CN113712674B

CN113712674B - Catheter robot, catheter robot system, catheter control method, computer readable storage medium, and electronic device

Info

Publication number: CN113712674B
Application number: CN202111070675.XA
Authority: CN
Inventors: 占雄; 李自汉; 张飘艺; 王家寅
Original assignee: Shanghai Weiwei Aviation Robot Co ltd
Current assignee: Shanghai Weiwei Aviation Robot Co ltd
Priority date: 2021-09-13
Filing date: 2021-09-13
Publication date: 2023-05-09
Anticipated expiration: 2041-09-13
Also published as: CN113712674A; WO2023036078A1

Abstract

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

Description

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

Technical Field

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

Background

Bronchoscopes are medical devices that are placed into the lower respiratory tract of a patient through the mouth or nose, and are commonly used for observation, biopsy sampling, bacteriological and cytological examination of lung lobes, segments and sub Duan Zhi tracheal lesions. The bronchoscope is used for carrying out alveolar lavage treatment and examination on the lung lobes of the lower respiratory tract where the focus is located, so that the detection rate and accuracy of infectious respiratory diseases can be effectively improved. Especially for diseases such as respiratory infectious diseases, early lung cancer and the like, the nucleic acid detection accuracy of a specimen obtained by lavage of the alveoli of the lower respiratory tract is higher than that of a specimen obtained by pharyngeal swab detection, and the like, which are often concentrated on the lower respiratory tract. And the lavage treatment directly carried out on the lung by using the bronchoscope can also relieve the symptoms of the lower respiratory tract.

The bronchoscope diagnosis and treatment process mostly utilizes medical image information to assist bronchoscope movement. At present, the medical image information is used for assisting the bronchoscope to move (or navigate) mainly in two forms:

(1) Visual marking: the motion of the bronchoscope is assisted by utilizing a bronchus central line (a non-smooth fold line) generated based on the medical image, and a visual mark is arranged at a bronchus bifurcation position in image navigation so as to remind an operator of the next path selection in real time;

(2) Three-dimensional model display: reconstructing a three-dimensional anatomical structure model of the bronchus by utilizing the medical image, combining the real-time pose and shape information of the catheter, displaying the relative spatial relationship between the two in real time, and making a next catheter movement decision by observing the relative spatial relationship.

Bronchoscope robots are mostly provided with man-machine interaction devices which can be controlled in a master-slave mode by operators, and can realize catheter motion control by means of vision (such as endoscopes, three-dimensional anatomical structure models, visual marks and the like) and experience operation. However, during the mastering operation, an abnormality in the behavior of the mapping to the catheter tip due to the active operation of the operator is liable to occur. Such as an abnormal posture of the catheter tip due to master-slave control in a curved space.

Disclosure of Invention

In order to solve the technical problems in the prior art, the invention aims to provide a catheter robot, a catheter robot system, a readable storage medium, an electronic device and a control method for the catheter robot, which can enable the catheter robot to execute a motion auxiliary instruction to assist an operator to control the motion of a catheter, so that the flexible catheter can be operated more flexibly and conveniently, and is safer and more reliable.

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

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

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

wherein the motion assist instructions are for adjusting movement information of the flexible conduit that is executed based on the master-slave control instructions.

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

Optionally, at least one of the following steps is performed:

detecting whether the mobile information meets preset requirements or not to obtain a corresponding detection result; wherein the preset requirements are determined based on at least one of position, form and speed in the movement information and judgment logic thereof; the method comprises the steps of,

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

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

the selectively outputting motion assistance instructions according to the determined movement information of the flexible catheter moving in the natural lumen channel, comprising:

generating a motion assisting instruction for adjusting the shape of the flexible catheter according to the difference between the shape of the flexible catheter at the current position and the natural shape of the natural cavity corresponding to the current position;

wherein the natural morphology is derived based on a pre-acquired three-dimensional anatomical model of the natural orifice.

Optionally, the readable storage medium further pre-stores a navigation path, wherein the navigation path is obtained by simulating a natural morphology of a natural orifice using the three-dimensional anatomical model, and the motion assistance instructions are obtained according to a deviation between a position of the flexible catheter in the navigation path and the navigation path.

Optionally, the motion assist instructions are for adjusting the flexible catheter morphology to change the curvature of its movement within the natural lumen tract; or the motion assist instructions are for adjusting the flexible catheter morphology to change its orientation within the natural lumen.

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

the selectively outputting motion assistance instructions according to the determined movement information of the flexible catheter moving in the natural lumen channel, comprising: when the current moving speed exceeds a preset value, generating a movement auxiliary instruction which is lower than the current moving speed so as to control the flexible catheter to reduce the moving speed.

Optionally, the selectively outputting the exercise assisting instruction according to the determined movement information of the flexible catheter moving in the natural cavity channel comprises:

detecting a current position and a current speed in the movement information to determine that the flexible catheter is ready to move in one of the path branch directions of the natural orifice; detecting the angle deviation between the current form in the movement information and the preset target orientation; wherein the target orientation represents a respective path branching direction that aligns a flexible catheter in the natural orifice;

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

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

mapping the current position in the movement information to a model position in a pre-acquired three-dimensional anatomical model of the natural orifice; and determining that the flexible conduit is adjacent to one of the access branches according to the model position;

detecting that the absolute value of the current moving speed in the moving information is smaller than a preset speed threshold value; the method comprises the steps of,

and detecting the current form of the flexible catheter in the movement information to branch towards one of the passages under the control of a master-slave control instruction.

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

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

And outputting a motion assistance instruction for adjusting the current form to move along the curvature of the path branch according to the curvature deviation.

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

mapping the current position into a three-dimensional anatomical model corresponding to a natural lumen to detect whether the flexible catheter is positioned at a curved segment of a corresponding pathway branch; wherein the curvature is determined based on a degree of bending of the curved section.

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

Optionally, the selectively outputting the motion assistance command or the master-slave control command according to the determined movement information of the flexible catheter moving in the natural cavity channel comprises: and outputting a master-slave control instruction to enable the flexible conduit to move along the path branch after detecting that the flexible conduit moves to the straight line segment of the path branch.

