CN116570818A - Consistency Calibration Method and System for Catheter Control Direction and Image Action Direction - Google Patents
Consistency Calibration Method and System for Catheter Control Direction and Image Action Direction Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0133—Tip steering devices
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M2025/0166—Sensors, electrodes or the like for guiding the catheter to a target zone, e.g. image guided or magnetically guided
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61M2205/00—General characteristics of the apparatus
- A61M2205/33—Controlling, regulating or measuring
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M2205/00—General characteristics of the apparatus
- A61M2205/70—General characteristics of the apparatus with testing or calibration facilities
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
本发明公开一种导管控制方向与影像动作方向的一致性校准方法及系统，涉及一般的控制或调节系统技术领域，包括：接收校准开始指令；根据导管弯曲前后钢丝牵拉长度增量值，确定影像中导管的当前弯曲深度，根据当前弯曲深度和弯曲深度目标值确定弯曲深度增量值，以控制导管弯曲至弯曲深度目标值；设定每周期的弯曲方向增量旋转角，在弯曲深度目标值下，根据弯曲方向增量旋转角进行弯曲方向的变化，直至接收到校准结束指令；确定校准完成后弯曲方向的角度值，根据弯曲方向的角度值确定校准偏移角度，以在下一次控制导管弯曲方向时，将控制方向的角度值和校准偏移角度相加作为最终的控制方向。保证控制方向与影像中运动方向的一致。
The invention discloses a consistency calibration method and system for the control direction of a catheter and the direction of an image action, and relates to the technical field of general control or adjustment systems, including: receiving a calibration start instruction; The current bending depth of the catheter in the image, determine the incremental value of the bending depth according to the current bending depth and the target value of the bending depth, so as to control the bending of the catheter to the target value of the bending depth; Under the value, change the bending direction according to the incremental rotation angle of the bending direction until the calibration end command is received; determine the angle value of the bending direction after the calibration is completed, and determine the calibration offset angle according to the angle value of the bending direction, so as to control the catheter next time When bending the direction, add the angle value of the control direction and the calibration offset angle as the final control direction. Make sure that the control direction is consistent with the motion direction in the image.
Description
Technical Field
The application relates to the technical field of general control or regulation systems, in particular to a method and a system for calibrating consistency of a catheter control direction and an image action direction.
Background
The vascular interventional robot supporting the adjustable bent catheter performs vascular interventional operation under the guidance of DSA (digital subtraction angiography) real-time perspective image, supports the use of rocker control to bend the end of the catheter, and exhibits the effect of bending along the corresponding direction in DSA image.
Because the body position of the contrast in the operation is switched for a plurality of times along with the progress of the operation, if the calibration of the rocker control direction and the movement direction presented in the DSA image is not performed in time, the problem of disharmony of hands and eyes can be generated, the control judgment of doctors is affected, and the operation is inconvenient to perform.
That is, there is a problem that the actual movement direction of the rocker control catheter is inconsistent with the movement direction of the catheter presented in the image; that is, when the joystick advances, the catheter in the image moves in other directions, and even if the joystick advancing direction and the image are consistent before the contrast position is switched, if calibration is not performed after the contrast position is switched, the joystick advancing direction and the catheter advancing direction in the image still deviate.
Disclosure of Invention
In order to solve the above problems, the present application provides a method and a system for calibrating the consistency of a catheter control direction and an image motion direction, which accurately calculates a calibration offset angle after a contrast body position is switched, and ensures the consistency of a rocker control direction and a motion direction in an image plane.
