CN-115906556-B - Operation prompting method, device, equipment and storage medium of flexible instrument

CN115906556BCN 115906556 BCN115906556 BCN 115906556BCN-115906556-B

Abstract

The embodiment of the invention provides an operation prompting method, device, equipment and storage medium of a flexible instrument, wherein the method comprises the steps of establishing a finite element model of the flexible instrument; the finite element model of the flexible instrument comprises a plurality of finite element nodes, displacement of the flexible instrument is determined based on a minimum potential energy principle and target constraint conditions, the target constraint conditions are used for representing constraint of the position relationship between the finite element nodes in the finite element model of the flexible instrument and target patches in the three-dimensional model of the natural human body cavity, the displacement of the flexible instrument comprises displacement of all the finite element nodes, a stress result of the flexible instrument is determined according to the displacement of the flexible instrument, operation indication information of the flexible instrument is output according to the determined displacement of the flexible instrument and the stress result of the flexible instrument, and the operation indication information of the flexible instrument is used for indicating a mode of operating the natural human body cavity through the flexible instrument. The method provided by the embodiment of the invention can effectively improve the efficiency and safety of the operation.

Inventors

CHEN HAO
LIU HONGBIN

Assignees

中国科学院自动化研究所

Dates

Publication Date: 20260505
Application Date: 20221013

Claims (9)

1. A method of prompting operation of a flexible instrument, comprising: establishing a finite element model of the flexible instrument, wherein the finite element model of the flexible instrument comprises a plurality of finite element nodes; determining a displacement of the flexible instrument based on a minimum potential energy principle and a target constraint condition, wherein the target constraint condition is used for representing constraint of a position relation between a finite element node in a finite element model of the flexible instrument and a target patch in a three-dimensional model of a natural human body cavity, the displacement of the flexible instrument comprises each finite element node displacement, and the determining the displacement of the flexible instrument based on the minimum potential energy principle and the target constraint condition comprises the following steps: the displacement of the flexible instrument is determined using the following formula: ; ; ; The said Representing a minimum amount of change in potential energy of the flexible instrument Representing flexible instruments From moment to moment Time of day displacement, the Representing a stiffness matrix of the flexible instrument, said Is that The F represents the target external force acted by the flexible instrument, the target external force does not comprise the contact force between the flexible instrument and the natural cavity of the human body, and the F represents the contact force between the flexible instrument and the natural cavity of the human body Representing target constraint conditions, said Representing the normal vector of the contact point patch of the flexible instrument and the natural cavity of the human body Representation of Finite element node displacement of flexible instrument at any time; the said Representing the generalized coordinate position of the flexible instrument in an undeformed state Representing any position on a plane corresponding to the three-dimensional model of the natural cavity of the human body; the said Representing a first constraint, wherein A represents a projection matrix, and wherein Representing a target position of the flexible instrument, said Representing the displacement of the finite element node of the flexible instrument at the moment i; Determining a stress result of the flexible instrument according to the displacement of the flexible instrument; and outputting operation indication information of the flexible instrument according to the determined displacement of the flexible instrument and the stress result of the flexible instrument, wherein the operation indication information of the flexible instrument is used for indicating the mode of performing operation on a natural cavity channel of a human body through the flexible instrument.
2. The method of claim 1, wherein determining the displacement of the flexible instrument based on the principle of minimal potential energy and the target constraint comprises: And determining displacement of the flexible instrument under the condition that potential energy change of the flexible instrument is minimum and the position relation between the flexible instrument and the natural cavity of the human body meets the target constraint condition, wherein the target constraint condition is that the finite element nodes in the finite element model of the flexible instrument and the target patches in the three-dimensional model of the natural cavity of the human body cannot penetrate.
3. The method for prompting operation of a flexible instrument according to claim 1, wherein determining a stress result of the flexible instrument according to the displacement of the flexible instrument comprises: and determining a stress result of the flexible instrument according to the displacement of the flexible instrument and the rigidity matrix of the flexible instrument.
4. The method for prompting operation of a flexible instrument according to claim 3, characterized in that the method further comprises: a stiffness matrix of the flexible instrument is determined based on a rotation matrix between a local coordinate system and a global coordinate system of a unit in a finite element model of the flexible instrument.
5. The method of claim 1, further comprising, after determining the displacement of the flexible instrument: Under the condition that the natural human body cavity is a narrow bifurcation cavity, determining the position relation between the finite element nodes in the finite element model of the flexible instrument and each patch in the three-dimensional model of the natural human body cavity based on the determined displacement of the flexible instrument; Updating the target constraint in the presence of penetration of at least one patch between a finite element node in a finite element model of the flexible instrument and a plurality of patches in a three-dimensional model of the natural orifice of the human body.
6. An operation prompting device for a flexible instrument, comprising: the device comprises a building module, a control module and a control module, wherein the building module is used for building a finite element model of the flexible instrument, and the finite element model of the flexible instrument comprises a plurality of finite element nodes; The device comprises a first determining module, a first flexible instrument and a second flexible instrument, wherein the first determining module is used for determining the displacement of the flexible instrument based on a minimum potential energy principle and a target constraint condition, the target constraint condition is used for representing the constraint of the position relation between a finite element node in a finite element model of the flexible instrument and a target patch in a three-dimensional model of a natural human body cavity, the displacement of the flexible instrument comprises each finite element node displacement, and the displacement of the flexible instrument is determined based on the minimum potential energy principle and the target constraint condition and comprises the following steps: the displacement of the flexible instrument is determined using the following formula: ; ; ; The said Representing a minimum amount of change in potential energy of the flexible instrument Representing flexible instruments From moment to moment Time of day displacement, the Representing a stiffness matrix of the flexible instrument, said Is that The F represents the target external force acted by the flexible instrument, the target external force does not comprise the contact force between the flexible instrument and the natural cavity of the human body, and the F represents the contact force between the flexible instrument and the natural cavity of the human body Representing target constraint conditions, said Representing the normal vector of the contact point patch of the flexible instrument and the natural cavity of the human body Representation of Finite element node displacement of flexible instrument at any time; the said Representing the generalized coordinate position of the flexible instrument in an undeformed state Representing any position on a plane corresponding to the three-dimensional model of the natural cavity of the human body; the said Representing a first constraint, wherein A represents a projection matrix, and wherein Representing a target position of the flexible instrument, said Representing the displacement of the finite element node of the flexible instrument at the moment i; the second determining module is used for determining the stress result of the flexible instrument according to the displacement of the flexible instrument; the prompting module is used for outputting operation indication information of the flexible instrument according to the determined displacement of the flexible instrument and the stress result of the flexible instrument, wherein the operation indication information of the flexible instrument is used for indicating a mode of performing operation on a natural cavity of a human body through the flexible instrument.
7. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor performs the steps of the method of prompting operation of the flexible instrument of any one of claims 1 to 5 when the program is executed.
8. A non-transitory computer readable storage medium having stored thereon a computer program, which when executed by a processor, implements the steps of the method of operation prompting of a flexible instrument according to any of claims 1 to 5.
9. A computer program product having stored thereon executable instructions which, when executed by a processor, cause the processor to carry out the steps of the method of operation prompting a flexible instrument according to any of claims 1 to 5.

