Catheter control device and control method for vascular intervention robot

Abstract

The present invention proposes a catheter control device and control method for a vascular intervention robot. The device includes a robotic arm connection portion for fixing to a robotic arm. A power assembly can move relative to the robotic arm connection portion along the delivery direction of the catheter. A consumable assembly is detachably connected to the power assembly. The consumable assembly is used to carry the catheter and the Y-type valve. When the power assembly moves, it can drive the consumable assembly to move. The consumable assembly includes a fixed end base and a mobile end base. The fixed end base is fixed to the consumable assembly bottom plate in the consumable assembly housing. One end of the first screw rod passes through the fixed end base and is fixedly connected to the mobile end base. The power assembly can drive the first screw rod to drive the mobile end base to move in a direction opposite to the delivery direction of the catheter. Controllable elastic deformation devices that can be controlled to clamp the catheter are provided on both the fixed end base and the mobile end base. The above-mentioned control device and control method can realize translational control and rotational control of the catheter, will not pull the sheath, and can reduce surgical risks.

Description

Technical Field

[0001] The present invention relates to the technical field of medical equipment, and in particular to a catheter control device and control method for a vascular intervention robot. Background Art

[0002] During vascular interventional procedures, a hollow tubular catheter is inserted into the patient's body through a sheath. The sheath is inserted into the patient's blood vessels and the catheter is fixedly connected to a Y-shaped valve. The Y-shaped valve is a hollow structure with one end connected to the catheter's input end and the other end connected to an interventional material, such as saline, contrast agent, or other substances commonly used in medical devices. The catheter then serves as a channel for the injection of saline or contrast agent or the delivery of medical devices.

[0003] Controlling catheter delivery through surgical robots can reduce operating time for medical staff in radiation environments while offering greater precision and stability than manual operation. Catheter delivery and rotation are core functions of interventional robots, as catheters are thin-walled, hollow, and elongated tubes that are difficult to deliver and rotate over long distances.

[0004] In response to the above problems, there are some solutions in the prior art, such as patent number 2014800566205, and the invention is named "Guided Catheter Controlled Flexible Track", which solves the delivery and rotational guidance problems of the catheter by adding an auxiliary channel between the sheath and the robotic arm. The auxiliary channel is usually a C-section sleeve, which is installed concentrically or parallel to the catheter. During the operation, the two ends of the auxiliary channel are relatively stationary, one end is connected to the sheath, and the other end is connected to the robotic arm, and the catheter slides and rotates in the auxiliary channel. However, in the above solution, it is necessary to design a complex opening structure at the auxiliary channel corresponding to the connection end of the catheter and the Y-valve, so that the catheter can enter or exit the auxiliary channel, and the middle section of the auxiliary channel remains closed to prevent the catheter from falling out. However, some auxiliary channels still have the risk of catheter falling out, and during the catheter transportation process, there is always relative friction between the consumable box and the auxiliary channel, which will have the risk of pulling the sheath. Summary of the Invention

[0005] In order to solve the problems existing in the prior art, the present application proposes a catheter control device and control method for a vascular intervention robot, so as to achieve translational control and rotational control of the catheter without pulling the sheath, thereby reducing surgical risks.

[0006] In order to achieve the above-mentioned purpose, one aspect of the present application proposes a catheter control device for a vascular interventional robot, comprising a robotic arm connection part for fixing on a robotic arm, a power component capable of moving along the conveying direction of the catheter relative to the robotic arm connection part, a consumable component detachably connected to the power component, the consumable component being used to carry the catheter and a Y-type valve connected to the catheter, and when the power component moves, the consumable component can be driven to move along the conveying direction of the catheter, the consumable component comprising a fixed end base and a movable end base, the fixed end base being fixed on the consumable component bottom plate in the consumable component housing, one end of the first screw rod passing through the fixed end base and fixedly connected to the movable end base, the power component can drive the first screw rod to drive the movable end base to move horizontally in the opposite direction of the catheter conveying direction, and a controllable elastic deformation device is provided on both the fixed end base and the movable end base, and when controlled, the controllable elastic deformation device can clamp the catheter.

[0007] In some embodiments, a rotating gear is assembled on the fixed end base and / or the movable end base through a gear positioning support structure. When a rotating gear is provided on the fixed end base or the movable end base, a mounting plate is provided on the movable end base or the fixed end base. The rotating gear can rotate when driven. A controllable elastic deformation device is provided on both rotating gears, or on both the rotating gear and the mounting plate. When controlled, the controllable elastic deformation device can clamp the catheter.

[0008] In some embodiments, the rotating gear adopts a gear without a gap or a gear with a gap. When the gap is too large to achieve a full circle rotation, two limiting structures are provided on the rotating gear. The two limiting structures are used to limit the extreme positions of the rotating gear's clockwise and counterclockwise rotation respectively.

[0009] In some embodiments, the consumable assembly also includes one or two rotational drive spline shafts, a support plate is provided on the bottom plate of the consumable assembly, and the rotational drive spline shaft is connected to the support plate through a spline bearing; the rotational drive spline shaft passes through the fixed end base and the movable end base in sequence, and the rotational drive spline shaft is connected to the fixed end base and the movable end base through a spline bearing, and a stop ring is provided between the rotational drive spline shaft and the movable end base, and the stop ring is used to prevent axial displacement between the rotational drive spline shaft and the movable end base, and a spline gear for driving the rotating gear to rotate is provided on the rotational drive spline shaft, and when the rotational drive spline shaft is driven to rotate, the corresponding rotating gear can be rotated; when the first screw is driven to drive the movable end base to translate in the opposite direction of the catheter conveying direction, the movable end base drives the rotational drive spline shaft to translate in the opposite direction of the catheter conveying direction.

[0010] In some embodiments, the controllable elastic deformation device includes an elastic deformation structure capable of clamping the catheter when deformed, and an extrusion mechanism disposed on both sides of the elastic deformation structure and capable of deforming the elastic deformation structure.

[0011] In some embodiments, the squeezing mechanism squeezes the elastic deformation structure to cause it to deform when power is on or off.

[0012] In some embodiments, the structure of the power supply mechanism of the extrusion mechanism in the controllable elastic deformation device corresponding to the mobile end base is as follows: it includes a first electrode sheet as a positive electrode and a second electrode sheet as a negative electrode, respectively arranged on both sides of the rotating gear / mounting plate, the positive electrode and the negative electrode of the extrusion mechanism are respectively connected to the first electrode sheet and the second electrode sheet through wires, the first electrode sheet is connected to the first screw electrode sheet arranged on the first screw rod through a first elastic contact arranged on the mobile end base, the second electrode sheet is connected to the second screw electrode sheet arranged on the first screw rod through a second elastic contact arranged on the mobile end base, the first screw electrode sheet and the second screw electrode sheet respectively maintain sliding contact with the first power supply brush and the second power supply brush arranged on the bottom plate of the consumable assembly, the first power supply brush and the second power supply brush are connected to the power supply circuit in the power assembly, and the power supply circuit can be used to control the power on and off of the extrusion mechanism.

[0013] In some embodiments, the structure of the power supply mechanism of the extrusion mechanism in the controllable elastic deformation device corresponding to the fixed end base is as follows: it includes a third electrode sheet as a positive electrode and a fourth electrode sheet as a negative electrode, respectively arranged on both sides of the rotating gear / mounting plate, the positive electrode and the negative electrode of the extrusion mechanism are respectively connected to the third electrode sheet and the fourth electrode sheet through wires, the third electrode sheet and the fourth electrode sheet are respectively in contact with the third power supply brush and the fourth power supply brush arranged on the fixed end base, the third power supply brush and the fourth power supply brush are connected to the power supply circuit in the power assembly, and the power supply circuit can be used to control the power on and off of the extrusion mechanism.