In order to achieve the above purpose, the present application adopts the following technical scheme:
in a first aspect, the present application provides a method for calibrating consistency between a catheter control direction and an image motion direction, including:
receiving a calibration start instruction;
determining the current bending depth of the catheter in the image according to the traction length increment values of the steel wires before and after the bending of the catheter, and determining the bending depth increment value according to the current bending depth and the bending depth target value so as to control the bending of the catheter to the bending depth target value;
setting a bending direction increment rotation angle of each period, and carrying out bending direction change according to the bending direction increment rotation angle under a bending depth target value until a calibration end instruction is received, so as to finish calibration;
and determining an angle value of the bending direction after the calibration is completed, and determining a calibration offset angle according to the angle value of the bending direction so as to add the angle value of the control direction and the calibration offset angle as a final control direction when the bending direction of the catheter is controlled next time.
As an alternative embodiment, the steel wire drawing length increment value is: and obtaining the steel wire traction length increment value according to the proportional relation between the motor tail encoder value for controlling the bending of the guide pipe and the steel wire traction length increment value.
As an alternative embodiment, the steel wire drawing length increment value is:=K*(Value coder -InitValue coder ) The method comprises the steps of carrying out a first treatment on the surface of the Wherein K is the conversion ratio of the encoder value at the tail of the motor and the increment value of the traction length of the steel wire; value coder The current encoder value is the motor tail; initValue coder Initial encoder values for motor tails.
As an alternative embodiment, the current bending depth is:the method comprises the steps of carrying out a first treatment on the surface of the Wherein (1)>Is the current bending depth;The current bending direction angle value;Pulling a length increment value for the first wire;Is the radius of the catheter.
Alternatively, the catheter is controlled to perform a change in the bending direction between 0 and 360 ° clockwise by increasing the rotation angle in the bending direction until the catheter in the image assumes maximum bending to the right of the advancing direction, at which point the calibration is ended.
Alternatively, the angle value of the bending direction is:the method comprises the steps of carrying out a first treatment on the surface of the Wherein (1)>A first wire drawing length increment value,and drawing a length increment value for the second steel wire.
Alternatively, the calibration offset angle is the angle value of the bending direction when the maximum bending is observed on the right side in the image divided by 360 to obtain the remainder.
In a second aspect, the present application provides a system for calibrating the consistency of a catheter control direction and an image motion direction, comprising:
an instruction receiving module configured to receive a calibration start instruction;
the bending depth control module is configured to determine the current bending depth of the catheter in the image according to the steel wire pulling length increment values before and after the bending of the catheter, and determine the bending depth increment value according to the current bending depth and the bending depth target value so as to control the bending of the catheter to the bending depth target value;
the bending direction control module is configured to set a bending direction increment rotation angle of each period, and change the bending direction according to the bending direction increment rotation angle under the bending depth target value until the calibration is completed after a calibration end instruction is received;
and the calibration module is configured to determine an angle value of the bending direction after calibration is completed, and determine a calibration offset angle according to the angle value of the bending direction so as to add the angle value of the control direction and the calibration offset angle as a final control direction when the bending direction of the catheter is controlled next time.
In a third aspect, the application provides an electronic device comprising a memory and a processor and computer instructions stored on the memory and running on the processor, which when executed by the processor, perform the method of the first aspect.
In a fourth aspect, the present application provides a computer readable storage medium storing computer instructions which, when executed by a processor, perform the method of the first aspect.
Compared with the prior art, the application has the beneficial effects that:
the application provides a method and a system for calibrating consistency of a catheter control direction and an image action direction, which are provided with plane calibration functions, wherein after a contrast body position is switched, a calibration flow is executed, when the maximum bending of the tail end of the catheter on the right side of the advancing direction is observed in an image, the calibration flow is ended, a calibration offset angle is recorded, and the calibration offset angle is accurately calculated in a motion control process of ensuring consistency of a follow-up rocker control direction and a motion direction in an image plane, so that the hand-eye coordination of operation is ensured after a projection plane is switched.
Additional aspects of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the application.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application.
FIG. 1 is a schematic view of the motion range of the universal rocker provided in embodiment 1 of the present application;
FIG. 2 is a flow chart of a method for calibrating the consistency of the control direction of the catheter and the motion direction of the image according to embodiment 1 of the present application;
fig. 3 is a schematic view showing the maximum bending of the catheter provided in embodiment 1 of the present application on the right side in the advancing direction.
