Adaptive clamping method, device and interventional surgery robot of an instrument

Abstract

The application provides an adaptive clamping method, device and interventional surgery robot of an instrument. The adaptive clamping method of the application records the bar code information and structure information of the interventional instrument on the market, tests and obtains clamping data based on the structure information of the instrument, and records the clamping data into the instrument database. During the surgery, when the first instrument is needed for the patient, the bar code on the first instrument is scanned by a code scanner. After the bar code is matched with the bar code recorded in the instrument database, the clamping data recorded in the instrument database can be extracted, and the clamping data is fed back to the clamping device. The clamping device clamps the instrument based on the clamping data. In this way, the bar code on the packaging of the first instrument can be scanned at any time based on different scenes and use requirements, and stable adaptive clamping is realized by the clamping device to expand the compatibility of the interventional surgery robot to the interventional instrument, and promote the orderly completion of the surgery.

Description

Technical Field

[0001] This invention relates to the field of interventional surgical robot technology, specifically to an adaptive clamping method, device, and interventional surgical robot for instruments. Background Technology

[0002] Currently, traditional interventional vascular treatments expose doctors to prolonged X-ray radiation, harming their health. Furthermore, the limitations of hand movement and the need to wear heavy lead aprons for extended periods cause significant fatigue, which, along with instability in manual manipulation, severely impacts surgical quality. Robot-assisted interventional vascular surgery is an inevitable product of artificial intelligence in the medical field. Robotic interventional systems allow doctors to operate outside the operating room, away from radiation, reducing radiation exposure, and providing precise control. They also offer opportunities for remote treatment. Therefore, robot-assisted interventional vascular surgery represents a crucial direction for the development of interventional vascular therapy.

[0003] In actual vascular interventional surgery, different specifications of guidewires and catheters need to be selected according to the patient's examination site and treatment plan. The quantity and specifications will be adjusted according to actual needs. That is, different specifications of guidewires and catheters have different sizes. For the same patient, more than one specification of guidewire and catheter is often required for one operation.

[0004] Vascular interventional surgery robots can replace doctors' manual manipulation of instruments (including guidewires and / or catheters) through bedside guidewire and catheter automated delivery devices. However, for instruments of different sizes, vascular interventional surgery robots cannot effectively identify the size of the instrument and provide the corresponding optimal clamping solution based on its actual size. Summary of the Invention

[0005] In order to overcome the shortcomings of the prior art, the present invention aims to provide an adaptive clamping method and an adaptive clamping device for instruments. The method and device can solve the technical problem that the vascular interventional surgery robot in the prior art cannot effectively identify the size of the instrument and provide a corresponding optimal clamping solution according to its actual size.

[0006] To solve the above problems, the technical solution adopted by the present invention is as follows:

[0007] An adaptive clamping method for an instrument includes the following steps:

[0008] A medical device database is provided, which includes barcode information for various medical devices and structural data corresponding to the barcode information;

[0009] The barcode scanner scans the barcode on the first medical device and sends the result back to the medical device database for pairing with the barcode information;

[0010] When the barcode of the first instrument is successfully paired with the barcode information, the clamping data of the first instrument is extracted from the instrument database and fed back to the clamping device.

[0011] The clamping device clamps the first instrument based on the clamping data.

[0012] A further approach is that the medical device database includes barcode information for various medical devices, and the structured data corresponding to the barcode information is as follows:

[0013] Collect structural data and barcode information of various instruments, analyze the structural data and barcode information to obtain clamping data, and match the clamping data with the barcode information one by one.

[0014] A further option is that the structural data includes the device's specifications, dimensions, mechanical properties, and materials.

[0015] A further embodiment is that the clamping data includes: the optimal clamping position and the optimal clamping deformation of each of the instruments.

[0016] A further solution is to equip the clamping device with a force sensor for detecting clamping force. The force sensor provides real-time feedback on the detected actual clamping force and compares it with the optimal clamping force. If a difference exists, the clamping device is driven to adjust the actual clamping force to approach the optimal clamping force.

