Control method for withdrawing slender medical device and surgical robot

Abstract

The invention discloses a control method for withdrawing a slender medical instrument and a surgical robot. The control method for withdrawing the slender medical device comprises the following steps: receiving an instruction for withdrawing the slender medical device; the slender medical instrument is clamped; controlling the slender medical instrument to move in the direction away from the clamping position; acquiring an acting force value F1 applied to the slender medical device at the starting moment of controlling the slender medical device to move towards the direction far away from the clamping position; after the first preset time, an acting force value F2 at the current moment for controlling the slender medical instrument to move in the direction away from the clamping position is obtained; according to the F1 and the F2, judging whether the slender medical instrument completes withdrawing action or not, and executing corresponding operation according to a judgment result. According to the control method, the slender medical instrument is withdrawn from the catheter to the preset position through mechanical operation, frequent switching between mechanical operation and manual operation is avoided, and therefore the efficiency of an interventional operation is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of interventional surgical equipment, and in particular to a control method for withdrawing a slender medical device and a surgical robot. Background Art

[0002] Interventional surgery is usually conducted under the guidance of medical imaging equipment, where specially designed catheters, guidewires and other instruments are introduced into the lesion site through the natural orifices or tiny incisions of the human body for treatment. In traditional interventional surgery, the guidewire needs to be frequently withdrawn from the catheter to inject contrast agents for angiography.

[0003] Currently, robots used in interventional surgeries cannot detect whether the guidewire has been withdrawn from the catheter to a safe position, and there is a risk that the guidewire may be squeezed and damaged by the mechanism or fall and become contaminated. Therefore, the operation of withdrawing the guidewire still requires manual operation by medical staff in a radiation environment, which harms the health of medical staff. Frequent switching between machine operation and manual operation will reduce the efficiency of interventional surgery. Summary of the invention

[0004] The main purpose of the present invention is to provide a method for solving the technical problems that the existing interventional surgical robots cannot detect whether the slender medical device is withdrawn to the preset position, and the frequent switching between machine operation and manual operation reduces the efficiency of interventional surgery.

[0005] In order to achieve the above-mentioned object of the invention, the present invention provides a control method for withdrawing a slender medical device, comprising the following steps:

[0006] receiving an instruction to withdraw the elongated medical device;

[0007] Clamping the elongated medical device;

[0008] Controlling the elongated medical device to move in a direction away from the clamping position;

[0009] Obtaining a force value F1 applied to the elongated medical device at the start time of controlling the elongated medical device to move in a direction away from the clamping position;

[0010] After a first preset time, obtaining a force value F2 at a current moment for controlling the elongated medical device to move in a direction away from the clamping position;

[0011] It is determined whether the slender medical device has completed the withdrawal action according to F1 and F2, and corresponding operations are performed according to the determination result.

[0012] In one embodiment, the force value is a pulling force value for pulling the elongated medical device, and determining whether the elongated medical device has completed the withdrawal action according to F1 and F2, and performing corresponding operation steps according to the determination result include:

[0013] Determine whether the difference between F1 and F2 is less than a first pressure threshold;

[0014] If yes, it is determined that the elongated medical device has completed the withdrawal action;

[0015] If not, the step of controlling the elongated medical device to move in a direction away from the clamping position is performed.

[0016] In one embodiment, the step of obtaining the force value F2 at the current moment of controlling the elongated medical device to move in a direction away from the clamping position after the first preset time comprises:

[0017] Acquire the start time T1 of controlling the elongated medical device to move in a direction away from the clamping position;

[0018] Acquire the current time T2 of controlling the elongated medical device to move in a direction away from the clamping position;

[0019] Determine whether the difference between T2 and T1 is greater than a first preset time;

[0020] If yes, then obtaining the force value F2 at the current moment for controlling the elongated medical device to move in a direction away from the clamping position;

[0021] If not, the step of obtaining the current time T2 of controlling the elongated medical device to move in a direction away from the clamping position is performed.

[0022] In one embodiment, after executing the step of controlling the elongated medical device to move in a direction away from the clamping position, the step further includes:

[0023] Acquiring a force value F3 at a current moment for controlling the elongated medical device to move in a direction away from the clamping position;

[0024] Determine whether the difference between F1 and F3 is less than a second pressure threshold;

[0025] If yes, first stop controlling the elongated medical device to move in the direction away from the clamping position, then re-control the elongated medical device to move in the direction away from the clamping position and execute the step of obtaining the force value F2 at the current moment of controlling the elongated medical device to move in the direction away from the clamping position after the first preset time;

[0026] If not, the step of obtaining the force value F3 at the current moment for controlling the elongated medical device to move in a direction away from the clamping position is performed.

