expected bending degree.

在一些实施方式中，可以先根据所述导丝实时张力和弹性形变系数计算弹性形变补偿增量。弹性形变系数可以是预先根据导丝的材质所确定的系数，计算得到的弹性形变补偿增量用于描述导丝在所述导丝实时张力的作用下所产生的弹性形变的大小，进而使得计算结果更符合实际应用情况。In some implementations, the elastic deformation compensation increment may be firstly calculated according to the real-time tension and elastic deformation coefficient of the guide wire. The elastic deformation coefficient can be a coefficient determined in advance according to the material of the guide wire, and the calculated elastic deformation compensation increment is used to describe the size of the elastic deformation of the guide wire under the action of the real-time tension of the guide wire, thereby making the calculation The results are more in line with practical applications.

具体的，如图6所示，在获取到导丝张力之后，结合弹性形变系数计算得到结果后，将计算结果通过延迟单元进行延时后进行再结合，从而得到最终的弹性形变补偿增量。Specifically, as shown in FIG. 6 , after the tension of the guide wire is obtained, the calculation result is obtained by combining the elastic deformation coefficient, and then the calculation result is delayed by the delay unit and then recombined, so as to obtain the final elastic deformation compensation increment.

在获取到弹性形变补偿增量后，控制驱动模块牵拉导丝时，可以将弹性形变补偿增量所造成的影响引入控制过程中，基于弹性形变补偿增量的大小增大或减小电机转动的角度，以使最终的控制效果符合需求，避免反复调节。After obtaining the elastic deformation compensation increment, when the control drive module pulls the guide wire, the influence caused by the elastic deformation compensation increment can be introduced into the control process, and the motor rotation can be increased or decreased based on the elastic deformation compensation increment. Angle, so that the final control effect meets the needs, avoiding repeated adjustments.

通过上述实施例和示例的描述，可以看出，所述方法根据驱动模块的驱动参数计算得到导丝实时张力后，根据导丝实时张力来确定外部环境对于导管的影响程度，即环境影响参数。通过环境影响参数来控制驱动模块牵拉导丝，从而使得实时计算到的环境影响参数能够符合环境顺从条件，使得导管与外界环境的形状相适应。上述方法克服了无法在导管中设置力传感器直接获取反馈力大小的问题，通过导丝的张力直接确定环境影响参数，进而对导管进行适应性调节，保证导管的形状贴合实际手术环境，避免由于导管形状问题对患者身体造成损伤，保证了手术的执行效果。From the descriptions of the above embodiments and examples, it can be seen that the method calculates the real-time tension of the guide wire according to the driving parameters of the driving module, and then determines the degree of influence of the external environment on the catheter according to the real-time tension of the guide wire, that is, the environmental impact parameter. The driving module is controlled to pull the guide wire through the environmental impact parameters, so that the environmental impact parameters calculated in real time can meet the environmental compliance conditions, so that the catheter can adapt to the shape of the external environment. The above method overcomes the problem that the force sensor cannot be installed in the catheter to directly obtain the feedback force, and the environmental impact parameters are directly determined through the tension of the guide wire, and then the catheter is adaptively adjusted to ensure that the shape of the catheter fits the actual operating environment, avoiding the The problem of the shape of the catheter will cause damage to the patient's body and ensure the effect of the operation.

本说明书实施例还提出一种导管控制方法。所述导管控制方法的执行主体也可以是所述导管控制模块。如图7所示，所述导管控制方法包括以下具体实施步骤。The embodiment of this specification also proposes a catheter control method. The execution subject of the catheter control method may also be the catheter control module. As shown in FIG. 7 , the catheter control method includes the following specific implementation steps.

S710：获取腔道分支形状。S710: Obtain the shape of the branch of the lumen.

所述导管控制方法针对的手术环境主要是腔道，腔道包括支气管、消化道、血管等。由于腔道一般具有一定的长度和曲折程度，在将导管伸入腔道后，通过改变导管的形状，使得导管能够到达相应的病灶区域，进而执行对应的手术操作。The operation environment targeted by the catheter control method is mainly lumens, which include bronchi, digestive tracts, blood vessels and the like. Since the cavity generally has a certain length and tortuousness, after the catheter is inserted into the cavity, the shape of the catheter can be changed so that the catheter can reach the corresponding lesion area, and then the corresponding surgical operation can be performed.

腔道分支形状即为腔道的三维结构。所述腔道分支形状可以包括患者整体的腔道分支形状，也可以仅针对本次手术涉及的腔道构造腔道分支形状，例如针对支气管构造支气管分支形状。如图8所示，为构建得到的腔道分支形状的示意图。其中，左上部分为本次手术所针对的延伸部分。The branch shape of the lumen is the three-dimensional structure of the lumen. The cavity branch shape may include the overall cavity branch shape of the patient, or the cavity branch shape may only be constructed for the cavity involved in this operation, for example, the bronchial branch shape is constructed for the bronchi. As shown in FIG. 8 , it is a schematic diagram of the branch shape of the constructed lumen. Among them, the upper left part is the extended part targeted by this operation.

所述腔道分支形状可以是预先获取患者的CT数据，基于CT数据进行重构来生成对应的腔道分支形状。The shape of the branch of the lumen can be obtained in advance from the CT data of the patient, and the corresponding shape of the branch of the lumen can be generated by reconstructing based on the CT data.

实际应用中也可以根据其他人体扫描数据，例如核磁数据等，来构建腔道分支形状，对此不做限制。In practical applications, the branch shape of the cavity can also be constructed according to other body scan data, such as nuclear magnetic data, without limitation.

