An intervention robot slave

Abstract

The embodiment of the application belongs to the technical field of medical instrument equipment, and relates to a trailing end of an interventional robot, which is used for delivering an elongated medical instrument, the elongated medical instrument comprising a guide wire and at least two catheters, the latter catheter being at least partially arranged in the former catheter, and the guide wire being partially arranged in the latter catheter; wherein the trailing end of the interventional robot comprises a driving device, a power device, a sensing device and a control device, the driving device, the power device and the sensing device are connected with the control device, and in an initial state, any catheter is clamped on two adjacent driving devices in a curved state. The technical scheme provided by the application can shorten the distance between adjacent driving devices through the curved arrangement of the catheter, reduce the overall size of the equipment, reduce the product cost, and be beneficial to product installation.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and more specifically, to an interventional robot from the end. Background Technology

[0002] Interventional robots primarily employ a master-slave operation structure. The master end is the operating end, and the slave end is the execution end. The master and slave ends are connected via a control device. The operator performs operations on the master end, while the control device on the slave end receives the operation information and drives the movement of the slender medical device on the slave end.

[0003] In existing interventional robots, when delivering catheters from the end, two drive units clamp the two ends of the catheter, respectively. By controlling the coordinated movement of the two drive units, the catheter is pushed or retracted. Because the catheter remains straight throughout the delivery process, a space equal to the length of the catheter needs to be reserved between the two drive units. This results in a long overall length at the end and a large space occupation. This problem is particularly pronounced when delivering multiple catheters, as more drive units are required. This not only increases product cost but also hinders product installation. Summary of the Invention

[0004] The technical problem to be solved by the embodiments of this application is that the existing interventional robots have a long overall length and occupy a large space, which not only increases the product cost, but also makes the product installation difficult.

[0005] To address the aforementioned technical problems, this application provides an intervention robot slave end, employing the following technical solution:

[0006] An interventional robot is provided for delivering an elongated medical device, the elongated medical device including a guidewire and at least two catheters, wherein the latter catheter is at least partially inserted into the former catheter, and the guidewire is partially inserted into the latter catheter.

[0007] The interventional robot slave end includes: a drive device, a power device, a sensing device, and a control device;

[0008] The power unit is used to drive the drive unit to move along the axial direction of the elongated medical device;

[0009] The driving device is used to drive the slender medical device to move axially;

[0010] The sensing device is used to detect the clamping status of the slender medical device;

[0011] The drive device, the power device, and the sensing device are all connected to the control device;

[0012] The elongated medical device includes a guidewire and at least two catheters, wherein at least a portion of the latter catheter is inserted into the former catheter, and the guidewire is partially inserted into the latter catheter.

[0013] In the initial state, any one of the catheters is held in a bent position on the two adjacent drive devices.

[0014] During operation, the control device controls the drive device to start, driving the corresponding catheter and guidewire to move axially; when the sensing device detects that a catheter in a bent state is straightened, the control device controls the power device to start, and the power device drives the drive devices clamping the same catheter to move in coordination, so that the catheters clamped by the two adjacent drive devices remain straight; or, when the sensing device detects that any of the catheters are straightened, the control device controls the power device to start, and the power device drives the corresponding drive devices to move in coordination, so that any of the catheters remains straight.

[0015] Furthermore, during operation, when any of the catheters is in a straightened state, the control device controls the drive device to start, driving the straightened catheter to rotate.

[0016] Furthermore, the intervention robot also includes a detection device at the slave end, which is used to detect the distance between two adjacent drive devices. The detection device is connected to the control device. When the detection device detects that the distance between two adjacent drive devices is a set distance, the control device controls the power device that drives the corresponding drive device to stop.

[0017] Furthermore, the catheters are referred to as the first catheter and the second catheter, the second catheter being inserted into the first catheter, and the guidewire being inserted into both the first catheter and the second catheter;

[0018] The driving device includes a front-end driving device, a first push driving device, and a second push driving device; the power device includes a first power source and a second power source; the sensing device includes a first sensing component and a second sensing component.

[0019] In the initial state, the first conduit is bent and clamped between the front end drive device and the first push drive device, and the second conduit is bent and clamped between the first push drive device and the second push drive device.

[0020] During operation, the control device controls the front-end drive device to start, driving the first catheter, the second catheter located inside the first catheter, and the guidewire to be delivered together until they reach a first set position; wherein, the first set position is the position where the first sensing component detects that the first catheter is in a straightened state;

[0021] The control device controls the first power source to start, the first power source drives the first push drive device to move towards the front drive device, the front drive device and the first push drive device work together to deliver the first catheter and the second catheter and the guide wire located in the first catheter until they reach the second set position, the control device controls the first push drive device and the first power source to stop; wherein, the second set position is the position of the first push drive device at a set distance from the front drive device.

[0022] Furthermore, the control device controls the first push drive device and the second power source to start, for individually delivering the second conduit;

[0023] When the second catheter is delivered alone, the control device controls the first push drive device to start, driving the second catheter to be delivered. The second catheter is delivered inside the first catheter until it reaches a third set position; wherein, the third set position is the position where the second sensing component detects that the second catheter is in a straightened state;

[0024] The control device controls the second power source to start, and the second power source drives the second push drive device to move closer to the first push drive device. The first push drive device and the second push drive device work together to deliver the second catheter and the guide wire until they reach the fourth set position. The control device then controls the second power source to stop. The fourth set position is the position where the detection device detects the second push drive device at a set distance from the first push drive device.

[0025] Furthermore, during the delivery of the first catheter, the control device controls the second sensing component to detect the current state of the second catheter;

[0026] If the second sensing component detects that the second catheter is in a straightened state, the control device controls the second power source to start, and the second power source drives the second push drive device to move closer to the first push drive device. The first push drive device and the second push drive device work together to deliver the second catheter and the guide wire until they reach the fourth set position, and the control device controls the second power source to stop. The fourth set position is the position where the detection device detects the second push drive device at a set distance from the first push drive device.

[0027] Furthermore, when the front-end drive device is activated, the control device controls the first push drive device to drive the second conduit to move away from the front-end drive device.

[0028] Furthermore, the driving device also includes a guidewire control mechanism. When the guidewire is controlled independently, the control device controls the guidewire control mechanism to start, driving the guidewire to deliver and / or rotate.

