Instrument positioning system and method

Abstract

The application relates to an instrument limiting system and method. The system comprises a translation mechanism including a fixed end and a moving end, the moving end being provided with an instrument, wherein the moving end is used for translational movement along a preset path to make the instrument enter or move out of an action object; a control mechanism electrically connected with the translation mechanism and the instrument respectively, used for receiving a first user instruction to control the moving end of the translation mechanism to move on the preset path, and acquiring a current position of the instrument, when the current position of the instrument is located in a set section on the preset path and the moving direction of the instrument is a set direction, a preset feedback force is applied to the instrument to hinder the instrument from continuously moving in the set direction. Therefore, the position of the instrument is prompted to the operator through the feedback force, and the movement of the instrument can also be hindered, so that the operator can be prevented from causing operation failure to cause the instrument to move too long and cause damage to a patient.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a device limiting system and method. Background Technology

[0002] With the development of medical technology, minimally invasive techniques have emerged. These techniques involve making small incisions at the patient's site of action and then, guided by medical imaging equipment, inserting specialized instruments into the patient's body to perform minimally invasive surgery. During the procedure, instruments are frequently inserted and removed from the patient's site due to the need for instrument changes and cleaning. To ensure the safety and efficiency of the surgery, the surgeon needs to be alerted to the instrument's position to avoid errors that could harm the patient. Summary of the Invention

[0003] Therefore, it is necessary to provide an instrument limiting system and method that can provide prompts to doctors based on the position of the instrument, in order to address the above-mentioned technical problems.

[0004] A device limiting system includes: a translation mechanism comprising a fixed end and a movable end, wherein the movable end is provided with a device, and the movable end is used to perform translational movement along a preset path to allow the device to enter or exit an object; and a control mechanism electrically connected to the translation mechanism and the device, for receiving a first user command to control the movable end of the translation mechanism to move along the preset path, and for obtaining the current position of the device; when the current position of the device is within a set segment of the preset path and the movement direction of the device is a set direction, applying a preset feedback force to the device to prevent the device from continuing to move along the set direction.

[0005] In one embodiment, the movement path of the device toward the target is sequentially provided with a first boundary position, a first feedback position, a second feedback position, and a second boundary position, wherein the set path segment includes the path segment between the first boundary position and the first feedback position, and the path segment between the second feedback position and the second boundary position, and the set direction is a first direction or a second direction.

[0006] In one embodiment, the control mechanism includes: an operating component connected to the translation mechanism, configured to receive a first user instruction to control the moving end of the translation mechanism to translate along the first direction on the preset path or along the second direction on the preset path, wherein the first direction and the second direction are opposite, and the first direction is the direction that moves the instrument away from the object of action, and the first user instruction includes moving the operating component in a third direction to cause the moving end to translate along the first direction or moving the operating component in a fourth direction to cause the moving end to translate along the second direction.

[0007] In one embodiment, the control mechanism further includes: a feedback component connected to the operating component, configured to apply a first preset feedback force to the operating component to prevent the operating component from moving in the third direction when the instrument moves in the first direction and is located between the first feedback position and the first boundary position; and to apply a second preset feedback force to the operating component to prevent the operating component from moving in the fourth direction when the instrument moves in the second direction and is located between the second feedback position and the second boundary position.

[0008] In one embodiment, the magnitude of the first preset feedback force is negatively correlated with the distance between the instrument and the first boundary position; the magnitude of the second preset feedback force is negatively correlated with the distance between the instrument and the second boundary position.

[0009] In one embodiment, the control mechanism is further configured to acquire the current position and current posture of the device, and when the current position of the device reaches the first boundary position, control the translation of the mobile end and control the posture change of the device to move the device out of the target object, and predict the total removal time of the device out of the target object based on the current position and current posture of the device, and determine the removal progress of the device based on the time consumed by moving the device and the total removal time.

[0010] In one embodiment, the control mechanism is further configured to control the instrument to stop moving when the current position of the instrument reaches the first boundary position, and to obtain a second user instruction, and determine whether to control the instrument to move out of the target object according to the second user instruction.

[0011] In one embodiment, the control mechanism is further configured to control the translation of the mobile end and control the posture change of the device to move the device away from the target when the distance between the current position of the device and the first boundary position is less than a set value and the duration exceeds a set time.

[0012] In one embodiment, the control mechanism is further configured to, during the process of controlling the translation mechanism to move the instrument out of the target, if a third user instruction is received, control the translation mechanism to make the instrument translate along a preset path according to the third user instruction.

[0013] In one embodiment, the system further includes a display mechanism connected to the control mechanism for displaying the removal progress of the instrument.

[0014] In one embodiment, the system further includes a catheter into which the instrument extends to access the target.

[0015] In one embodiment, the device includes: an actuator at the foremost end and a plurality of joints connected to the actuator.

[0016] A method for limiting the movement of an instrument, wherein the instrument is used to perform translational movement along a preset path to enter or exit an object, the method comprising:

[0017] Receive a first user instruction to control the movement of the device along the preset path;

[0018] Obtain the current position of the instrument;

[0019] When the current position of the device is within a set segment of the preset path and the movement direction of the device is the set direction, a preset feedback force is applied to the operating component to prevent the device from continuing to move along the set direction.

[0020] In one embodiment, a first boundary position, a first feedback position, a second feedback position, and a second boundary position are sequentially set along the movement path of the device toward the target, wherein the set path segment includes the path segment between the first boundary position and the first feedback position, and the path segment between the second feedback position and the second boundary position, and the set direction is a first direction or a second direction; the method further includes:

[0021] When the device moves in the first direction and is located between the first feedback position and the first boundary position, a first preset feedback force is applied to the device to prevent the device from moving in the first direction;

[0022] When the device moves in the second direction and is located between the second feedback position and the second boundary position, a second preset feedback force is applied to the device to prevent the device from moving in the second direction, wherein the first direction and the second direction are opposite, and the first direction is the direction that causes the device to move away from the target.