S720：根据所述腔道分支形状确定目标导管形状。S720: Determine a target catheter shape according to the lumen branch shape.

在确定腔道分支形状后，可以基于所述腔道分支形状来确定目标导管形状。目标导管形状即为贴合所述腔道分支形状的形状。在导管的形状符合所述目标导管形状时，表示导管与腔道之间相互适应，从而能够直接减少导管对腔道的压迫和损伤。After the lumen branch shape is determined, the target catheter shape may be determined based on the lumen branch shape. The target catheter shape is a shape that conforms to the shape of the lumen branch. When the shape of the catheter conforms to the target catheter shape, it means that the catheter and the lumen adapt to each other, thereby directly reducing the pressure and damage of the lumen caused by the catheter.

在一些实施方式中，可以从腔道分支形状中直接提取对应的中轴线，作为目标导管形状。由于中轴线能够通过线性的方式来反映腔道的形状，使得所得到的目标导管形状能够间接明了地反映腔道的延伸状态。In some embodiments, the corresponding central axis can be directly extracted from the lumen branch shape as the target catheter shape. Since the central axis can reflect the shape of the lumen in a linear manner, the obtained target catheter shape can indirectly and clearly reflect the extension state of the lumen.

如图9所示，为一种确定出的支气管的形状的示例，其中，支气管延伸出分支1、分支2和分支3这三个分支。基于支气管的结构特点，在导管探入病灶区域的过程中，前进路径上可能会存在多个支气管分叉点，导管需要选取其中一个分支，并基于该分支的形状结构调整自身形状，以适应分叉形状。相应的，还可以从图中确定分支的弯曲角度，例如，在图9中，分支1弯曲的角度为θ。具体的，在确定腔道分支形状后，可以通过相应的几何方法在腔道中确定出中轴线作为目标导管形状。As shown in FIG. 9 , it is an example of the determined shape of the bronchi, where the bronchi extend into three branches,branch 1 ,branch 2 andbranch 3 . Based on the structural characteristics of the bronchus, when the catheter penetrates into the lesion area, there may be multiple bronchial bifurcation points on the advancing path. The catheter needs to select one of the branches and adjust its shape based on the shape of the branch to adapt to the branch fork shape. Correspondingly, the bending angle of the branch can also be determined from the figure, for example, in FIG. 9 , the bending angle ofbranch 1 is θ. Specifically, after the branch shape of the lumen is determined, the central axis can be determined in the lumen through a corresponding geometric method as the target catheter shape.

S730：通过传感信号构建导管实时形状。S730: Construct the real-time shape of the catheter through the sensing signal.

所述导管中可以包含传感器，所述传感器用于确定导管各个部位的位置，进而能够构建出导管当前的形状。The catheter may contain sensors, and the sensors are used to determine the positions of various parts of the catheter, so as to construct the current shape of the catheter.

具体的，所述传感器可以是光纤传感器。由于光纤传感器具有体积小的特点，能够在不影响导管尺寸的情况下被设置在导管中，适合本说明书实施例对应的应用环境。基于应用需求可以将光纤传感器设置在导管中的不同部位，光纤传感器可以发出相应的传感信号，通过对传感信号进行解析，可以确定各个光纤传感器的空间位置。基于光纤传感器的设置位置，以及传感信号所体现的空间位置，即可完成导管实时形状的构建，进而确定导管当前在支气管中的分布状态。Specifically, the sensor may be an optical fiber sensor. Since the optical fiber sensor has the characteristics of small volume, it can be arranged in the catheter without affecting the size of the catheter, which is suitable for the application environment corresponding to the embodiment of this specification. Based on the application requirements, the fiber optic sensors can be placed in different parts of the catheter, and the fiber optic sensors can send corresponding sensing signals. By analyzing the sensing signals, the spatial position of each fiber optic sensor can be determined. Based on the installation position of the optical fiber sensor and the spatial position reflected by the sensing signal, the construction of the real-time shape of the catheter can be completed, and then the current distribution status of the catheter in the bronchi can be determined.

所述传感器也可以是电磁传感器，通过电磁传感器发出相应的电磁信号，同样能够确定导管的整体空间状态。具体的构建过程可以参照光纤传感器的应用过程。The sensor can also be an electromagnetic sensor, and the overall spatial state of the catheter can also be determined by sending corresponding electromagnetic signals through the electromagnetic sensor. The specific construction process can refer to the application process of the fiber optic sensor.

此外，所述导管实时形状可以只用于反映导管当前的形状，也可以用于反映导管的具体空间位置，从而能够直接将导管在腔道中进行定位，对此不做限制。In addition, the real-time shape of the catheter may only be used to reflect the current shape of the catheter, or it may be used to reflect the specific spatial position of the catheter, so that the catheter can be directly positioned in the lumen, without limitation.

如图10所示，为根据传感信号构建得到的导管实时形状的示意图，其中，分支1为导管的前进路径所对应的分支，图10中导管还未改变自身的形状，从而导致与分支1的内壁存在触碰情况，在后续过程中需要顺应环境对自身形状结构进行调整。基于传感信号所构建的示意图可以直观地确定导管在腔道中的分布状况。As shown in Figure 10, it is a schematic diagram of the real-time shape of the catheter constructed according to the sensor signal, whereinbranch 1 is the branch corresponding to the advancing path of the catheter, and the shape of the catheter in Figure 10 has not changed itself, resulting in the same shape asbranch 1. There is a touch on the inner wall of the device, and it is necessary to adjust its shape and structure in accordance with the environment in the follow-up process. The schematic diagram constructed based on the sensing signal can intuitively determine the distribution status of the catheter in the lumen.