[0027] In one embodiment, the second pressure threshold is less than the first pressure threshold.

[0028] In one embodiment, the step of clamping the elongated medical device comprises:

[0029] Obtaining a force value F4 for clamping the elongated medical device;

[0030] Determining whether the F4 is greater than a third pressure threshold;

[0031] If yes, then executing the step of controlling the elongated medical device to move in a direction away from the clamping position;

[0032] If not, the force value for clamping the elongated medical device is increased, and the step of obtaining the force value F4 for clamping the elongated medical device is performed.

[0033] In one embodiment, the force value is a clamping force for clamping the elongated medical device, and determining whether the elongated medical device has completed the withdrawal action according to F1 and F2, and performing corresponding operation steps according to the determination result include:

[0034] Determining whether the difference between F1 and F2 is greater than a fourth pressure threshold;

[0035] If yes, it is determined that the elongated medical device has completed the withdrawal action;

[0036] If not, the step of controlling the elongated medical device to move in a direction away from the clamping position is performed.

[0037] In one embodiment, the step of obtaining the force value F2 at the current moment of controlling the elongated medical device to move in a direction away from the clamping position after the first preset time comprises:

[0038] Acquire the start time T1 of controlling the elongated medical device to move in a direction away from the clamping position;

[0039] Acquire the current time T2 of controlling the elongated medical device to move in a direction away from the clamping position;

[0040] Determine whether the difference between T2 and T1 is greater than a first preset time;

[0041] If yes, then obtaining the force value F2 at the current moment for controlling the elongated medical device to move in a direction away from the clamping position;

[0042] If not, the step of obtaining the current time T2 of controlling the elongated medical device to move in a direction away from the clamping position is performed.

[0043] The present invention also provides a surgical robot, which adopts any one of the control methods for withdrawing a slender medical device described above.

[0044] In one embodiment, the surgical robot comprises: a first driving device, wherein a clamping mechanism and a first pressure sensor are disposed in the first driving device, the first pressure sensor is connected to the clamping mechanism, the clamping mechanism is used to clamp the slender medical device, and the first pressure sensor is used to sense and read the pressure value of the clamping mechanism clamping the slender medical device;

[0045] A second driving device, the second driving device is arranged opposite to the first driving device, a delivery mechanism and a second pressure sensor are arranged in the second driving device, the second pressure sensor is connected to the delivery mechanism, the delivery mechanism is used to pull the slender medical device in a direction away from the clamping mechanism so that the slender medical device is withdrawn from the clamping mechanism, and the second pressure sensor is used to sense and read the pulling force value of the delivery mechanism pulling the slender medical device.

[0046] Beneficial effects:

[0047] A control method for withdrawing a slender medical device of the present invention receives an instruction to withdraw the slender medical device. Clamp the slender medical device. Control the slender medical device to move in a direction away from the clamping position. Obtain a force value F1 applied to the slender medical device at the start time of controlling the slender medical device to move in a direction away from the clamping position; obtain a force value F2 at the current moment of controlling the slender medical device to move in a direction away from the clamping position after a first preset time; determine whether the slender medical device has completed the withdrawal action based on F1 and F2, and perform corresponding operations based on the determination result. The control method can detect whether the slender medical device has been withdrawn from the preset position of the catheter based on the change in the force value applied to the slender medical device, thereby avoiding the problem that the slender medical device stays in the clamping mechanism and is squeezed and damaged, or the slender medical device is still delivered after the slender medical device is withdrawn from the pipeline, causing the slender medical device to fall and be contaminated. The control method withdraws the slender medical device to a preset position through mechanical operation, without the need for medical staff to withdraw the slender medical device, thereby preventing the medical staff from being damaged by radiation. The entire process is mechanical operation, avoiding frequent switching between mechanical and manual operations, thereby improving the efficiency of interventional surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 The flowchart of a control method for withdrawing a slender medical device according to an embodiment of the present invention.

[0049] Figure 2 It is a schematic structural diagram of a surgical robot according to an embodiment of the present invention.

[0050] in:

[0051] 100, first driving device; 110, clamping mechanism; 111, first clamping roller; 112, second clamping roller; 120, first pressure sensor;

[0052] 200, second driving device; 210, delivery mechanism; 211, first roller; 212, second roller; 220, second pressure sensor;

[0053] 300. Slender medical devices.