[0023] In one embodiment, the method further includes:

[0024] Obtain the current attitude of the device;

[0025] When the current position of the instrument reaches the first boundary position, control the instrument to move out of the target object;

[0026] Predict the total removal time of the instrument from the target object based on the instrument's current position and current posture;

[0027] The removal progress of the device is determined based on the time already consumed in moving the device and the total removal time.

[0028] In one embodiment, controlling the instrument to move away from the target when the current position of the instrument reaches the first boundary position includes:

[0029] Obtain the current attitude of the device;

[0030] When the current posture of the device does not reach the preset posture, control the device to stop moving;

[0031] When the current posture of the instrument reaches the preset posture, the instrument is controlled to move out of the target object.

[0032] The aforementioned instrument limiting system and method, by setting a translation mechanism and placing an instrument at the moving end of the translation mechanism, allows the instrument to move via the translation mechanism, enabling it to enter or exit the target object, thus facilitating the operator's manipulation of the target object. A control mechanism is included to receive a first user command and control the translation mechanism to move the instrument, allowing the operator to control the movement of the instrument. The control mechanism also acquires the current position of the instrument. When the current position of the instrument is within a predetermined segment of a preset path and the movement direction of the instrument is a predetermined direction, a preset feedback force is applied to the instrument to prevent it from continuing to move in the predetermined direction. Thus, the control mechanism can identify the position of the instrument and, based on the position and direction of movement, apply a feedback force to the instrument. This feedback force not only alerts the operator to the instrument's position but also impedes its movement, preventing operator errors that could lead to excessive instrument movement and injury to the patient. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of this application or the conventional technology, the drawings used in the description of the embodiments or the conventional technology will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 This is a schematic diagram of the instrument limiting system in one embodiment;

[0035] Figure 2 This is a structural diagram of the translation mechanism in one embodiment;

[0036] Figure 3 This is a schematic diagram of a preset road segment and a preset direction on a preset path in one embodiment;

[0037] Figure 4 This is a schematic diagram of the control mechanism in one embodiment;

[0038] Figure 5 This is a structural diagram of the control mechanism in one embodiment;

[0039] Figure 6 This is a structural diagram of the instrument trolley in one embodiment;

[0040] Figure 7 This is a structural diagram of the image trolley in one embodiment;

[0041] Figure 8 This is a schematic diagram of the device extending in one embodiment;

[0042] Figure 9 This is a schematic diagram illustrating the device withdrawal process in one embodiment;

[0043] Figure 10 This is a cross-sectional view of the second catheter in one embodiment;

[0044] Figure 11 This is a structural diagram of the device after it has been withdrawn in one embodiment;

[0045] Figure 12 This is a structural diagram of the device after it has been withdrawn in another embodiment;

[0046] Figure 13 Here is a flowchart of a device limiting method in one embodiment;

[0047] Figure 14 Here is a flowchart of the instrument limiting method in another embodiment;

[0048] Figure 15 This is a flowchart of a method for determining the progress of instrument removal in one embodiment;

[0049] Figure 16 This is a flowchart of the instrument limiting method in yet another embodiment.

[0050] Explanation of reference numerals in the attached drawings: 10-Translation mechanism, 20-Instrument, 30-Control mechanism, 11-Fixed end, 12-Moving end, 13-First conduit, 14-Second conduit, 100-First boundary position, 101-First feedback position, 102-Second feedback position, 103-Second boundary position, 31-Operating component, 32-Feedback component, 33-Foot pedal, 34-Trolley, 35-Robotic arm, 40-Display mechanism, 36-Camera instrument, 37-Image processor, 38-Display screen, 21-Actuator, 22-First joint, 23-Second joint, 140-Instrument channel. Detailed Implementation

[0051] To facilitate understanding of this application, a more complete description will be provided below with reference to the accompanying drawings, which illustrate embodiments of the present application. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that the disclosure of this application will be thorough and complete.

[0052] Unless otherwise defined, 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. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0053] It is understood that the terms “first,” “second,” etc., used in this application may be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another.

[0054] Spatial relation terms such as “below,” “under,” “below,” “under,” “above,” “above,” etc., are used herein to describe the relationship between one element or feature shown in the figure and other elements or features. It should be understood that, in addition to the orientation shown in the figure, spatial relation terms also include different orientations of the device in use and operation. For example, if the device in the figure is flipped, the element or feature described as “below,” “under,” or “below” will be oriented “above” the other element or feature. Therefore, the exemplary terms “below” and “under” can include both above and below orientations. Furthermore, the device may also include other orientations (e.g., rotated 90 degrees or other orientations), and the spatial descriptive terms used herein will be interpreted accordingly.

[0055] It should be noted that when one element is considered to be "connected" to another element, it can be directly connected to the other element or connected to the other element through an intermediary element. Furthermore, in the following embodiments, "connection" should be understood as "electrical connection," "communication connection," etc., if there is transmission of electrical signals or data between the connected objects.

[0056] When used herein, the singular forms of “a,” “an,” and “the” may also include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms “comprising,” “including,” or “having,” etc., specify the presence of the stated feature, whole, step, operation, component, part, or combination thereof, but do not preclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts, or combinations thereof.

[0057] In one embodiment, such as Figure 1 As shown, a device limiting system is provided, including: a translation mechanism 10 and a control mechanism 30. Figure 2 As shown, the translation mechanism 10 includes a fixed end 11 and a movable end 12. The movable end 12 is provided with a device 20. The movable end 12 is used to perform translational movement along a preset path so that the device 20 enters or leaves the target object.