实际应用中根据需求也可以采用其他传感器获取传感信号，对此不做限制。In practical applications, other sensors may also be used to acquire sensing signals according to requirements, and there is no limitation on this.

S740：基于所述目标导管形状和导管实时形状确定环境影响参数；所述环境影响参数用于反映目标导管形状和导管实时形状之间的差异。S740: Determine an environmental impact parameter based on the target catheter shape and the real-time shape of the catheter; the environmental impact parameter is used to reflect a difference between the target catheter shape and the real-time shape of the catheter.

在获取到目标导管形状和导管实时形状后，可以通过比对目标导管形状和导管实时形状得到环境影响参数。在这一实施方式中，环境影响参数可以用于表示形状差异值，即用于体现导管当前的形状相较于理想形状之间的偏差程度。根据所述形状差异值，在后续步骤中能够对导管弯曲程度进行调节，使得调节后的导管形状能够符合实际应用的需求。After the target catheter shape and the real-time shape of the catheter are obtained, the environmental impact parameters can be obtained by comparing the target catheter shape and the real-time shape of the catheter. In this embodiment, the environmental impact parameter can be used to represent the shape difference value, that is, to reflect the degree of deviation between the current shape of the catheter and the ideal shape. According to the shape difference value, the degree of bending of the catheter can be adjusted in subsequent steps, so that the adjusted shape of the catheter can meet the requirements of practical applications.

在一些实施方式中，为了方便后续操作，所述环境影响参数可以是以导管的弯曲角度的形式进行体现。In some embodiments, in order to facilitate subsequent operations, the environmental impact parameter may be expressed in the form of a bending angle of the catheter.

S750：根据所述环境影响参数控制驱动模块牵拉导丝，以使环境影响参数符合环境顺从条件；所述环境顺从条件下导管实时形状变化为所述目标导管形状；所述导丝设置在所述导管中；所述驱动模块用于驱动导丝以使所述导管弯曲。S750: Control the driving module to pull the guide wire according to the environmental impact parameters, so that the environmental impact parameters meet the environmental compliance conditions; under the environmental compliance conditions, the real-time shape of the catheter changes to the target catheter shape; the guide wire is set at the In the catheter; the driving module is used to drive the guide wire to bend the catheter.

根据环境影响参数，可以计算出导管需要调整的位移，进而根据位移确定针对导丝的操作指令，以使导管实时形状变化为所述目标导管形状，即使得导管形状与支气管相贴合，从而能够有效伸入导管。According to the environmental impact parameters, the displacement of the catheter that needs to be adjusted can be calculated, and then the operation instruction for the guide wire can be determined according to the displacement, so that the real-time shape of the catheter can be changed to the target catheter shape, that is, the shape of the catheter can fit the bronchus, so that Effective access to the catheter.

因此，在这一实施方式中，环境顺从条件可以用于表示导管实时形状变化为所述目标导管形状，即环境影响参数所对应的形状差异值维持在较小的范围内，进而使得导管能够适应腔道的形状，达到环境顺从的效果。Therefore, in this embodiment, the environmental compliance condition can be used to indicate that the real-time shape of the catheter changes to the target catheter shape, that is, the shape difference value corresponding to the environmental impact parameter is maintained within a small range, so that the catheter can adapt to The shape of the cavity can achieve the effect of environmental compliance.

在一些实施方式中，为了便于操作，可以先根据所述环境影响参数确定导管弯曲角度。由于导丝牵拉导管主要是对导管进行固定角度的弯曲，因此计算得到导管弯曲角度更有利于对导管进行实际操作。In some implementations, for ease of operation, the catheter bending angle may be first determined according to the environmental impact parameters. Since pulling the catheter by the guide wire is mainly to bend the catheter at a fixed angle, the calculated bending angle of the catheter is more conducive to the actual operation of the catheter.

在确定导管弯曲角度后，根据预先设置的转换关系可以计算得到导丝牵拉长度，即为了实现对导管的弯曲效果需要牵拉导丝的长度，从而便于驱动模块的直接控制。After determining the bending angle of the catheter, the pulling length of the guide wire can be calculated according to the preset conversion relationship, that is, the length of the guide wire that needs to be pulled in order to achieve the bending effect on the catheter, thereby facilitating the direct control of the driving module.

根据导丝牵拉长度，转换得到对应于驱动模块的控制指令。所述控制指令可以用于表示为了实现所述导丝牵拉长度，驱动模块所需要执行的工作幅度，例如可以是电机转动的角度等。According to the pulling length of the guide wire, the control instruction corresponding to the driving module is obtained through conversion. The control instruction may be used to indicate the range of work to be performed by the driving module in order to achieve the pulling length of the guide wire, for example, it may be the rotation angle of the motor and the like.

将控制指令发送至驱动模块后，驱动模块牵拉导丝并弯曲导管至目标导管形状，从而使得导管的形状能够符合支气管的形状，保证导管能够正常探入支气管中，进而有效执行相应的手术操作。After sending the control command to the drive module, the drive module pulls the guide wire and bends the catheter to the target catheter shape, so that the shape of the catheter can conform to the shape of the bronchus, ensuring that the catheter can be inserted into the bronchi normally, and then effectively perform the corresponding surgical operation .