To achieve the above object, according to a second aspect of the present invention, there is provided a catheter robot including a motion control device and a motion performing device connected in communication;

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

the motion-performing device is configured to control the flexible catheter to move within the natural lumen channel in accordance with the received master-slave control instructions or motion-assist instructions.

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

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

the form adjusting unit comprises a power box, wherein the power box is arranged on the adjusting arm and is in transmission connection with the instrument box at the proximal end of the flexible catheter so as to adjust the form of the flexible catheter.

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

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

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

Optionally, the main end further comprises a navigation device, which is used for establishing a three-dimensional anatomical structure model of the natural cavity channel according to the medical image data, and establishing a navigation path simulating the natural form of the natural cavity channel according to the three-dimensional anatomical structure model so as to provide a reference for the movement of the flexible catheter.

Optionally, the navigation device comprises an image display unit, wherein the image display unit comprises a medical image display module, an endoscope head image display module and an animation display module;

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

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

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

Optionally, the operation unit is further configured to detect an enabling or disabling interaction instruction of the user, so as to control the catheter robot to correspondingly enable or disable outputting of the exercise assisting instruction.

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

the character prompting information is used for prompting whether to start the exercise auxiliary function;

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

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

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

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

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

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

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

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

first, when an operator performs master-slave control operation by means of the catheter robot to drive the flexible catheter to move in a space formed by a natural cavity channel such as a bronchus and the like, the catheter can be switched back and forth between master-slave control and motion auxiliary control by means of the catheter robot, so that the catheter can move safely in the space according to the operation intention of the operator. Wherein, the motion assistance can execute the catheter operation corresponding to the intention of the operator, thereby sharing the decision and operation burden of the operator, leading the operation to be more flexible and convenient, and avoiding unsafe factors in the master-slave control process, such as overlarge catheter moving speed, unreasonable catheter bending, easy damage to the cavity wall, and the like. If the flexible catheter moves to the intersection of the bronchus along the path, the catheter robot can assist in operation to lead the flexible catheter to be aligned to the intersection, or when the flexible catheter enters a straight line section from the intersection, the catheter robot can assist in operation to lead the flexible catheter to pass along the path near the intersection of the bronchus, and the like, thereby leading the catheter operation to be more convenient, more precise, safe and reliable.

Secondly, when an operator controls the flexible catheter in a master-slave mode, such as in the moving process of the bronchus, the flexible catheter needs to enter the straight line section of the bronchus from the bifurcation, the catheter robot can generate a motion auxiliary instruction for adjusting the shape according to the difference between the shape of the flexible catheter at the current position and the natural shape of the flexible catheter at the current position of the bronchus, so that the catheter robot assists the operator to control the movement of the flexible catheter, the flexible catheter can enter the straight line section of the bronchus from the bifurcation rapidly, smoothly and smoothly, the motion of the flexible catheter in the operating process is enabled to conform to the natural shape of the natural cavity, the flexible catheter can reach the focus part (such as a lung nodule) through the human anatomy more rapidly, smoothly and smoothly, the contact or friction of the flexible catheter to the anatomy structure is reduced, the misdamage to the anatomy structure in the treatment process is reduced, and the operating risk is reduced.

Thirdly, when the flexible catheter is controlled by the operator in a master-slave mode, such as in the process of moving in the bronchus, the flexible catheter needs to enter the next-stage branch from the straight line section of the bronchus, the catheter robot can assist the flexible catheter to align to the next-stage branch according to the master-slave operation intention of the operator, so that the operation difficulty of the operator is reduced, the operation time is shortened, and especially after the direction of the flexible catheter is adjusted in an auxiliary mode, the catheter robot can actively exit from the motion auxiliary mode according to the master-slave operation intention of the operator, so that the mode is switched between the motion auxiliary mode and the master-slave control mode, and the mode is more flexible and convenient.

Drawings

The features, nature, and advantages of the present invention, as well as the related embodiments, will be described in conjunction with the following drawings, in which:

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

FIG. 2 is a schematic illustration of an application scenario of a catheter robotic system of a preferred embodiment of the invention;

FIG. 3 is a schematic view showing a construction in which a catheter robot according to a preferred embodiment of the present invention is provided on an operation table car;

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

FIG. 5 is a general flow diagram of a catheter robotic system of a preferred embodiment of the invention;

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

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

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

FIG. 9a is a state diagram of a comparative embodiment of the present invention in which flexible catheter movement is assisted by an initial path;

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

FIG. 10 is a flow chart of registering a three-dimensional anatomical model of a bronchus with a patient's lung features in accordance with a preferred embodiment of the invention;

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

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

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

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

FIG. 15 is a schematic diagram illustrating the operation of the orientation adjustment of the preferred embodiment of the present invention;

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

FIG. 17 is a schematic diagram of a preferred embodiment of the present invention for estimating the flex pattern of a flexible catheter by three points;

fig. 18 is a schematic diagram of estimating a bending morphology of a flexible catheter by shape sensor point column information according to a preferred embodiment of the present invention.

The reference numerals are explained as follows:

100-motion control means;

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

200-a navigation device;

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

300-motion performing means; 301-a pose adjustment unit; 3011-an adjustment arm; 3012-moving the joint; 302-a pose fine adjustment unit;

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

10-flexible catheter;

11-a passive bendable portion; 12-an active bendable portion;

20-patient;

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

Detailed Description

The technical solutions in the preferred embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

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

The following examples further illustrate the invention with respect to bronchi as an anatomical example, but it is to be understood that the invention is not limited to bronchi, as other anatomical structures, such as intestinal or gastric anatomical structures, are also possible.

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

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

The master end and the slave end can be respectively arranged in different hospitals and different areas and are in communication connection through a remote communication technology. Thus, during diagnosis and treatment of respiratory diseases, an operator performs a desired operation according to image information collected by an endoscope in another room, another hospital, or another city, and the motion performing device 300 reproduces all actions of the operator, thereby achieving physical isolation of the operator from the patient during the operation.

