CN-119606561-B - Method and apparatus for detecting position of slender medical instrument at driver end of robot

Abstract

The invention belongs to the field of digital medical treatment, and discloses a position detection method and device for a robot driver end and an elongated medical instrument. The method for detecting the position of the slender medical instrument comprises the steps of firstly arranging photoelectric transmitting end and photoelectric receiving end matrixes at two opposite sides of a delivery path, and collecting photoelectric signal values by utilizing the photoelectric receiving ends to form an array. Discrete offset values of the array are then calculated to determine the stability of the signal to determine whether to continue detection using the array. If the operation can be continued, calculating a deviation value from the reference photoelectric signal value, and finally determining the position of the medical instrument based on the deviation value. The position of the slender medical instrument can be determined more accurately, errors are reduced, more accurate position information is provided for medical operation, and the efficiency and safety of the medical operation such as surgery are improved.

Inventors

• GUO JIAN
• HE DAHONG

Assignees

• 深圳爱博合创医疗机器人有限公司

Dates

Publication Date

20260508

Application Date

20241219

Claims (10)

1. 1. The position detection method of the slender medical instrument is characterized in that photoelectric transmitting ends and photoelectric receiving end matrixes are arranged on two opposite sides of a delivery path of the slender medical instrument, each photoelectric receiving end matrix consists of a plurality of photoelectric receiving ends, and a region between each photoelectric transmitting end and each photoelectric receiving end matrix is a detection region; The position detection method comprises the following steps: Acquiring N photoelectric signal values emitted by the photoelectric emitting end of each photoelectric receiving end in the photoelectric receiving end matrix according to preset frequency to obtain a photoelectric signal array corresponding to each photoelectric receiving end, wherein N is a positive integer greater than or equal to 2; calculating discrete deviation values of the photoelectric signal arrays; Determining whether to continue detecting the position of the elongate medical instrument using the array of photoelectric signals based on the discrete offset values of each of the arrays of photoelectric signals; if the position of the slender medical instrument is determined to be detected by using the photoelectric signal arrays, calculating deviation values of reference photoelectric signal values corresponding to the photoelectric signal arrays and the photoelectric receiving ends; Determining a position of the elongate medical instrument based on the deviation values of each of the sets of photoelectric signals; And if the position of the elongated medical device is determined not to be detected by using the photoelectric signal array, determining that the elongated medical device is positioned in the detection area.
2. 2. The method of claim 1, wherein the step of determining the position of the elongate medical instrument based on the deviation values of the respective photoelectric signal arrays comprises: Calculating the sum of the deviation values of all the photoelectric signal arrays; Judging whether the sum of the deviation values of all the photoelectric signal arrays is larger than a preset deviation threshold value or not; if yes, judging that the slender medical instrument is positioned in the detection area; if not, determining that the elongated medical device is located outside the detection area.
3. 3. The method of claim 2, wherein after the step of determining that the elongate medical device is outside the detection zone, comprising: And if the movement direction of the elongated medical device is a retreating direction, controlling the elongated medical device to stop moving.
4. 4. The method of claim 1, wherein the step of determining whether to continue to detect the position of the elongate medical instrument using the array of photoelectric signals based on the discrete offset values of each of the arrays of photoelectric signals comprises: Calculating the sum of the discrete deviation values of each photoelectric signal array; Judging whether the sum of the discrete deviation values of each photoelectric signal array is larger than a preset discrete deviation threshold value or not; If yes, judging that the position of the slender medical instrument is not needed to be detected by using the photoelectric signal array; if not, determining that the position of the slender medical instrument needs to be detected by using the photoelectric signal array.
5. 5. The method for detecting a position of an elongated medical device according to any one of claims 1 to 4, wherein before the step of obtaining the array of photoelectric signals corresponding to each of the photoelectric receiving ends by continuously acquiring N photoelectric signal values transmitted by the photoelectric transmitting end according to a preset frequency by each of the photoelectric receiving ends in the matrix of the photoelectric receiving ends, the method comprises: and filtering the photoelectric signals acquired by the photoelectric receiving ends.
6. 6. The method of any one of claims 1-4, wherein the photoelectric transmitting end emits infrared light at a first wavelength and the photoelectric receiving end receives infrared light at a second wavelength, wherein the first wavelength is equal to the second wavelength.
7. 7. A robotic driver side for performing the position detection method of an elongate medical instrument according to any one of claims 1-6, comprising: a delivery device for delivering an elongate medical device; the photoelectric emission end is fixedly arranged on one side of the delivery path of the slender medical instrument; the photoelectric receiving end matrix is fixedly arranged on the other side of the delivery path of the elongated medical instrument, and the photoelectric transmitting end is opposite to the photoelectric receiving end matrix.
8. 8. The robotic driver end according to claim 7, further comprising a transparent valve body mounting portion for mounting a transparent valve body, the elongate medical instrument moving within the transparent valve body; The photoelectric transmitting end and the photoelectric receiving end matrix are positioned outside the transparent valve body.
9. 9. A computer device comprising a memory and a processor, the memory having stored therein a computer program, characterized in that the processor, when executing the computer program, carries out the steps of the method for detecting the position of an elongate medical instrument according to any one of claims 1 to 6.
10. 10. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the position detection method of an elongate medical instrument according to any one of claims 1 to 6.