如图11所示，为对导丝形状进行调整以使其符合支气管形状的示意图。在对导管形状进行调整后，使得导管的形状与支气管中分支1的形状相贴合，从而避免对支气管的分支1造成损伤As shown in FIG. 11 , it is a schematic diagram of adjusting the shape of the guide wire to conform to the shape of the bronchi. After adjusting the shape of the catheter, the shape of the catheter fits the shape of thebranch 1 of the bronchus, so as to avoid damage to thebranch 1 of the bronchus

相应的，针对导丝的弹性形变也可以执行补偿。在一些实施方式中，可以先根据所述导丝实时张力和弹性形变系数计算弹性形变补偿增量。弹性形变系数可以是预先根据导丝的材质所确定的系数，计算得到的弹性形变补偿增量用于描述导丝在所述导丝实时张力的作用下所产生的弹性形变的大小，进而使得计算结果更符合实际应用情况。在获取到弹性形变补偿增量后，控制驱动模块牵拉导丝时，可以将弹性形变补偿增量所造成的影响引入控制过程中，基于弹性形变补偿增量的大小增大或减小电机转动的角度，以使最终的控制效果符合需求，避免反复调节。Correspondingly, compensation can also be performed for the elastic deformation of the guide wire. In some implementations, the elastic deformation compensation increment may be firstly calculated according to the real-time tension and elastic deformation coefficient of the guide wire. The elastic deformation coefficient can be a coefficient determined in advance according to the material of the guide wire, and the calculated elastic deformation compensation increment is used to describe the size of the elastic deformation of the guide wire under the action of the real-time tension of the guide wire, thereby making the calculation The results are more in line with practical applications. After obtaining the elastic deformation compensation increment, when the control drive module pulls the guide wire, the influence caused by the elastic deformation compensation increment can be introduced into the control process, and the motor rotation can be increased or decreased based on the elastic deformation compensation increment. Angle, so that the final control effect meets the needs, avoiding repeated adjustments.

上述操作过程也可以采取闭环的方式来实时。如图12所示，在术前重构CT数据得到支气管分支后，实际手术过程中通过光纤传感器获得特征点数据，进而通过形状拟合算法确定导管实际弯曲角度。通过与腔道分支形状进行比对确定角度误差。将角度误差转换比例，并通过导管机器人逆运动学计算到期望电机执行量后，发送至电机控制单元。重复上述循环操作，直至导管形状与腔道形状相贴合为止，进而保证调整结果的有效性。The above operation process can also be implemented in real time in a closed-loop manner. As shown in Figure 12, after the bronchial branches are obtained by reconstructing the CT data before the operation, the feature point data is obtained through the optical fiber sensor during the actual operation, and then the actual bending angle of the catheter is determined through the shape fitting algorithm. The angular error is determined by comparing with the lumen branch shape. The angle error is converted into a ratio, and the expected motor execution amount is calculated through the inverse kinematics of the catheter robot, and then sent to the motor control unit. The above-mentioned cyclic operation is repeated until the shape of the catheter fits the shape of the lumen, thereby ensuring the validity of the adjustment result.

基于上述实施方式的描述，可以看出，所述导管控制方法通过获取腔道分支形状，并通过光纤传感器获取导管形状，通过确定腔道分支形状与导管形状之间的差异，对导管形状进行调节使得其形状与腔道的形状相吻合。上述方法从腔道的实时形状的角度对导管进行调节，同样保证了针对导管的调节效果，使得导管的形状贴合实际手术环境，避免由于导管形状问题对患者身体造成损伤，保证了手术的执行效果。Based on the description of the above embodiments, it can be seen that the catheter control method adjusts the shape of the catheter by obtaining the shape of the branch of the lumen and the shape of the catheter through an optical fiber sensor, and by determining the difference between the shape of the branch of the lumen and the shape of the catheter. Make its shape coincide with the shape of the cavity. The above method adjusts the catheter from the perspective of the real-time shape of the cavity, which also ensures the adjustment effect on the catheter, makes the shape of the catheter fit the actual operating environment, avoids damage to the patient's body due to the shape of the catheter, and ensures the execution of the operation. Effect.

针对图2所对应的导管控制方法，本说明书实施例还提出一种导管控制系统。所述导管控制系统包括导管模块和导管控制模块。For the catheter control method corresponding to FIG. 2 , the embodiment of this specification also proposes a catheter control system. The catheter control system includes a catheter module and a catheter control module.

所述导管模块中包含有导管、导丝(图中未示出)和驱动模块。The catheter module includes a catheter, a guide wire (not shown in the figure) and a driving module.

在图1中，导管包括插入管和柔性导管。插入管为刚性结构，主要用于保持驱动模块以及机械臂与患者之间的距离，同时有效将导管固定在驱动模块上。柔性导管由柔性材料制成，在受力时可以基于受力方向弯曲。在将导管插入人体后，由于人体中的支气管、血管等存在较多的分叉，在导管到达病灶区域之前，可能需要对导管自身的形状进行弯曲以适应支气管、血管等的外部环境，避免对用户造成损伤。In Fig. 1, the catheter includes an insertion tube and a flexible catheter. The insertion tube is a rigid structure that is primarily used to maintain the distance between the drive block and the manipulator arm and the patient while effectively securing the catheter to the drive block. Flexible catheters are made of flexible material that bends when a force is applied based on the direction of the force. After the catheter is inserted into the human body, because there are many bifurcations in the bronchi and blood vessels in the human body, before the catheter reaches the lesion area, it may be necessary to bend the shape of the catheter itself to adapt to the external environment of the bronchi and blood vessels to avoid damage to the body. User Injury.