[0014] In some embodiments, it also includes a mobile end base translation position detection mechanism: including a position detection signal source brush arranged at the other end of the first screw rod, the position detection signal source brush is connected to the first position detection circuit inside or outside the power component, and the position detection electrode sheet arranged on the bottom plate of the consumable component is connected to the first position detection circuit. During the translation of the mobile end base, when the position detection signal source brush contacts the position detection electrode sheet, the first position detection circuit forms a closed loop, which can detect the position of the mobile end base.

[0015] In some embodiments, when a rotating gear is assembled on the fixed end base and / or the movable end base through a gear positioning support structure, and the rotating gear has a gap, and the gap is so large that a full circle rotation cannot be achieved, a rotation position detection mechanism is also included. When rotating gears are assembled on both the fixed end base and the movable end base through a gear positioning support structure, only one rotation position detection mechanism is required; the rotation position detection mechanism includes an intermediate contact arranged on one side of the rotating gear, and a left limit contact and a right limit contact arranged on the other side of the rotating gear. A rotating midpoint brush, a rotating left pole brush and a rotating right pole brush are provided on the fixed end base or the movable end base corresponding to the rotating gear. A current limiting brush and a rotating right limit brush, wherein the rotating midpoint brush is used in conjunction with the intermediate contact, the rotating left limit brush is used in conjunction with the left limit contact, and the rotating right limit brush is used in conjunction with the right limit contact, the intermediate contact, the left limit contact and the right limit contact are all connected to a second position detection circuit inside or outside the power component, the rotating midpoint brush, the rotating left limit brush and the rotating right limit brush are all connected to the second position detection circuit, and during the rotation of the rotating gear, when the contact used in conjunction contacts the brush, the second position detection circuit forms a closed loop, which can detect the position of the rotating gear.

[0016] In some embodiments, the power assembly includes a power assembly housing, the consumable assembly is detachably connected to the power assembly housing, a fixed block is provided on the power assembly bottom plate in the power assembly housing, one end of the second screw rod is rotatably connected to the fixed block, the other end of the second screw rod is matched with a screw nut, the screw nut is fixed on a slider, the slider is fixed on the mechanical arm connection part, the slider is used in conjunction with a slide groove provided on the power assembly bottom plate, when the second screw rod is driven to rotate by the driving mechanism, the slide groove on the power assembly bottom plate is matched with the slider, and the power assembly bottom plate can move along the conveying direction of the catheter;

[0017] A mounting bracket is further provided on the base plate of the power assembly, and a first driving mechanism is mounted on the mounting bracket. The first driving mechanism can drive the first bevel gear in the consumable assembly that is meshed with the translational driving bevel gear to rotate. The first bevel gear is rotatably mounted on the base plate of the consumable assembly, and the translational driving bevel gear is rotatably mounted on a fixed plate provided on the base plate of the consumable assembly. The translational driving bevel gear is threadedly engaged with the first screw rod. When the first driving mechanism is actuated, the first bevel gear can be rotated, thereby driving the translational driving bevel gear to rotate, and finally driving the first screw rod to translate in the opposite direction of the conveying direction of the catheter.

[0018] When the consumable assembly includes a rotationally driven spline shaft, which is referred to as a first rotationally driven spline shaft, the mounting frame is further equipped with a second driving mechanism, which can drive the second bevel gear in the consumable assembly that is meshed with the first rotationally driven bevel gear to rotate. The second bevel gear is rotationally mounted on the bottom plate of the consumable assembly, and the first rotationally driven bevel gear is rotationally mounted on the fixed plate. When the first rotationally driven bevel gear rotates, the first rotationally driven spline shaft is driven to rotate.

[0019] When the consumable assembly includes two rotation-driving spline shafts, which are recorded as the first rotation-driving spline shaft and the second rotation-driving spline shaft, the mounting frame is equipped with the second driving mechanism and the third driving mechanism. The second driving mechanism can drive the second bevel gear to rotate, and the third driving mechanism can drive the third bevel gear in the consumable assembly that is meshed with the second rotation-driving bevel gear to rotate. The third bevel gear is rotatably mounted on the bottom plate of the consumable assembly, and the second rotation-driving bevel gear is rotatably mounted on the fixed plate. When the second rotation-driving bevel gear rotates, it drives the second rotation-driving spline shaft to rotate.

[0020] In some embodiments, the first driving mechanism includes a second driving motor mounted on the mounting frame, and a first transmission bevel gear is provided on the output shaft of the second driving motor. The first transmission bevel gear is engaged with a second transmission bevel gear provided on the first transmission shaft. The first transmission shaft is rotatably mounted on the mounting frame. The first transmission shaft adopts a spline shaft. When the consumable assembly base plate is assembled on the power assembly, the first transmission shaft is inserted into the first bevel gear, which can drive it to rotate.

[0021] In some embodiments, the second drive mechanism includes a third drive motor mounted on the mounting frame, and a third transmission bevel gear is provided on the output shaft of the third drive motor. The third transmission bevel gear is meshed with a fourth transmission bevel gear provided on the second transmission shaft. The second transmission shaft is rotatably mounted on the mounting frame. The second transmission shaft adopts a spline shaft. When the consumable assembly base plate is assembled on the power assembly, the second transmission shaft is inserted into the second bevel gear, which can drive it to rotate.

[0022] In some embodiments, the third driving mechanism includes a fifth transmission bevel gear meshing with the fourth transmission bevel gear, the fifth transmission bevel gear is arranged on the first rotating shaft, the first rotating shaft is rotatably mounted on the mounting frame, and a first transmission spur gear is also provided on the first rotating shaft, the first transmission spur gear drives the second transmission spur gear to rotate via an intermediate transmission spur gear or directly, the second transmission spur gear is arranged on the second rotating shaft, the second rotating shaft is rotatably mounted on the mounting frame, and a sixth transmission bevel gear is also provided on the second rotating shaft, the sixth transmission bevel gear is meshed with the seventh transmission bevel gear arranged on the third transmission shaft, the third transmission shaft is rotatably mounted on the mounting frame, the third transmission shaft adopts a spline shaft, and when the consumable assembly base plate is assembled on the power assembly, the third transmission shaft is inserted into the third bevel gear, which can drive it to rotate.

[0023] Another aspect of the present application further provides a method for controlling a catheter for a vascular intervention robot. The method is based on the aforementioned catheter control device for a vascular intervention robot:

[0024] 1) When inlet control is required, the following steps are included:

[0025] Step a1: When the two controllable elastic deformation devices are in an initial state without deformation, a catheter is inserted, the controllable elastic deformation device corresponding to the movable end base is referred to as a first controllable elastic deformation device, and the controllable elastic deformation device corresponding to the fixed end base is referred to as a second controllable elastic deformation device. At this time, the first controllable elastic deformation device is in an initial position, and the initial position satisfies that the first controllable elastic deformation device does not contact the sheath tube or the patient.

[0026] Step a2: Control the first controllable elastic deformation device to release the catheter, and control the second controllable elastic deformation device to clamp the catheter, and control the movable end base to drive the first controllable elastic deformation device to move away from the sheath tube until it moves to a maximum movement stroke position, wherein the maximum movement stroke position is: on the premise that the catheter can smoothly enter the sheath tube, the maximum distance between the first controllable elastic deformation device and the sheath tube, at which time, the catheter between the first controllable elastic deformation device and the sheath tube will not bend;

[0027] Step a3: Controlling the first controllable elastic deformation device to clamp the catheter, and the second controllable elastic deformation device to release or clamp the catheter, controlling the power assembly to move, thereby driving the consumable assembly to move toward the sheath, so that the catheter passes through the sheath and enters the blood vessel, until the first controllable elastic deformation device moves to the initial position;

[0028] Step a4: Repeat steps a2 and a3 to insert the catheter A into the blood vessel;

[0029] 2) When the withdrawal control is required, the following steps are included:

[0030] Step b1, controlling the first controllable elastic deformation device to be in an initial position;