[0054] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0055] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0056] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0057] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0058] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0059] like Figure 1 As shown, in some embodiments, a control method for withdrawing an elongated medical device comprises the following steps:

[0060] S1. Receive an instruction to withdraw the slender medical device.

[0061] S2. Clamping slender medical devices.

[0062] S3. Control the slender medical device to move in a direction away from the clamping position.

[0063] S4. Obtaining a force value F1 applied to the slender medical device at the start time of controlling the slender medical device to move in a direction away from the clamping position.

[0064] S5. After the first preset time, obtain the force value F2 at the current moment for controlling the slender medical device to move in a direction away from the clamping position.

[0065] S6. Determine whether the slender medical device has completed the withdrawal action according to F1 and F2, and perform corresponding operations according to the determination result.

[0066] It should be noted that the control method can detect whether the slender medical device is withdrawn to the preset position according to the change of the force value of the slender medical device, so as to avoid the slender medical device staying in the clamping mechanism and being squeezed and damaged, or the slender medical device is still delivered after the slender medical device is withdrawn, causing the slender medical device to fall and be contaminated. The control method withdraws the slender medical device to the preset position through mechanical operation, realizes the mechanical automatic withdrawal of the slender medical device, and does not require medical staff to withdraw the slender medical device in a radiation environment, thereby avoiding the health of medical staff being damaged by radiation. At the same time, the whole process is mechanical operation, avoiding frequent switching between mechanical operation and manual operation, effectively simplifying the surgical process, reducing the workload of medical staff, and thus improving the efficiency of interventional surgery.

[0067] As in the above step S1: receiving an instruction to withdraw the elongated medical device. Specifically, the elongated medical device may be a guide wire or a catheter.

[0068] Medical personnel can send a signal to the clamping mechanism to withdraw the slender medical device through the operator touch screen.

[0069] In actual operation, medical staff can issue instructions to withdraw the slender medical device through a surgical console, a foot switch, or a specific handle button. In addition, after automated monitoring and judgment, a clamping instruction can be issued to the clamping mechanism.

[0070] In some embodiments, the instruction transmission method may be wired transmission or wireless transmission.

[0071] Wired transmission: A common method is to transmit commands from the operating device to the control unit of the clamping mechanism via a cable. This method of signal transmission is relatively stable and not easily affected by external interference. For example, the surgical console sends a command signal via a cable connected to the clamping mechanism, and the control unit takes corresponding actions after receiving the signal.

[0072] Wireless transmission: Use wireless technologies such as Bluetooth and Wi-Fi to transmit commands. This method can improve the flexibility and convenience of operation. For example, medical staff use the operator touch screen or wireless handle to issue a command to withdraw a slender medical device, and the wireless receiving module of the clamping mechanism takes action after receiving the signal.

[0073] As in the above step S2: the clamping mechanism clamps the slender medical device so that friction is generated between the clamping mechanism and the slender medical device.

[0074] As in the above step S3: controlling the slender medical device to move in a direction away from the clamping position.

[0075] Specifically, after the clamping mechanism clamps the slender medical device, the delivery mechanism is activated, and the delivery mechanism pulls the slender medical device to move away from the clamping mechanism, and the slender medical device moves relative to the clamping mechanism. Frictional force is generated between the clamping mechanism and the slender medical device.

[0076] As in the above step S4: obtaining the force value F1 applied to the slender medical device at the start time of controlling the slender medical device to move in a direction away from the clamping position. Specifically, the force value F1 may be a pulling force value for pulling the slender medical device.

[0077] Specifically, the force value F1 at the start time of pulling the slender medical device is obtained through the first pressure sensor. The start time of pulling the slender medical device may be the start time of the delivery mechanism.

[0078] Specifically, when the delivery mechanism is activated, the first pressure sensor will immediately sense the change in tension and convert it into an electrical signal. The electrical signal is amplified, filtered, and processed, and the processed electrical signal is accurately measured and recorded.

[0079] As in the above step S5: after the first preset time, the force value F2 at the current moment for controlling the slender medical device to move in a direction away from the clamping position is obtained.

[0080] Specifically, the force value F2 may be the pulling force value of the slender medical device at the current moment.

[0081] As in the above step S6: determine whether the slender medical device has completed the withdrawal action according to F1 and F2, and perform corresponding operations according to the determination result.

[0082] In one embodiment, the force value is the pulling force value of the slender medical device, and judging whether the slender medical device has completed the withdrawal action according to F1 and F2, and performing corresponding operation steps according to the judgment result include: judging whether the difference between F1 and F2 is less than the first pressure threshold.