导丝设置在导管内部，具体的，导丝的一端可以固定在柔性导管上，另一端与驱动模块中的电机相连接。基于导丝所设置的位置，在导丝受到拉力后，可以向相应的方向拉动柔性导管而使柔性导管弯曲。相应的，在导管内可以设置多个导丝，通过牵拉不同的导丝实现柔性导管向不同的方向偏转，以使导管自身的形状适应不同的外部环境。例如，可以在导管内设置四个导丝，通过对不同导丝的牵拉来实现不同方向的弯曲效果。实际应用中可以根据需求来设置导丝的数量，对此不做限制。The guide wire is arranged inside the catheter. Specifically, one end of the guide wire can be fixed on the flexible catheter, and the other end is connected to the motor in the driving module. Based on the set position of the guide wire, after the guide wire is pulled, the flexible catheter can be pulled in a corresponding direction to make the flexible catheter bend. Correspondingly, multiple guide wires can be arranged in the catheter, and the flexible catheter can be deflected in different directions by pulling different guide wires, so that the shape of the catheter itself can adapt to different external environments. For example, four guide wires can be arranged in the catheter, and bending effects in different directions can be achieved by pulling different guide wires. In practical applications, the number of guide wires can be set according to requirements, and there is no limit to this.

驱动模块包括电机，电机与导丝相连接。电机在工作时转动可以对导丝产生牵拉作用或是释放导丝上的拉力。在设置有多个导丝的情况下，驱动模块中也可以包含多个电机，不同的电机分别与不同导丝相连接，且电机之间可以相互独立并分别进行工作，从而实现不同的控制效果。此外，驱动模块中还可以设置相应的传感器，用于采集对应于驱动模块的驱动参数，例如直接测量得到电极转速，通过霍尔传感器测量当前电机内的实时电流，通过相应的传感器及测量模型获取电机摩擦力和导丝摩擦力等。The driving module includes a motor, which is connected with the guide wire. The rotation of the motor during work can generate a pulling effect on the guide wire or release the pulling force on the guide wire. In the case of multiple guide wires, the drive module can also contain multiple motors, and different motors are connected to different guide wires, and the motors can work independently of each other to achieve different control effects . In addition, corresponding sensors can also be set in the drive module to collect the drive parameters corresponding to the drive module, such as directly measuring the electrode speed, measuring the current real-time current in the motor through the Hall sensor, and obtaining it through the corresponding sensor and measurement model. Motor friction and guide wire friction, etc.

所述导管控制模块中包括存储器和处理器。所述存储器可以按任何适当的方式实现。例如，所述存储器可以为只读存储器、机械硬盘、固态硬盘、或U盘等。所述存储器用于存储计算机程序指令。A memory and a processor are included in the catheter control module. The memory can be implemented in any suitable way. For example, the storage may be a read-only memory, a mechanical hard disk, a solid-state hard disk, or a USB flash drive. The memory is used to store computer program instructions.

所述处理器可以按任何适当的方式实现。例如，处理器可以采取例如微处理器或处理器以及存储可由该(微)处理器执行的计算机可读程序代码(例如软件或固件)的计算机可读介质、逻辑门、开关、专用集成电路、可编程逻辑控制器和嵌入微控制器的形式等等。所述处理器用于执行所述计算机程序指令以实现图2所对应的实施例中的步骤。The processor can be implemented in any suitable way. For example, a processor may take the form of a microprocessor or a processor and a computer-readable medium storing computer-readable program code (such as software or firmware) executable by the (micro)processor, logic gates, switches, application specific integrated circuits, In the form of programmable logic controllers and embedded microcontrollers and more. The processor is configured to execute the computer program instructions to implement the steps in the embodiment corresponding to FIG. 2 .

此外，针对图7所对应的导管控制方法，本说明书实施例还提出一种导管控制系统。所述导管控制系统包括导管模块和导管控制模块。In addition, for the catheter control method corresponding to FIG. 7 , the embodiment of this specification also proposes a catheter control system. The catheter control system includes a catheter module and a catheter control module.

所述导管模块可以包括导管、设置在导管中的导丝、驱动导丝的驱动模块和设置在导管中的传感器。The catheter module may include a catheter, a guide wire disposed in the catheter, a driving module for driving the guide wire, and a sensor disposed in the catheter.

对于导管、导丝和驱动模块的描述可以参照之前的介绍，在此不再赘述。For the description of the catheter, the guide wire and the driving module, reference may be made to the previous introduction, and details will not be repeated here.

传感器包括光纤传感器和/或电磁传感器。这一类传感器具有体积小的特点，能够在不影响导管形状的情况下设置在导管中。例如，在传感器为光纤传感器时，基于应用需求可以将光纤传感器设置在导管中的不同部位，光纤传感器可以发出相应的传感信号，通过对传感信号进行解析，可以确定各个光纤传感器的空间位置。基于光纤传感器的设置位置，以及传感信号所体现的空间位置，即可完成导管实时形状的构建，进而确定导管当前在支气管中的分布状态。Sensors include fiber optic sensors and/or electromagnetic sensors. This type of sensor has the characteristics of small size and can be placed in the catheter without affecting the shape of the catheter. For example, when the sensor is an optical fiber sensor, the optical fiber sensor can be placed in different parts of the catheter based on the application requirements, and the optical fiber sensor can send out a corresponding sensing signal, and the spatial position of each optical fiber sensor can be determined by analyzing the sensing signal . Based on the installation position of the optical fiber sensor and the spatial position reflected by the sensing signal, the construction of the real-time shape of the catheter can be completed, and then the current distribution status of the catheter in the bronchi can be determined.