Further, the operation unit is used for receiving a position instruction, a shape instruction and/or a speed instruction of an operator and feeding back the position information, the shape information and/or the speed information to the catheter robot through a processor of the main end. The shape is also called as a posture, a turning angle and the like, and is used for representing the angle of the tail end of the catheter in a coordinate system, the deflection angle relative to the initial posture and the like. The catheter robot is specifically configured to perform a master-slave mapping calculation on the received position information, shape information, and/or velocity information, so as to output a master-slave control command, where the master-slave control command may include a position, shape, and/or velocity of the distal end of the flexible catheter, and control the motion execution device 300 accordingly, to drive the flexible catheter 10 to move to a desired position according to the desired velocity and/or position, and to enable the distal end of the flexible catheter 10 to reach a desired pose and shape in the natural orifice. The kind and size of the flexible catheter 10 are not particularly limited in this application. Wherein the distal end of the flexible catheter 10 is provided with an endoscope for capturing images in the natural lumen and further feeding back to the navigation device 200. The distal end of the flexible catheter 10 is also provided with a magnetic sensor for providing positional information within the magnetic field environment and may be further fed back to the navigation device 200.

Fig. 2 shows a schematic view of an application scenario of the catheter robot system of the preferred embodiment of the present invention. As shown in fig. 2, the slave further includes an operation trolley 400. The motion performing device 300 includes an adjustment arm 3011, which is disposed on the surgical trolley 400. The large-scale movement of the catheter robot in the operating room can be realized by the operation trolley 400, so that the operation process is more convenient. The slave may also include other auxiliary equipment such as a patient bed 500, the patient bed 500 being responsible for supporting and adjusting the height of the patient 20. The main end performs an operation, such as a micro-trauma operation treatment, on the patient 20 on the hospital bed 500 through the operation unit.

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

As can be seen from the examples above, the manner in which the flexible catheter 10 is controlled by the operator is varied. Correspondingly, the space provided by the natural lumen of the human body is complex, such as a plurality of branches of bronchi, complex structural curves, and the like. In the process of operating the flexible catheter 10 to move by using the master-slave control mapping relation, the operator can observe the local scene inside the natural cavity by adopting the endoscope at the tail end of the flexible catheter or control the gesture of the tail end of the flexible catheter by means of the navigation path, so that the problems of improper moving speed or out-of-control direction of the tail end of the flexible catheter exist. For example, the image provided by the endoscope may have limited field of view because the position of the image is located in the turning space section of the natural orifice, and the operator cannot know the overall information such as the spatial form of the turning space section of the natural orifice corresponding to the current position of the flexible catheter, so that the operator is difficult to quickly make an optimal or correct catheter movement decision in the process of operating the flexible catheter, and the flexible catheter 10 is blocked, and the direction control is disabled when moving.

For this purpose, the catheter robot of the present invention has a motion assist mode in addition to a master-slave control mode. Wherein, in the master-slave control mode, the catheter robot controls the moving mode of the flexible catheter 10 in the natural cavity channel according to the master-slave control instruction; in the motion assist mode, the catheter robot controls the movement of the flexible catheter 10 within the natural lumen according to the motion assist command. To this end, the present application provides a control method for a catheter robot. Wherein the control method can be executed by the motion control device 100 in the catheter robot, and the control operation is carried out on the flexible catheter tail end by the cooperation of the motion control device 100 and the motion execution device 300; it may also be performed by a computer device in the main end of the navigation robot system through information interaction with the catheter robot.

In the example of catheter robot execution, the motion control device 100 outputs master-slave control instructions to the motion execution device 300; and selectively outputting a motion assist command or a master-slave control command according to the determined movement information of the flexible catheter moving in the natural orifice, so that the motion execution device 300 controls the flexible catheter to move in the natural orifice according to the received master-slave control command or motion assist command; wherein the motion assist instructions are for adjusting movement information of the flexible conduit that is executed based on the master-slave control instructions.

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

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

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

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

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

In other examples, the motion control apparatus 100 determines whether the first movement information meets a preset requirement; if not, the motion control device 100 outputs a motion assisting instruction according to the first movement information; if so, the motion control device 100 controls the motion execution device 300 to drive the flexible catheter 10 to move in the natural cavity channel according to the master-slave control instruction. In this way, the catheter robot can learn the state of the flexible catheter in time and start the motion auxiliary mode in time, so that the flexibility and convenience of the use of the catheter robot are further improved.

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

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

In an embodiment, the catheter robot detects a current pose of the flexible catheter 10 when moving in the bronchus, acquires a shape of the flexible catheter 10 at a current position according to the current pose, and generates a motion assisting instruction for adjusting the shape of the flexible catheter according to the shape of the flexible catheter at the current position so as to adjust the flexible catheter 10 to a target shape. At this time, it is understood that the above first movement information includes a form of the flexible catheter at the current position, and the second movement information includes a target form of the flexible catheter at the current position. Furthermore, the motion control apparatus 100 is configured to: based on the difference between the morphology of the flexible catheter 10 at the current position and the natural morphology of the natural orifice corresponding to the current position, a motion assist instruction for adjusting the morphology of the flexible catheter is generated. The movement executing device 300 can control the flexible catheter 10 to move from the bifurcation to the straight line segment and in the natural lumen channel according to the target shape according to the movement assisting command of the shape. So constructed, the movement of the flexible catheter 10 during surgery is more compliant with the natural morphology of the natural orifice, more rapid, smooth and smooth through the natural orifice of the human body to reach the focus site (e.g., lung nodules), and reduces the contact or friction of the catheter to the natural orifice, reduces the accidental injury to the natural orifice during treatment, and reduces the risk of surgery.

Further, the navigation device 200 performs path planning on the basis of the three-dimensional anatomical model of the natural orifice for the target lesion site (e.g., the target lung nodule), thereby creating an initial path (e.g., a polyline) for the movement of the flexible catheter 10. The initial path is generally along the centerline of the true natural lumen, such as along the centerline of the bronchi. Further, the motion control device 100 performs smoothing processing on the planned initial path, so that the planned path more conforms to the natural form of the real bronchus. Because the smooth path reflects the natural form of the natural cavity more truly and the tangential direction changes continuously, the direction and speed of the flexible catheter movement can be optimized by utilizing the information, thereby assisting the flexible catheter movement. That is, the natural morphology of the natural orifice is obtained based on a three-dimensional anatomical model of the natural orifice acquired in advance.