[0083] Specifically, under the effect of the friction between the clamping mechanism and the elongated medical device, the value of F2 will be smaller than F1. The difference between F1 and F2 reflects the change in the pulling force of pulling the elongated medical device from the start of the delivery mechanism to the current moment. The first pressure threshold is a preset value, which represents an acceptable range of pulling force changes during the withdrawal of the elongated medical device. The difference between F1 and F2 is calculated and compared with the first pressure threshold.

[0084] The first pressure threshold can be determined by experiments and simulations. For example, in a laboratory environment, experiments can be conducted using simulated elongated medical devices and delivery mechanisms to observe changes in tension under different conditions, thereby determining a suitable first pressure threshold.

[0085] Specifically, the first pressure threshold may be 80 mN.

[0086] If the difference between F1 and F2 is less than the first pressure threshold, it is determined that the slender medical device has completed the withdrawal action, and a signal indicating that the withdrawal of the slender medical device has been completed is output.

[0087] It should be noted that F1-F2<F0, and F0 is the first pressure threshold. During the withdrawal of the slender medical device, the pulling force of the delivery mechanism on the slender medical device should be relatively stable. F1 is the force value at the moment when the delivery mechanism is started, representing the pulling force in the initial state. F2 is the pulling force value at the current moment, which is the force measured after the pulling force applied to the slender medical device and the friction force of the clamping act together. If the difference between F1 and F2 is smaller, F1 and F2 are closer. When the difference between F1 and F2 is less than the first pressure threshold, it means that the slender medical device is no longer subject to the friction force of the clamping mechanism, that is, the slender medical device is not in a clamping state. It can be judged that the slender medical device has been withdrawn from the clamping mechanism and the withdrawal action is completed.

[0088] If not, the step of controlling the elongated medical device to move in a direction away from the clamping position is performed, the speed at which the delivery mechanism pulls the elongated medical device can be increased, and step S3 is performed.

[0089] That is, F1-F2≥F0, and the difference between F1 and F2 is large, which means that the delivery mechanism is still subject to resistance from the clamping mechanism when pulling the slender medical device, and there is friction between the clamping mechanism and the slender medical device. It can be judged that the slender medical device is still in the clamping mechanism and has not been completely withdrawn. The delivery mechanism pulls the slender medical device in a direction away from the clamping mechanism, and the first pressure sensor re-acquires the force value F2 of the delivery mechanism pulling the slender medical device at the current moment. The difference between F1 and F2 is judged again until the difference between F1 and F2 is less than the first pressure threshold, and a signal indicating that the slender medical device has been completely withdrawn is output.

[0090] It should be noted that increasing the speed at which the delivery mechanism pulls the slender medical device can be achieved by adjusting the speed of the motor of the delivery mechanism. For example, the input current of the delivery motor can be increased or the control parameters of the delivery motor can be adjusted to increase the speed of the delivery motor, thereby increasing the pulling speed of the slender medical device.

[0091] In some embodiments, the step S5 of obtaining the force value F2 at the current moment for controlling the slender medical device to move in a direction away from the clamping position after the first preset time comprises:

[0092] S50, obtaining a start time T1 for controlling the slender medical device to move in a direction away from the clamping position.

[0093] S51, obtaining the current time T2 at which the slender medical device is controlled to move in a direction away from the clamping position.

[0094] S52: Determine whether the difference between T2 and T1 is greater than a first preset time.

[0095] S53: If yes, obtain the force value F2 at the current moment for controlling the slender medical device to move in a direction away from the clamping position.

[0096] S54: If not, executing the step of obtaining the current time T2 at which the slender medical device is controlled to move in a direction away from the clamping position.

[0097] It should be noted that when the delivery mechanism pulls the slender medical device to move in a direction away from the clamping mechanism, it takes a period of time to obtain a stable force value F2.

[0098] When T2-T1>T0, T0 is the first preset time, and a sufficiently long time has passed from the start of pulling the slender medical device to the current moment, the force value F2 at this time has stabilized and can be accurately measured. At this time, the first pressure sensor obtains the force value F2 of the delivery mechanism pulling the slender medical device at the current moment.

[0099] When T2-T1<T0, the time from the start of pulling the slender medical device to the current moment is not long enough, and the force value F2 at this time is not stable and cannot be used as measurement data. Continue to obtain the current moment T2 when the delivery mechanism pulls the slender medical device away from the clamping mechanism until the condition T2-T1>T0 is met.

[0100] In actual operation, the first preset time T0 is determined through experiments and data analysis. In different surgical scenarios, the process of the delivery mechanism pulling the slender medical device is tested multiple times, and the time required from the start of pulling to the stabilization of the force value is recorded, and then the average value is taken or a reasonable T0 value is determined according to a specific statistical method.