所述导管控制模块中包括存储器和处理器。所述存储器可以按任何适当的方式实现。例如，所述存储器可以为只读存储器、机械硬盘、固态硬盘、或U盘等。所述存储器用于存储计算机程序指令。A memory and a processor are included in the catheter control module. The memory can be implemented in any suitable way. For example, the storage may be a read-only memory, a mechanical hard disk, a solid-state hard disk, or a USB flash drive. The memory is used to store computer program instructions.

所述处理器可以按任何适当的方式实现。例如，处理器可以采取例如微处理器或处理器以及存储可由该(微)处理器执行的计算机可读程序代码(例如软件或固件)的计算机可读介质、逻辑门、开关、专用集成电路、可编程逻辑控制器和嵌入微控制器的形式等等。所述处理器用于执行所述计算机程序指令以实现图7所对应的实施例中的步骤。The processor can be implemented in any suitable way. For example, a processor may take the form of a microprocessor or a processor and a computer-readable medium storing computer-readable program code (such as software or firmware) executable by the (micro)processor, logic gates, switches, application specific integrated circuits, In the form of programmable logic controllers and embedded microcontrollers and more. The processor is configured to execute the computer program instructions to implement the steps in the embodiment corresponding to FIG. 7 .

需要说明的是，上述两套导管控制系统可以对应于同一套设备，也可以分别设置为不同的设备，对此不做限制。It should be noted that the above two sets of catheter control systems may correspond to the same set of equipment, or may be set as different equipment respectively, and there is no limitation on this.

基于上述导管控制方法，本说明书实施例提供一种计算机可读存储介质，其上存储有计算机程序/指令。所述计算机可读存储介质可以基于设备的内部总线被处理器所读取，进而通过处理器实现所述计算机可读存储介质中的程序指令。Based on the catheter control method described above, the embodiment of this specification provides a computer-readable storage medium on which computer programs/instructions are stored. The computer-readable storage medium can be read by the processor based on the internal bus of the device, and then the program instructions in the computer-readable storage medium are implemented by the processor.

在本实施例中，所述计算机可读存储介质可以按任何适当的方式实现。所述计算机可读存储介质包括但不限于随机存取存储器(Random Access Memory,RAM)、只读存储器(Read-Only Memory,ROM)、缓存(Cache)、硬盘(Hard Disk Drive,HDD)、存储卡(MemoryCard)等等。所述计算机存储介质存储有计算机程序指令。在所述计算机程序指令被执行时实现本说明书图2或图7所对应实施例的程序指令或模块。In this embodiment, the computer-readable storage medium may be implemented in any suitable manner. The computer-readable storage medium includes, but is not limited to, random access memory (Random Access Memory, RAM), read-only memory (Read-Only Memory, ROM), cache (Cache), hard disk (Hard Disk Drive, HDD), storage Card (MemoryCard) and so on. The computer storage medium stores computer program instructions. When the computer program instructions are executed, the program instructions or modules in the embodiment corresponding to FIG. 2 or FIG. 7 of this specification are realized.

在本实施例中，所述处理器可以按任何适当的方式实现。例如，处理器可以采取例如微处理器或处理器以及存储可由该(微)处理器执行的计算机可读程序代码(例如软件或固件)的计算机可读介质、逻辑门、开关、专用集成电路(Application SpecificIntegrated Circuit，ASIC)、可编程逻辑控制器和嵌入微控制器的形式等等。具体的，所述处理器在被设置在导管控制模块上时可以执行图2和/或图7对应的实施例中的方法步骤。In this embodiment, the processor may be implemented in any suitable manner. For example, a processor may take the form of a microprocessor or a processor and a computer-readable medium storing computer-readable program code (such as software or firmware) executable by the (micro)processor, logic gates, switches, application specific integrated circuits ( Application Specific Integrated Circuit, ASIC), programmable logic controllers and embedded microcontrollers, etc. Specifically, when the processor is set on the catheter control module, it may execute the method steps in the embodiment corresponding to FIG. 2 and/or FIG. 7 .

上述导管控制方法、系统及存储介质可以应用于微创手术技术领域，也可以应用至其他领域，对此不做限制。The catheter control method, system, and storage medium described above can be applied to the field of minimally invasive surgery technology, and can also be applied to other fields, without limitation.

虽然上文描述的过程流程包括以特定顺序出现的多个操作，但是，应当清楚了解，这些过程可以包括更多或更少的操作，这些操作可以顺序执行或并行执行(例如使用并行处理器或多线程环境)。Although the process flows described above include multiple operations occurring in a particular order, it should be clearly understood that the processes may include more or fewer operations, which may be performed sequentially or in parallel (e.g., using parallel processors or multi-threaded environment).

本申请是参照根据本说明书实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。The present application is described with reference to flowcharts and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the specification. It should be understood that each procedure and/or block in the flowchart and/or block diagram, and a combination of procedures and/or blocks in the flowchart and/or block diagram can be realized by computer program instructions. These computer program instructions may be provided to a general purpose computer, special purpose computer, embedded processor, or processor of other programmable data processing equipment to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing equipment produce a An apparatus for realizing the functions specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.

这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to operate in a specific manner, such that the instructions stored in the computer-readable memory produce an article of manufacture comprising instruction means, the instructions The device realizes the function specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.