Referring to fig. 1, the motion control apparatus 100 includes a processing unit 101 and a sensing unit 102. Further, the processing unit 101 is communicatively connected to the navigation device 200. The processing unit 101 comprises a processor and a storage medium for smoothing the initial path to obtain a smooth navigation path. The navigation path is used for simulating the natural form of a real natural cavity (the natural form is the real form). The sensing unit 102 is capable of detecting movement information of the flexible catheter 10 as it moves within the natural lumen. The processing unit 101 is further capable of generating motion assistance instructions corresponding to movement information based on the first movement information. In a specific embodiment, the sensing unit 102 may obtain the current position of the flexible catheter 10 in the bronchus, and the processing unit 101 may learn the shape (including the curved shape) of the flexible catheter 10 at the current position according to the current position of the flexible catheter 10, and further compare the shape of the flexible catheter 10 at the current position with the natural shape of the real natural lumen, and if the shape difference is large, generate the exercise assisting instruction corresponding to the shape adjustment. The motion performing device 300 is communicatively connected to the processing unit 101 and is configured to control the flexible catheter 10 according to the motion-assisted instruction for the corresponding modality adjustment, so as to adjust the modality of the flexible catheter 10 at the current position to a target modality, so that the flexible catheter 10 can enter the next position of the natural lumen tract (such as the next bronchus bifurcation or the straight segment of the bronchus) in the target modality.

The motion control apparatus 100 further comprises a storage unit 103. The storage unit 103 is used to store information, such as various programs, movement information provided by the sensing unit 102, and the like. More specifically, the information stored in the storage unit 103 includes a path smoothing operation program, a navigation path, movement information acquired in real time, and the like. The processing unit 101 retrieves the corresponding information by accessing the storage unit 103.

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

The form adjustment unit 302 comprises a power box provided on the adjustment arm 3011, in particular on the movement joint 3012. The power box is in transmission connection with the instrument box at the proximal end of the flexible catheter 10. The power box outputs power, and the instrument box receives the power output by the power box and adjusts the shape of the flexible catheter 10. The morphology includes a curvature and a direction of curvature. Specifically, the power box outputs power through the traction motor so as to control the transmission wire in the instrument box to drive the distal end of the flexible catheter 10 to bend, thereby realizing the adjustment of the shape of the flexible catheter 10.

Fig. 3 shows a schematic view of a catheter robot according to a preferred embodiment of the present invention disposed on an operation table car.

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

The catheter robot system may further include a sensing unit support structure 600 provided on the operation table car 400, and a magnetic field generator 1021 is provided at an end of the sensing unit support structure 600. The sensing unit support structure 600 is composed of a plurality of movable joints and is used for adjusting the position of the magnetic field generator 1021 to adjust the position of the magnetic field before operation, and utilizing the generated magnetic field and the magnetic sensor near the tail end of the flexible catheter to position the tail end of the catheter in the natural cavity. Of course, in addition to detecting the pose of the flexible catheter 10 by magnetic fields, a catheter positioning scheme designed based on structured light techniques and three-dimensional anatomical models can be performed by the structural pattern projected by the endoscope and light source at the distal end of the catheter. The hardware structure of the magnetic sensing technology or the structured light technology is easy to integrate, the calculation process is convenient, and the implementation is easy.

With continued reference to fig. 3, the flexible catheter 10 generally includes two sections, a proximal passive bendable section 11 and a distal active bendable section 12 (also known as a catheter tip, a flexible catheter tip, etc.). The active bendable section 12 is controlled by a catheter robot to allow free bending in space. While the passive bendable portion 11 is not controlled by the catheter robot and can bend in compliance with the natural morphology of the natural orifice in which it is located. An endoscope (not shown) is provided at the distal end of the active bendable portion 12 for capturing an internal image of the natural orifice. In practice, the drive wires of the cartridge are connected to the active bendable section 12 to change the morphology of the active bendable section 12, while the sensing unit 102 is also used to sense the movement information of the active bendable section 12 of the flexible catheter 10 in real time. Further, the processing unit 101 compares the shape of the active bendable portion 12 at the current position with the natural shape of the natural lumen corresponding to the current position, and generates a motion assisting command for adjusting the shape of the catheter according to the difference between the two, so that the shape adjusting unit 302 controls the flexible catheter according to the motion assisting command to adjust the shape of the active bendable portion 12 at the current position to the target shape. It is also understood that the motion-assist instructions for adjusting the catheter morphology are derived from the deviation of the position of the flexible catheter in the navigation path from the navigation path.

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

Further, the catheter robot system further includes an image dolly 205, and the image display unit 201 is provided on the image dolly 205, and the image dolly 205 is used to realize a wide range of movement of the navigation device 200 in the operating room.

Further preferably, the main end or the catheter robot is further configured to determine whether to perform the state of the motion assist mode according to an external instruction. The state in which the motion assistance mode is performed includes an on motion assistance mode and an off motion assistance mode. Specifically, when the catheter robot receives an external instruction to turn on a motion assistance function, the catheter robot allows a motion assistance mode to be turned on to selectively output a motion assistance instruction; on the contrary, when the catheter robot receives the instruction of disabling the motion assistance function, the catheter robot does not start the motion assistance mode, and does not output the motion assistance instruction, and at this time, the catheter robot drives the flexible catheter according to the master-slave control instruction. In a specific embodiment, the operation unit is configured to detect an enabling or disabling interaction instruction of a user, so as to control the catheter robot to correspondingly enable or disable outputting of the exercise assisting instruction.

As shown in fig. 12, the operation unit includes a man-machine interaction interface 206, and preferably, the man-machine interaction interface 206 is integrated with the image display unit 201 of the navigation device 200, so that the state of executing the exercise assisting mode is determined through the man-machine interaction interface 206 of the image display unit 201, so that the operator can autonomously select whether to turn on the exercise assisting function. The human-machine interface 206 is capable of receiving an operator instruction to generate an instruction to turn on the motion assistance function. Further, the man-machine interface 206 displays a text prompt message, where the text prompt message is used to prompt whether to start the exercise assisting function, and a first key 207 and a second key 208 are disposed below the text prompt message. When the first key 207 is triggered, a command to turn on the motion assist function is sent to the catheter robot, causing the catheter robot to turn on the motion assist mode, thereby allowing the catheter robot to selectively output the motion assist command; conversely, when the second button 208 is activated, an instruction to disable the motion assist function is sent to the catheter robot, causing the catheter robot to not turn on the motion assist mode and to perform the master-slave control mode. Further, when the first key 207 is triggered, the catheter robot is configured to lock the master-slave control mode so that the catheter robot is not erroneously triggered to perform master-slave control.