[0017] A further embodiment involves the scanner scanning the barcode of the first medical device and sending the data back to the medical device database for pairing with the barcode information. This also includes:

[0018] A feedback device is provided. When the barcode of the first device fails to match the barcode information, the device database sends the matching failure information to the feedback device, which then broadcasts and / or displays the matching failure information via voice.

[0019] A further option is that the instrument database is a cloud database capable of interacting with the clamping device and the barcode scanner respectively, or a data storage device directly connected to the clamping device and the barcode scanner respectively.

[0020] Therefore, compared to existing technologies, this invention pre-introduces barcode and structural information of commercially available instruments, tests them based on the structural information to obtain clamping data, and then records this data into the instrument database. During surgery, when the first instrument is needed for the patient, the barcode on the first instrument is scanned. Once the barcode matches the barcode already entered into the instrument database, the pre-introduced clamping data can be extracted and fed back to the clamping device. The clamping device then clamps the instrument based on this data. Thus, barcodes on the packaging of the first instrument can be scanned at any time based on different scenarios and usage needs. The clamping device achieves stable and adaptive clamping, expanding the compatibility of the interventional surgical robot with interventional instruments and promoting the orderly completion of the surgery.

[0021] An adaptive clamping device for an instrument includes: a storage module for storing barcode information, structural data, and clamping data of the instrument; a scanning module for scanning the barcode on a first instrument and feeding the information back to the storage module for data comparison; a clamping module for acquiring the clamping data fed back by the storage module and clamping the first instrument according to the clamping data; and a feedback module for feeding back the barcode scanning result of the scanning module on the first instrument. If the barcode scanning is successful, the module feeds back the structural data and clamping data of the first instrument; if the barcode scanning fails, the module feeds back the information that the barcode of the first instrument cannot be matched with the information stored in the storage module.

[0022] Therefore, this invention, by storing the instrument's barcode information, structural data, and clamping data in a storage module, allows the scanning module to match the first instrument to be used with the data stored in the storage module, thus providing a clamping solution to the clamping module, which then performs the specific clamping operation. This solves the problem in existing technologies where vascular interventional surgery robots cannot effectively identify the size of the instrument and provide a corresponding optimal clamping solution based on its actual dimensions.

[0023] An interventional surgical robot includes: a barcode scanner configured to acquire barcode information on instrument packaging;

[0024] The memory is configured to store barcode information, structural data, and clamping data corresponding to the device.

[0025] A gripper configured as a gripping data gripping device based on the memory;

[0026] A controller is configured to control the clamping position of the gripper on the instrument and the applied clamping force according to the method described above.

[0027] A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method described in any of the above embodiments.

[0028] Therefore, the present invention provides a computer device and a storage medium, comprising: one or more memories and one or more processors. The memories are used for barcode information, structural data, and clamping data corresponding to the instrument; the processors are used for comparing the results of the barcode scanner, controlling the operation of the clamp, and controlling the feedback, etc.

[0029] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments. Attached Figure Description

[0030] Figure 1 This is a flowchart of an embodiment of an adaptive clamping method for a device according to the present invention. Detailed Implementation

[0031] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0032] 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.

[0033] like Figure 1 As shown, this embodiment of the invention provides an adaptive clamping method for an instrument, comprising the following steps:

[0034] S1: Provide a medical device database, which includes barcode information for various medical devices and structural data corresponding to the barcode information. The barcode information is a collection of barcodes for various specific medical devices, and each specific medical device's barcode corresponds to its structural information. The structural information of multiple specific medical devices is combined to form structural data. The barcode information can be a barcode, a QR code, or other information that can be used to obtain relevant product data based on scanning. The type of barcode information is not uniquely limited here.

[0035] S2: The barcode scanner scans the barcode on the first device and sends the data back to the device database for pairing with the barcode information. Here, the first device is the specific device mentioned above. After the barcode of the first device is scanned, it is paired with the barcode information in the device database. If there is a barcode in the database that is the same as the barcode of the first device, the barcode of the first device is successfully paired; otherwise, the pairing fails.

[0036] S3: If the barcode of the first device fails to match the barcode information, a mismatch message is returned; if the barcode of the first device successfully matches the barcode information, the clamping data of the first device is extracted from the device database and returned to the clamping device.