[0058] For example, a device 20 is provided on the mobile end 12 and a slide rail is provided on the fixed end 11. The mobile end 12 can slide in the slide rail to perform translational movement. The device 20 is provided on the mobile end 12. The front end of the device 20 extends into the first conduit 13 on the mobile end 12 and then enters the object through the second conduit 14 at the front end of the translation mechanism 10. The device 20 extends into the conduit, which can constrain the movement of the device 20 and also reduce the buckling of the device 20.

[0059] For example, the device 20 can be a commonly used interventional device 20 such as a biopsy forceps, biopsy brush, biopsy shaving, or endoscope.

[0060] The control mechanism 30 is electrically connected to the translation mechanism 10 and the instrument 20 respectively. It is used to receive a first user command to control the moving end 12 of the translation mechanism 10 to move on a preset path and to obtain the current position of the instrument 20. When the current position of the instrument 20 is located in a set segment on the preset path and the moving direction of the instrument 20 is the set direction, a preset feedback force is applied to the instrument 20 to prevent the instrument 20 from continuing to move along the set direction.

[0061] Specifically, the control mechanism 30 is electrically connected to the translation mechanism 10 and the instrument 20, thereby enabling it to receive a first user command and control the translation mechanism 10 according to the first user command, and to obtain the position of the instrument 20 by means of its electrical connection with the instrument 20. Optionally, the control mechanism 30 can also determine the position of the instrument 20 based on the position of the moving end 12 on the translation mechanism 10.

[0062] Specifically, the preset path is the path along which the mobile terminal 12 slides relative to the fixed terminal 11.

[0063] Specifically, the set route and set direction are preset within the control mechanism 30. The control mechanism 30 compares the current position of the device 20 and the movement direction of the moving end 12 with the preset set route and set direction to determine whether feedback force needs to be applied to the device 20.

[0064] Specifically, applying feedback force to the device 20 can be done by applying resistance to the movement of the moving end 12 through the fixed end 11, thereby preventing the device 20 from continuing to move in the set direction and making the operator feel the resistance of the moving device 20. Alternatively, it can be done through software algorithms or by using a linear motor or other force feedback devices to generate feedback force to prompt the operator through mechanical stimulation such as vibration or wave. As long as the operator can feel the effect of the feedback force, it is acceptable.

[0065] In this embodiment, a translation mechanism 10 is provided, and a device 20 is provided at the moving end 12 of the translation mechanism 10. This allows the translation mechanism 10 to move the device 20, enabling it to enter or exit the target object, thus facilitating the operator's manipulation of the target object using the device 20. A control mechanism 30 is provided to receive a first user command and control the translation mechanism 10 to move the device 20, allowing the operator to control the movement of the device 20. The control mechanism 30 also acquires the current position of the device 20. When the current position of the device 20 is within a predetermined segment of a preset path and the movement direction of the device 20 is a predetermined direction, a preset feedback force is applied to the device 20 to prevent it from continuing to move along the predetermined direction. Thus, the control mechanism 30 can identify the position of the instrument 20, and apply a feedback force to the instrument 20 according to the position and direction of movement of the instrument 20. The feedback force can prompt the operator about the position of the instrument 20 and also hinder the movement of the instrument 20, thereby reducing the risk of operator error that could cause the instrument 20 to move too far and cause injury to the patient.

[0066] In one embodiment, such as Figure 3As shown, a first boundary position 100, a first feedback position 101, a second feedback position 102, and a second boundary position 103 are sequentially set along the movement path of the device 20 towards the target. The defined path segments include the segment between the first boundary position 100 and the first feedback position 101, and the segment between the second feedback position 102 and the second boundary position 103. The defined direction is either a first direction or a second direction. Figure 4 As shown, the control mechanism 30 includes: an operation component 31 and a feedback component 32. Wherein:

[0067] The operation component 31 is connected to the translation mechanism 10 and is used to receive a first user instruction to control the moving end 12 of the translation mechanism 10 to translate along a first direction on a preset path or along a second direction on a preset path.

[0068] Specifically, the first direction and the second direction are opposite, and the first direction is the direction that moves the device 20 away from the object of action. The first user instruction includes moving the operating component 31 to a third direction to make the mobile end 12 translate along the first direction or moving the operating component 31 to a fourth direction to make the mobile end 12 translate along the second direction.

[0069] For example, the operating component 31 can be an operating handle, and the first user instruction can be to push the operating handle to move the operating handle in a third direction, or to pull the operating handle to move the operating handle in a fourth direction.

[0070] Specifically, if the instrument 20 moves along the first direction, the instrument 20 will move away from the object of action, that is, move out of the object of action; if the instrument 20 moves along the second direction, the instrument 20 will move closer to the object of action, that is, enter the object of action.

[0071] Specifically, the first boundary position 100, the first feedback position 101, the second feedback position 102, and the second boundary position 103 are all set according to the actual position that the instrument 20 needs to reach during use. This sets different routes for the instrument 20's travel throughout the entire surgical process, thereby constraining the movement of the instrument 20 and reducing the risk of the instrument 20 entering the target too deeply and causing damage to the target's tissue, or the instrument 20 moving too far away from the target, which would prevent the doctor from operating the instrument 20 to perform actions on the target.

[0072] Feedback component 32 is connected to operation component 31 and is used to apply a first preset feedback force to operation component 31 to prevent operation component 31 from moving in a third direction when the instrument 20 moves in a first direction and is located between the first feedback position 101 and the first boundary position 100; and to apply a second preset feedback force to operation component 31 to prevent operation component 31 from moving in a fourth direction when the instrument 20 moves in a second direction and is located between the second feedback position 102 and the second boundary position 103.