Detailed Description
The application is further described below with reference to the drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular forms also are intended to include the plural forms, and furthermore, it is to be understood that the terms "comprises" and "comprising" and any variations thereof are intended to cover non-exclusive inclusions, such as, for example, processes, methods, systems, products or devices that comprise a series of steps or units, are not necessarily limited to those steps or units that are expressly listed, but may include other steps or units that are not expressly listed or inherent to such processes, methods, products or devices.
Embodiments of the application and features of the embodiments may be combined with each other without conflict.
Example 1
The embodiment provides a method for calibrating consistency of a catheter control direction and an image motion direction, which comprises the following steps:
receiving a calibration start instruction;
determining the current bending depth of the catheter in the image according to the traction length increment values of the steel wires before and after the bending of the catheter, and determining the bending depth increment value according to the current bending depth and the bending depth target value so as to control the bending of the catheter to the bending depth target value;
setting a bending direction increment rotation angle of each period, and carrying out bending direction change according to the bending direction increment rotation angle under a bending depth target value until a calibration end instruction is received, so as to finish calibration;
and determining an angle value of the bending direction after the calibration is completed, and determining a calibration offset angle according to the angle value of the bending direction so as to add the angle value of the control direction and the calibration offset angle as a final control direction when the bending direction of the catheter is controlled next time.
In the embodiment, the bending of the catheter is controlled by adopting a universal rocker, and the action range of the universal rocker is as a circle shown in fig. 1, wherein the positive direction of the corresponding X axis is a position of 0 DEG in the bending direction;
when the universal rocker is controlled towards the 0-degree direction, the tail end of the catheter is bent along the right side of the advancing direction in the perspective image plane;
when the universal rocker bends towards the 180 DEG direction, the tail end of the catheter bends along the left side of the advancing direction in the perspective image plane;
when the universal rocker is bent towards the 90 DEG direction, the tail end of the catheter is bent along the right side of the advancing direction on the plane perpendicular to the plane of the perspective image;
when the universal rocker is bent in the 270 DEG direction, the catheter tip is bent along the left side of the advancing direction on a plane perpendicular to the perspective image plane;
and so on.
Therefore, when the above condition cannot be satisfied after the perspective image plane is switched, the response result can be obtained by adding the calibration offset angle to the original rocker control signal.
In the embodiment, three steel wires are uniformly distributed in the catheter, the three steel wires form an included angle of 120 degrees, and the three steel wires are pulled by corresponding three motors to form different lengths, so that different bending effects of the tail end are formed. After each projection plane is switched, a calibration command is sent, a calibration program is automatically executed, and a cycle period can be set.
As shown in fig. 2, the flow of the method for calibrating the consistency of the catheter control direction and the image motion direction is specifically as follows:
step 1: monitoring a calibration command signal; executing corresponding steps according to the change of the calibration command signal;
step 2: judging whether the calibration command signal is from 0- >1; when the calibration command signal changes by 0- >1, the following steps are performed:
step 2.1: let the calibration offset angle be 0 °; the previously recorded calibration offset angle is cleared for recalculation.
Step 2.2: calculating the current bending depth; since it is necessary that the catheter tip assumes a certain bending depth if the bending direction of the catheter tip is to be observed in the fluoroscopic image, rather than being kept in a vertical state, it is necessary to calculate the current bending depth; the method comprises the following steps:
firstly, according to the proportional relation between the encoder value at the tail of a motor for controlling the bending of a catheter and the length of a steel wire after being pulled, obtaining the pulling length increment value of two steel wires:
=K*(Value coder1 -InitValue coder1 )；
=K*(Value coder2 -InitValue coder2 )；
wherein L1 and L2 are the increment value of the traction length of the steel wire relative to the initial state, and the unit is mm; k is the conversion ratio of the encoder Value at the tail of the motor and the increment Value of the traction length of the steel wire, value coder For the current encoder value of the motor tail, initValue coder For the initial encoder value of the motor tail, the initial position is the encoder value of the motor of each steel wire when the guide pipe keeps a vertical stretching state before the calibration starts.