[0101] Specifically, the first preset time T0 may be 500 ms.

[0102] Specifically, the delivery mechanism may be a delivery motor. The faster the rotation rate of the delivery motor, the smaller the first preset time T0. The slower the rotation rate of the delivery motor, the larger the first preset time T0. The rotation rate of the delivery motor determines the speed at which the slender medical device is withdrawn. If the rotation rate of the delivery motor is faster, the force value reaches a stable state in a shorter time, thereby setting a smaller first preset time T0. Conversely, if the rotation rate of the delivery motor is slower, the force value takes longer to stabilize, thereby setting a larger first preset time T0.

[0103] In some embodiments, after executing the step of controlling the elongated medical device to move in a direction away from the clamping position, the method further comprises:

[0104] S80, obtaining a force value F3 at the current moment for controlling the slender medical device to move in a direction away from the clamping position. Specifically, the force value F3 may be a pulling force value for pulling the slender medical device at the current moment.

[0105] S81, determine whether the difference between F1 and F3 is less than a second pressure threshold, and the second pressure threshold is less than the first pressure threshold. For example, the first pressure threshold may be 80 mN. The first preset time may be 50 mN.

[0106] S82, if yes, first stop controlling the slender medical device to move in the direction away from the clamping position, then re-control the slender medical device to move in the direction away from the clamping position and execute the step of obtaining the force value F2 at the current moment of controlling the slender medical device to move in the direction away from the clamping position after the first preset time. If the difference between F1 and F3 is less than the second pressure threshold, the operation of the delivery mechanism is stopped and step S5 is executed. That is, F1-F3<F0', F0' is the second pressure threshold. At this time, the slender medical device may be in the withdrawal state, first close the delivery mechanism, and stop the delivery mechanism from pulling the slender medical device. Then re-execute step S5 or step S50, re-pull the slender medical device, re-obtain the force value at the current moment, and re-confirm whether the slender medical device is in the withdrawal state. Because the forces applied to different parts of the slender medical device when clamped are slightly different. For example, the forces applied to the end and middle of a slender medical device after being clamped are not exactly the same, so a standard that is stricter than the first pressure threshold is set to avoid misjudgment.

[0107] S83. If not, the difference between F1 and F3 is greater than or equal to the second pressure threshold, F1-F3≥F0', then the step of obtaining the force value F3 at the current moment for controlling the slender medical device to move in a direction away from the clamping position is executed.

[0108] In some embodiments, the step S2 of clamping the elongated medical device comprises:

[0109] S20, obtaining the force value F4 for clamping the slender medical device.

[0110] S21. Determine whether F4 is greater than a third pressure threshold.

[0111] S22: If yes, execute S3: control the elongated medical device to move in a direction away from the clamping position.

[0112] S23, if not, then increase the force value for clamping the slender medical device, and execute the step of obtaining the force value F4 for clamping the slender medical device.

[0113] It should be noted that the force value F4 for clamping the slender medical device is obtained by the second pressure sensor. The force value F4 can be the clamping force of the slender medical device. After receiving the wire withdrawal instruction, the clamping motor moves in the direction close to the slender medical device and clamps the slender medical device until the clamping force value F4 reaches the third pressure threshold, and then the delivery mechanism is started. Setting the third pressure threshold can ensure that the clamping mechanism stably clamps the slender medical device. When the delivery mechanism pulls the slender medical device in the direction away from the clamping mechanism, the clamping mechanism and the slender medical device generate friction, so that the first pressure sensor can detect the change in the current force value, and judge whether there is a slender medical device based on the change.

[0114] The third pressure threshold is determined according to the material diameter of the slender medical device and the surgical situation. For example, for thinner or more fragile slender medical devices, the third pressure threshold can be appropriately lowered to avoid excessive clamping and damage to the slender medical device. For situations where a greater clamping force is required, the third pressure threshold can be appropriately increased.

[0115] In other embodiments, the force value may also be a clamping force for clamping a slender medical device, which specifically includes the following steps:

[0116] S100: Receive an instruction to withdraw the slender medical device.

[0117] S200, clamping slender medical devices.

[0118] S300, controlling the slender medical device to move in a direction away from the clamping position.

[0119] S400, obtaining a force value F5 applied to the slender medical device at the start time of controlling the slender medical device to move in a direction away from the clamping position.