[0029] Alternatively, when delivering the first catheter and / or the second catheter, the guidewire control mechanism drives the guidewire to move away from the front-end drive device.

[0030] Furthermore, the first sensing component includes a torque sensor;

[0031] The control device controls the torque sensor to detect the tension force on the front-end drive device in real time. If the torque sensor detects an increase in tension force, it determines that the first conduit is in a straightened state.

[0032] or,

[0033] The first sensing component includes a first pressure sensor installed in the front-end drive device and a second pressure sensor installed in the first push drive device;

[0034] The control device controls the first pressure sensor to detect the delivery force exerted by the front-end drive device on the first catheter, and controls the second pressure sensor to detect the delivery force exerted by the first push drive device on the first catheter.

[0035] If both the first pressure sensor and the second pressure sensor detect a change in the delivery force, it is determined that the first conduit is in a straightened state.

[0036] Furthermore, the second sensing component includes a torque sensor;

[0037] The control device controls the torque sensor to detect the tension force on the first push drive device in real time. If the torque sensor detects an increase in tension force, it determines that the second conduit is in a straightened state.

[0038] or,

[0039] The second sensing component includes a third pressure sensor installed in the first push drive device and a fourth pressure sensor installed in the second push drive device;

[0040] The control device controls the third pressure sensor to detect the delivery force exerted by the first push drive device on the second catheter, and controls the fourth pressure sensor to detect the delivery force exerted by the second push drive device on the second catheter. When both the third and fourth pressure sensors detect a change in the delivery force, it is determined that the second catheter is in a straightened state.

[0041] Compared with the prior art, the embodiments of this application have the following main advantages:

[0042] The interventional robot provided in this application allows any catheter to be bent and clamped on two adjacent drive devices in the initial state, thereby effectively shortening the distance between the two adjacent drive devices. This not only meets the need to deliver multiple catheters, but also reduces the overall length of the device and the space occupied by the device, thus achieving miniaturization and low cost of the device.

[0043] Through the coordinated action of the drive device, power device, and sensing device, the conduit is delivered from a bent state to a straightened state, and the coordinated pushing action is performed only after the conduit is straightened, thus delivering the conduit to the target position. In addition, the coordinated pushing action is initiated immediately after the sensing device ensures that the conduit is straightened, which prevents the conduit from being pulled apart, eliminates the safety hazards of the equipment, and improves the safety factor of the equipment operation.

[0044] Through the coordinated action of the drive device and the power device, the subsequent catheter moves within the previous catheter and the guidewire moves within the catheter, thereby realizing the continuous delivery of catheters and guidewires from the end of the interventional robot. Attached Figure Description

[0045] To more clearly illustrate the solution of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0046] Figure 1 This is a structural schematic diagram of an embodiment of this application;

[0047] Figure 2 This is a schematic diagram of the structure from another perspective of an embodiment of this application;

[0048] Figure 3 This is a schematic diagram of the structure of the front-end driver device according to an embodiment of this application;

[0049] Figure 4 This is a schematic diagram of the guidewire rotation assembly of this application;

[0050] Figures 5a-5e This is a schematic diagram illustrating the changes in the various stages of the tubular wire delivery process in this application;

[0051] Figure 6 This is a schematic diagram of the structure of the front-end driving device and the first push driving device according to another embodiment of this application;

[0052] Figure 7 This is a flowchart of a delivery method according to an embodiment of this application;

[0053] Figure 8 yes Figure 7 A flowchart of a specific implementation of step S101;

[0054] Figure 9 yes Figure 7 A flowchart of a specific implementation of step S103;

[0055] Figure 10 yes Figure 7 A flowchart of another specific implementation of step S101;

[0056] Figure 11 yes Figure 7 A flowchart of another specific implementation of step S103.

[0057] Figure label:

[0058] 1. Front-end drive device; 11. First delivery mechanism; 111. Drive wheel assembly; 112. Pressure wheel assembly; 113. Torque sensor; 114. First contact plate; 12. First pressure sensor; 2. First push drive device; 21. First rotation mechanism; 211. Second contact plate; 22. Second delivery mechanism; 23. Second pressure sensor; 3. Second push drive device; 31. Second rotation mechanism; 32. Guide wire delivery mechanism; 33. Guide wire rotation mechanism; 331. Torque controller; 332. Transmission component; 4. Power device; 41. First power source; 42. Second power source; 5. Frame; 51. Guide device; 52. Detection device; 521. Magnetic scale; 522. First magnetic head; 523. Second magnetic head; 61. First guide tube; 62. Second guide tube; 63. Guide wire. Detailed Implementation

[0059] 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 in the specification of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having," and any variations thereof, in the specification, claims, and foregoing drawings of this application are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the specification, claims, or foregoing drawings of this application are used to distinguish different objects, not to describe a particular order.

[0060] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0061] Embodiment 1 of the intervention robot at the end of this application

[0062] This application relates to an interventional robot for delivering a slender medical device, the slender medical device comprising a guidewire and at least two catheters, wherein at least a portion of the latter catheter is inserted into the former catheter, and the guidewire is partially inserted into the latter catheter.

[0063] The intervention robot slave end includes: a drive device, a power device, a sensing device, and a control device.

[0064] The power unit is used to drive the drive device to move along the axial direction of the slender medical device; the drive device is used to drive the slender medical device to move along the axial direction; the sensing device is used to detect the clamping state of the slender medical device; the drive device, the power unit, and the sensing device are all connected to the control device.

[0065] In the initial state, any one of the catheters is held in a bent position on the two adjacent drive devices.

[0066] During operation, the control device controls the drive device to start, driving the corresponding catheter and guidewire to move axially; when the sensing device detects that a catheter in a bent state is straightened, the control device controls the power device to start, and the power device drives the drive devices clamping the same catheter to move in coordination, so that the catheters clamped by the two adjacent drive devices remain straight; or, when the sensing device detects that any of the catheters are straightened, the control device controls the power device to start, and the power device drives the corresponding drive devices to move in coordination, so that any of the catheters remains straight.

[0067] The intervention robot also includes a detection device at the slave end, which is used to detect the distance between two adjacent drive devices. The detection device is connected to the control device. When the detection device detects that the distance between two adjacent drive devices is a set distance, the control device controls the power device that drives the corresponding drive device to stop.