[0031] Step b2: controlling the first controllable elastic deformation device to clamp the catheter, and the second controllable elastic deformation device to release or clamp the catheter, controlling the power assembly to move, thereby driving the consumable assembly to move away from the sheath, so that the catheter is withdrawn from the blood vessel through the sheath, until the first controllable elastic deformation device moves to a maximum travel position;

[0032] Step b3: controlling the first controllable elastic deformation device to release the catheter and the second controllable elastic deformation device to clamp the catheter, and controlling the movable end base to drive the first controllable elastic deformation device to move toward the sheath tube until it moves to an initial position;

[0033] Step b4: Repeat steps b2 and b3 to remove the catheter from the blood vessel;

[0034] 3) When the catheter needs to be rotated, the following steps are included:

[0035] Step c1: inserting the catheter into the two controllable elastic deformation devices when they are in an initial state without deformation;

[0036] Step c2, controlling at least one controllable elastic deformation device to clamp the catheter. When both controllable elastic deformation devices are controlled to clamp the catheter, jump to step c31; when only one controllable elastic deformation device is controlled to clamp the catheter, jump to step c32;

[0037] Step c31: At this time, the fixed end base and the movable end base are both equipped with rotating gears through the gear positioning support structure. The rotating gear corresponding to the movable end base is recorded as the first rotating gear, and the rotating gear corresponding to the fixed end base is recorded as the second rotating gear. The first rotating gear and the second rotating gear are driven to rotate simultaneously in the same direction to realize the rotation of the catheter;

[0038] Step c32 is divided into the following two cases:

[0039] First, at this time, a rotating gear is provided on the movable end base or the fixed end base corresponding to the controllable elastic deformation device, and the rotating gear is controlled to rotate to realize the rotation of the catheter;

[0040] Second, alternately controlling the first controllable elastic deformation device and the second controllable elastic deformation device to clamp the catheter is divided into the following four situations:

[0041] Second, a rotating gear is mounted on the fixed end base / mobile end base via a gear positioning support structure, and a mounting plate is provided on the mobile end base / fixed end base. When the controllable elastic deformation device corresponding to the rotating gear clamps the catheter, the rotating gear is driven to rotate to achieve the rotation of the catheter; when the controllable elastic deformation device corresponding to the mounting plate clamps the catheter, the catheter does not rotate, thereby achieving intermittent rotation control of the catheter;

[0042] Second, rotating gears are mounted on both the fixed end base and the movable end base via a gear positioning support structure. The two rotating gears are driven to rotate simultaneously in the same direction or alternately in the same direction. That is, when the first controllable elastic deformation device is controlled to clamp the catheter, the first rotating gear corresponding to the first controllable elastic deformation device is driven to rotate to achieve rotation of the catheter.

[0043] Second, rotating gears are assembled on both the fixed end base and the movable end base through a gear positioning support structure. When the two rotating gears have no gaps, or have tiny gaps and the tiny gaps do not affect the full rotation of the two rotating gears, and in the step c2, the first controllable elastic deformation device is controlled to clamp the catheter, and the first rotating gear and the second rotating gear are driven to rotate in opposite directions. Then, the first controllable elastic deformation device is controlled to release the catheter, and the second controllable elastic deformation device is controlled to clamp the catheter, and the first rotating gear and the second rotating gear are driven to rotate in directions opposite to the previous rotation directions respectively. Then, the first controllable elastic deformation device is controlled to clamp the catheter, and the second controllable elastic deformation device is controlled to release the catheter. The above operations are repeated to achieve continuous rotation of the catheter in one direction.

[0044] Twenty-four, rotating gears are assembled on both the fixed end base and the movable end base through a gear positioning support structure. When there is a large gap between the two rotating gears, and the gap is too large to achieve a full circle rotation, and in the step c2, the first controllable elastic deformation device is made to clamp the catheter, and the first rotating gear and the second rotating gear are driven to rotate in opposite directions. When the catheter is rotated to the corresponding limit stroke position, the first controllable elastic deformation device is controlled to release the catheter, and the second controllable elastic deformation device is controlled to clamp the catheter. Thereafter, the first rotating gear and the second rotating gear are driven to rotate respectively in a direction opposite to the previous rotation direction until they are rotated to the corresponding limit stroke position. Thereafter, the first controllable elastic deformation device is controlled to clamp the catheter, and the second controllable elastic deformation device is controlled to release the catheter. The above operation is repeated to achieve continuous rotation of the catheter in one direction.

[0045] 4) When it is necessary to realize the simultaneous rotation of the catheter while advancing / retreating the catheter, the relevant steps of the catheter advancement control / the relevant steps of the catheter retreat control and the relevant steps of the catheter rotation can be performed simultaneously, wherein mutually adaptive control methods are selected in the relevant steps of the catheter rotation and the relevant steps of the catheter advancement control / the catheter retreat control.

[0046] The beneficial effect of this solution of the present application is that the above-mentioned catheter control device and control method for the vascular intervention robot can realize translational control and rotational control of the catheter. Since the catheter is clamped by a controllable elastic deformation device during the process of advancing / retracting the catheter and rotating the catheter, slipping and catheter dislodging during catheter delivery can be avoided, which effectively improves the accuracy of catheter delivery and effectively reduces the failure rate of the catheter delivery process, making the surgical operation more accurate and the operation smoother. In addition, the catheter control device and control method for the vascular intervention robot involved in the present application will not pull the sheath, thereby reducing the surgical risk. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 A schematic structural diagram of a catheter control device for a vascular intervention robot in a first embodiment is shown.

[0048] Figure 2 A partial structural diagram of the consumables assembly is shown.

[0049] Figure 3 A schematic structural diagram of a catheter control device for a vascular intervention robot in a second embodiment is shown.

[0050] Figure 4 A schematic structural diagram of a catheter control device for a vascular intervention robot in a third embodiment is shown.

[0051] Figure 5 A schematic diagram showing the connection relationship between the mobile terminal base and the rotating gear is shown.

[0052] Figure 6 A schematic structural diagram of an elastic sheet is shown.

[0053] Figure 7 It shows a schematic diagram of the power supply structure of the two squeezing mechanisms and a schematic diagram of the translational position detection mechanism of the mobile end base.

[0054] Figure 8 It shows a schematic diagram of the power supply structure of the extrusion mechanism corresponding to the fixed end base, and a schematic diagram of the rotation intermediate position detection mechanism of the rotating gear.

[0055] Figure 9 A schematic diagram of a mechanism for detecting the left and right limit positions of a rotating gear is shown.

[0056] Figure 10 A partial structural diagram of the power assembly is shown.

[0057] Figure 11 A schematic diagram of the partial structure of a catheter control device for a vascular intervention robot is shown.

[0058] Figure 12 A schematic diagram of the partial structure of the catheter control device for the vascular intervention robot from another angle is shown.

[0059] Figure 13 (a) to (c) show the state diagrams of the catheter translation control position during use.

[0060] Figure 14 (a) to (c) show the state diagrams of the catheter rotation control position during use.