Referring to fig. 5, a working procedure of a catheter robot system according to a preferred embodiment of the present invention is illustrated by taking a natural lumen as a bronchus, and a working manner of the catheter robot performed by using a space provided by other natural lumen is similar to that described in detail herein. The workflow is mainly performed by a computer device, wherein for convenience of description, a catheter robot system is used to represent a master end, a slave end, and an execution process in which the master end and the slave end cooperate. The workflow comprises the following steps:

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

Specifically, the navigation device 200 reconstructs a three-dimensional anatomical model of the patient's bronchial structure and lung nodule lesions based on the medical image data such as CT or MRI of the preoperative scan; then, the navigation device 200 plans an initial path of the flexible catheter 10 from the main airway to the lesion of the lung nodule according to the three-dimensional anatomical model of the bronchus; thereafter, the motion control apparatus 100 smoothes the initial path to generate a smooth navigation path.

Step S2: the three-dimensional anatomical model of the bronchi is registered with the actual anatomy.

In order to achieve the correlation between the three-dimensional anatomical model of the bronchus and the real bronchus, the mapping of the two positions is matched, and the three-dimensional anatomical model of the bronchus and the lung characteristics of the patient are required to be registered. However, it should be understood that the reconstructed three-dimensional anatomical model is not limited to CT scan data, and in other embodiments, the three-dimensional anatomical model may be reconstructed from image data scanned by other image scanning devices. Therefore, the source of the image data is not particularly limited in the present application. In addition, it is also necessary to insert the flexible catheter 10 into the bronchi prior to surgery and, with the aid of the sensing unit 102, extract at least three characteristic points of the patient's lungs to facilitate registration of the three-dimensional anatomical model. After the characteristic points of the lung of the patient are extracted, the characteristic points on the three-dimensional anatomical structure model of the bronchus and the extracted actual characteristic points of the lung of the patient can be registered, so that the association between the three-dimensional anatomical structure model of the bronchus and the real bronchus is established.

Step S3: whether to turn on the motion assist mode is selected.

After registration is complete and before surgery begins, the operator can control whether the motion assist mode is on via the human-machine interface 206. The man-machine interface 206 may be configured in an operation unit (also called man-machine interaction device).

Step S4: detecting movement information during movement of the flexible catheter in the bronchus in the master-slave control mode after the movement assistance mode is turned on;

in some embodiments, the current pose (including position and morphology) of the flexible catheter 10 as it moves within the bronchi is detected. For example, the position and morphology of the flexible catheter may be obtained by detecting the shape of the flexible catheter 10, such as a shape sensor. The shape sensor is exemplified by sensors distributed throughout a length of flexible conduit to provide discrete locations and morphology within the length. As another example, the position and morphology of the flexible catheter may be obtained by detecting the position of the flexible catheter 10, such as a magnetic sensor. In some embodiments, it is also desirable to detect the velocity of the flexible catheter 10 as it moves within the bronchi.

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

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

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

More specifically, the processing unit 101 compares the morphology of the flexible catheter at the current position acquired in step S4 with the natural morphology of the bronchus where it is located, and if the curvature deviation of the two is not within the threshold value, the processing unit 101 generates a movement assistance instruction corresponding to the morphology adjustment. Specifically, the processing unit 101 compares the shape of the active bendable portion 12 at the current position with the tangential direction of the position corresponding to the natural shape of the bronchus, and if the curvature deviation of the active bendable portion 12 and the natural shape is not within the threshold, the processing unit 101 generates a movement assisting instruction corresponding to the shape adjustment.

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

For another example, the catheter robot system may be further capable of generating a motion assistance command including a motion assistance command lower than the current moving speed of the flexible catheter when the current moving speed of the flexible catheter exceeds a preset value, so that the motion performing device 300 controls the flexible catheter to move in the bronchus according to the target moving speed according to the motion assistance command of the moving speed, for example, the moving speed of the catheter may be reduced, so as to avoid the flexible catheter from striking the bronchus tissue and causing damage to the bronchus tissue.

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

A further description of the specific embodiments of the steps in the workflow of the catheter robotic system follows.

As shown in fig. 6, the navigation device 200 plans an initial path S0 on the three-dimensional anatomical model of the bronchi. The initial path S0 is a broken line formed by sequentially connecting a start point P0, a plurality of branch points P1, P2, P3, P4, and a target point P5. The invention has no requirement on the number of the bifurcation points, the number of the bifurcation points is generally consistent with or less than that of the bifurcation points of the bronchus, and the number of the bifurcation points is not less than 3. The start point P0 is the start position of the catheter movement, and the target point P5 is the end position of the catheter movement. Four bifurcation points P1, P2, P3, P4 on the initial path S0 are shown in fig. 6. Since there is a direction abrupt change in the anterior-posterior path at the bifurcation point, the initial path S0 is non-smooth, and does not represent the natural form of the real bronchus, and it is necessary to smooth it. Various ways of smoothing the initial path S0 are possible.

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

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

Fig. 9a shows a state in which the movement of the flexible catheter is assisted in the initial path S0, and fig. 9b shows a state in which the movement of the flexible catheter is assisted in the navigation path after being smoothed. Wherein fig. 9a and 9b show the difference between the smooth fore-and-aft path near the bifurcation point P3 for motion assistance of the flexible catheter, the arrow at point P3 indicates the direction of advancement of the motion of the flexible catheter.

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

The above step S1 is the preparation to be completed before operation. After the pre-operative planning path is smoothed, the three-dimensional anatomical model of the bronchi is registered with the actual features of the patient's lungs at the beginning of the procedure.

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

step S11: comprising a step S11-1 and a step S11-2.