[0068] In this embodiment, in the initial state, any catheter is bent and clamped on two adjacent drive devices, thereby effectively shortening the distance between the two adjacent drive devices. This satisfies the need to deliver multiple catheters, reduces the overall length of the device, and minimizes the space occupied by the device, achieving miniaturization and cost reduction. Through the coordinated action of the drive device, power device, and sensing device, the catheter is delivered from a bent state to a straightened state, and the coordinated pushing action is performed after the catheter is straightened to complete the delivery of the catheter to the target position. In addition, the coordinated pushing action is initiated immediately after the catheter is straightened by the sensing device to avoid the catheter being broken, eliminate the safety hazards of the device, and improve the safety factor of the device operation. Through the coordinated action of the drive device and power device, the movement of the next catheter within the previous catheter and the movement of the guidewire within the catheter are controlled, thereby realizing the continuous delivery of catheters and guidewires from the end of the intervention robot.

[0069] During operation, when any of the catheters is in a straightened state, the control device controls the drive device to start, driving the straightened catheter to rotate. By rotating the catheter, the pushing posture of the catheter is adjusted to improve the delivery accuracy of the catheter. In this embodiment, after the catheter is in a straightened state, the control device freely selects the actions of pushing, rotating, and rotating pushing according to the posture of the catheter.

[0070] Please see Figure 1 , Figure 2As shown, in this embodiment, the driving device includes a front-end driving device 1, a first push driving device 2 and a second push driving device 3, the power device 4 includes a first power source 41 and a second power source 42, and the sensing device includes a first sensing component and a second sensing component.

[0071] The catheters are designated as first catheter 61 and second catheter 62. The second catheter 62 is inserted into the first catheter 61, and the guidewire 63 is inserted into the first catheter 61 and the second catheter 62.

[0072] In the initial state, the first conduit 61 is bent and clamped between the front-end driving device 1 and the first pushing driving device 2, and the second conduit 62 is bent and clamped between the first pushing driving device 2 and the second pushing driving device 3. In this embodiment, the outer diameter of the second conduit 62 is smaller than the inner diameter of the first conduit 61. The second conduit 62 is inserted into the first conduit 61, and the guide wire 63 is inserted into the first conduit 61 and the second conduit 62. The guide wire 63 is clamped in the second pushing driving device 3 and its tail is bent 180°. Figure 5a As shown. In other embodiments, the tail bending angle of the guidewire 63 can also be 90° to 180° to reduce the space at the rear end of the intervention robot. Of course, in other embodiments, when space permits, the tail of the guidewire 63 can also be set in a straight line, that is, coincident with the delivery path of the guidewire 63, which helps to reduce the waste of the guidewire 63.

[0073] In this embodiment, the intervention robot also includes a frame 5, on which a guide device 51 and a detection device 52 are provided.

[0074] The front-end drive device 1 is mounted on the frame 5 and is used to control the delivery of the first catheter 61. In this embodiment, the front-end drive device 1 includes a first delivery mechanism 11, which is used to control the joint delivery of the first catheter 61, the second catheter 62 and the guide wire 63 built into the first catheter 61.

[0075] The first power source 41 is movably mounted on the guide device 51, and the first push drive device 2 is mounted on the first power source 41. The first power source 41 controls the first push drive device 2 to move closer to or away from the front-end drive device 1 along the guide device 51. The first push drive device 2 is used to control the rotation of the first catheter 61 and the delivery of the second catheter 62. In this embodiment, the first push drive device 2 includes a first rotation mechanism 21 and a second delivery mechanism 22. The first rotation mechanism 21 is used to clamp the end of the first catheter 61 and control the rotation of the first catheter 61. When the first catheter 61 is in a straightened state, the first rotation mechanism 21 can control the rotation of the first catheter 61 to adjust the delivery posture of the first catheter 61. The second delivery mechanism 22 is used to control the joint delivery of the second catheter 62 and the guide wire 63 built into the second catheter 62.

[0076] The second power source 42 is movably mounted on the guide device 51, and the second pushing drive device 3 is mounted on the second power source 42. The second power source 42 controls the second pushing drive device 3 to move closer to or away from the first pushing drive device 2 along the guide device 51. The second pushing drive device 3 is used to control the rotation of the second catheter 62 and the delivery of the guide wire 63. In this embodiment, the second pushing drive device 3 includes a second rotating mechanism 31 and a guide wire delivery mechanism 32. The second rotating mechanism 31 is used to clamp the end of the second catheter 62. The second rotating mechanism 31 controls the rotation of the second catheter 62. When the second catheter 62 is in a straightened state, the second rotating mechanism 31 can control the rotation of the second catheter 62 to adjust the delivery posture of the second catheter 62. The guidewire delivery mechanism 32 is used to control the delivery of the guidewire 63. In this embodiment, the second pushing drive device 3 also includes a guidewire rotation mechanism 33. After the tail end of the guidewire 63 is bent 180°, the end of the guidewire 63 is clamped in the guidewire rotation mechanism 33. The guidewire rotation mechanism 33 can control the rotation of the guidewire 63 to adjust the delivery posture of the guidewire 63.

[0077] This embodiment of the application reduces the space occupied by the guide wire delivery mechanism 32 and the guide wire rotation mechanism 33 by integrating them onto the second push drive device 3, thereby reducing the space required at the tail end of the guide wire 63 and thus reducing the overall size of the intervention robot. Of course, in other embodiments, the guide wire delivery mechanism 32 and the guide wire rotation mechanism 33 may also be mounted on different drive devices.

[0078] Please see Figure 4As shown, in this embodiment, the guide wire rotation assembly 33 includes a drive member (not shown) and a torque controller 331. The torque controller 331 is equipped with a transmission member 332. The torque controller 331 is installed at the end of the guide wire 63 and is used to clamp the guide wire 63. The power output end of the drive member is connected to the power input end of the transmission member 332 for driving the torque controller 331 to rotate, thereby driving the guide wire 63 to rotate.

[0079] In this embodiment, the transmission component 332 is a gear sleeve with an internal thread, and one end of the torque controller 331 has an external thread. The gear sleeve is fitted onto the torque controller 331 through a threaded fit. The torque controller 331 has a wedge-shaped hollow structure inside, with an inlet and an outlet through which the guide wire 63 passes.