[0037] S4: The clamping device clamps the first instrument based on the clamping data.

[0038] Compared to existing technologies, this invention pre-programs the barcode and structural information of commercially available medical devices. Based on this structural information, it tests and obtains clamping data, which is then entered into a corresponding device database. During surgery, when the first device is needed, its barcode is scanned. Once the barcode matches the one already entered into the database, the clamping data is extracted and fed back to the clamping device. The clamping device then clamps the device based on this data. Thus, the barcode on the first device's packaging can be scanned at any time for different scenarios and usage needs. The clamping device provides stable and adaptive clamping, expanding the robot's compatibility with interventional devices and facilitating the orderly completion of surgeries.

[0039] In step S1, providing the instrument database includes: collecting information on instruments (including guidewires and catheters) available on the market, including specifications, three-dimensional dimensions, mechanical properties, and materials. First, the diameter of the instrument's main channel needs to be obtained to acquire initial clamping data. Then, based on testing mechanical properties and material information, the initial clamping data is further optimized to ensure clamping stability without affecting the normal operation of the instrument.

[0040] In step S2, during the actual surgery, different first instruments will be selected based on the patient's actual condition and the current stage of surgery. Therefore, when using the first instrument, it is necessary to scan the barcode on the first instrument with a barcode scanner. After scanning the barcode, it will be directly compared with the barcode information stored in the instrument database, and subsequent operations will be performed based on the comparison results.

[0041] In step S3, based on the comparison results of S2, if the barcode of the first instrument cannot be matched with the barcode information in the instrument database, a feedback device will be used to report the mismatch and remind the doctor to replace it with an instrument that matches the information in the database. This prevents non-compliant instruments from being misused during surgery and effectively protects patient safety. If the barcode of the first instrument matches the barcode information in the instrument database, a successful match will be indicated on the feedback device. Based on the feedback clamping data, the clamping device will then clamp the first instrument according to the clamping data, facilitating the normal progress of the surgery. When the barcode of the first instrument is successfully matched, the structural data and clamping data corresponding to the barcode of the first instrument will be extracted. This structural data and clamping data will be displayed on the monitor via the feedback device, allowing the doctor to retrieve the necessary information. After the doctor selects a specific clamping and delivery method, the specific clamping data will be fed back to the clamping device, which will then perform the next specific operation.

[0042] In step S4, the clamping device, based on the size information of the clamping point, the specific position of the clamping instrument, and the clamping force recorded in the clamping data, can achieve the best clamping effect on the first instrument. Specifically, in actual surgery, the use of the first instrument includes both clamping and delivery. Before using the clamping device to complete the clamping, clamping can be performed according to the structural data of the first instrument. Each clamping is performed in a fixed position, and the clamping can be stopped promptly when the actual surgical operation is required. Based on the clamping data, the clamping position, the delivery length of the first instrument, and the clamping data for the next clamping of the first instrument after each delivery can be planned, which can effectively improve surgical efficiency.

[0043] In one embodiment, the device database includes barcode information for various devices and structural data corresponding to the barcode information. Specifically, this involves collecting the structural data and barcode information for various devices. In order to ensure that all device information is entered, it is necessary to enter information on all devices on the market and new products added in real time, including collecting information such as product models, functions, and structural data, as well as their clamping data, so as to keep up with the compatibility of all devices on the market in a timely manner, and to ensure that this adaptive clamping device method can meet the clamping requirements of all compliant devices.

[0044] In one embodiment, the clamping data includes the optimal clamping position and optimal clamping deformation of each instrument. Since the instruments are in a reciprocating cycle of clamping-delivery-clamping during surgery, it is necessary to determine the optimal clamping position at multiple points during the movement of the instrument, the optimal clamping force at each optimal clamping position, and the clamping direction that needs to be considered due to the structural characteristics of the instrument itself, in order to avoid affecting the actual use effect of the specific instrument. Furthermore, the clamping direction of the instrument is achieved by the robotic arm structure in the clamping device, which can maintain a working state at multiple points and angles in space.