[0061] Figure numerals: A-catheter, BY-type valve, C-sheath, 1-consumable assembly, 2-power assembly, 3-robotic arm connection part, 101-consumable assembly housing, 102-consumable assembly bottom plate, 103-fixed plate, 104-translational drive bevel gear, 105-first screw, 106-fixed end base, 1061-first side vertical plate, 1062-second side vertical plate, 107-movable end base, 1071-third side vertical plate, 1072-fourth side vertical plate, 108-first rotating gear, 109-second rotating gear, 1010-mounting plate, 1011-push-pull electromagnet, 1012- Elastic deformation structure, 1013-elastic sheet, 1014-limiting member, 1015-first rotary drive spline shaft, 1016-second rotary drive spline shaft, 1017-spline bearing, 1018-spline gear, 1019-first rotary drive bevel gear, 1020-second rotary drive bevel gear, 1021-first electrode sheet, 1022-second electrode sheet, 1023-first elastic contact, 1024-second elastic contact, 1025-first screw electrode sheet, 1026-second screw electrode sheet, 1027-first power supply brush, 1028-second power supply brush, 1029-position Position detection signal source brush, 1030-position detection electrode sheet, 1031-third electrode sheet, 1032-fourth electrode sheet, 1033-third power supply brush, 1034-fourth power supply brush, 1035-middle contact, 1036-left limit contact, 1037-right limit contact, 1038-rotational midpoint brush, 1039-rotational left limit brush, 1040-rotational right limit brush, 1041-support plate, 1042-second bevel gear, 1043-third bevel gear, 201-power component housing, 202-power component bottom plate, 203-second screw, 204-fixed block , 205-driving mechanism, 2051-first driving motor, 2052-driving pulley, 2053-synchronous belt, 2054-driven pulley, 206-slider, 207-slide, 208-mounting frame, 209-second driving motor, 2010-third driving motor, 2011-first transmission shaft, 2012-second transmission shaft, 2015-third transmission bevel gear, 2016-fourth transmission bevel gear, 2017-fifth transmission bevel gear, 2018-first transmission spur gear, 2019-intermediate transmission spur gear, 2020-second transmission spur gear, 2021-third transmission shaft. DETAILED DESCRIPTION

[0062] The specific implementation of this application will be further described below with reference to the accompanying drawings.

[0063] In the description of the present application, it should be understood that the terms "first", "second", etc. are used to distinguish similar objects, rather than to describe or indicate a specific order or sequence. The terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present application.

[0064] like Figures 1 to 12 As shown, the catheter control device for a vascular intervention robot involved in the present application includes a robotic arm connection part 3 for fixing on the robotic arm, a power assembly 2 can move along the conveying direction of the catheter A relative to the robotic arm connection part 3, and a consumable assembly 1 is detachably connected to the power assembly 2. The consumable assembly 1 is used to carry the catheter A and the Y-type valve B connected to the catheter A. When the power assembly 2 moves, it can drive the consumable assembly 1 to move along the conveying direction of the catheter A. The consumable assembly 1 includes a fixed end base 106 and a movable end base 107 The fixed end base 106 is fixed on the consumable assembly bottom plate 102 in the consumable assembly housing 101, and one end of the first screw rod 105 passes through the fixed end base 106 and is fixedly connected to the movable end base 107. The power component 2 can drive the first screw rod 105 to drive the movable end base 107 to move in the opposite direction of the conveying direction of the catheter A. A controllable elastic deformation device is provided on both the fixed end base 106 and the movable end base 107. When controlled, the controllable elastic deformation device can clamp the catheter A, thereby realizing the translation control of the catheter A.

[0065] When the robotic arm is positioned, the initial position of the controllable elastic deformation device corresponding to the mobile end base 107 is determined, and the initial position satisfies that the controllable elastic deformation device does not contact the sheath C and the patient; the maximum moving stroke position of the controllable elastic deformation device corresponding to the mobile end base 107 is: on the premise that the catheter A can smoothly enter the sheath C, the maximum distance between the controllable elastic deformation device and the sheath C. At this time, the catheter A between the controllable elastic deformation device and the sheath C will not bend.

[0066] In order to simultaneously achieve translational control and rotational control of the catheter A, a rotating gear is assembled on the fixed end base 106 and / or the movable end base 107 through a gear positioning support structure. When a rotating gear is provided on the fixed end base 106 or the movable end base 107, a mounting plate 1010 is provided on the movable end base 107 or the fixed end base 106. The rotating gear can rotate when driven. A controllable elastic deformation device is provided on both rotating gears, or on both the rotating gear and the mounting plate 1010. When controlled, the controllable elastic deformation device can clamp the catheter A.

[0067] The rotating gear can be a gear without a gap, such as Figure 3 In order to reduce the size and weight of the device and facilitate the placement of the catheter A, the rotating gear may also be a notched gear, such as Figure 2 As shown, when the gap is too large to achieve a full circle rotation, two limit structures are provided on the rotating gear. The two limit structures are used to limit the extreme positions of the clockwise and counterclockwise rotation of the rotating gear respectively, so that the rotating gear cannot continue to rotate after rotating to the gap.

[0068] The consumable assembly 1 also includes one or two rotation-driven spline shafts, a support plate 1041 is provided on the consumable assembly base 102, and the rotation-driven spline shaft is connected to the support plate 1041 through a spline bearing; the rotation-driven spline shaft passes through the fixed end base 106 and the movable end base 107 in sequence, and the rotation-driven spline shaft is connected to the fixed end base 106 and the movable end base 107 through a spline bearing, and a stop ring is provided between the rotation-driven spline shaft and the movable end base 107, and the stop ring is used to prevent axial displacement between the rotation-driven spline shaft and the movable end base 107, and a spline gear 1018 for driving the rotating gear to rotate is provided on the rotation-driven spline shaft. When the rotation-driven spline shaft is driven to rotate, the corresponding rotating gear can be rotated; when the first screw 105 is driven to drive the movable end base 107 to translate in the opposite direction of the conveying direction of the catheter A, the movable end base 107 drives the rotation-driven spline shaft to translate in the opposite direction of the conveying direction of the catheter A.

[0069] In order to better control the catheter A, in this embodiment, two rotating gears are used, which are respectively recorded as the first rotating gear 108 and the second rotating gear 109. When the first rotating gear 108 and the second rotating gear 109 have no gaps, or have small gaps and the small gaps do not affect the full rotation of the first rotating gear 108 and the second rotating gear 109, the consumable assembly 1 includes one or two rotating drive spline shafts, and the rotating drive spline shafts are provided with two spline gears 1018. The two spline gears 1018 are respectively engaged with the first rotating gear 108 and the second rotating gear 109. When the first rotating gear 108 and the second rotating gear 109 have gaps, and the gaps are too large to achieve a full circle of rotation, the consumable component 1 includes two rotating drive spline shafts, which are respectively recorded as the first rotating drive spline shaft 1015 and the second rotating drive spline shaft 1016, the fixed end base 106 includes a first side vertical plate 1061 and a second side vertical plate 1062 arranged opposite to each other, and the mobile end base 107 includes a third side vertical plate 1071 and a fourth side vertical plate 1072 arranged opposite to each other, the first rotating drive spline shaft 1015 is connected to the fixed end base 106 and the mobile end base 107 through a spline bearing, and the first rotating drive spline shaft 1015 is connected to the mobile end base 107 through a spline bearing. 07, a stop ring is provided between the first rotation drive spline shaft 1015, the spline gear 1018 on the first rotation drive spline shaft 1015 is located between the third side vertical plate 1071 and the fourth side vertical plate 1072, and the first rotation drive spline shaft 1015 can drive the first rotation gear 108 to rotate. Specifically, the first rotation drive spline shaft 1015 is connected to the third side vertical plate 1071 and the fourth side vertical plate 1072 respectively through two spline bearings, the first rotation drive spline shaft 1015 is connected to the first side vertical plate 1061 and the second side vertical plate 1062 respectively through two spline bearings, or the two spline bearings on the first side vertical plate 1061 and the second side vertical plate 1062 are an integrated structure. The second rotation drive spline shaft 1016 is connected to the fixed end base 106 and the movable end base 107 via spline bearings. A retaining ring is provided between the second rotation drive spline shaft 1016 and the movable end base 107. The spline gear 1018 on the second rotation drive spline shaft 1016 is located between the first side vertical plate 1061 and the second side vertical plate 1062. The second rotation drive spline shaft 1016 can drive the second rotation gear 109 to rotate. Specifically, the second rotation drive spline shaft 1016 is connected to the third side vertical plate 1071 and the fourth side vertical plate 1072 via two spline bearings, respectively. Alternatively, the two spline bearings on the third side vertical plate 1071 and the fourth side vertical plate 1072 are an integrated structure. The second rotation drive spline shaft 1016 is connected to the first side vertical plate 1061 and the second side vertical plate 1062 via two spline bearings.