[0080] In this embodiment, the guide wire 63 enters the torque controller 331 from the inlet and exits from the torque controller 331 from the outlet. The transmission member 332 is threadedly fitted onto the threaded end of the torque controller 331, which tightens the wedge-shaped hollow structure inside the torque controller 331 and clamps the guide wire 63. The second driving member drives the transmission member 332 to rotate, which in turn drives the torque controller 331 to rotate as a whole, causing the guide wire 63 to rotate accordingly.

[0081] In this embodiment, the first sensing component is mounted on the front-end driving device 1 and / or the first push driving device 2, and is used to detect the straightening state of the first conduit 61; the second sensing component is mounted on the first push driving device 2 and / or the second push driving device 3, and is used to detect the straightening state of the second conduit 62.

[0082] Please see Figure 2 As shown, in this embodiment, the detection device 52 includes a magnetic scale 521, a first magnetic head 522, and a second magnetic head 523.

[0083] The magnetic scale 521 is mounted on the frame 5 and arranged in parallel with the guide device 51. In this embodiment, the magnetic scale 521 is provided with a first set point (not shown in the figure) and a second set point (not shown in the figure).

[0084] The first magnetic head 522 is mounted on the first push drive device 2 and its sensing end is in contact with the magnetic grating ruler 521, and is used to detect the position of the first push drive device 2.

[0085] The second magnetic head 523 is mounted on the second push drive device 3 and its sensing end is in contact with the magnetic grating ruler 521, and is used to detect the position of the second push drive device 3.

[0086] In other embodiments, the detection device 52 may further include a first photoelectric switch and a second photoelectric switch. The first push drive device 2 and the second push drive device 3 are respectively provided with baffles. The first photoelectric switch is located at a first set point, and the second photoelectric switch is located at a second set point. When the first photoelectric switch detects a signal, it controls the first power source 41 to stop. When the second photoelectric switch detects a signal, it controls the second power source 42 to stop.

[0087] This application embodiment uses a detection device to detect the displacement of the first push drive device 2 and the second push drive device 3, thereby limiting the safe distance between the front drive device 1 and the first push drive device 2, and between the first push drive device 2 and the second push drive device 3. This prevents collisions between the drive devices during delivery, which could damage the equipment and improve the safety factor and service life of the equipment.

[0088] Please see Figure 7 As shown, in this embodiment, when the intervention robot works from the slave end, it specifically includes the following steps:

[0089] S101, the control device controls the front-end drive device to start, driving the first catheter, the second catheter located in the first catheter, and the guidewire to be delivered together until they reach a first set position; wherein, the first set position is the position where the first sensing component detects that the first catheter is in a straightened state.

[0090] Please see Figure 1 As shown, in this embodiment, the first delivery mechanism 11 includes a drive wheel assembly 111 and a pressure wheel assembly 112. The drive wheel assembly 111 includes a first drive member and a drive wheel group. The power output end of the first drive member is connected to the power input end of the drive wheel group. The pressure wheel assembly 112 includes a clamping drive member and a pressure wheel group. The power output end of the clamping drive member is connected to the pressure wheel group and is used to drive the pressure wheel group to move closer to or away from the drive wheel group.

[0091] The clamping drive unit drives the pressure roller assembly to approach the drive wheel assembly, and is used to clamp the first conduit 61 and the second conduit 62 and the guide wire 63 located in the first conduit 61; the first drive unit controls the drive wheel assembly to rotate, and drives the first conduit 61 and the second conduit 62 and the guide wire 63 located in the first conduit 61 to be delivered together until the first conduit 61 reaches the first set position.

[0092] Step S101 is the first stage of the interventional robot's operation from the slave end. In this stage, the first conduit 61 is initially in a bent state. As the front-end drive device 1 continuously delivers the first conduit 61, the degree of bending of the first conduit 61 gradually decreases until the first sensing component detects that the first conduit 61 is in a straightened state. At this point, the first stage of the interventional robot's operation from the slave end ends. Figure 5b As shown, the intervention robot is in the first stage of ending its work at the intervention robot slave end.

[0093] In this embodiment, the first catheter 61 is delivered from a bent state to a straightened state by the intervention robot working from the first stage.

[0094] Please see Figure 3 As shown, in this embodiment, the first sensing component includes a torque sensor 113. The control device controls the torque sensor to detect the tension force on the front-end drive device 1 in real time. If the torque sensor 113 detects an increase in tension force, it determines that the first conduit 61 is in a straightened state. In this embodiment, the torque sensor 113 is installed at the power output end of the first drive component.

[0095] Please see Figure 8 As shown, in this embodiment, the first set position is the position where the first sensing component detects that the first conduit is in a straightened state. The specific determination steps are as follows:

[0096] S201, the control device controls the torque sensor to detect the tension force on the front-end drive device in real time.

[0097] S202, if the torque sensor detects an increase in tension, then the first conduit is in a straightened state.

[0098] This application embodiment uses a first sensing component to detect the straightening state of the first conduit, ensuring that the first conduit is already in a straightened state before the first power source at the interventional robot drives the first pushing drive device to move; in addition, after the first sensing component detects that the first conduit is in a straightened state, the control device immediately controls the first power source to start and drives the first pushing drive device to move, avoiding the first conduit from being broken due to continuous delivery by the first delivery mechanism.

[0099] In other embodiments, the first sensing component includes a first pressure sensor mounted on the front-end drive device and a second pressure sensor mounted on the first push drive device.

[0100] The control device controls the first pressure sensor to detect the delivery force exerted by the front-end drive device on the first catheter, and controls the second pressure sensor to detect the delivery force exerted by the first push drive device on the first catheter. If both the first and second pressure sensors detect a change in the delivery force, the control device determines that the first catheter is in a straightened state. The control device determines whether the first catheter is in a straightened state by detecting the changes and amplitudes of the two pressure sensors.

[0101] S102, the control device controls the first power source to start, the first power source drives the first push drive device to move towards the front drive device, the front drive device and the first push drive device work together to deliver the first catheter and the second catheter and the guide wire located in the first catheter until they reach the second set position, the control device controls the first push drive device and the first power source to stop; wherein, the second set position is the position of the first push drive device at a set distance from the front drive device.

