FIELD: medical equipment.
SUBSTANCE: invention is related to an interventional surgical robotic system. An interventional surgical robotic system for controlling a medical interventional device to navigate within the cavity of a patient's blood vessels includes: a control mechanism, including: a processor configured to: obtain an intraoperative image containing a physiological tubular structure, and generate an automatic navigation command by performing analysis and processing of the intraoperative images; display means for displaying an intraoperative image and a current movement state of the medical intervention device; and a user control panel configured to: receive manual control from the user and transmit a manual control command corresponding to the manual control; an actuator, including a robotic manipulator and an end drive and configured to: receive commands from the processor and user control panel; controlling the medical intervention device for advancement based on an automatic navigation command in case the automatic navigation command is received without receiving a manual control command, or controlling the medical intervention device based on a manual control command in case a manual control command is received. A method for controlling an interventional surgical robot to control a medical intervention device to move a patient's blood vessels into a cavity includes: obtaining an intraoperative image containing a physiological tubular structure through a control mechanism processor, and generating an automatic navigation command by performing analysis and processing of the intraoperative image; displaying the intraoperative image and the current movement status of the medical intervention device via the display means; receiving manual control of the user through the user control panel and transmitting a manual control command corresponding to the manual control; receiving commands from the processor and user control panel through an actuator. The actuator contains a robotic manipulator and an end drive. The actuator is configured to: control the medical intervention device for advancement based on an automatic navigation command if the automatic navigation command is received without receiving a manual control command, or control the medical intervention device based on a manual control command if a manual control command is received. A computer-readable storage medium that stores computer program instructions for execution by a processor configured to perform a method of controlling an interventional surgical robot to control a medical intervention device to move within the cavities of a patient's blood vessels.
EFFECT: implementation of the automatic navigation and interaction between the interventional surgical robotic system and the doctor.
21 cl, 7 dwg