Then, obtaining the current bending direction angle value and the current bending depth of the tail end of the catheter according to the steel wire pulling length increment value;
；
；
wherein,,the current bending direction angle value is 0 degrees on the right side;Is the current bending depth;Pulling a length increment value for the first wire, < >>The pulling length increment value of the second steel wire is obtained, and as the three steel wires are uniformly distributed at 120 degrees, the pulling length condition of the third steel wire can be deduced under the condition that the pulling lengths of the two steel wires are known;is the radius of the catheter.
Step 2.3: determining a bending depth increment value according to the current bending depth and a bending depth target value;
during calibration, the catheter tip needs to be bent to 90 ° in order to observe the bending direction, so this embodiment sets the bending depth target value to 90 °, and the bending depth increment value=90° -the current bending depth.
Step 2.4: and (3) reversely pushing according to the bending model of the tail end of the steel wire traction catheter, converting the bending depth increment value into target positions which are required to be changed by the three motors, and sending the target positions to the corresponding motors to execute actions so as to achieve the purpose that the bending depth of the tail end of the catheter reaches 90 degrees.
Step 2.5: setting the calibration state as a first stage; wherein, the calibration state has three states; the method comprises the following steps: the first stage is when a calibration instruction is received; the second stage is to execute the target with 90 degrees of bending depth and is used for identifying the movement state of the calibration program in 360 degrees of cyclic change of the bending direction; the uncalibrated phase is at the end of calibration.
Step 3: if the calibration command signal is not changed from 0- >1, judging that the calibration signal is 1 and the period does not change from 0 to 1, and if the condition is met, executing the following steps:
step 3.1: whether the calibration state is the first phase; since it takes time for the catheter to bend to 90 °, in the case where the calibration command signal is equal to 1, the case where the calibration is performed is confirmed for judging whether the bending depth or the bending direction should be continued at present.
Step 3.2: if the calibration state is the first stage, the catheter is not bent to 90 degrees, the current bending depth is required to be calculated continuously, and the process is the same as that of the step 2.2; if the calibration state is the second stage, executing the step 3.5;
step 3.3: judging whether the current bending depth is within the range of 90 degrees+/-1 degrees; if not, continuing to execute the step 3.2 until the catheter is bent to 90 degrees;
step 3.4: if the step 3.3 is satisfied, the calibration state is set to be the second stage, which means that the bending depth reaches about 90 degrees required by the calibration procedure, and the step 3.5 is executed;
step 3.5: setting a bending direction increment rotation angle per cycle;
the purpose of this step is to have the consumable tip perform a change in bending direction between 0 and 360 ° in the clockwise direction while maintaining a clearly observable bending depth (90 °) until the catheter is observed to exhibit maximum bending on the right side of the advancing direction in the fluoroscopic image plane, as shown in fig. 3, at which point the user is facilitated to observe, the calibration is ended, and the calibration offset angle is obtained after the calibration is ended.
As an alternative embodiment, the incremental rotation angle of the bending direction per cycle may be set as: 360 °/(3000 ms/2 ms) =0.24°.
Step 3.6: converting the incremental rotation angle of the bending direction into target positions which are required to be changed by the three motors, and transmitting the target positions to the corresponding motors to execute actions;
the bending direction to be issued to the motor is the sum of the current bending direction and the incremental rotation angle of the bending direction, and the bending depth is the bending depth target value (90 ° in this embodiment).
Step 4: when the calibration command signal is from 1- >0, the following steps are performed:
step 4.1: calculating the angle value of the bending direction after the step 3.6 is executed by adopting the method of the step 2.2;
step 4.2: the calibration command signal jumps by 1- >0, indicating that the operator observes the maximum curve on the right side of the direction of advance of the fluoroscopic catheter, and the calibration is completed at this time, and the curve direction angle value% 360 calculated in step 4.1 is used as the calibration offset angle.