[0102] Please see Figure 1 , Figure 2 As shown, in this embodiment, the first power source 41 drives the first push drive device 2 to approach the front drive device 1. The first rotation mechanism 21 of the first push drive device 2 is connected to the end of the first conduit 61. Under the coordinated delivery of the front drive device 1 and the first power source 41, the end of the first conduit 61, along with the second conduit 62 and the guide wire 63 located within the first conduit 61, moves towards the front drive device 1 until reaching the second set position, that is, the first magnetic head 522 reaches the first set point of the magnetic grating ruler 521. The control device controls the first power source 41 and the front push drive device 1 to stop. At this time, the position of the first push drive device 2 at a set distance from the front drive device 1 is 5cm to 10cm.

[0103] Step S102 is the second stage of the intervention robot's operation from the end. In this stage, the first conduit 61 is kept in a straight state, and the first power source 41 is started. The first power source 41 drives the first push drive device 2 to move towards the front drive device 1. With the coordinated action of the front drive device 1 and the first power source 41, the end of the first conduit 61 moves towards the front drive device 1. When the first magnetic head 522 reaches the first set point, the distance between the first push drive device 2 and the front drive device 1 is 5cm to 10cm, and the second stage of the intervention robot's operation from the end ends.

[0104] In this embodiment, the first conduit 61, which is in a straightened state, is further delivered by the intervention robot in the second stage of its operation. At the same time, when the first sensing device detects that the first conduit 61 is in a straightened state, the first conduit 61 is allowed to rotate. During the delivery process, the control device controls the first rotating mechanism 21 to rotate and adjust the first conduit 61 in the straightened state, so as to adjust the delivery posture of the first conduit 61, avoid damage to the first conduit 61 during the delivery process, and improve the safety factor of the equipment operation.

[0105] In this embodiment, during the second stage of the intervention robot's operation from the end, the first push drive device 2 moves towards the front drive device 1 under the drive of the first power source 41, thereby gradually reducing the bending degree of the second conduit 62.

[0106] S103, during the first catheter delivery process, the control device controls the second sensing component to detect the current state of the second catheter.

[0107] If the second sensing component detects that the second conduit is in a straightened state, such as Figure 5d As shown, proceed to step S104.

[0108] If the detection device detects that the first push drive device has reached the first set point, and the second sensing component does not detect that the second conduit is in a straightened state, then... Figure 5c As shown, the second catheter bending delivery step includes the following steps:

[0109] The control device controls the first push drive device to start, driving the second catheter to be delivered separately. The second catheter is delivered inside the first catheter until it reaches a third set position; wherein, the third set position is the position where the second sensing component detects that the second catheter is in a straightened state.

[0110] Please see Figure 1 As shown, in this embodiment, the structure of the second delivery mechanism 22 is the same as that of the first delivery mechanism 11, both including a drive wheel assembly and a pressure wheel assembly. The drive wheel assembly and the pressure wheel assembly of the second delivery mechanism 22 cooperate to clamp the second conduit 62 and the guide wire 63 located in the second conduit 62, and drive the second conduit 62 and the guide wire 63 located in the second conduit 62 to be delivered together. In this embodiment, the second conduit 62 enters the first conduit 61 under the drive of the second delivery mechanism 22 until the second conduit 62 reaches the third set position.

[0111] The straightening step of the second conduit 62 is the third stage of the interventional robot's operation from the end. In this stage, the second conduit 62 is initially in a bent state. As the second delivery mechanism 22 of the first pushing drive device 2 continuously delivers the second conduit 62, the degree of bending of the second conduit 62 gradually decreases until the second sensing component detects that the second conduit 62 is in a straightened state. The third stage of the interventional robot's operation from the end ends. Figure 5d As shown, when the interventional robot is in the third stage of ending its work, the second catheter 62 is straightened.

[0112] In this embodiment, the second conduit 62 is delivered from a bent state to a straight state through the third stage of the intervention robot's operation. The second conduit 62 is inserted into the first conduit 61. Under the action of the second delivery mechanism 22, the second conduit 62 is delivered into the first conduit 61, realizing continuous delivery of the conduit and reducing the space required by the intervention robot at the end, thus reducing the overall size of the device.

[0113] In this embodiment, the second sensing component is a torque sensor. The control device controls the torque sensor to detect the tension received by the first pushing drive device in real time. If the torque sensor detects an increase in tension, it determines that the second conduit is in a straightened state. In this embodiment, the torque sensor is installed at the power output end of the first drive member of the second delivery mechanism.

[0114] Please see Figure 9 As shown, the second sensing component detects that the second conduit is in a straightened state, specifically including the following steps:

[0115] S301, control the torque sensor to detect the tension force on the first push drive device in real time.

[0116] S302, if the torque sensor detects an increase in tension, then the second conduit is in a straightened state.

[0117] This application embodiment uses a second sensing component to detect the straightening state of the second conduit, ensuring that the second conduit is already in a straightened state before the second power source at the second end of the interventional robot drives the second pushing drive device to move; in addition, after the second sensing component detects that the second conduit is in a straightened state, the control device immediately controls the second power source to start and drives the second pushing drive device to deliver, avoiding the second conduit from being pulled apart due to continuous delivery by the second delivery mechanism.

[0118] In other embodiments, the second sensing component includes a third pressure sensor mounted on the first push drive device and a fourth pressure sensor mounted on the second push drive device;

[0119] The control device controls the third pressure sensor to detect the delivery force exerted by the first push-drive device on the second conduit, and controls the fourth pressure sensor to detect the delivery force exerted by the second push-drive device on the second conduit. If both the third and fourth pressure sensors detect a change in the delivery force, the control device determines that the second conduit is in a straightened state. The control device determines whether the second conduit is in a straightened state by detecting the changes and amplitudes of the two pressure sensors.

[0120] S104, the control device controls the second power source to start, the second power source drives the second push drive device to move closer to the first push drive device, the first push drive device and the second push drive device work together to deliver the second catheter and the guide wire until they reach the fourth set position, the control device controls the second power source to stop; wherein, the fourth set position is the position where the detection device detects the second push drive device at a set distance from the first push drive device.

[0121] Please see Figure 1 , Figure 2 As shown, in this embodiment, the second power source 42 drives the second push drive device 3 to approach the first push drive device 2. The second rotation mechanism 31 of the second push drive device is connected to the end of the second conduit 62. Under the cooperative delivery of the first push drive device 2 and the second power source 42, the end of the second conduit 62 and the guide wire 63 located in the second conduit 62 move towards the first push drive device 2 until they reach the fourth set position, that is, the second magnetic head 523 reaches the second set point of the magnetic grating ruler 521. The control device controls the second power source 41 and the first push drive device 2 to stop. At this time, the second push drive device 3 is positioned at a set distance from the first push drive device 2. In this embodiment, the set distance is 5cm to 10cm.