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

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

Step S12: and registering the three-dimensional anatomical model of the bronchus and the lung of the patient by adopting a characteristic point method, and generating a registration matrix. It should be noted that, the person skilled in the art easily realizes the registration of the three-dimensional anatomical model of the bronchus and the lung of the patient according to the registration method based on the feature points in the known technology and generates the registration matrix, so the registration process will not be described in more detail in the present invention, and the person skilled in the art should know how to realize the registration of the two and how to obtain the registration matrix.

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

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

After registration is completed, before surgery begins, it is further determined whether to turn on the motion assist mode by the host or catheter robot. In practice, there are generally two situations in which an operator manipulates the flexible catheter 10 to assist in movement in the bronchi:

the first case is: the flexible catheter 10 enters the straight path section of the corresponding path branch from the curved section of the bifurcation of the bronchus, and if the current shape of the active bendable portion 12 of the flexible catheter 10 is not adjusted according to the curvature of the curved section, the tail end of the catheter is easy to be extruded to the bronchial wall of the curved section, so that the movement of the catheter is blocked, and even the bronchial wall or the catheter itself can be damaged. Therefore, the catheter robot adjusts the curvature of the active bendable part 12 by switching to the motion auxiliary mode by detecting that the movement information of the catheter tail end meets the switching condition, so that the advancing of the catheter robot is more compliant with the bronchus form and smoother; it will be appreciated that in this case the catheter robot controls the bending profile of the flexible catheter directly on the basis of the motion-assisted command, whereas the master-slave control command of the master is ignored, in which case the master-slave control mode is preferably locked.

The second case is: the flexible catheter 10 enters the curved section of the bifurcation area of the bronchus from the straight path section of the bronchus, an operator aligns one of the bifurcation of the bronchus by using master-slave operation, and the operator usually needs to try many times during the operation, so the operation time is long, and the orientation of the flexible catheter needs to be automatically assisted and adjusted by the catheter robot so as to rapidly align with the next bifurcation; in this case, the catheter robot system switches to the motion assist mode by detecting the movement information to adjust the orientation of the flexible catheter under the motion assist command, and ignores the master-slave control command of the master end, and when the flexible catheter tip is aligned with the next bifurcation, the catheter robot continues to execute the master-slave control command to control the motion of the flexible catheter 10.

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

As described above, there are generally two situations in which the flexible catheter 10 requires motion assistance when moving within the bronchus, and the motion assistance modes of the catheter robot include a curvature adjustment mode (i.e., adjusting curvature in the motion assistance mode) and an orientation adjustment mode (i.e., adjusting orientation in the motion assistance mode). The motion control apparatus 100 is capable of selectively performing one of the curvature adjustment mode and the orientation adjustment mode according to a current position of the flexible catheter 10 in the bronchus when the flexible catheter 10 moves within the bronchus. In the present embodiment, the motion control apparatus 100 is configured to: when it is determined from the movement information that the distal end of the flexible catheter 10 enters a straight section (also called a main section, or a straight section or a path) from the transit lumen of the bronchus (also called a turning section, a curved section, or a path branch), the movement assisting mode is selectively executed to control the curved shape of the flexible catheter 10; and when it is determined that the distal end of the flexible catheter enters the transit lumen from the main lumen, the exercise assisting mode is selectively executed to control the orientation of the flexible catheter 10.

Fig. 11 shows a flow chart of motion assistance of a catheter robot system according to a preferred embodiment of the invention. As shown in fig. 11, after registration is completed, a motion assistance mode selection process is started in step S20, and after the process is entered, whether to start motion assistance may be prompted on the man-machine interface 206 of the image display unit 201 in step S21; if the opening motion assistance in step S22 is selected, the process proceeds to step S24; if the movement assistance is disabled, the movement safety protection function in step S23 is preferably entered; but whether or not the opening movement is assisted, an opening movement safety protection function is required to safely protect the movement posture of the flexible catheter 10 in the bronchus. The motion gesture of the flexible catheter at least comprises a moving speed, for example, when the speed detecting device detects that the speed of the flexible catheter 10 is too high, the catheter robot system actively controls the flexible catheter 10 to reduce the moving speed, and ignores the master-slave control command.

After the motion assisting function is turned on, the motion control device 100 enters a motion assisting mode, and the processing unit 101 determines the specific position of the bronchus where the active bendable portion 12 is currently located according to the information (the current position and the current speed) detected by the sensing unit 102, specifically, determines whether the catheter tip enters a straight line segment of the bronchus through step S24; if the catheter tip is near the bifurcation and is entering the straight line segment of the bronchus, the flow goes to step S25 to run the adjusting curvature, thereby adjusting the curvature of the active bendable portion 12 in real time by the form adjusting unit 302 to adapt to the curvature change of the bronchus, so that the active bendable portion 12 smoothly enters the straight line segment of the bronchus; conversely, if the catheter tip is exiting the straight segment of the bronchi, i.e., is about to enter the next bifurcation (i.e., determines that it is ready to move in the direction of one of the access branches of the bronchi), flow proceeds to step S26 to adjust the orientation, and the current configuration of the incoming flexible catheter is controlled by the configuration adjustment unit 302 to orient the active bendable section 12 so that the catheter tip is aligned with the next bifurcation to assist the operator in positioning.

More specifically, detecting a current position and a current speed of the flexible catheter moving in the bronchus, detecting an angle deviation between a current shape of the flexible catheter and a preset target orientation, and outputting a movement auxiliary instruction for adjusting the current shape to align with the path branching direction according to the angle deviation so as to control the flexible catheter adjusting angle; wherein the target orientation represents a direction of alignment of the flexible catheter with a corresponding passageway branch in the bronchi.

Further, detecting the current position and the current moving speed in the moving information includes: mapping the current position of the flexible catheter to a model position in a pre-acquired three-dimensional anatomical model of the bronchus; and determining that the flexible conduit is adjacent to one of the access branches according to the model position; detecting that the absolute value of the current moving speed of the flexible catheter is smaller than a preset speed threshold; and detecting that the current form of the flexible conduit branches towards one of the passages under the control of a master-slave control instruction.