[0070] The controllable elastic deformation device includes an elastic deformation structure 1012 for clamping the catheter A during deformation, and an extrusion mechanism disposed on both sides of the elastic deformation structure 1012 and capable of deforming the elastic deformation structure 1012, wherein a guide hole or a guide groove for the catheter A is provided in the elastic deformation structure 1012. When the guide groove is provided, an elastic sheet 1013 is further provided on the elastic deformation structure 1012. The hardness of the elastic sheet 1013 is less than that of the elastic deformation structure 1012. The catheter A rests on the elastic sheet 1013. In order to further prevent the catheter A from falling out, a limiting member 1014 is provided on the elastic sheet 1013. Figure 6 shown.

[0071] The extrusion mechanism squeezes the elastic deformation structure 1012 to deform it when the power is on or off. Specifically, the extrusion mechanism can adopt a push-pull electromagnet 1011 or a shape memory alloy that can be contracted by current control. When the push-pull electromagnet 1011 is energized, the push rod is pushed out to extrude the elastic deformation structure 1012, causing the elastic deformation structure 1012 to deform and thus clamp the catheter A. When the push-pull electromagnet 1012 is de-energized, the push rod is rebounded to its initial state by the spring. At this time, the elastic deformation structure 1012 is in an initial relaxed state, and the catheter A is not clamped.

[0072] In this embodiment, the structure of the power supply mechanism of the extrusion mechanism in the controllable elastic deformation device corresponding to the mobile end base 107 is as follows: it includes a first electrode sheet 1021 as a positive electrode and a second electrode sheet 1022 as a negative electrode, which are respectively arranged on both sides of the rotating gear / mounting plate 1010. The positive and negative electrodes of the extrusion mechanism are connected to the first electrode sheet 1021 and the second electrode sheet 1022 through wires, respectively. The first electrode sheet 1021 is connected to the first screw electrode sheet 1025 arranged on the first screw rod 105 through a first elastic contact 1023 arranged on the mobile end base 107. The second electrode sheet 1022 The second elastic contact 1024 provided on the mobile end base 107 is connected to the second screw electrode sheet 1026 provided on the first screw 105. The first screw electrode sheet 1025 and the second screw electrode sheet 1026 respectively maintain sliding contact with the first power brush 1027 and the second power brush 1028 provided on the consumable assembly base plate 102. The first power brush 1027 and the second power brush 1028 are connected to the power circuit in the power assembly 2. The power assembly 2 can be provided with an independent power supply or an external power supply. The power circuit can realize the control of power on and off of the extrusion mechanism. In order to facilitate the electrical connection between the relevant components in the consumable assembly 1 and the relevant components in the power assembly 2, a through hole is provided on the consumable assembly base plate 102.

[0073] In order to accurately detect the position of the mobile end base 107 and then determine the position of the corresponding controllable elastic deformation device, a mobile end base 107 translation position detection mechanism is also included: including a position detection signal source brush 1029 arranged at the other end of the first screw rod 105, the position detection signal source brush 1029 is connected to the first position detection circuit inside or outside the power component 2, and the position detection electrode sheet 1030 arranged on the consumable component base plate 102 is connected to the first position detection circuit. During the translation of the mobile end base 107, when the position detection signal source brush 1029 contacts the position detection electrode sheet 1030, the first position detection circuit forms a closed loop, which can detect the position of the mobile end base 107. In this embodiment, the first position detection circuit can adopt the position detection circuit in the prior art, for example, it includes a power supply module, a signal acquisition module and a detection module. When the signal acquisition module detects the electrical signal with a rising edge, the signal is transmitted to the detection module. The relative position of the position detection signal source brush 1029 and the consumable component base plate 102 at this time is obtained through the detection module, and then the position of the mobile terminal base 107 can be obtained.

[0074] The structure of the power supply mechanism of the extrusion mechanism in the controllable elastic deformation device corresponding to the fixed end base 106 is as follows: it includes a third electrode sheet 1031 as a positive electrode and a fourth electrode sheet 1032 as a negative electrode, which are respectively arranged on both sides of the rotating gear / mounting plate 1010. The positive electrode and negative electrode of the extrusion mechanism are respectively connected to the third electrode sheet 1031 and the fourth electrode sheet 1032 through wires. The third electrode sheet 1031 and the fourth electrode sheet 1032 are respectively in contact with the third power supply brush 1033 and the fourth power supply brush 1034 arranged on the fixed end base 106. The third power supply brush 1033 and the fourth power supply brush 1034 are connected to the power supply circuit in the power component 2. The power supply circuit can be used to control the power on and off of the extrusion mechanism.

[0075] When a rotating gear is assembled on the fixed end base 106 and / or the mobile end base 107 through a gear positioning support structure, and the rotating gear has a gap that is too large to achieve a full circle rotation, in order to accurately detect the rotation position of the rotating gear, a rotation position detection mechanism is also included. When the fixed end base 106 and the mobile end base 107 are both assembled with rotating gears through a gear positioning support structure, only one rotation position detection mechanism is required. Specifically, the rotation position detection mechanism includes an intermediate contact 1035 arranged on one side of the rotating gear, and a left limit contact 1036 and a right limit contact 1037 arranged on the other side of the rotating gear. A rotating midpoint brush 1038, a rotating left limit brush 1039, and a rotating right limit brush 1040 are provided on the fixed end base 106 or the mobile end base 107 corresponding to the rotating gear, wherein the rotating midpoint brush 1038 is used in conjunction with the intermediate contact 1035, and the rotating left limit brush 1039 is used in conjunction with the left limit contact 1036. The rotating right limit brush 1040 is used in conjunction with the right limit contact 1037. The intermediate contact 1035, the left limit contact 1036, and the right limit contact 1037 are all connected to a second position detection circuit within or outside the power assembly 2. The rotating midpoint brush 1038, the rotating left limit brush 1039, and the rotating right limit brush 1040 are all connected to the second position detection circuit. During the rotation of the rotating gear, when the corresponding contacts contact the brushes, the second position detection circuit forms a closed loop, capable of detecting the position of the rotating gear. In this embodiment, the position detection circuit can be a position detection circuit known in the art, such as one comprising a power supply module, a signal acquisition module, and a detection module.

[0076] The power assembly 2 includes a power assembly housing 201, and the consumable assembly 1 is detachably connected to the power assembly housing 201. A fixed block 204 is provided on the power assembly base plate 202 in the power assembly housing 201. One end of the second screw rod 203 is rotatably connected to the fixed block 204, and the other end of the second screw rod 203 cooperates with the screw nut, and the screw nut is fixed on the slider 206. The slider 206 is fixed on the robotic arm connection part 3, and the slider 206 is used in conjunction with the slide groove 207 provided on the power assembly base plate 202. When the second screw rod 203 is driven to rotate by the driving mechanism 205, the slide groove 207 on the power assembly base plate 202 cooperates with the slider 206, and the power assembly base plate 202 can move along the conveying direction of the catheter A. In this embodiment, the driving mechanism 205 includes a first driving motor 2051 arranged on the power component base plate 202. The first driving motor 2051 can drive the second screw rod 203 to rotate through a coupling, or a driving pulley 2052 can be provided on the output shaft of the first driving motor 2051. The driving pulley 2052 is connected to the driven pulley 2054 via a synchronous belt 2053, and the driven pulley 2054 is fixed on the second screw rod 203.

[0077] A mounting bracket 208 is also provided on the power component base plate 202, and a first driving mechanism is assembled on the mounting bracket 208. The first driving mechanism can drive the first bevel gear in the consumable component 1 that is engaged with the translational driving bevel gear 104 to rotate. The first bevel gear is rotatably mounted on the consumable component base plate 102, and the translational driving bevel gear 104 is rotatably mounted on the fixed plate 103 provided on the consumable component base plate 102. The translational driving bevel gear 104 is threadedly engaged with the first screw rod 105. When the first driving mechanism is actuated, the first bevel gear can be rotated, thereby driving the translational driving bevel gear 104 to rotate, and finally driving the first screw rod 105 to translate in the opposite direction of the conveying direction of the catheter A.