[0122] Step S104 is the fourth stage of the intervention robot's operation from the slave end. In this stage, the second conduit 62 remains in a straightened state, and the second power source 42 is activated. The second power source 42 drives the second push drive device 3 to move closer to the first push drive device 2. With the coordinated action of the first push drive device 2 and the second power source 42, the end of the second conduit 62 moves closer to the first push drive device 2. When the second magnetic head 523 reaches the second set point, the distance between the second push drive device 3 and the first push drive device 2 is 5cm to 10cm, and the fourth stage of the intervention robot's operation from the slave end ends. Figure 5e As shown.

[0123] In this embodiment, the second conduit 62, which is in a straightened state, is further delivered into the lumen of the first conduit 62 through the fourth stage of the robot's end-operation. Simultaneously, when the second sensing device detects that the second conduit 62 is in a straightened state, the second conduit 62 is allowed to rotate. During the delivery process, the control device controls the second rotating mechanism 31 to rotate and adjust the second conduit 62 in the straightened state, thereby adjusting the delivery posture of the second conduit 62. This avoids damage to the body of the second conduit 62 or the inner wall of the first conduit 61 during delivery, improves the safety factor of the equipment operation, and extends the service life of the first and second conduits.

[0124] In this embodiment, prior to the first stage of the interventional robot's end-effector operation, a step of adjusting the elongated medical device is included, specifically comprising the following steps:

[0125] The first catheter is installed on the end of the interventional robot. One end of the first catheter is clamped to the front drive device, and the other end is connected to the first push drive device. The first catheter located between the front drive device and the first push drive device is in a bent state.

[0126] The second catheter is installed on the end of the interventional robot. One end of the second catheter is clamped on the first push drive device, and the other end is connected to the second push drive device. The front end of the second catheter is inserted into the first catheter. The second catheter located between the first push drive device and the second push drive device is in a bent state.

[0127] The control device controls the first push drive device to start, driving the second catheter to move within the lumen of the first catheter until the tip of the second catheter protrudes from the tip of the first catheter.

[0128] The guidewire is mounted on the second push drive device, and the tip of the guidewire passes through the first catheter and the second catheter.

[0129] The control device controls the second push drive device to start, driving the guidewire to move within the lumen of the first and second catheters until the tip of the guidewire protrudes from the tip of the second catheter.

[0130] In this embodiment, the tips of the guidewire, the second catheter, and the first catheter are arranged in a pyramid shape. Since the first catheter is harder than the second catheter, the first catheter serves as a channel to guide and protect the second catheter. The second catheter is harder than the guidewire, and the second catheter serves as a guide tube to guide and protect the guidewire.

[0131] In this embodiment, when it is necessary to adjust the relative position of the second catheter with the first catheter and guidewire, or to move the guidewire via the second catheter, the interventional robot further includes a separate delivery step for the second catheter. The control device controls the first pushing drive device and the second power source to start, for separately delivering the second catheter, specifically including the following steps:

[0132] The control device controls the first push drive device to start, driving the second catheter to be delivered. The second catheter is delivered inside the first catheter until it reaches a third set position; wherein, the third set position is the position where the second sensing component detects that the second catheter is in a straightened state;

[0133] The control device controls the second power source to start, and the second power source drives the second push drive device to move closer to the first push drive device. The first push drive device and the second push drive device work together to deliver the second catheter and the guide wire until they reach the fourth set position. The control device then controls the second power source to stop. The fourth set position is the position where the detection device detects the second push drive device at a set distance from the first push drive device.

[0134] In this embodiment, the driving device further includes a guidewire control mechanism. When the guidewire is controlled independently, the control device controls the guidewire control mechanism to start, driving the guidewire delivery and / or rotation.

[0135] In this embodiment, the guidewire is driven by a guidewire driving mechanism to deliver and rotate independently relative to the first and second catheters, thereby adjusting the guidewire delivery posture to adapt to changes in the guidewire delivery environment.

[0136] In other embodiments, when delivering the first catheter and / or the second catheter, the guidewire drive mechanism drives the guidewire to move away from the front-end drive device.

[0137] In this embodiment of the application, when the first catheter and / or the second catheter move forward, the guidewire is controlled to move backward to keep the guidewire stationary. This avoids the need to maintain absolute stationary position of the guidewire while it follows the first or second catheter forward, thus improving operational safety. Furthermore, this step is also applicable when the first catheter and / or the second catheter are retracted backward, controlling the guidewire to move backward to keep it stationary.

[0138] In other embodiments, when the interventional robot slave end is delivering the first and second phases of its work, the following steps are also included:

[0139] When the front-end drive device is started, the control device controls the first push drive device to drive the second conduit to move away from the front-end drive device.

[0140] The control device described in this embodiment controls the activation of the first pushing drive device. When the first conduit is delivered forward, it controls the second conduit to move away from the front-end drive device, so that the second conduit remains stationary and the curved section of the second conduit remains curved. Figure 5c As shown, this is to prevent the second catheter from following the first catheter forward when no movement is required, thereby improving the safety of the operation.

[0141] Embodiment 2 of the intervention robot slave in this application

[0142] The difference between this embodiment and Embodiment 1 is that the first sensing component includes a first pressure sensor installed on the front-end driving device and a second pressure sensor installed on the first push driving device; the second sensing component includes a third pressure sensor installed on the first push driving device and a fourth pressure sensor installed on the second push driving device.

[0143] The control device controls the first pressure sensor to detect the delivery force exerted by the front-end drive device on the first catheter, and controls the second pressure sensor to detect the delivery force exerted by the first push drive device on the first catheter. When both the first pressure sensor and the second pressure sensor detect a change in the delivery force, it is determined that the first catheter is in a straightened state.

[0144] Please see Figure 6 As shown, in this embodiment, the first sensing component in step S101 includes a first pressure sensor 12 installed on the front-end driving device 1 and a second pressure sensor 23 installed on the first push driving device 2.

[0145] Please see Figure 10 As shown, in this embodiment, the first set position is the position where the first sensing component detects that the first conduit is in a straightened state. The specific determination steps are as follows:

[0146] S401, the control device controls the first pressure sensor to detect the delivery force of the front-end drive device acting on the first catheter, and controls the second pressure sensor to detect the delivery force of the first push drive device acting on the first catheter;

[0147] S402, if both the first pressure sensor and the second pressure sensor detect a change in the delivery force, then the first conduit is in a straightened state.