[0120] S500, after a first preset time, obtaining a force value F6 at the current moment for controlling the slender medical device to move in a direction away from the clamping position;

[0121] S600: Determine whether the difference between F5 and F6 is greater than a fourth pressure threshold.

[0122] S700: If yes, determine that the slender medical device has completed the withdrawal action.

[0123] That is, F5 is the force value when F1 is the clamping force. F5 is the clamping pressure value at a certain stage (such as when the clamping mechanism starts to clamp the slender medical device and reaches a stable state). F6 is the force value when F2 is the clamping force. F6 reflects the clamping pressure value actually applied by the clamping mechanism on the slender medical device at the current moment.

[0124] When F5-F6>F0", F0" is the fourth pressure threshold. When the slender medical device is withdrawn from the clamping mechanism, the clamping force of the clamping mechanism on the slender medical device suddenly changes from large to small. That is, the clamping force of the clamping mechanism on the slender medical device will suddenly decrease, and it is judged that the slender medical device has been withdrawn from the clamping mechanism. Therefore, according to the difference between F5 and F6 being greater than the fourth pressure threshold, it is judged that the slender medical device has been withdrawn from the clamping mechanism.

[0125] It should be noted that the clamping mechanism performs a clamping operation on the slender medical device, and by acquiring the pressure value data, the pressure change trend when the slender medical device is present and when the slender medical device is not present can be analyzed. In the process of withdrawing the slender medical device, the clamping mechanism clamps the slender medical device, and the clamping mechanism applies pressure to the slender medical device, and the pressure value is read by the second pressure sensor. If the pressure value is the same as the change trend when the slender medical device is present, it is determined that the slender medical device is present at the current moment, and the slender medical device is continued to be withdrawn until the change trend of the pressure value is the same as the pressure trend when the slender medical device is not present, then the withdrawal of the slender medical device is stopped and the operation is terminated.

[0126] The fourth pressure threshold can be obtained through limited experimental data. For example, in a laboratory environment, a simulation experiment is performed using a clamping mechanism and a slender medical device that are the same or similar to those used in actual surgery. By simulating the withdrawal process of the slender medical device, the difference between F5 and F6 under different conditions is measured to determine the fourth pressure threshold.

[0127] In addition, different experimental conditions can be set, such as different clamping forces, slender medical device speeds, ambient temperatures, etc., to simulate various actual surgical situations. By analyzing the experimental data, a fourth pressure threshold that can more accurately determine the withdrawal of the slender medical device under different conditions is found.

[0128] If not, execute the step of controlling the slender medical device to move in a direction away from the clamping position, and continue to pull the slender medical device. If the difference between F5 and F6 is less than or equal to the fourth pressure threshold. That is, F5-F6≤F0". This means that the clamping of the slender medical device by the clamping mechanism is in a stable state, and the clamping force of the clamping mechanism on the slender medical device is relatively stable, and the slender medical device has not been withdrawn from the clamping mechanism. Re-execute step S300 and continue to monitor the changes in the clamping force of the clamping mechanism on the slender medical device.

[0129] In some embodiments, the step of obtaining the force value F6 at the current moment for controlling the slender medical device to move in a direction away from the clamping position after the first preset time includes:

[0130] A start time T1 for controlling the elongated medical device to move in a direction away from the clamping position is obtained.

[0131] The current time T2 at which the slender medical device is controlled to move in a direction away from the clamping position is obtained.

[0132] It is determined whether the difference between T2 and T1 is greater than a first preset time.

[0133] If so, the force value F2 at the current moment for controlling the slender medical device to move in a direction away from the clamping position is obtained.

[0134] If not, the step of obtaining the current time T2 at which the slender medical device is controlled to move in a direction away from the clamping position is performed.

[0135] like Figure 2 As shown, in another embodiment, a surgical robot adopts the control method for withdrawing the slender medical device 300, and includes a first drive device 100 and a second drive device 200. The first drive device 100 is provided with a clamping mechanism 110, and the clamping mechanism 110 is used to clamp the slender medical device 300. The second drive device 200 is arranged opposite to the first drive device 100, and the second drive device 200 is provided with a delivery mechanism 210, and the delivery mechanism 210 is used to pull the slender medical device 300 to move in a direction away from the clamping mechanism 110, so that the slender medical device 300 is withdrawn from the clamping mechanism 110.

[0136] It should be noted that the material of the head end of the slender medical device 300 is soft and easy to plasticize. If the head end clamping and pushing are operated in the same structure, it will cause irreversible morphological changes to the head end of the slender medical device 300. In this embodiment, the clamping mechanism 110 does not need to produce a delivery function, but is only used to provide a small friction force, which will not affect the head end of the slender medical device 300, effectively reducing the risk of the slender medical device 300 being squeezed and damaged by the mechanism or falling and contaminating.