[0045] In one embodiment, the clamping device is equipped with a force sensor for detecting clamping force. The force sensor provides real-time feedback of the detected actual clamping force and compares it with the optimal clamping force. If a difference exists, the clamping device is driven to adjust the actual clamping force to approach the optimal clamping force. Since guidewires and catheters differ in diameter—for example, the diameter of guidewires used to treat different conditions or at different surgical stages varies—and their materials and mechanical properties also differ, the clamping device may slip during clamping and delivery due to incompatibility with the size and material of all instruments. Similarly, the catheter may slip during clamping and delivery. Therefore, before entering data for any specific instrument into the database, its size, material, and optimal clamping force need to be tested. During actual clamping, equipping the clamping device with a force sensor capable of real-time detection of the optimal clamping force can effectively maintain a good clamping effect.

[0046] In one embodiment, if the barcode of the first instrument fails to pair with the barcode information, a mismatch message is fed back. Specifically, a feedback device is provided. When the barcode of the first instrument fails to pair with the barcode information, the instrument database feeds back the mismatch message to the feedback device, which then broadcasts and / or displays the mismatch message via voice. Specifically, in an interventional surgical robot, a clamping device and a control panel for controlling the clamping device are included. The feedback device is built into the control panel. When the barcode of the first instrument is scanned but the matching is incomplete, a mismatch message is displayed on the control panel. The doctor is also prompted to replace the instrument with a compliant one via voice broadcast and flashing indicator lights. When the matching is complete, the feedback device displays the size and structural information of the first instrument on the control panel. The doctor can also set the delivery speed and delivery length of the instrument on the control panel according to the patient's condition, and this information is fed back to the clamping device and the delivery device for delivering the first instrument via the feedback device.

[0047] In one embodiment, the device database is either a cloud database capable of interacting with both the clamping device and the barcode scanner, or a data storage device directly linked to both the clamping device and the barcode scanner. Using a cloud database facilitates timely data updates. When new guidewires or catheters are introduced to the market, the device database synchronously records their information. This real-time synchronization effectively prevents the device data from being misidentified as non-compliant, thus avoiding situations where the clamping device cannot effectively hold the device. Furthermore, based on the hospital's confidentiality requirements, the device database can also be a data storage device, stored within the hospital and updated periodically.

[0048] This invention pre-programs the barcode and structural information of commercially available medical devices. Based on the structural information, it tests and obtains clamping data. During surgery, a suitable first device is selected based on the patient's condition. A barcode scanner scans the barcode on the first device. Once the barcode matches the barcode in the device database, the doctor can simultaneously select the delivery speed and length of the first device based on the patient's symptoms. After these operations, the device is adaptively clamped by a clamping device, and the delivery device delivers the device according to the preset delivery speed and length. This allows for targeted selection of appropriate treatment methods based on the patient's condition.

[0049] This invention also provides an adaptive clamping device for an instrument, comprising: a storage module for storing barcode information, structural data, and clamping data of the instrument; a scanning module for scanning the barcode on a first instrument and feeding the information back to the storage module for data comparison; a clamping module for acquiring the clamping data fed back by the storage module and clamping the first instrument according to the clamping data; and a feedback module for feeding back the barcode scanning result of the scanning module on the first instrument. If the barcode scanning is successful, the module feeds back the structural data and clamping data of the first instrument; if the barcode scanning fails, the module feeds back the information stored in the storage module that the barcode of the first instrument cannot be matched.

[0050] This invention addresses the problem in existing technologies where vascular interventional surgery robots cannot effectively identify the size of an instrument and provide a corresponding optimal clamping solution. By storing the instrument's barcode information, structural data, and clamping data in a storage module, the scanning module matches the first instrument to be used with the data stored in the module, providing a clamping solution to the clamping module, which then performs the clamping operation.

[0051] This invention also provides an interventional surgical robot, comprising: a barcode scanner configured to acquire barcode information on instrument packaging; a memory configured to store barcode information, structural data, and clamping data corresponding to the instrument; a clamper configured to clamp the instrument based on the clamping data in the memory; and a controller configured to control the clamping position of the clamper on the instrument and the applied clamping force according to the above method.