[0073] Specifically, when the device 20 is located between the first feedback position 101 and the first boundary position 100, it means that the device 20 has entered the preset set section. Then, the first preset feedback force is applied to the operating component 31. Since the operating component 31 moves to a third direction, the device 20 will move to the first direction. Thus, the first preset feedback force is applied to the operating component 31, which prevents the operating component 31 from moving to a third direction. This is equivalent to preventing the device 20 from moving to the first direction, thereby prompting the operator and preventing the device 20 from moving too far away from the target.

[0074] Specifically, when the device 20 is located between the second feedback position 102 and the second boundary position 103, it means that the device 20 has entered the preset set section. Then, the second preset feedback force is applied to the operating component 31. Since the operating component 31 moves in the fourth direction, the device 20 will move in the second direction. Thus, the second preset feedback force is applied to the operating component 31, which prevents the operating component 31 from continuing to move in the fourth direction. This is equivalent to preventing the device 20 from continuing to move in the second direction, thereby prompting the operator and preventing the device 20 from entering the target object too far away.

[0075] For example, the feedback force only hinders the movement of the device 20 when the device 20 located in the set section moves in the set direction. If the device 20 is located in the set section but the direction of movement is not the set direction, the feedback force will not hinder the movement of the device 20.

[0076] For example, the first preset feedback force and the second preset feedback force are in opposite directions, and their magnitudes may be the same or different.

[0077] Optionally, the magnitude of the first preset feedback force is negatively correlated with the distance between the device 20 and the first boundary position 100. The magnitude of the second preset feedback force is negatively correlated with the distance between the device 20 and the second boundary position 103. The closer the device 20 is to the first boundary position 100, the greater the first preset feedback force, and the stronger the resistance to the movement of the device 20. Conversely, the closer the device 20 is to the second boundary position 103, the greater the second preset feedback force, and the stronger the resistance to the movement of the device 20. Thus, the operator can perceive the position of the device 20 and determine whether the device 20 is about to reach the boundary position based on the strength of the feedback force.

[0078] For example, such as Figure 5As shown, the operator observes images during surgery through the display mechanism 40, facilitating operation. The movement of the instrument 20 is controlled via the operation component 31, and the feedback component 32 is connected to the operation component 31. The feedback component 32 only needs to apply feedback force to the operation component 31; the specific connection method is not limited. The control mechanism 30 also includes a foot pedal 33, through which the operator can control the movement of other related equipment. The specific equipment controlled by the foot pedal 33 can be determined according to actual needs, and may be a camera or a multi-joint robotic arm.

[0079] For example, such as Figure 6 As shown, the translation mechanism 10 is fixed on the robotic arm 35 of the trolley 34. The trolley 34 is communicatively connected to the control mechanism 30, so that the doctor can control the movement of the trolley 34 and the movement of the robotic arm 35.

[0080] For example, such as Figure 7 As shown, the instrument limiting system may also include an external image carriage, on which a camera instrument 36, an image processor 37, and a display screen 38 are installed. The camera instrument 36 can acquire images during the operation, which are then processed by the image processor 37 and displayed on the display screen 38. The image processor 37 may also be connected to the control mechanism 30 so that the images can be displayed on the display mechanism 40.

[0081] In this embodiment, by providing the operating component 31, the operator can control the movement of the device 20. By providing the feedback component 32, a feedback force can be applied to the operating component 31, thereby prompting the operator to determine the position of the device 20, reducing the risk of injury to the patient. Furthermore, the feedback force can also limit the movement of the device 20, preventing it from moving to an unexpected position and causing injury to the patient.

[0082] In one embodiment, the control mechanism 30 is further configured to acquire the current position and current posture of the device 20. When the current position of the device 20 reaches the first boundary position 100, the control mechanism 30 controls the translation of the moving end 12 and controls the change of the posture of the device 20 to move the device 20 out of the target object. The control mechanism 30 predicts the total removal time of the device 20 from the target object based on the current position and current posture of the device 20, and determines the removal progress of the device 20 based on the time consumed by the moving device 20 and the total removal time.

[0083] Specifically, when the position of the instrument 20 reaches the first boundary position 100, the exit operation of the instrument 20 is automatically triggered. The control mechanism 30 controls the moving end 12 of the translation mechanism 10 to translate so that the instrument 20 can be moved out of the object. At the same time, since the posture of the instrument 20 after the work is just finished may not be convenient for direct removal, the control mechanism 30 controls the posture of the instrument 20 to change so that the instrument 20 can be smoothly removed from the object.

[0084] For example, the position of device 20 refers to the position of the foremost part of device 20.

[0085] For example, such as Figure 8 As shown, the instrument 20 includes an actuator 21 at the front end, a first joint 22 in the middle, and a second joint 23 at the rear end. The instrument 20 extends from the second catheter 14 and enters the target. Both the first joint 22 and the second joint 23 are movable, so the instrument 20 can bend flexibly. The actuator 21 can be a tool such as a clamp, syringe, or endoscope.

[0086] For example, such as Figure 9 As shown, the removal process of instrument 20 involves moving instrument 20 into the second conduit 14 and adjusting the attitude of actuator 21 of instrument 20 to its initial attitude, i.e., clamp closure. The joint movement of instrument 20 straightens it, facilitating its removal. Since instrument 20 cannot be retracted into the second sleeve when bent, it needs to be straightened before removal. The specific order of removing and adjusting the attitude of instrument 20 can be simultaneous, or it can be moving instrument 20 first and then adjusting its attitude, or adjusting its attitude first and then removing it. These actions can be performed simultaneously or separately, without limitation, as long as instrument 20 is removed without colliding with the second conduit 14 during the removal process.