Description

Method and apparatus for detecting position of slender medical instrument at driver end of robot Technical Field The invention relates to the field of digital medical treatment, in particular to a method and equipment for detecting the position of a driver end of a robot and an elongated medical instrument. Background With the development of medical science and technology, interventional surgical robots are increasingly more prominent in clinical applications. However, in practical applications, especially in complex vascular interventional procedures, limitations of robotic systems are increasingly manifest. At present, when a doctor performs such an operation, the doctor usually needs to frequently perform delivery or withdrawal operations on instruments such as a catheter, a guide wire and the like, and as the doctor is usually located at the operation table end, the doctor cannot directly see the specific position state of the instruments in the operation table at the robot driver end, which results in a so-called "blind operation" phenomenon. For example, during 1G1S contrast surgery, after the contrast guide wire has delivered the contrast catheter to a designated location within the patient, the contrast guide wire needs to be withdrawn from the patient by a powered device. During this procedure, the physician or surgical assistant must observe the movement of the guidewire through the process until it is confirmed that the guidewire is completely withdrawn from the valve body. Once the withdrawal is completed, if the operation is to be continued, the guide wire is to be threaded into the valve body again, which is time-consuming and increases the complexity of the operation and the risk of contamination of the instruments. In addition, during guidewire delivery, it is difficult for the physician to notice the position of the trailing end of the guidewire at any time due to the limited length of the guidewire and the relatively soft head. If the guide wire is delivered by means of a roller or the like, the guide wire is easily out of the control range of the power device, and the operation is forced to be suspended for adjustment. Such an operation not only prolongs the operation time, but also increases the discomfort of the patient and the workload of the doctor. The problems mentioned above make the interventional operation robot have the characteristics of high efficiency, safety and accuracy, but the practical application of the interventional operation robot cannot fully exert the advantages. The frequent installation and disassembly of the instrument in the operation process increases the operation burden of doctors and the operation time of patients, an assistant is required to wear lead clothes in an operation room to monitor the operation state of the machine in the operation process, the labor cost is increased, the working intensity is increased, the instrument is possibly contacted with non-sterile environments such as the ground and the like in the operation process, high pollution risks exist, the information of the operation position of the instrument is lost, part of operation depends on manual intervention, the working efficiency of the machine is reduced, and in addition, the machine operation is not intelligent enough, the learning curve of the doctor is long, so that the operation efficiency is lower than expected. Therefore, it is particularly urgent to develop a device capable of automatically detecting the position state of the interventional surgical instrument. Disclosure of Invention The invention provides a position detection method and device for a robot driver end and an elongated medical instrument, and aims to solve the technical problem that an interventional operation robot cannot accurately position the instrument when operating the instrument. In order to achieve the above object, a first aspect of the present invention provides a position detection method for an elongated medical device, where a photoelectric transmitting end and a photoelectric receiving end matrix are disposed on opposite sides of a delivery path of the elongated medical device, the photoelectric receiving end matrix is composed of a plurality of photoelectric receiving ends, and a region between the photoelectric transmitting end and the photoelectric receiving end matrix is a detection region; The position detection method comprises the following steps: Acquiring N photoelectric signal values emitted by the photoelectric emitting end of each photoelectric receiving end in the photoelectric receiving end matrix according to preset frequency to obtain a photoelectric signal array corresponding to each photoelectric receiving end, wherein N is a positive integer greater than or equal to 2; calculating discrete deviation values of the photoelectric signal arrays; Determining whether to continue detecting the position of the elongate medical instrument using the array of photoelectric signals based