[0078] When the consumable component 1 includes a rotationally driven spline shaft, which is recorded as the first rotationally driven spline shaft 1015, the mounting frame 208 is also equipped with a second driving mechanism, which can drive the second bevel gear 1042 in the consumable component 1 that is meshed with the first rotationally driven bevel gear 1019 to rotate. The second bevel gear 1042 is rotationally mounted on the consumable component base plate 102, and the first rotationally driven bevel gear 1019 is rotationally mounted on the fixed plate 103. When the first rotationally driven bevel gear 1019 rotates, it drives the first rotationally driven spline shaft 1015 to rotate. When the consumable component 1 includes two rotationally driven spline shafts, which are recorded as the second rotationally driven spline shaft 1015. A rotationally driven spline shaft 1015 and a second rotationally driven spline shaft 1016, the mounting frame 208 is equipped with a second driving mechanism and a third driving mechanism, the second driving mechanism can drive the second bevel gear 1042 to rotate, and the third driving mechanism can drive the third bevel gear 1043 in the consumable component 1 that is meshed with the second rotationally driven bevel gear 1020 to rotate, the third bevel gear 1043 is rotatably mounted on the consumable component base plate 102, the second rotationally driven bevel gear 1020 is rotatably mounted on the fixed plate 103, and when the second rotationally driven bevel gear 1020 rotates, it drives the second rotationally driven spline shaft 1016 to rotate.

[0079] In this embodiment, the first driving mechanism includes a second driving motor 209 mounted on the mounting frame 208, and a first transmission bevel gear is provided on the output shaft of the second driving motor 209. The first transmission bevel gear is engaged with the second transmission bevel gear provided on the first transmission shaft 2011. The first transmission shaft 2011 is rotatably mounted on the mounting frame 208. The first transmission shaft 2011 adopts a special shape similar to a spline shaft. When the consumable assembly base plate 102 is assembled on the power assembly 2, the first transmission shaft 2011 is inserted into the first bevel gear, which can drive it to rotate.

[0080] The second driving mechanism includes a third driving motor 2010 mounted on the mounting frame 208, and a third transmission bevel gear 2015 is provided on the output shaft of the third driving motor 2010. The third transmission bevel gear 2015 is engaged with a fourth transmission bevel gear 2016 provided on the second transmission shaft 2012. The second transmission shaft 2012 is rotatably mounted on the mounting frame 208. The second transmission shaft 2012 adopts a special shape similar to a spline shaft. When the consumable assembly base plate 102 is assembled on the power assembly 2, the second transmission shaft 2012 is inserted into the second bevel gear 1042, which can drive it to rotate.

[0081] The third driving mechanism includes a fifth transmission bevel gear 2017 meshing with the fourth transmission bevel gear 2016, the fifth transmission bevel gear 2017 is arranged on a first rotating shaft, the first rotating shaft is rotatably mounted on the mounting frame 208, and a first transmission spur gear 2018 is further provided on the first rotating shaft. The first transmission spur gear 2018 drives the second transmission spur gear 2020 to rotate via an intermediate transmission spur gear 2019 or directly, and the intermediate transmission spur gear 2019 is rotatably connected to the mounting frame 208 via a rotating shaft, and the second transmission spur gear 2020 is rotatably connected to the mounting frame 208. The second rotating shaft is provided on the second rotating shaft, which is rotatably mounted on the mounting frame 208. A sixth transmission bevel gear is also provided on the second rotating shaft. The sixth transmission bevel gear is meshed with a seventh transmission bevel gear provided on the third transmission shaft 2021. The third transmission shaft 2021 is rotatably mounted on the mounting frame 208. The third transmission shaft 2021 adopts a special shape similar to a spline shaft. When the consumable component base plate 102 is assembled on the power component 2, the third transmission shaft 2021 is inserted into the third bevel gear 1043 to drive the third bevel gear 1043 to rotate. Specifically, when the two rotating gears rotate in the same direction, the total number of the first transmission spur gear 2018, the intermediate transmission spur gear 2019 and the second transmission spur gear 2020 is an odd number; when the two rotating gears rotate in opposite directions, only the first transmission spur gear 2018 and the second transmission spur gear 2020 are included, or the total number of the first transmission spur gear 2018, the intermediate transmission spur gear 2019 and the second transmission spur gear 2020 is an even number.

[0082] The catheter control method for a vascular intervention robot involved in this application includes the following steps:

[0083] 1) When inlet control is required, such as Figure 13 shown

[0084] Step a1. When the two controllable elastic deformation devices are in the initial state without deformation, the catheter A is installed, and the controllable elastic deformation device corresponding to the movable end base 107 is recorded as the first controllable elastic deformation device, and the controllable elastic deformation device corresponding to the fixed end base 106 is recorded as the second controllable elastic deformation device. At this time, the first controllable elastic deformation device is in the initial position, and the initial position satisfies that the first controllable elastic deformation device does not contact the sheath C and the patient.

[0085] Step a2, control the first controllable elastic deformation device to loosen the catheter A, and make the second controllable elastic deformation device clamp the catheter A, control the movable end base 107 to drive the first controllable elastic deformation device to move away from the sheath C until it moves to the maximum movement stroke position, and the maximum movement stroke position is: on the premise that the catheter A can smoothly enter the sheath C, the maximum distance between the first controllable elastic deformation device and the sheath C, at this time, the catheter A between the first controllable elastic deformation device and the sheath C will not bend.

[0086] Step a3: Control the first controllable elastic deformation device to clamp the catheter A, and the second controllable elastic deformation device to loosen or clamp the catheter A, control the power component 2 to move, and then drive the consumable component 1 to move toward the direction close to the sheath C, so that the catheter A passes through the sheath C into the blood vessel until the first controllable elastic deformation device moves to the initial position.

[0087] Step a4: Repeat steps a2 and a3 to deliver the catheter A into the blood vessel.

[0088] 2) When withdrawal control is required

[0089] Step b1: Control the first controllable elastic deformation device to be in an initial position.

[0090] Step b2: control the first controllable elastic deformation device to clamp the catheter A, and the second controllable elastic deformation device to loosen or clamp the catheter A, control the power component 2 to move, and then drive the consumable component 1 to move in the direction away from the sheath C, so that the catheter A withdraws from the blood vessel through the sheath C until the first controllable elastic deformation device moves to the maximum movement stroke position.

[0091] Step b3: control the first controllable elastic deformation device to release the catheter A, and make the second controllable elastic deformation device clamp the catheter A, and control the movable end base 107 to drive the first controllable elastic deformation device to move toward the direction close to the sheath C until it moves to the initial position.

[0092] Step b4: Repeat steps b2 and b3 to remove the catheter A from the blood vessel.

[0093] 3) When the catheter needs to be rotated

[0094] Step c1: When the two controllable elastic deformation devices are not deformed and are in the initial state, the catheter A is installed.

[0095] Step c2, control at least one controllable elastic deformation device to clamp the catheter A. When both controllable elastic deformation devices are controlled to clamp the catheter A, jump to step c31; when one of the controllable elastic deformation devices is controlled to clamp the catheter A, jump to step c32.

[0096] Step c31. At this time, the fixed end base 106 and the movable end base 107 are both equipped with rotating gears through a gear positioning support structure. The rotating gear corresponding to the movable end base 107 is recorded as a first rotating gear 108, and the rotating gear corresponding to the fixed end base 106 is recorded as a second rotating gear 109. The first rotating gear 108 and the second rotating gear 109 are driven to rotate simultaneously in the same direction to realize the rotation of the catheter A.

[0097] Specifically, in step c31 , the first rotating gear 108 and the second rotating gear 109 are driven to rotate simultaneously in the same direction, which can be achieved by rotating the driving spline shaft and the spline gear 1018 .