[0137] Specifically, the clamping mechanism 110 includes a first clamping roller 111 and a second clamping roller 112 that are arranged opposite to each other. The first clamping roller 111 and the second clamping roller 112 are arranged on both sides of the slender medical device 300. The first clamping roller 111 and the second clamping roller 112 can move toward each other and contact the slender medical device 300, so that the first clamping roller 111 and the second clamping roller 112 both generate friction with the slender medical device 300.

[0138] Roller clamping can better adapt to the shape and size changes of the slender medical device 300 and improve the stability of clamping. Since the first clamping roller 111 and the second clamping roller 112 clamp the slender medical device 300 through friction rather than rigid clamping, damage to the slender medical device 300 can be reduced. For soft slender medical devices 300 or slender medical devices 300 with easily damaged surfaces, roller clamping can provide a gentler clamping method.

[0139] Specifically, the clamping mechanism 110 includes a first drive motor. The first drive motor is connected to the first clamping roller 111 and the second clamping roller 112 respectively, and the first drive motor can drive the first clamping roller 111 and the second clamping roller 112 to move in a direction close to each other. That is, the first clamping roller 111 and the second clamping roller 112 both move in a direction close to the slender medical device 300 and clamp the slender medical device 300. After the first clamping roller 111 and the second clamping roller 112 come into contact with the slender medical device 300, the friction force gradually increases until the slender medical device 300 can be stably clamped.

[0140] When the slender medical device 300 needs to be released, the first drive motor moves in the reverse direction to separate the first clamping roller 111 and the second clamping roller 112 , thereby releasing the clamping of the slender medical device 300 .

[0141] Specifically, the delivery mechanism 210 includes a first roller 211 and a second roller 212 that are arranged opposite to each other. The first roller 211 and the second roller 212 are rotatably arranged in the second driving device 200. The first roller 211 and the second roller 212 are arranged on both sides of the slender medical device 300. The first roller 211 and the second roller 212 can move in a direction close to each other and contact the slender medical device 300. The first roller 211 and the second roller 212 rotate simultaneously, and under the friction between the first roller 211 and the second roller 212 and the slender medical device 300, the first roller 211 and the second roller 212 drive the slender medical device 300 to move in a direction away from the clamping mechanism 110.

[0142] Specifically, the first roller 211 and the second roller 212 may be provided in multiple groups. The multiple groups of the first roller 211 and the second roller 212 are correspondingly provided on both sides of the slender medical device 300 .

[0143] Specifically, the delivery mechanism 210 further includes a second drive motor. The second drive motor is respectively connected to the first roller 211 and the second roller 212. The second drive motor is used to drive the first roller 211 and the second roller 212 to rotate.

[0144] In some embodiments, a first pressure sensor 120 is further disposed in the first driving device 100. The first pressure sensor 120 is connected to the clamping mechanism 110. The first pressure sensor 120 is used to sense and read the pressure value of the clamping mechanism 110 clamping the elongated medical device 300.

[0145] Specifically, the first pressure sensor 120 may be provided in plurality. The plurality of first pressure sensors 120 perform fusion measurement to improve the accuracy and reliability of the pressure value measurement of the clamping mechanism 110. For example, the plurality of first pressure sensors 120 may be installed at different positions of the first driving device 100, and a more accurate pressure value of the clamping mechanism 110 on the elongated medical device 300 may be obtained by fusion processing of the data of the plurality of first pressure sensors 120.

[0146] Specifically, a second pressure sensor 220 is disposed in the second driving device 200. The second pressure sensor 220 is connected to the delivery mechanism 210. The second pressure sensor 220 is used to sense and read the force value of the delivery mechanism 210 pulling the elongated medical device 300.

[0147] Specifically, a plurality of second pressure sensors 220 may be provided.

[0148] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A control method for withdrawing a slender medical device, characterized in that: The following steps are involved: receiving an instruction to withdraw the elongated medical device; Clamping the elongated medical device; Controlling the elongated medical device to move in a direction away from the clamping position; Obtaining a force value F1 applied to the elongated medical device at the start time of controlling the elongated medical device to move in a direction away from the clamping position; After a first preset time, obtaining a force value F2 at a current moment for controlling the elongated medical device to move in a direction away from the clamping position; It is determined whether the slender medical device has completed the withdrawal action according to F1 and F2, and corresponding operations are performed according to the determination result.