Step 4.3: let the calibration state be uncalibrated; updating the calibration state identifier, and facilitating the next calibration execution.
Step 4.4: when the bending direction of the catheter is controlled next time, the angle value of the control direction and the calibration offset angle are added to be used as the final control direction, so that the control direction of the rocker is consistent with the action direction under the perspective image.
Example 2
The present embodiment provides a system for calibrating the consistency of a catheter control direction and an image motion direction, comprising:
an instruction receiving module configured to receive a calibration start instruction;
the bending depth control module is configured to determine the current bending depth of the catheter in the image according to the steel wire pulling length increment values before and after the bending of the catheter, and determine the bending depth increment value according to the current bending depth and the bending depth target value so as to control the bending of the catheter to the bending depth target value;
the bending direction control module is configured to set a bending direction increment rotation angle of each period, and change the bending direction according to the bending direction increment rotation angle under the bending depth target value until the calibration is completed after a calibration end instruction is received;
and the calibration module is configured to determine an angle value of the bending direction after calibration is completed, and determine a calibration offset angle according to the angle value of the bending direction so as to add the angle value of the control direction and the calibration offset angle as a final control direction when the bending direction of the catheter is controlled next time.
It should be noted that the above modules correspond to the steps described in embodiment 1, and the above modules are the same as examples and application scenarios implemented by the corresponding steps, but are not limited to those disclosed in embodiment 1. It should be noted that the modules described above may be implemented as part of a system in a computer system, such as a set of computer-executable instructions.
In further embodiments, there is also provided:
an electronic device comprising a memory and a processor and computer instructions stored on the memory and running on the processor, which when executed by the processor, perform the method described in embodiment 1. For brevity, the description is omitted here.
It should be understood that in this embodiment, the processor may be a central processing unit CPU, and the processor may also be other general purpose processors, digital signal processors DSP, application specific integrated circuits ASIC, off-the-shelf programmable gate array FPGA or other programmable logic device, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory may include read only memory and random access memory and provide instructions and data to the processor, and a portion of the memory may also include non-volatile random access memory. For example, the memory may also store information of the device type.
A computer readable storage medium storing computer instructions which, when executed by a processor, perform the method described in embodiment 1.
The method in embodiment 1 may be directly embodied as a hardware processor executing or executed with a combination of hardware and software modules in the processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in a memory, and the processor reads the information in the memory and, in combination with its hardware, performs the steps of the above method. To avoid repetition, a detailed description is not provided herein.
Those of ordinary skill in the art will appreciate that the elements of the various examples described in connection with the present embodiments, i.e., the algorithm steps, can be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
While the foregoing description of the embodiments of the present application has been presented in conjunction with the drawings, it should be understood that it is not intended to limit the scope of the application, but rather, it is intended to cover all modifications or variations within the scope of the application as defined by the claims of the present application.
Claims (10)
1. The method for calibrating the consistency of the control direction of the catheter and the action direction of the image is characterized by comprising the following steps:
receiving a calibration start instruction;
determining the current bending depth of the catheter in the image according to the traction length increment values of the steel wires before and after the bending of the catheter, and determining the bending depth increment value according to the current bending depth and the bending depth target value so as to control the bending of the catheter to the bending depth target value;
setting a bending direction increment rotation angle of each period, and carrying out bending direction change according to the bending direction increment rotation angle under a bending depth target value until a calibration end instruction is received, so as to finish calibration;
and determining an angle value of the bending direction after the calibration is completed, and determining a calibration offset angle according to the angle value of the bending direction so as to add the angle value of the control direction and the calibration offset angle as a final control direction when the bending direction of the catheter is controlled next time.