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

Fig. 13 shows a schematic diagram of the operation of the curvature adjustment of the preferred embodiment of the present invention, wherein the proposed curvature is implemented as the catheter tip enters a straight segment from the bronchial bifurcation. Three equally spaced discrete time points (t 1, t1+Δt and t1+2Δt) are chosen as examples in fig. 13 for illustration. At time t1, the solid line a 1) of the active bendable portion 12 is at the bifurcation point, at which the bending curvature of the active bendable portion 12 is locally maximum; as the catheter advances down, gradually into the straight section, the curvature of the bronchi gradually diminishes, and the active bendable portion 12 thus needs to become gradually straightened; at time t1+Δt, the active bendable portion 12 (dotted line a 2) has a smaller curvature than at time t 1; further at time t1+2Δt, the active bendable portion 12 (dashed line a 3) has a smaller curvature than at time t1+Δt; accordingly, the active bendable portion 12 is in a substantially flat state after it has been fully advanced into the straight bronchial segment. Therefore, during the process of entering the straight line segment from the bifurcation point, the form adjusting unit 302 can gradually adjust the curvature of the active bendable portion 12 according to the current posture of the catheter tip, so that the curvature gradually decreases, and thus the straight line segment of the bronchus is smoothly and smoothly entered. And upon detecting that the flexible conduit has moved to the straight segment of the pathway branch, the motion control device 100 outputs a master-slave control command to move the flexible conduit 10 along the pathway branch.

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

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

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

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

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

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

c(x)＝c_max*(L-x)/((L/2)

wherein: c_max is the maximum curvature of the bronchial centerline near the bifurcation; l is the length of the active bendable portion 12; x is the distance from the tail end of the catheter to the last bifurcation point; c (x) is the optimum curvature of the catheter.

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

Thus, in this embodiment, selectively outputting the exercise assisting instructions based on the determined movement information of the flexible catheter moving within the natural orifice includes: detecting a current position in the movement information to determine that the flexible catheter has entered one of the access branches of the natural orifice; and detecting a curvature deviation between a current morphology in the movement information and the path branch; and outputting a motion assistance instruction for adjusting the current form to move along the curvature of the path branch according to the curvature deviation. Further, detecting a current location in the movement information to determine that the flexible catheter has entered one of the access branches of the natural lumen tract, comprising: mapping the current position into a three-dimensional anatomical model corresponding to a natural lumen to detect whether the flexible catheter is positioned at a curved segment of a corresponding pathway branch; wherein the curvature is determined based on a degree of bending of the curved section. Further, the curvature is determined based on a path curvature corresponding to the curved segment in a previously acquired navigation path.

Fig. 15 shows an operation principle diagram of the orientation adjustment mode of the preferred embodiment of the present invention. Fig. 15 shows a flexible catheter 10 (only active bendable portion 12 is shown) within a preset range just before entering a certain bronchi orifice at the bifurcation point P3, as indicated by the dashed circles, with possible orientation heuristics represented by dashed line O1, dotted line O2 and solid line O3 in fig. 15, respectively. Where O3 represents the best possible orientation determined by the natural extension direction of the bronchi in which the catheter is located, which as previously described is considered to coincide with the direction of the path after smoothing. Thus, the path direction at the P3 bifurcation point after smoothing can be used as the reference optimal catheter orientation.

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

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

More specifically, fig. 16 shows a flow of the direction adjustment mode according to the preferred embodiment of the present invention, specifically including:

firstly, in step S41, the catheter robot determines whether the advancing speed of the current flexible catheter approaches zero, if so, the catheter robot determines that the operator is not currently controlling the catheter in a master-slave manner, and may think about the adjustment strategy of the catheter; the judgment step S42 and step S43 are continued.

Step S42 is to determine that the posture of the flexible catheter is undergoing fine adjustment of master-slave control, and the posture of the flexible catheter is always toward the target bifurcation.

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

As shown in fig. 15, the catheter robot system may provide a predefined spatial area C, which may be spherical, cubical, ellipsoidal, conical, etc., and when the processing unit 101 determines that the catheter tip enters the predefined spatial area near the bifurcation, then the catheter tip position is determined to be near the target bifurcation.

It should be appreciated that, when the catheter orientation is adjusted in an auxiliary manner, the catheter robot performs an auxiliary adjustment on the catheter orientation and ignores the master-slave control command, and actively adjusts the catheter orientation to the optimal orientation, and further, a visual prompt (or a motion auxiliary dedicated sound prompt) can be given on the display interface of the master end, so that the operator is lifted that the current catheter is adjusted to the optimal orientation in an auxiliary manner.

However, in the direction adjustment, the catheter robot system may misjudge the intention of the operator, that is, misjudge the intention of the operator when the operator stops manipulating the flexible catheter in order to aim the flexible catheter at the target bifurcation, but may need to go forward and aim at the other bifurcation, at this time, the intention of the operator may be further judged by step S45, that is, when the flexible catheter 10 is adjusted to the target orientation, the catheter robot system continues to judge whether the posture of the flexible catheter changes, and if so, the catheter robot system exits the direction adjustment mode and performs the master-slave control mode, and the catheter robot system continues to control the flexible catheter to enter the path branch according to the master-slave control instruction. In this embodiment, the catheter robot may acquire the motion information of the operation unit from the main end to further determine the master-slave adjustment posture of the catheter, and if it is determined that the main end is continuously changing the catheter posture from the master end to the slave end, the catheter robot exits the orientation adjustment mode and continues to execute the master-slave control instruction, so that the orientation adjustment mode enters a cycle, and waits for the next triggering of the switching condition to restart the orientation adjustment mode.

It should be understood that whether the curvature adjustment mode or the orientation adjustment mode is related to the position of the catheter tip and is determined taking into account the difference between the shape of the catheter tip and the natural shape of the corresponding position of the natural lumen tract. The morphology of the catheter may be provided by movement information, the natural morphology being derived based on a pre-acquired three-dimensional anatomical model of the natural lumen.