这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。These computer program instructions can also be loaded onto a computer or other programmable data processing device, causing a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process, thereby The instructions provide steps for implementing the functions specified in the flow chart or blocks of the flowchart and/or the block or blocks of the block diagrams.

在一个典型的配置中，计算设备包括一个或多个处理器(CPU)、输入/输出接口、网络接口和内存。In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

内存可能包括计算机可读介质中的非永久性存储器，随机存取存储器(RAM)和/或非易失性内存等形式，如只读存储器(ROM)或闪存(flash RAM)。内存是计算机可读介质的示例。Memory may include non-permanent storage in computer-readable media, in the form of random access memory (RAM) and/or nonvolatile memory such as read-only memory (ROM) or flash RAM. Memory is an example of computer readable media.

计算机可读介质包括永久性和非永久性、可移动和非可移动媒体可以由任何方法或技术来实现信息存储。信息可以是计算机可读指令、数据结构、程序的模块或其他数据。计算机的存储介质的例子包括，但不限于相变内存(PRAM)、静态随机存取存储器(SRAM)、动态随机存取存储器(DRAM)、其他类型的随机存取存储器(RAM)、只读存储器(ROM)、电可擦除可编程只读存储器(EEPROM)、快闪记忆体或其他内存技术、只读光盘只读存储器(CD-ROM)、数字多功能光盘(DVD)或其他光学存储、磁盒式磁带，磁带磁磁盘存储或其他磁性存储设备或任何其他非传输介质，可用于存储可以被计算设备访问的信息。按照本文中的界定，计算机可读介质不包括暂存电脑可读媒体(transitory media)，如调制的数据信号和载波。Computer-readable media, including both permanent and non-permanent, removable and non-removable media, can be implemented by any method or technology for storage of information. Information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Flash memory or other memory technology, Compact Disc Read-Only Memory (CD-ROM), Digital Versatile Disc (DVD) or other optical storage, Magnetic tape cartridge, tape magnetic disk storage or other magnetic storage device or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media excludes transitory computer-readable media, such as modulated data signals and carrier waves.

本领域技术人员应明白，本说明书的实施例可提供为方法、系统或计算机程序产品。因此，本说明书实施例可采用完全硬件实施例、完全软件实施例或结合软件和硬件方面的实施例的形式。而且，本说明书实施例可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。Those skilled in the art should understand that the embodiments of this specification may be provided as methods, systems or computer program products. Accordingly, the embodiments of the present description may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present description may take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

本说明书实施例可以在由计算机执行的计算机可执行指令的一般上下文中描述，例如程序模块。一般地，程序模块包括执行特定任务或实现特定抽象数据类型的例程、程序、对象、组件、数据结构等等。也可以在分布式计算环境中实践本说明书实施例，在这些分布式计算环境中，由通过通信网络而被连接的远程处理设备来执行任务。在分布式计算环境中，程序模块可以位于包括存储设备在内的本地和远程计算机存储介质中。Embodiments of the present specification may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. Embodiments of the present description may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including storage devices.

本说明书中的各个实施例均采用递进的方式描述，各个实施例之间相同相似的部分互相参见即可，每个实施例重点说明的都是与其他实施例的不同之处。尤其，对于系统实施例而言，由于其基本相似于方法实施例，所以描述的比较简单，相关之处参见方法实施例的部分说明即可。在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本说明书实施例的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。Each embodiment in this specification is described in a progressive manner, the same and similar parts of each embodiment can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and for relevant parts, refer to part of the description of the method embodiment. In the description of this specification, descriptions referring to the terms "one embodiment", "some embodiments", "example", "specific examples", or "some examples" mean that specific features described in connection with the embodiment or example , structures, materials or features are included in at least one embodiment or example of the embodiments of this specification. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the described specific features, structures, materials or characteristics may be combined in any suitable manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine different embodiments or examples and features of different embodiments or examples described in this specification without conflicting with each other.

以上所述仅为本申请的实施例而已，并不用于限制本申请。对于本领域技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原理之内所作的任何修改、等同替换、改进等，均应包含在本申请的权利要求范围之内。The above descriptions are only examples of the present application, and are not intended to limit the present application. For those skilled in the art, various modifications and changes may occur in this application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the scope of the claims of the present application.

Claims (13)

1. A catheter control method, comprising:

calculating the real-time tension of the guide wire according to the driving parameters of the driving module; a guide wire is arranged in the catheter; the guide wire pulls the catheter under the driving of the driving module so as to bend the catheter;

determining environmental impact parameters according to the real-time tension of the guide wire; the environment influence parameter is used for representing the influence degree of the external environment on the catheter;

controlling a drive module to pull a guide wire based on the environmental impact parameter to conform the environmental impact parameter to an environmental compliance condition; the conduit conforms to the shape of the external environment under the environmentally compliant conditions.

2. The catheter control method of claim 1, wherein determining the environmental impact parameter from the guidewire real-time tension comprises:

calculating an external contact force based on the real-time tension of the guide wire; the external contact force represents the force applied to the catheter by the external environment of the catheter;

correspondingly, the controlling the driving module to pull the guide wire based on the environmental impact parameter to make the environmental impact parameter conform to the environmental compliance condition comprises:

according to the external contact force control, the driving module pulls the guide wire so that the external contact force is not larger than a contact force threshold value.