[0148] Please see Figure 6 As shown, in this embodiment, the sensing end of the first pressure sensor 12 and the sensing end of the second pressure sensor 23 are arranged opposite to each other. The first delivery mechanism 11 is also provided with a first contact plate 114, which is in close contact with the sensing end of the first pressure sensor 12 under the action of a spring (not shown in the figure). The first rotation mechanism 21 is also provided with a second contact plate 211, which is in close contact with the sensing end of the second pressure sensor 23 under the action of a spring (not shown in the figure). The specific change in the delivery force detected by both the first pressure sensor and the second pressure sensor in step S402 is as follows:

[0149] At the instant the first conduit is in a straightened state, the first contact plate 114 moves toward the first pressure sensor 12, and the delivery force detected by the first pressure sensor 12 increases; the second contact plate 211 moves toward the second pressure sensor 23, and the delivery force detected by the second pressure sensor 23 increases and is approximately the same as the change in delivery force detected by the first pressure sensor 12.

[0150] In other embodiments, the sensing end of the first pressure sensor 12 and the sensing end of the second pressure sensor 23 are arranged in the same direction, and the specific change in the delivery force detected by both the first pressure sensor and the second pressure sensor in step S402 is as follows:

[0151] At the instant the first conduit is straightened, the first contact plate 114 moves toward the first pressure sensor 12, increasing the delivery force detected by the first pressure sensor 12; the second contact plate 211 moves away from the second pressure sensor 23, decreasing the delivery force detected by the second pressure sensor 23, and the change in delivery force is approximately the same as that detected by the first pressure sensor 12; or

[0152] At the instant the first conduit is in a straightened state, the first contact plate 114 moves away from the first pressure sensor 12, and the delivery force detected by the first pressure sensor 12 decreases; the second contact plate 211 moves towards the second pressure sensor 23, and the delivery force detected by the second pressure sensor 23 increases and is approximately the same as the change in the delivery force detected by the first pressure sensor 12.

[0153] In another embodiment, the sensing end of the first pressure sensor 12 is disposed opposite to the sensing end of the second pressure sensor 23, and the specific change in the delivery force detected by both the first pressure sensor and the second pressure sensor in step S402 is as follows:

[0154] At the instant the first conduit is in a straightened state, the first contact plate 114 moves away from the first pressure sensor 12, and the delivery force detected by the first pressure sensor 12 decreases; the second contact plate 211 moves away from the second pressure sensor 23, and the delivery force detected by the second pressure sensor 23 decreases and is approximately the same as the change in the delivery force detected by the first pressure sensor 12.

[0155] In this embodiment, the second sensing component includes a third pressure sensor mounted on the first push-drive device and a fourth pressure sensor mounted on the second push-drive device; the control device controls the third pressure sensor to detect the delivery force of the first push-drive device acting on the second conduit, and controls the fourth pressure sensor to detect the delivery force of the second push-drive device acting on the second conduit; when both the third and fourth pressure sensors detect a change in the delivery force, it is determined that the second conduit is in a straightened state.

[0156] Please see Figure 11 As shown, in this embodiment, step S103, during the delivery of the first catheter, involves the control device controlling the second sensing component to detect the current state of the second catheter, specifically including the following steps:

[0157] S501, the control device controls the third pressure sensor to detect the delivery force of the first push drive device acting on the second catheter, and controls the fourth pressure sensor to detect the delivery force of the second push drive device acting on the second catheter;

[0158] S502, if both the third pressure sensor and the fourth pressure sensor detect a change in the delivery force, then the second conduit is in a straightened state.

[0159] In this embodiment, the sensing end of the third pressure sensor is positioned opposite to the sensing end of the fourth pressure sensor. Please refer to [reference needed]. Figure 6 As shown, the second delivery mechanism is further provided with a first contact plate, which is in close contact with the sensing end of the third pressure sensor under the action of a spring. The second rotation mechanism is further provided with a second contact plate, which is in close contact with the sensing end of the fourth pressure sensor under the action of a spring. In step S502, both the third pressure sensor and the fourth pressure sensor detect a change in the delivery force as follows:

[0160] At the instant the second conduit is straightened, the first contact plate moves toward the third pressure sensor, and the delivery force detected by the third pressure sensor increases; the second contact plate moves toward the fourth pressure sensor, and the delivery force detected by the fourth pressure sensor increases and is approximately the same as the change in delivery force detected by the third pressure sensor.

[0161] In other embodiments, the sensing ends of the third pressure sensor and the fourth pressure sensor are oriented in the same direction, and the specific change in the delivery force detected by both the third and fourth pressure sensors in step 502 is as follows:

[0162] At the instant the second conduit is straightened, the first contact plate moves towards the third pressure sensor, increasing the delivery force detected by the third pressure sensor; the second contact plate moves away from the fourth pressure sensor, decreasing the delivery force detected by the fourth pressure sensor, and the change in delivery force is approximately the same as that detected by the third pressure sensor; or

[0163] At the instant the second conduit is straightened, the first contact plate moves away from the third pressure sensor, and the delivery force detected by the third pressure sensor decreases; the second contact plate moves towards the fourth pressure sensor, and the delivery force detected by the fourth pressure sensor decreases and the change in delivery force is approximately the same as that detected by the third pressure sensor.

[0164] In another embodiment, the sensing end of the third pressure sensor is positioned opposite to the sensing end of the fourth pressure sensor, and in step S502, both the third and fourth pressure sensors detect a change in the delivery force as follows:

[0165] At the instant the second conduit is straightened, the first contact plate moves away from the third pressure sensor, and the delivery force detected by the third pressure sensor decreases; the second contact plate moves away from the fourth pressure sensor, and the delivery force detected by the fourth pressure sensor decreases, with the change in delivery force being approximately the same as that detected by the third pressure sensor.

[0166] The second sensing component in this embodiment uses pressure sensors respectively installed on two adjacent driving devices. By detecting the changes and amplitudes of the two pressure sensors, it determines whether the conduit is straightened. This method is more accurate than the solution in Embodiment 1 and avoids detection errors caused by collisions or obstructions to the conduit.