[0087] For example, such as Figure 10 As shown, multiple instrument channels 140 can be opened on the second conduit 14, allowing multiple instruments 20 to pass through simultaneously. This enables multiple instruments 20 to enter the target object together and work in coordination. The camera instrument 36 can also enter the target object through the second conduit 14, facilitating the operator to acquire real-time images of the target object's interior. When multiple instruments 20 pass through the second conduit 14 simultaneously, the control mechanism 30 can control the joint positions and postures of each instrument 20 through kinematic calculations to prevent collisions between the instruments 20.

[0088] For example, such as Figure 11 As shown, after the instrument 20 is removed from the target, if a straight second catheter 14 is used, the instrument 20 can be directly pulled out from the second catheter 14.

[0089] For example, such as Figure 12 As shown, after the instrument 20 is removed from the target, if a curved second conduit 14 is used, the joints of the instrument 20 can be adjusted to a free-drive state because the second conduit 14 is flexible. Thus, each joint of the instrument 20 can rotate freely, thereby smoothly pulling the instrument 20 out of the second conduit 14.

[0090] For example, the control mechanism 30 is preset with a preset posture that prevents the instrument 20 from touching the second catheter 14. The instrument 20 is controlled to continue moving only when its current posture reaches the preset posture.

[0091] Specifically, the control mechanism 30 comprehensively predicts the total removal time of the target object based on the position and posture of the instrument 20. Then, based on the time consumed by the instrument 20 and the total removal time, it determines the removal progress of the instrument 20. This allows the operator to accurately grasp the removal progress of the instrument 20, facilitates the operator's planning of the operation time, and allows the operator to adjust the operation process or prepare for the next operation based on the removal progress of the instrument 20.

[0092] For example, the total removal time of device 20 is predicted using the following interaction model:

[0093]

[0094] Where T is the total removal time of device 20, and X i For the state of the i-th factor (e.g., the current position of device 20, the current posture of actuator 21 of device 20, the current posture of joint of device 20), β i The time required for the state corresponding to the i-th factor to return to the initial state (e.g., the time required for device 20 to move out of its current position, the time required for actuator 21 of device 20 to return to its initial position from its current position, and the time required for joint of device 20 to return to its initial position from its current position) is the base time (e.g., the time required from the issuance of the command to exit device 20 to the actual response of device 20).

[0095] For example, if the interaction between two factors is considered (e.g., when device 20 is removed, the joint of device 20 also straightens simultaneously), the total removal time of device 20 can be predicted using the following interaction model:

[0096]

[0097] Where T is the total removal time of device 20, and X i For the state of the i-th factor (e.g., the current position of device 20, the current posture of actuator 21 of device 20, the current posture of joint of device 20), βi For the time required for the state corresponding to the i-th factor to return to the initial state (e.g., the time required for device 20 to move out of its current position, the time required for actuator 21 of device 20 to return to its initial position from its current posture, the time required for joint of device 20 to return to its initial position from its current posture), t is the base time (e.g., the time required from the issuance of the command to exit device 20 to the actual response of device 20), X i X j For the interaction state between the i-th factor and the j-th factor (e.g., when device 20 is simultaneously removed and the joint of device 20 is returning to its original position), γ i,j The time required for the interaction state corresponding to the i-th factor and the j-th factor to return to the initial state (e.g., the time required for device 20 to be removed and for the joint of device 20 to straighten simultaneously).

[0098] Since the interaction of multiple factors of device 20 (e.g., device 20 being removed simultaneously and the joint of device 20 returning to its original position) reduces the total removal time of device 20, the time required for each factor of device 20 to be removed can be calculated separately, and then the time required for the interaction of multiple factors of device 20 can be subtracted. This is the meaning represented by the ± sign in the above formula.

[0099] Similarly, considering the interaction between the three factors, the total removal time of device 20 can be predicted using the following interaction model:

[0100]

[0101] Where T is the total removal time of device 20, and X i For the state of the i-th factor (e.g., the current position of device 20, the current posture of actuator 21 of device 20, the current posture of joint of device 20), β i For the time required for the state corresponding to the i-th factor to return to the initial state (e.g., the time required for device 20 to move out of its current position, the time required for actuator 21 of device 20 to return to its initial position from its current posture, the time required for joint of device 20 to return to its initial position from its current posture), t is the base time (e.g., the time required from the issuance of the command to exit device 20 to the actual response of device 20), X i X j For the interaction state between the i-th factor and the j-th factor (e.g., when device 20 is simultaneously removed and the joint of device 20 is returning to its original position), γ i,j X represents the time required for the interaction state corresponding to the i-th factor and the j-th factor to return to the initial state (e.g., the time required for device 20 to be removed simultaneously and for the joint of device 20 to straighten). i X j X k Let δ represent the interaction state of the i-th factor, the j-th factor, and the k-th factor.i,j,k The time required for the interaction states corresponding to the i-th factor, j-th factor, and k-th factor to return to the initial state.

[0102] Similarly, if we consider the interactions between more factors, we can expand the prediction in this way. The more interactive factors we consider, the more accurate the predicted total removal time will be.

[0103] Normalizing the above formula, we can obtain the following linear interaction model:

[0104] T=β1X1+β2X2±β3X1X2+t

[0105] Where T is the total removal time of device 20, X1 is the state of the first factor, β1 is the time required for the state of the first factor to return to the initial state, X2 is the state of the second factor, β2 is the time required for the state of the second factor to return to the initial state, X1X2 is the state of interaction between the first and second factors, β3 is the time required for the state of interaction between the first and second factors to return to the initial state, and t is the base time.