3. The catheter control method of claim 2, wherein the controlling the drive module to pull the guidewire in accordance with the external contact force such that the external contact force is not greater than a contact force threshold comprises:

calculating the catheter compliant displacement according to the external contact force; the catheter compliance displacement comprises a catheter angle change;

determining motor operating parameters corresponding to the catheter compliant displacement;

and sending a control command to a driving module based on the motor working parameters so that the driving module pulls the guide wire and the external contact force is not greater than a contact force threshold value.

4. The catheter control method of claim 1, wherein determining the environmental impact parameter from the guidewire real-time tension comprises:

determining a tension differential for the guidewire by comparing the real-time tension of the guidewire to a desired tension; the desired guidewire tension comprises a preset amount of guidewire tension when the catheter is compliant with the external environment;

correspondingly, the controlling the driving module to pull the guide wire based on the environmental impact parameter to make the environmental impact parameter conform to the environmental compliance condition comprises:

controlling a drive module to pull the guidewire based on the tension difference amount to cause the real-time tension of the guidewire to reach the desired tension.

5. The catheter control method of claim 4, wherein controlling the drive module to pull the guidewire to bring the real-time tension of the guidewire detected by the detection unit to the desired tension based on the tension differential comprises:

determining a catheter deformation amount corresponding to the tension difference amount; the catheter deformation amount comprises a catheter bend angle;

determining a motor operating parameter corresponding to the amount of catheter deformation;

and sending a control instruction to a driving module based on the motor working parameters so that the driving module pulls the guide wire and the real-time tension of the guide wire reaches the expected tension.

6. The catheter control method of claim 1, wherein calculating a guidewire real-time tension based on drive parameters of a drive module comprises:

acquiring driving parameters of a driving module; the driving parameters comprise at least one of motor rotating speed, motor current, motor friction and guide wire friction;

and calculating the real-time tension of the guide wire according to the driving parameters.

7. The catheter control method of claim 1, wherein prior to controlling the drive module to pull the guidewire based on the environmental impact parameter to conform the environmental impact parameter to the environmental compliance condition, further comprising:

calculating an elastic deformation compensation increment according to the real-time tension and the elastic deformation coefficient of the guide wire; the elastic deformation compensation increment is used for describing the size of elastic deformation generated by the guide wire under the action of real-time tension of the guide wire;

correspondingly, the controlling the driving module to pull the guide wire based on the environmental impact parameter to make the environmental impact parameter conform to the environmental compliance condition comprises:

and controlling a driving module to pull the guide wire by combining the environment influence parameter and the elastic deformation compensation increment so as to enable the environment influence parameter to accord with the environment compliance condition.

8. A catheter control method, comprising:

obtaining the shape of the cavity branch;

determining the shape of a target catheter according to the shape of the lumen branch;

constructing a real-time shape of the catheter through the sensing signal;

determining an environmental impact parameter based on the target catheter shape and a catheter real-time shape; the environmental impact parameters are used for reflecting the difference between the target catheter shape and the real-time catheter shape;

controlling a driving module to pull the guide wire according to the environmental influence parameters so as to enable the environmental influence parameters to accord with environmental compliance conditions; the real-time shape of the catheter under the environmental compliance condition is changed into the target catheter shape; the guidewire is disposed in the catheter; the drive module is for driving a guidewire to bend the catheter.

9. The catheter control method according to claim 8, wherein the obtaining of the shape of the lumen branch comprises:

acquiring CT data of a patient;

constructing a shape of a lumen branch according to the CT data;

the determining a target catheter shape from the lumen branch shape comprises:

and extracting the central axis of the cavity branch shape as a target catheter shape.

10. The catheter control method of claim 8, wherein controlling a drive module to pull a guidewire based on the environmental impact parameter comprises:

determining a bending angle of the catheter according to the environmental influence parameters;

calculating a guidewire pull length from the catheter bend angle;

converting the guidewire pull length to a control command corresponding to a drive module;

the control instructions are sent to a drive module to cause the drive module to pull the guidewire and bend the catheter to the target catheter shape.

11. A catheter control system comprising a catheter module and a catheter control module;

the catheter module comprises a catheter, a guide wire arranged in the catheter and a driving module for driving the guide wire; the guidewire is used to pull the catheter to bend the catheter;

the catheter control module is used for calculating the real-time tension of the guide wire corresponding to the guide wire according to the driving parameters of the driving motor; determining environmental impact parameters according to the real-time tension of the guide wire; the environment influence parameter is used for representing the influence degree of the external environment on the catheter; controlling a drive module to pull a guide wire based on the environmental impact parameter to conform the environmental impact parameter to an environmental compliance condition; the conduit conforms to the shape of the external environment under the environmentally compliant conditions.

12. A catheter control system comprising a catheter module and a catheter control module;

the catheter module comprises a catheter, a guide wire arranged in the catheter, a driving module for driving the guide wire and a sensor arranged in the catheter; the guidewire is used to pull the catheter to bend the catheter;

the catheter control module is used for acquiring the shape of the cavity branch; determining the shape of a target catheter according to the shape of the cavity branch; constructing a real-time shape of the catheter according to a sensing signal fed back by the sensor; determining an environmental impact parameter based on a difference between the target catheter shape and a catheter real-time shape, and controlling a drive module to pull a guide wire according to the environmental impact parameter to make the environmental impact parameter conform to an environmental compliance condition; the real-time shape of the catheter under the environmentally compliant condition is changed to the target catheter shape.

13. A computer-readable storage medium, having stored thereon a computer program/instructions, for implementing the steps of the method according to any one of claims 1-10 when executed.

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