[0167] Obviously, the embodiments described above are only some embodiments of this application, not all embodiments. The accompanying drawings show preferred embodiments of this application, but do not limit the patent scope of this application. This application can be implemented in many different forms; rather, the purpose of providing these embodiments is to provide a more thorough and comprehensive understanding of the disclosure of this application. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing specific embodiments, or make equivalent substitutions for some of the technical features. Any equivalent structures made using the content of this application's specification and drawings, directly or indirectly applied to other related technical fields, are similarly within the scope of patent protection of this application.

Claims

1. An interventional robot for delivering an elongated medical device, the elongated medical device comprising a guidewire and at least two catheters, wherein the latter catheter is at least partially inserted into the former catheter, and the guidewire is partially inserted into the latter catheter; Its features are, The interventional robot slave end includes: a drive device, a power device, a sensing device, and a control device; The power unit is used to drive the drive unit to move along the axial direction of the elongated medical device; The driving device is used to drive the slender medical device to move axially; The sensing device is used to detect the clamping status of the slender medical device; The drive device, the power device, and the sensing device are all connected to the control device; In the initial state, any one of the catheters is held in a bent position on the two adjacent drive devices. During operation, the control device controls the drive device to start, driving the corresponding catheter and guidewire to move axially; when the sensing device detects that a catheter in a bent state is straightened, the control device controls the power device to start, and the power device drives the drive devices clamping the same catheter to move in coordination, so that the catheters clamped by the two adjacent drive devices remain straight; or, when the sensing device detects that any of the catheters are straightened, the control device controls the power device to start, and the power device drives the corresponding drive devices to move in coordination, so that any of the catheters remains straight.

2. The intervention robot slave end according to claim 1, characterized in that, During operation, when any of the catheters is in a straightened state, the control device controls the drive device to start, driving the straightened catheter to rotate.

3. The intervention robot slave end according to claim 1, characterized in that, The intervention robot also includes a detection device at the slave end, which is used to detect the distance between two adjacent drive devices. The detection device is connected to the control device. When the detection device detects that the distance between two adjacent drive devices is a set distance, the control device controls the power device that drives the corresponding drive device to stop.

4. The intervention robot slave end according to claim 3, characterized in that, The catheters are referred to as the first catheter and the second catheter, with the second catheter inserted into the first catheter and the guidewire inserted into both the first catheter and the second catheter. The driving device includes a front-end driving device, a first push driving device, and a second push driving device; the power device includes a first power source and a second power source; the sensing device includes a first sensing component and a second sensing component. In the initial state, the first conduit is bent and clamped between the front end drive device and the first push drive device, and the second conduit is bent and clamped between the first push drive device and the second push drive device. During operation, the control device controls the front-end drive device to start, driving the first catheter, the second catheter located inside the first catheter, and the guidewire to be delivered together until they reach a first set position; wherein, the first set position is the position where the first sensing component detects that the first catheter is in a straightened state; The control device controls the first power source to start, the first power source drives the first push drive device to move towards the front drive device, the front drive device and the first push drive device work together to deliver the first catheter and the second catheter and the guide wire located in the first catheter until they reach the second set position, the control device controls the first push drive device and the first power source to stop; wherein, the second set position is the position of the first push drive device at a set distance from the front drive device.

5. The interventional robot slave end according to claim 4, characterized in that, The control device controls the first push drive device and the second power source to start, for the purpose of delivering the second conduit separately; When the second catheter is delivered alone, the control device controls the first push drive device to start, driving the second catheter to be delivered. The second catheter is delivered inside the first catheter until it reaches a third set position; wherein, the third set position is the position where the second sensing component detects that the second catheter is in a straightened state; The control device controls the second power source to start, and the second power source drives the second push drive device to move closer to the first push drive device. The first push drive device and the second push drive device work together to deliver the second catheter and the guide wire until they reach the fourth set position. The control device then controls the second power source to stop. The fourth set position is the position where the detection device detects the second push drive device at a set distance from the first push drive device.

6. The interventional robot slave end according to claim 4, characterized in that, During the delivery of the first catheter, the control device controls the second sensing component to detect the current state of the second catheter; If the second sensing component detects that the second catheter is in a straightened state, the control device controls the second power source to start, and the second power source drives the second push drive device to move closer to the first push drive device. The first push drive device and the second push drive device work together to deliver the second catheter and the guide wire until they reach the fourth set position, and the control device controls the second power source to stop. The fourth set position is the position where the detection device detects the second push drive device at a set distance from the first push drive device.

7. The interventional robot slave end according to claim 4, characterized in that, When the front-end drive device is started, the control device controls the first push drive device to drive the second conduit to move away from the front-end drive device.

8. The interventional robot slave end according to claim 4, characterized in that, The driving device also includes a guidewire control mechanism. When the guidewire is controlled independently, the control device controls the guidewire control mechanism to start, driving the guidewire to deliver and / or rotate. Alternatively, when delivering the first catheter and / or the second catheter, the guidewire control mechanism drives the guidewire to move away from the front-end drive device.

9. The interventional robot slave end according to claim 4, characterized in that, The first sensing component includes a torque sensor; The control device controls the torque sensor to detect the tension force on the front-end drive device in real time. If the torque sensor detects an increase in tension force, it determines that the first conduit is in a straightened state. or, The first sensing component includes a first pressure sensor installed in the front-end drive device and a second pressure sensor installed in the first push drive device; The control device controls the first pressure sensor to detect the delivery force exerted by the front-end drive device on the first catheter, and controls the second pressure sensor to detect the delivery force exerted by the first push drive device on the first catheter. When both the first pressure sensor and the second pressure sensor detect a change in the delivery force, it is determined that the first catheter is in a straightened state.

10. The interventional robot slave end according to claim 4, characterized in that, The second sensing component includes a torque sensor; The control device controls the torque sensor to detect the tension force on the first push drive device in real time. If the torque sensor detects an increase in tension force, it determines that the second conduit is in a straightened state. or, The second sensing component includes a third pressure sensor installed in the first push drive device and a fourth pressure sensor installed in the second push drive device; The control device controls the third pressure sensor to detect the delivery force exerted by the first push drive device on the second catheter, and controls the fourth pressure sensor to detect the delivery force exerted by the second push drive device on the second catheter. When both the third and fourth pressure sensors detect a change in the delivery force, it is determined that the second catheter is in a straightened state.

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