[0052] This invention, through its embodiments, stores the instrument's barcode information, structural data, and clamping data in a memory. The barcode scanner matches the first instrument to be used with the data stored in the memory, providing a clamping solution to the clamper, which then performs the specific clamping operation. This solves the problem in existing technologies where vascular interventional surgical robots cannot effectively identify the instrument's size and provide a corresponding optimal clamping solution based on its actual dimensions. Furthermore, the controller of this interventional surgical robot integrates a feedback unit, configured to provide feedback on the pairing status based on the barcode scanner's scanning results and to provide real-time alerts to the physician regarding the instrument's status.

[0053] This invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps described in the above embodiments.

[0054] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the methods described above. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, or optical storage, etc. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0055] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0056] The above embodiments are merely preferred embodiments of the present invention and should not be construed as limiting the scope of protection of the present invention. Any non-substantial changes and substitutions made by those skilled in the art based on the present invention shall fall within the scope of protection claimed by the present invention.

Claims

1. An adaptive clamping method for an instrument, characterized in that, Includes the following steps: A medical device database is provided, which includes barcode information of various medical devices, structural data corresponding to the barcode information, and clamping data obtained based on the structural data; The barcode scanner scans the barcode of the first medical device and sends the data back to the medical device database for pairing with the barcode information; When the barcode of the first instrument is successfully paired with the barcode information, the clamping data of the first instrument is extracted from the instrument database and fed back to the clamping device. The clamping device clamps the first instrument based on the clamping data; the instrument database includes barcode information of various instruments, structural data corresponding to the barcode information, and clamping data obtained based on the structural data, specifically: Collect structural data and barcode information of various instruments, analyze the structural data, mechanical properties and material information of the instruments to obtain clamping data, and match the clamping data with the barcode information one by one.

2. The adaptive clamping method for the instrument according to claim 1, characterized in that, The structural data includes the specifications and dimensions of the instrument.

3. The adaptive clamping method for the instrument according to claim 1, characterized in that, The clamping data includes: the optimal clamping deformation and the optimal clamping force for each of the instruments.

4. The adaptive clamping method for the instrument according to claim 3, characterized in that, The clamping device is equipped with a force sensor for detecting clamping force. The force sensor provides real-time feedback on the actual clamping force and compares it with the optimal clamping force. If there is a difference, the clamping device is driven to adjust the actual clamping force to approach the optimal clamping force.

5. The adaptive clamping method for the instrument according to claim 1, characterized in that, The scanner scans the barcode of the first medical device and sends the data back to the medical device database for pairing with the barcode information. The method also includes: A feedback device is provided. When the barcode of the first device fails to match the barcode information, the device database sends the matching failure information to the feedback device, which then broadcasts and / or displays the matching failure information via voice.

6. The adaptive clamping method for the instrument according to claim 1, characterized in that, The instrument database is either a cloud database capable of interacting with the clamping device and the barcode scanner, or a data storage device directly connected to the clamping device and the barcode scanner.

7. An adaptive clamping device for an instrument, characterized in that, The clamping device employs the method as described in any one of claims 1 to 6, comprising: The storage module is used to store the device's barcode information, structural data, and clamping data. The barcode scanning module is used to scan the barcode on the first instrument and send the information back to the storage module for data comparison. The clamping module acquires the clamping data fed back by the storage module and clamps the first instrument according to the clamping data.

8. The adaptive clamping device for the instrument according to claim 7, characterized in that, Also includes: The feedback module is used to provide feedback on the scanning result of the barcode of the first instrument by the scanning module. If the scanning pairing is successful, it provides feedback on the structural data and clamping data of the first instrument; if the scanning pairing fails, it provides feedback that the barcode of the first instrument cannot match the information stored in the storage module.

9. An interventional surgical robot, characterized in that, include: A barcode scanner configured to acquire barcode information on medical device packaging; The memory is configured to store barcode information, structural data, and clamping data corresponding to the device. A gripper configured as a gripping data gripping device based on the memory; A controller configured to control the gripper's gripping of the instrument according to the method of any one of claims 1 to 6.

Images