[0098] Step c32 is divided into the following two cases:

[0099] First, at this time, a rotating gear is provided on the movable end base 107 or the fixed end base 106 corresponding to the controllable elastic deformation device, and the rotation of the rotating gear is controlled to realize the rotation of the catheter A.

[0100] Second, alternately controlling the first controllable elastic deformation device and the second controllable elastic deformation device to clamp the catheter A is divided into the following four situations:

[0101] Second, a rotating gear is assembled on the fixed end base 106 / mobile end base 107 through a gear positioning support structure, and a mounting plate 1010 is provided on the mobile end base 107 / fixed end base 106. When the controllable elastic deformation device corresponding to the rotating gear clamps the catheter A, the rotating gear is driven to rotate to realize the rotation of the catheter A; when the controllable elastic deformation device corresponding to the mounting plate 1010 clamps the catheter A, the catheter A does not rotate, thereby realizing intermittent rotation control of the catheter A.

[0102] Second, rotating gears are installed on both the fixed end base 106 and the movable end base 107 through a gear positioning support structure. At this time, the two rotating gears are driven to rotate in the same direction at the same time or the two rotating gears are driven alternately to rotate in the same direction (that is, when the first controllable elastic deformation device is controlled to clamp the catheter A, the first rotating gear 108 corresponding to the first controllable elastic deformation device is driven to rotate) to realize the rotation of the catheter A.

[0103] Second, rotating gears are assembled on both the fixed end base 106 and the movable end base 107 through a gear positioning support structure. When the two rotating gears have no gaps, or have tiny gaps and the tiny gaps do not affect the full rotation of the two rotating gears, and in the step c2, the first controllable elastic deformation device is made to clamp the catheter A, and the first rotating gear 108 and the second rotating gear 109 are driven to rotate in opposite directions. Then, the first controllable elastic deformation device is controlled to release the catheter A, and the second controllable elastic deformation device is controlled to clamp the catheter A, and the first rotating gear 108 and the second rotating gear 109 are driven to rotate in directions opposite to the previous rotation direction respectively. Then, the first controllable elastic deformation device is controlled to clamp the catheter A, and the second controllable elastic deformation device is controlled to release the catheter A. The above operations are repeated to realize the continuous rotation of the catheter A in one direction.

[0104] Twenty-four, rotating gears are assembled on both the fixed end base 106 and the movable end base 107 through a gear positioning support structure. When there is a large gap between the two rotating gears, and the gap is too large to achieve a full circle rotation, and in the step c2, the first controllable elastic deformation device is used to clamp the catheter A, and the first rotating gear 108 and the second rotating gear 109 are driven to rotate in opposite directions. When they rotate to the corresponding limit stroke position, the first controllable elastic deformation device is controlled to release the catheter A, and the second controllable elastic deformation device is controlled to clamp the catheter A. Then, the first rotating gear 108 and the second rotating gear 109 are driven to rotate in the direction opposite to the previous rotation direction, respectively, until they rotate to the corresponding limit stroke position. Then, the first controllable elastic deformation device is controlled to clamp the catheter A, and the second controllable elastic deformation device is controlled to release the catheter A. Repeating the above operations can achieve continuous rotation of the catheter A in one direction, such as Figure 14 shown.

[0105] Specifically, in step c32 , driving the first rotating gear 108 and the second rotating gear 109 to rotate can be achieved by rotating the driving spline shaft and the spline gear 1018 .

[0106] 4) When it is necessary to realize the simultaneous rotation of the catheter while advancing / retreating the catheter, the relevant steps of the catheter advancement control / the relevant steps of the catheter retreat control and the relevant steps of the catheter rotation can be performed simultaneously, wherein mutually adaptive control methods are selected in the relevant steps of the catheter rotation and the relevant steps of the catheter advancement control / the catheter retreat control.

[0107] The catheter control device and control method for the vascular intervention robot involved in the present application can realize the translational control and rotational control of the catheter. Compared with the existing technology, it does not require a complex auxiliary channel structure. Since the catheter is clamped by a controllable elastic deformation device during the process of advancing / retreating the catheter and rotating the catheter, it can avoid slipping and catheter dislodging during catheter delivery, effectively improving the accuracy of catheter delivery and effectively reducing the failure rate of the catheter delivery process, making the surgical operation more accurate and the operation smoother. In addition, the catheter control device and control method for the vascular intervention robot involved in the present application will not pull the sheath, thereby reducing the surgical risk.

[0108] The above is only a preferred specific implementation method of the present application, but the scope of protection of the present application is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes based on the technical solution and concept of the present application within the technical scope disclosed in the present application, and they should be covered by the scope of protection of the present application.

Claims

1. A catheter control device for a vascular intervention robot, characterized in that: It includes a robotic arm connecting part for fixing on the robotic arm, and a power component can move along the conveying direction of the catheter relative to the robotic arm connecting part. A consumable component is detachably connected to the power component, and the consumable component is used to carry the catheter and a Y-type valve connected to the catheter. When the power component moves, it can drive the consumable component to move along the conveying direction of the catheter. The consumable component includes a fixed end base and a movable end base. The fixed end base is fixed on the consumable component bottom plate in the consumable component housing. One end of the first screw rod passes through the fixed end base and is fixedly connected to the movable end base. The power component can drive the first screw rod to drive the movable end base to move horizontally in the opposite direction of the conveying direction of the catheter. A controllable elastic deformation device is provided on both the fixed end base and the movable end base. When controlled, the controllable elastic deformation device can clamp the catheter.

2. The catheter control device for a vascular intervention robot according to claim 1, characterized in that: A rotating gear is assembled on the fixed end base and / or the movable end base through a gear positioning support structure. When a rotating gear is provided on the fixed end base or the movable end base, a mounting plate is provided on the movable end base or the fixed end base. The rotating gear can rotate when driven. A controllable elastic deformation device is provided on both rotating gears, or on both the rotating gear and the mounting plate. When controlled, the controllable elastic deformation device can clamp the catheter.

3. The catheter control device for a vascular intervention robot according to claim 2, wherein: The rotating gear adopts a gear without a gap or a gear with a gap. When the gap is too large to achieve a full circle rotation, two limiting structures are provided on the rotating gear. The two limiting structures are used to limit the extreme positions of the rotating gear in clockwise and counterclockwise rotation respectively.

4. The catheter control device for a vascular intervention robot according to claim 3, characterized in that: The consumable assembly also includes one or two rotary drive spline shafts, a support plate is provided on the bottom plate of the consumable assembly, and the rotary drive spline shaft is connected to the support plate through a spline bearing; the rotary drive spline shaft passes through the fixed end base and the movable end base in sequence, and the rotary drive spline shaft is connected to the fixed end base and the movable end base through a spline bearing, and a stop ring is provided between the rotary drive spline shaft and the movable end base, and the stop ring is used to prevent axial displacement between the rotary drive spline shaft and the movable end base, and a spline gear for driving the rotary gear to rotate is provided on the rotary drive spline shaft, and when the rotary drive spline shaft is driven to rotate, the corresponding rotary gear can be rotated; when the first screw is driven to drive the movable end base to translate in the opposite direction of the catheter conveying direction, the movable end base drives the rotary drive spline shaft to translate in the opposite direction of the catheter conveying direction.

5. The catheter control device for a vascular intervention robot according to any one of claims 2 to 4, characterized in that: The controllable elastic deformation device includes an elastic deformation structure capable of clamping a catheter during deformation, and an extrusion mechanism disposed on both sides of the elastic deformation structure and capable of deforming the elastic deformation structure.

6. The catheter control device for a vascular intervention robot according to claim 5, characterized in that: The squeezing mechanism squeezes the elastic deformation structure to cause it to deform when power is on or off.