[0106] In this context, the states corresponding to various factors of the device 20 are quantifiable. For example, when the joint of the device 20 has a bending angle of 0, the corresponding coefficient is recorded as 0; when the joint of the device 20 has a maximum bending angle, the corresponding coefficient is recorded as 1; when the clamp is fully closed, the corresponding coefficient is recorded as 0; and when the clamp is fully open, the corresponding coefficient is recorded as 1. For example, corresponding to the above formula, X1 is the bending angle of the joint of the device 20, β1 is the time required for the joint of the device 20 to return from the current bending angle to the initial angle, X2 is the degree of opening of the clamp of the device 20, β2 is the time required for the clamp of the device 20 to return from the current state to the initial state, X1X2 represents the change in the angle of the joint of the device 20 and the simultaneous change in the degree of opening of the clamp of the device 20, and β3 is the time required for the joint and clamp of the device 20 to change simultaneously and return to the initial state. For the device 20 without clamps, X2 in the above formula is a constant.

[0107] For example, if the base time t is 3 seconds and the clamp is currently fully open, then the clamp opening degree X2 of device 20 is 1, and the corresponding time β2 is 2.5 seconds (which can be obtained through pre-testing by testing the time required for the clamp to go from fully open to fully closed). The joint angle X1 of device 20 is 0.5 (if device 20 includes multiple joints, then the joint angle coefficient X1 here refers to the coefficient corresponding to the combined angle of the multiple joints of the device). The corresponding time β1 required for the joint of device 20 to return from the current bending angle to the initial angle is 1 second, and the interaction time of device 20 is 1 second. Then, the total removal time of device 20 can be calculated as T = 0.5*1 + 1*2.5 + 1*0.5*1 + 3 = 6.5 seconds.

[0108] After calculating the total removal time of the device 20, the removal progress of the device 20 can be determined based on the time consumed by the current movement of the device 20 and the total removal time.

[0109] For example, the instrument 20 removal system also includes a display mechanism 40 connected to the control mechanism 30 for displaying the removal progress of the instrument 20. Thus, after the control mechanism 30 determines the removal progress of the instrument 20, it can be displayed on the display mechanism 40, allowing the operator to monitor the removal progress in real time.

[0110] In this embodiment, by accurately calculating the removal progress of the instrument 20, the operator can accurately grasp the removal progress of the instrument 20, which facilitates the operator's planning of the operation time, and allows the operator to adjust the operation process or prepare for the next operation based on the removal progress of the instrument 20.

[0111] In one embodiment, the control mechanism 30 is further configured to control the device 20 to stop moving when the current position of the device 20 reaches the first boundary position 100, and to obtain a second user instruction, and determine whether to control the device 20 to move out of the target object according to the second user instruction.

[0112] In this embodiment, when the device 20 reaches the first boundary position 100, the control mechanism 30 controls the device 20 to stop moving, that is, temporarily restricts the device 20 from continuing to move. Then, it obtains the second user instruction and determines whether to control the device 20 to move out of the target based on the second user instruction. Thus, when the device 20 reaches the first boundary position 100, it obtains the user instruction again to determine whether the operator's true intention is to require the device 20 to exit, or whether the device 20 accidentally reached the first boundary position 100 due to misoperation. By confirming with the operator a second time, the exit process of the device 20 is avoided from being accidentally started when the boundary is reached due to misoperation.

[0113] In one embodiment, the control mechanism 30 is further configured to control the translation of the mobile end 12 and the posture change of the device 20 so that the device 20 moves out of the target object when the distance between the current position of the device 20 and the first boundary position 100 is less than a set value and the duration exceeds a set duration.

[0114] In one embodiment, if the device 20 has not reached the first boundary position 100, but the distance between the current position of the device 20 and the first boundary position 100 is less than a set value, and the duration exceeds a set time, then the device 20 is determined to be idle, and the exit process of the device 20 will be triggered to exit the device 20. This avoids the device 20 from being idle. When the device 20 is identified as idle and located in a non-working area (the distance between the current position of the device 20 and the first boundary position 100 is less than a set value), the device 20 is controlled to exit.

[0115] For example, the operator can also issue an exit command to the control mechanism 30 to directly control the device 20 to enter the exit process, without having to meet the above conditions.

[0116] In one embodiment, the control mechanism 30 is further configured to, during the process of controlling the translation mechanism 10 to move the instrument 20 out of the target, if a third user instruction is received, control the translation mechanism 10 to make the instrument 20 perform translational movement along a preset path according to the third user instruction.

[0117] Specifically, when the device 20 performs translational movement along a preset path according to the instructions of a third user, the posture of the device 20 (including the state of the actuator at the foremost end of the device 20 and the bending angles of each joint of the device) is automatically adjusted by the control mechanism 30. The control mechanism 30 has preset postures corresponding to each position point of the device 20 on the preset path during the exit process (for example, it is preset that at a certain position during the exit process, the opening angle of the actuator of the device 20 should be less than 30°, the joint angle should be less than 20°, etc.). Therefore, when the device 20 is manually intervened to perform translational movement, the posture of the device 20 will also be automatically adjusted according to the position of the translational movement.

[0118] In this embodiment, when the control mechanism 30 controls the translation mechanism 10 to move the instrument 20 out of the target, the operator can intervene in the exit process of the instrument 20. Thus, the operator can intervene in the exit process of the instrument 20 at any time through third user instructions, thereby avoiding collision with the tissue of the target when the instrument 20 exits. Furthermore, the safety of the instrument 20 during exit is improved through manual intervention.

[0119] In one embodiment, such as Figure 13As shown, a device limiting method is provided, in which the device is used to perform translational movement along a preset path to enter or move out of an object. The method includes:

[0120] Step S100: Receive a first user instruction to control the device to move along a preset path.

[0121] Step S110: Obtain the current position of the instrument.