2. The control method for withdrawing a slender medical device according to claim 1, characterized in that: The force value is a pulling force value for pulling the elongated medical device, and judging whether the elongated medical device has completed the withdrawal action according to F1 and F2, and performing corresponding operation steps according to the judgment result include: Determine whether the difference between F1 and F2 is less than a first pressure threshold; If yes, it is determined that the elongated medical device has completed the withdrawal action; If not, the step of controlling the elongated medical device to move in a direction away from the clamping position is performed.

3. The control method for withdrawing a slender medical device according to claim 2, characterized in that: The step of obtaining the force value F2 at the current moment of controlling the elongated medical device to move in a direction away from the clamping position after the first preset time comprises: Acquire the start time T1 of controlling the elongated medical device to move in a direction away from the clamping position; Acquire the current time T2 of controlling the elongated medical device to move in a direction away from the clamping position; Determine whether the difference between T2 and T1 is greater than a first preset time; If yes, then obtaining the force value F2 at the current moment for controlling the elongated medical device to move in a direction away from the clamping position; If not, the step of obtaining the current time T2 of controlling the elongated medical device to move in a direction away from the clamping position is performed.

4. The control method for withdrawing a slender medical device according to claim 2 or 3, characterized in that: After executing the step of controlling the elongated medical device to move in a direction away from the clamping position, the step further includes: Acquiring a force value F3 at a current moment for controlling the elongated medical device to move in a direction away from the clamping position; Determine whether the difference between F1 and F3 is less than a second pressure threshold; If yes, first stop controlling the elongated medical device to move in the direction away from the clamping position, then re-control the elongated medical device to move in the direction away from the clamping position and execute the step of obtaining the force value F2 at the current moment of controlling the elongated medical device to move in the direction away from the clamping position after the first preset time; If not, the step of obtaining the force value F3 at the current moment for controlling the elongated medical device to move in a direction away from the clamping position is performed.

5. The control method for withdrawing a slender medical device according to claim 4, characterized in that: The second pressure threshold is lower than the first pressure threshold.

6. The control method for withdrawing a slender medical device according to claim 1, characterized in that: The step of clamping the elongated medical device comprises: Obtaining a force value F4 for clamping the elongated medical device; Determining whether the F4 is greater than a third pressure threshold; If yes, then executing the step of controlling the elongated medical device to move in a direction away from the clamping position; If not, the force value for clamping the elongated medical device is increased, and the step of obtaining the force value F4 for clamping the elongated medical device is performed.

7. The control method for withdrawing a slender medical device according to claim 1, characterized in that: The force value is a clamping force for clamping the elongated medical device, and judging whether the elongated medical device has completed the withdrawal action according to F1 and F2, and performing corresponding operation steps according to the judgment result include: Determining whether the difference between F1 and F2 is greater than a fourth pressure threshold; If yes, it is determined that the elongated medical device has completed the withdrawal action; If not, the step of controlling the elongated medical device to move in a direction away from the clamping position is performed.

8. The control method for withdrawing an elongated medical device according to claim 7, characterized in that: The step of obtaining the force value F2 at the current moment of controlling the elongated medical device to move in a direction away from the clamping position after the first preset time comprises: Acquire the start time T1 of controlling the elongated medical device to move in a direction away from the clamping position; Acquire the current time T2 of controlling the elongated medical device to move in a direction away from the clamping position; Determine whether the difference between T2 and T1 is greater than a first preset time; If yes, then obtaining the force value F2 at the current moment for controlling the elongated medical device to move in a direction away from the clamping position; If not, the step of obtaining the current time T2 of controlling the elongated medical device to move in a direction away from the clamping position is performed.

9. A surgical robot, characterized in that: A control method for withdrawing a slender medical device as described in any one of claims 1 to 8 is adopted.

10. The surgical robot according to claim 9, characterized in that: The surgical robot comprises: a first driving device, wherein a clamping mechanism and a first pressure sensor are arranged in the first driving device, the first pressure sensor is connected to the clamping mechanism, the clamping mechanism is used to clamp the slender medical device, and the first pressure sensor is used to sense and read the pressure value of the clamping mechanism clamping the slender medical device; A second driving device, the second driving device is arranged opposite to the first driving device, a delivery mechanism and a second pressure sensor are arranged in the second driving device, the second pressure sensor is connected to the delivery mechanism, the delivery mechanism is used to pull the slender medical device in a direction away from the clamping mechanism so that the slender medical device is withdrawn from the clamping mechanism, and the second pressure sensor is used to sense and read the pulling force value of the delivery mechanism pulling the slender medical device.

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