7. The catheter control device for a vascular intervention robot according to claim 6, characterized in that: The structure of the power supply mechanism of the extrusion mechanism in the controllable elastic deformation device corresponding to the mobile end base is as follows: it includes a first electrode sheet as a positive electrode and a second electrode sheet as a negative electrode, respectively arranged on both sides of the rotating gear or the mounting plate, the positive and negative electrodes of the extrusion mechanism are respectively connected to the first electrode sheet and the second electrode sheet through wires, the first electrode sheet is connected to the first screw electrode sheet arranged on the first screw rod through a first elastic contact arranged on the mobile end base, the second electrode sheet is connected to the second screw electrode sheet arranged on the first screw rod through a second elastic contact arranged on the mobile end base, the first screw electrode sheet and the second screw electrode sheet respectively maintain sliding contact with the first power supply brush and the second power supply brush arranged on the bottom plate of the consumable assembly, the first power supply brush and the second power supply brush are connected to the power supply circuit in the power assembly, and the power supply circuit can be used to control the power on and off of the extrusion mechanism.

8. The catheter control device for a vascular intervention robot according to claim 6, characterized in that: The structure of the power supply mechanism of the extrusion mechanism in the controllable elastic deformation device corresponding to the fixed end base is as follows: it includes a third electrode sheet as a positive electrode and a fourth electrode sheet as a negative electrode, which are respectively arranged on both sides of the rotating gear or the mounting plate. The positive and negative electrodes of the extrusion mechanism are respectively connected to the third electrode sheet and the fourth electrode sheet through wires. The third electrode sheet and the fourth electrode sheet are respectively in contact with the third power supply brush and the fourth power supply brush arranged on the fixed end base. The third power supply brush and the fourth power supply brush are connected to the power supply circuit in the power assembly. The power supply circuit can be used to control the power on and off of the extrusion mechanism.

9. The catheter control device for a vascular intervention robot according to claim 7, characterized in that: It also includes a mobile end base translation position detection mechanism: including a position detection signal source brush arranged at the other end of the first screw rod, the position detection signal source brush is connected to the first position detection circuit inside or outside the power component, and the position detection electrode sheet arranged on the bottom plate of the consumable component is connected to the first position detection circuit. During the translation of the mobile end base, when the position detection signal source brush contacts the position detection electrode sheet, the first position detection circuit forms a closed loop, which can detect the position of the mobile end base.

10. The catheter control device for a vascular intervention robot according to claim 7 or 8, characterized in that: When a rotating gear is assembled on the fixed end base and / or the movable end base through a gear positioning support structure, and the rotating gear has a gap, and the gap is too large to achieve a full circle rotation, a rotation position detection mechanism is also included. When the fixed end base and the movable end base are both equipped with rotating gears through a gear positioning support structure, only one rotation position detection mechanism is required; the rotation position detection mechanism includes an intermediate contact arranged on one side of the rotating gear, and a left limit contact and a right limit contact arranged on the other side of the rotating gear. A rotating midpoint brush, a rotating left limit brush and a rotating right limit brush are provided on the fixed end base or the movable end base corresponding to the rotating gear. and a rotating right limit brush, wherein the rotating midpoint brush is used in conjunction with the intermediate contact, the rotating left limit brush is used in conjunction with the left limit contact, and the rotating right limit brush is used in conjunction with the right limit contact, the intermediate contact, the left limit contact and the right limit contact are all connected to a second position detection circuit inside or outside the power component, the rotating midpoint brush, the rotating left limit brush and the rotating right limit brush are all connected to the second position detection circuit, and during the rotation of the rotating gear, when the contact used in conjunction contacts the brush, the second position detection circuit forms a closed loop, which can detect the position of the rotating gear.

11. The catheter control device for a vascular intervention robot according to claim 4, characterized in that: The power assembly includes a power assembly housing, the consumable assembly is detachably connected to the power assembly housing, a fixed block is provided on the power assembly bottom plate in the power assembly housing, one end of the second screw rod is rotatably connected to the fixed block, the other end of the second screw rod is matched with a screw nut, the screw nut is fixed on a slider, the slider is fixed on the mechanical arm connection part, the slider is used in conjunction with a slide groove provided on the power assembly bottom plate, when the second screw rod is driven to rotate by the driving mechanism, the slide groove on the power assembly bottom plate is matched with the slider, and the power assembly bottom plate can move along the conveying direction of the catheter; A mounting bracket is further provided on the base plate of the power assembly, and a first driving mechanism is mounted on the mounting bracket. The first driving mechanism can drive the first bevel gear in the consumable assembly that is meshed with the translational driving bevel gear to rotate. The first bevel gear is rotatably mounted on the base plate of the consumable assembly, and the translational driving bevel gear is rotatably mounted on a fixed plate provided on the base plate of the consumable assembly. The translational driving bevel gear is threadedly engaged with the first screw rod. When the first driving mechanism is actuated, the first bevel gear can be rotated, thereby driving the translational driving bevel gear to rotate, and finally driving the first screw rod to translate in the opposite direction of the conveying direction of the catheter. When the consumable assembly includes a rotationally driven spline shaft, which is referred to as a first rotationally driven spline shaft, the mounting frame is further equipped with a second driving mechanism, which can drive the second bevel gear in the consumable assembly that is meshed with the first rotationally driven bevel gear to rotate. The second bevel gear is rotationally mounted on the bottom plate of the consumable assembly, and the first rotationally driven bevel gear is rotationally mounted on the fixed plate. When the first rotationally driven bevel gear rotates, the first rotationally driven spline shaft is driven to rotate. When the consumable assembly includes two rotation-driving spline shafts, which are recorded as the first rotation-driving spline shaft and the second rotation-driving spline shaft, the mounting frame is equipped with the second driving mechanism and the third driving mechanism. The second driving mechanism can drive the second bevel gear to rotate, and the third driving mechanism can drive the third bevel gear in the consumable assembly that is meshed with the second rotation-driving bevel gear to rotate. The third bevel gear is rotatably mounted on the bottom plate of the consumable assembly, and the second rotation-driving bevel gear is rotatably mounted on the fixed plate. When the second rotation-driving bevel gear rotates, it drives the second rotation-driving spline shaft to rotate.

12. The catheter control device for a vascular intervention robot according to claim 11, characterized in that: The first driving mechanism includes a second driving motor mounted on the mounting frame, and a first transmission bevel gear is provided on the output shaft of the second driving motor. The first transmission bevel gear is meshed with a second transmission bevel gear provided on the first transmission shaft. The first transmission shaft is rotatably mounted on the mounting frame. The first transmission shaft adopts a spline shaft. When the consumable assembly base plate is assembled on the power assembly, the first transmission shaft is inserted into the first bevel gear to drive it to rotate.

13. The catheter control device for a vascular intervention robot according to claim 12, characterized in that: The second driving mechanism includes a third driving motor mounted on the mounting frame, a third transmission bevel gear is provided on the output shaft of the third driving motor, the third transmission bevel gear is meshed with a fourth transmission bevel gear provided on the second transmission shaft, the second transmission shaft is rotatably mounted on the mounting frame, the second transmission shaft adopts a spline shaft, and when the consumable assembly base plate is assembled on the power assembly, the second transmission shaft is inserted into the second bevel gear, which can drive it to rotate.

14. The catheter control device for a vascular intervention robot according to claim 13, characterized in that: The third driving mechanism includes a fifth transmission bevel gear meshing with the fourth transmission bevel gear, the fifth transmission bevel gear being arranged on the first rotating shaft, the first rotating shaft being rotatably mounted on the mounting frame, a first transmission spur gear being further provided on the first rotating shaft, the first transmission spur gear driving the second transmission spur gear to rotate via an intermediate transmission spur gear or directly, the second transmission spur gear being arranged on the second rotating shaft, the second rotating shaft being rotatably mounted on the mounting frame, a sixth transmission bevel gear being further provided on the second rotating shaft, the sixth transmission bevel gear being meshed with the seventh transmission bevel gear arranged on the third transmission shaft, the third transmission shaft being rotatably mounted on the mounting frame, the third transmission shaft adopts a spline shaft, and when the consumable assembly base plate is assembled on the power assembly, the third transmission shaft is inserted into the third bevel gear, and can drive it to rotate.

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