[0122] Step S120: When the current position of the device is within a set segment on the preset path and the movement direction of the device is the set direction, a preset feedback force is applied to the operating component to prevent the device from continuing to move along the set direction.

[0123] In this embodiment, a first user instruction is received, and the device is controlled to move according to the first user instruction, thereby enabling the operator to control the movement of the device. The current position of the device is obtained. When the current position of the device is within a predetermined segment of a preset path and the movement direction of the device is a predetermined direction, a preset feedback force is applied to the device to prevent the device from continuing to move in the predetermined direction. This allows the operator to identify the position of the device and, based on the device's position and movement direction, apply a feedback force to the device. This feedback force not only informs the operator of the device's position but also hinders its movement, thus preventing operator errors that could cause the device to move too far and injure the patient.

[0124] In one embodiment, such as Figure 14 As shown, a first boundary position, a first feedback position, a second feedback position, and a second boundary position are sequentially set along the movement path of the instrument near the target. The defined path segments include the segment between the first boundary position and the first feedback position, and the segment between the second feedback position and the second boundary position. The defined direction is either a first direction or a second direction. The instrument limiting method also includes:

[0125] Step S200: When the device moves in the first direction and is located between the first feedback position and the first boundary position, a first preset feedback force is applied to the device to prevent the device from moving in the first direction.

[0126] Specifically, the first boundary position, the first feedback position, the second feedback position, and the second boundary position are all set according to the actual position that the instrument needs to reach during use. This sets different paths for the instrument's travel throughout the entire surgical process, thereby constraining the movement of the instrument and preventing it from entering the target too deeply and causing damage to the target's tissue, or from moving the instrument too far away from the target, which would prevent the doctor from operating the instrument to perform actions on the target.

[0127] Step S220: When the instrument moves in the second direction and is located between the second feedback position and the second boundary position, a second preset feedback force is applied to the instrument to prevent the instrument from moving in the second direction. The first direction and the second direction are opposite, and the first direction is the direction that moves the instrument away from the object.

[0128] Specifically, when the device is between the first feedback position and the first boundary position, it means that the device has entered the preset set section. Then, the first preset feedback force is applied to the operating component. Since the operating component moves to a third direction, the device will move to the first direction. Thus, the first preset feedback force is applied to the operating component to prevent the operating component from moving to a third direction, which is equivalent to preventing the device from moving to the first direction. This serves to prompt the operator and reduce the possibility of the device moving too far away from the target.

[0129] Specifically, when the device is located between the second feedback position and the second boundary position, it means that the device has entered the preset set section. Then, the second preset feedback force is applied to the operating component. Since the operating component moves in the fourth direction, the device will move in the second direction. Thus, the second preset feedback force is applied to the operating component to prevent the operating component from moving further in the fourth direction, which is equivalent to preventing the device from moving further in the second direction. This serves to prompt the operator and reduce the situation where the device enters the target object too far.

[0130] For example, the first preset feedback force and the second preset feedback force are in opposite directions, and their magnitudes may be the same or different.

[0131] Optionally, the magnitude of the first preset feedback force is negatively correlated with the distance between the instrument and the first boundary position. The magnitude of the second preset feedback force is negatively correlated with the distance between the instrument and the second boundary position. Therefore, the closer the instrument is to the first boundary position, the greater the first preset feedback force, and the stronger the resistance to instrument movement; conversely, the closer the instrument is to the second boundary position, the greater the second preset feedback force, and the stronger the resistance to instrument movement. This allows the operator to perceive the instrument's position and determine whether the instrument is about to reach the boundary position based on the strength of the feedback force.

[0132] In this embodiment, by applying a feedback force to the operating component, the operator is prompted, enabling the operator to determine the position of the device and avoid injury to the patient. The feedback force can also limit the movement of the device, preventing it from moving to an unexpected position and causing injury to the patient.

[0133] In one embodiment, such as Figure 15 As shown, the instrument limiting method also includes:

[0134] Step S300: Obtain the current attitude of the instrument.

[0135] Step S310: When the current position of the instrument reaches the first boundary position, control the instrument to move out of the target.

[0136] Specifically, when the instrument reaches the first boundary position, the instrument exit operation is automatically triggered. The control mechanism controls the moving end of the translation mechanism to translate so that the instrument can move out of the target. At the same time, since the posture of the instrument after the work is just finished may not be convenient for direct removal, the control mechanism controls the posture of the instrument to change so that the instrument can be smoothly removed from the target.

[0137] Step S320: Predict the total removal time of the instrument from the target object based on the instrument's current position and current posture.

[0138] Step S330: Determine the removal progress of the device based on the time consumed by the current moving device and the total removal time.

[0139] Specifically, the control mechanism comprehensively predicts the total removal time of the target object based on the position and posture of the instrument. Then, based on the time consumed by the current instrument movement and the total removal time, it determines the removal progress of the instrument. This allows the operator to accurately grasp the removal progress of the instrument, facilitates the operator's planning of the operation time, and allows the operator to adjust the operation process or prepare for the next operation based on the removal progress of the instrument.

[0140] In this embodiment, by accurately calculating the removal progress of the instruments, the operator can accurately grasp the removal progress of the instruments, which facilitates the operator's planning of the operation time, and allows the operator to adjust the operation process or prepare for the next operation based on the removal progress of the instruments.

[0141] In one embodiment, such as Figure 16 As shown, step S310, when the current position of the instrument reaches the first boundary position, controls the instrument to move out of the target object, including:

[0142] Step S400: Obtain the current attitude of the instrument.

[0143] Step S410: When the current posture of the device has not reached the preset posture, control the device to stop moving.

[0144] Step S420: When the current posture of the instrument reaches the preset posture, control the instrument to move out of the target object.