2. The method for calibrating the consistency of a catheter control direction and an image motion direction according to claim 1, wherein the wire drawing length increment value is: and obtaining the steel wire traction length increment value according to the proportional relation between the motor tail encoder value for controlling the bending of the guide pipe and the steel wire traction length increment value.
3. The method for calibrating the consistency of a catheter control direction and an image motion direction according to claim 2, wherein the wire drawing length increment value is:=K*(Value coder -InitValue coder ) The method comprises the steps of carrying out a first treatment on the surface of the Wherein K is the conversion ratio of the encoder value at the tail of the motor and the increment value of the traction length of the steel wire; value coder The current encoder value is the motor tail; initValue coder Initial encoder values for motor tails.
4. The method for calibrating the consistency of a catheter control direction and an image motion direction according to claim 2, wherein the current bending depth is:the method comprises the steps of carrying out a first treatment on the surface of the Wherein (1)>Is the current bending depth;The current bending direction angle value;Pulling a length increment value for the first wire;Is the radius of the catheter.
5. The method for calibrating the consistency of the control direction of the catheter and the motion direction of the image according to claim 1, wherein the catheter is controlled to perform the change of the bending direction between 0 and 360 degrees clockwise by the incremental rotation angle of the bending direction until the catheter in the image exhibits the maximum bending on the right side of the advancing direction, at which time the calibration is ended.
6. The method for calibrating the consistency of a catheter control direction and an image motion direction according to claim 1, wherein the angle value of the bending direction is:the method comprises the steps of carrying out a first treatment on the surface of the Wherein (1)>Pulling a length increment value for the first wire, < >>And drawing a length increment value for the second steel wire.
7. The method of calibrating the consistency of a catheter control direction and an image motion direction according to claim 1, wherein the calibration offset angle is a remainder of dividing an angle value of a bending direction by 360.
8. The system for calibrating the consistency of the control direction of the catheter and the action direction of the image is characterized by comprising the following components:
an instruction receiving module configured to receive a calibration start instruction;
the bending depth control module is configured to determine the current bending depth of the catheter in the image according to the steel wire pulling length increment values before and after the bending of the catheter, and determine the bending depth increment value according to the current bending depth and the bending depth target value so as to control the bending of the catheter to the bending depth target value;
the bending direction control module is configured to set a bending direction increment rotation angle of each period, and change the bending direction according to the bending direction increment rotation angle under the bending depth target value until the calibration is completed after a calibration end instruction is received;
and the calibration module is configured to determine an angle value of the bending direction after calibration is completed, and determine a calibration offset angle according to the angle value of the bending direction so as to add the angle value of the control direction and the calibration offset angle as a final control direction when the bending direction of the catheter is controlled next time.
9. An electronic device comprising a memory and a processor and computer instructions stored on the memory and running on the processor, which when executed by the processor, perform the method of any one of claims 1-7.
10. A computer readable storage medium storing computer instructions which, when executed by a processor, perform the method of any of claims 1-7.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310572576.4A CN116570818B (en) | 2023-05-22 | 2023-05-22 | Method and system for calibrating consistency of catheter control direction and image action direction |
| PCT/CN2024/090764 WO2024239934A1 (en) | 2023-05-22 | 2024-04-30 | Method and system for consistency calibration of catheter control direction and movement direction in image |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310572576.4A CN116570818B (en) | 2023-05-22 | 2023-05-22 | Method and system for calibrating consistency of catheter control direction and image action direction |
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| WO2024239934A1 (en) * | 2023-05-22 | 2024-11-28 | 极限人工智能有限公司 | Method and system for consistency calibration of catheter control direction and movement direction in image |
| CN119157458A (en) * | 2024-10-11 | 2024-12-20 | 珠海横乐医疗科技有限公司 | A bronchoscope end bending control mapping method based on a single joystick handle |
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| Publication number | Publication date |
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| WO2024239934A1 (en) | 2024-11-28 |
| CN116570818B (en) | 2024-04-16 |
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