Description

Operation prompting method, device, equipment and storage medium of flexible instrument Technical Field The present invention relates to the technical field of medical devices, and in particular, to a method, an apparatus, a device, and a storage medium for prompting operation of a flexible device. Background In minimally invasive surgical procedures, spatial information of medical instruments within a patient plays a vital role in the accurate operation of the medical instruments. However, after many medical instruments enter the body, shape changes are inevitably generated, so how to accurately determine the stress and displacement conditions of the flexible instruments provides accurate information for the operation, and has important significance. In the related art, when the stress and displacement conditions of the flexible instrument are determined, the contact position of the flexible instrument and the natural cavity of the human body needs to be determined depending on the contact stress of the artificial given flexible instrument and the natural cavity of the human body or depending on a collision detection method, and the contact point of the flexible instrument and the natural cavity of the human body is not changed in the iteration process, so that the determined stress and displacement errors of the flexible instrument are larger, and the operation risk of a patient is increased. Disclosure of Invention Aiming at the problems in the prior art, the embodiment of the invention provides an operation prompting method, device, equipment and storage medium of a flexible instrument. Specifically, the embodiment of the invention provides the following technical scheme: In a first aspect, an embodiment of the present invention provides a method for prompting operation of a flexible instrument, including: establishing a finite element model of the flexible instrument, wherein the finite element model of the flexible instrument comprises a plurality of finite element nodes; Determining displacement of the flexible instrument based on a minimum potential energy principle and a target constraint condition, wherein the target constraint condition is used for representing constraint of a position relationship between a finite element node in a finite element model of the flexible instrument and a target patch in a three-dimensional model of a natural human body cavity; Determining a stress result of the flexible instrument according to the displacement of the flexible instrument; and outputting operation indication information of the flexible instrument according to the determined displacement of the flexible instrument and the stress result of the flexible instrument, wherein the operation indication information of the flexible instrument is used for indicating the mode of performing operation on a natural cavity channel of a human body through the flexible instrument. Further, the determining the displacement of the flexible instrument based on the principle of minimum potential energy and the target constraint condition comprises: And determining displacement of the flexible instrument under the condition that potential energy change of the flexible instrument is minimum and the position relation between the flexible instrument and the natural cavity of the human body meets the target constraint condition, wherein the target constraint condition is that the finite element nodes in the finite element model of the flexible instrument and the target patches in the three-dimensional model of the natural cavity of the human body cannot penetrate. Further, the determining the displacement of the flexible instrument based on the principle of minimum potential energy and the target constraint condition comprises: the displacement of the flexible instrument is determined using the following formula: or Axi＝bi The said Representing the minimum variation of potential energy of the flexible instrument, wherein Deltax i represents displacement from moment i-1 to moment i of the flexible instrument, K (x i-1) represents a rigidity matrix of the flexible instrument, x i-1 is displacement of a finite element node at moment i-1, F represents target external force applied to the flexible instrument, the target external force does not comprise contact force between the flexible instrument and a natural cavity of a human body, and the target external force comprises a force sensor, a sensor and a sensororRepresenting target constraint conditions, saidThe method comprises the steps of representing a normal vector of a contact point patch of a flexible instrument and a natural cavity of a human body, wherein X i represents a finite element node displacement at moment i, S i represents a generalized coordinate position of the flexible instrument in an undeformed state, X 0 represents any position on a plane corresponding to a three-dimensional model of the natural cavity of the human body, ax i＝bi represents a first constraint