[0145] For example, the control mechanism is preset with a pre-defined posture that prevents the instrument from touching the second conduit. The instrument is only controlled to continue moving when its current posture reaches the preset posture. This avoids the instrument colliding with the second conduit during movement because it has not reached the preset posture (for example, if the bending angle of the instrument joint is too large, it cannot be inserted into the second conduit).

[0146] In this embodiment, by setting a preset posture for the instrument, it can only move to remove the target when it reaches the preset posture, thereby avoiding the instrument from moving out when it is in a bent state and colliding with the tissue or catheter, thus preventing damage to the tissue or catheter.

[0147] It should be understood that, although Figures 13-16 The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order in which these steps are executed, and they can be performed in other orders. Figures 13-16 At least some of the steps in the process may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but may be executed at different times. The execution order of these steps or stages is not necessarily sequential, but may be executed in turn or alternately with other steps or at least some of the steps or stages in other steps.

[0148] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the methods described above. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, or optical storage, etc. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0149] In the description of this specification, references to terms such as "some embodiments," "other embodiments," and "ideal embodiments" indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative descriptions of the above terms do not necessarily refer to the same embodiments or examples.

[0150] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0151] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. An instrument positioning system, comprising: The utility model relates to a kind of medical instrument, including: Translation mechanism, including mobile end and fixed end, the fixed end is provided with slide rail, the mobile end slides in the slide rail, the mobile end is provided with instrument, wherein, the mobile end is used to carry out translational motion along preset path; Control mechanism is electrically connected with the translation mechanism and the instrument respectively, for receiving first user instruction to control the mobile end moves on the preset path, and obtains the current position of the instrument, when the current position of the instrument is located in the set road section on the preset path and the moving direction of the instrument is set direction, to the instrument applies preset feedback force, to hinder the instrument continues to move along the set direction, the set direction is first direction or second direction; The control mechanism includes: operating assembly, connected with the translation mechanism, for receiving the first user instruction to control the mobile end translates on the preset path along the first direction or translates on the preset path along the second direction, wherein, the first direction and the second direction are opposite, and the first direction is the direction of making the instrument away from action object, and the first user instruction includes moving operating assembly to the third direction to make the mobile end translate along the first direction or moving the operating assembly to the fourth direction to make the mobile end translate along the second direction.

2. The system of claim 1, wherein, The moving path of the instrument close to action object is sequentially provided with first boundary position, first feedback position, second feedback position, second boundary position, wherein, the set road section includes the road section between first boundary position and the first feedback position and the road section between the second feedback position and the second boundary position.

3. The system of claim 2, wherein, The control mechanism further includes: Feedback assembly, connected with the operating assembly, for when the instrument moves to the first direction and is located between the first feedback position and the first boundary position, first preset feedback force is applied to the operating assembly to hinder the operating assembly moves to the third direction;When the instrument moves to the second direction and is located between the second feedback position and the second boundary position, second preset feedback force is applied to the operating assembly to hinder the operating assembly moves to the fourth direction.

4. The system of claim 3, wherein, The size of the first preset feedback force is negatively related to the distance between the instrument and the first boundary position; The size of the second preset feedback force is negatively related to the distance between the instrument and the second boundary position.

5. The system of claim 1, wherein, The control mechanism is also used to obtain the current position and current posture of the instrument, when the current position of the instrument reaches first boundary position, the mobile end is translated and the posture of the instrument is controlled to change to make the instrument move out of action object, and according to the current position and current posture of the instrument, the total moving-out time of the instrument moving out of the action object is predicted, and according to the time consumed by the current movement of the instrument and the total moving-out time, the moving-out progress of the instrument is determined.

6. The system of claim 5, wherein, The control mechanism is further configured to control the instrument to stop moving when the current position of the instrument reaches a first boundary position, and to obtain a second user instruction, and determine whether to control the instrument to move out of the target object according to the second user instruction.

7. The system of claim 5, wherein, The control mechanism is further configured to control the translation of the mobile terminal and the change of the posture of the instrument to move the instrument out of the target object when the distance between the current position of the instrument and the first boundary position is less than a set value and the duration exceeds a set time length.

8. The system according to any of claims 5-7, characterized in that, The control mechanism is further configured to, during the control of the translation mechanism to move the instrument out of the target object, control the translation mechanism to move the instrument along a preset path according to a third user instruction if the third user instruction is received.

9. The system according to any of claims 5-7, characterized in that, The system further comprises a display mechanism connected to the control mechanism, configured to display the moving-out progress of the instrument.

10. The system of any one of claims 1-7, wherein, The system further comprises a catheter, and the instrument is inserted into the catheter to enter the target object.

11. The system according to any one of claims 1-7, characterized in that, The instrument comprises a frontmost executor and a plurality of joints connected to the executor.

12. The system of claim 1, wherein, The instrument is arranged on the mobile terminal, and the front end of the instrument is inserted into a first catheter on the mobile terminal to enter the inside of the target object through a second catheter at the front end of the translation mechanism.

13. The system of claim 12, wherein, A plurality of instrument channels are arranged on the second catheter, and when a plurality of instruments pass through the second catheter at the same time, the control mechanism controls the joint positions of the instruments and the postures of the instruments through kinematic calculation.

14. The system of claim 1, wherein, The translation mechanism is fixed on a mechanical arm of a trolley, and the trolley is in communication connection with the control mechanism.

15. The system of claim 1, wherein, The translation mechanism further comprises a fixed end, and a slide rail is arranged on the fixed end, and the mobile terminal slides in the slide rail.

16. The system of claim 1, wherein, The instrument limiting system further comprises an image trolley, and a camera instrument is arranged on the image trolley to obtain images in the surgery.

Images