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

Specifically, it can be calculated by the following formula:

firstly, projecting three-dimensional space points onto a bending plane of the active bendable part 12; on the curved plane, the coordinates of the three position sensors are respectively: p1= (x 1, y 1); p2= (x 2, y 2); p3= (x 3, y 3);

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

wherein:

A＝x1(y2-y3)-y1(x2-x3)+x2y3-x3y2；

B＝(x1 ² +y1 ² )(y3-y2)+(x2 ² +y2 ² )(y1-y3)

+(x3 ² +y3 ² )(y2-y1)；

C＝(x1 ² +y1 ² )(x2-x3)+(x2 ² +y2 ² )(x3-x1)

+(x3 ² +y3 ² )(x1-x2)；

D＝(x1 ² +y1 ² )(x3y2-x2y3)+(x2 ² +y2 ² )(x1y3-x3y1)

+(x3 ² +y3 ² )(x2y1-x1y2)。

the bending curvature is further calculated:

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

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

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

P1＝(x1，y1)；

P2＝(x2，y2)；

…

Pn＝(xN，yN)；

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

wherein, (x) _c ，y _c ) Is the center coordinates; p1, P2, P3, P4, &..p.pn is a dot array; n is the number of dot columns, and the number of the dot columns is at least 3.

Further, the embodiment of the present invention also provides a readable storage medium having a program stored thereon, which when executed, performs all the steps performed by the motion control apparatus 100 described above.

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

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

It is to be understood that the present invention is not particularly limited in the kind of processor. The processor may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processor 301 (Digital Signal Processor, DSP), application specific integrated circuit (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. The general purpose processor may be a microprocessor or any conventional processor or the like that is a control center of the electronic device and that uses various interfaces and lines to connect various parts of the overall electronic device.

Also, the present invention is not particularly limited in the kind of the memory. The memory may be non-volatile and/or volatile memory. The non-volatile Memory may include read-only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), variable resistance Memory (ReRAM), phase change Memory (PCRAM), or Flash Memory (Flash Memory). Volatile memory can include Random Access Memory (RAM), registers, or cache memory (cache). By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.

It should be understood that the present invention is not particularly limited in the kind of processing unit, and may be hardware that performs logic operations, such as a single chip microcomputer, a microprocessor, a programmable logic controller (PLC, programmable Logic Controller) or a Field programmable gate array (FPGA, field-Programmable Gate Array), or a software program, a function module, a function, a target library (Object Libraries) or a Dynamic-Link library (Dynamic-Link Libraries) that implement the above functions on a hardware basis. Or a combination of the two. Those skilled in the art will know how to implement the functionality of the processing unit based on the disclosure of this application.

The above description is only illustrative of the preferred embodiments of the present invention and is not intended to limit the scope of the present invention in any way, and any alterations and modifications made by those skilled in the art based on the above disclosure shall fall within the scope of the present invention.

Claims

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

Selectively outputting a motion auxiliary instruction or a master-slave control instruction according to the determined movement information of the flexible catheter moving in the natural cavity so as to control the flexible catheter to move in the natural cavity according to the received master-slave control instruction or the motion auxiliary instruction by the catheter robot; wherein the motion assist instruction is for adjusting movement information of the flexible catheter performed based on the master-slave control instruction;

further comprising performing the steps of:

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

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

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

4. The readable storage medium of claim 3, wherein the readable storage medium further pre-stores a navigation path, wherein the navigation path is derived from simulating a natural morphology of a natural orifice using the three-dimensional anatomical model, and wherein the motion assistance instructions are derived from a deviation between a position of the flexible catheter in the navigation path and the navigation path.

5. A readable storage medium according to claim 3, wherein the motion assistance instructions are for adjusting the flexible catheter morphology to change its curvature of movement within the natural orifice; or the motion assist instructions are for adjusting the flexible catheter morphology to change its orientation within the natural lumen.

6. The readable storage medium of claim 1, wherein the movement information comprises a current movement speed of the flexible conduit;

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

8. The readable storage medium of claim 7, wherein the detecting the current location and the current movement speed in the movement information comprises:

9. The readable storage medium of claim 7, wherein selectively outputting the motion assist command or the master-slave control command based on the determined movement information of the flexible catheter moving within the natural orifice comprises: when the flexible conduit is detected to be adjusted to the target orientation, a master-slave control instruction is output to cause the flexible conduit to enter the pathway branch.

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

11. The readable storage medium of claim 10, wherein the detecting the current location in the movement information to determine that the flexible catheter has entered one of the access branches of the natural orifice comprises:

12. The readable storage medium of claim 11, wherein the curvature is determined based on a path curvature of the pre-acquired navigation path corresponding to the curved segment.

13. The readable storage medium of claim 11, wherein selectively outputting the motion assist command or the master-slave control command based on the determined movement information of the flexible catheter moving within the natural orifice comprises: and outputting a master-slave control instruction to enable the flexible conduit to move along the path branch after detecting that the flexible conduit moves to the straight line segment of the path branch.

14. A catheter robot comprising a motion control device and a motion execution device which are in communication connection;

the motion control apparatus comprising the readable storage medium of any one of claims 1-13, and a processor; wherein the processor is configured to run a program in the readable storage medium to output a motion assist instruction or a master-slave control instruction;

15. The catheter robot of claim 14, wherein the motion performing device comprises a pose adjustment unit and a morphology adjustment unit;

16. The catheter robot of claim 15, wherein the motion control device further comprises a sensing unit;

17. A catheter robot system comprising a master end and a slave end in communication connection, the master end comprising an operating unit, characterized in that the slave end comprises a catheter robot; the host comprising the readable storage medium of any one of claims 1-13 and a processor; the operation unit is used for receiving external instructions; the processor is used for converting the external instruction into a master-slave control instruction and sending the master-slave control instruction to the catheter robot.

18. The catheter robotic system of claim 17, wherein the main end further comprises navigation means for creating a three-dimensional anatomical model of the natural lumen from the medical image data and creating a navigation path simulating the natural morphology of the natural lumen from the three-dimensional anatomical model to provide a reference for flexible catheter movement.

19. The catheter robotic system of claim 18, wherein the navigation device comprises an image display unit comprising a medical image display module, an endoscopic head image display module, and an animation display module;

20. The catheter robot system of claim 17, wherein the operating unit is further configured to detect an enabling or disabling interaction instruction by a user to control the catheter robot to correspondingly enable or disable outputting of the motion assistance instruction.

21. The catheter robot system of claim 20, wherein the operation unit displays text prompt information and provides a first key and a second key;

22. An electronic device comprising a processor and a memory, the memory comprising the readable storage medium of any one of claims 1-13, the memory having stored thereon a program for execution by the processor.