An interventional robot and a multi-mode control method

Abstract

The present application relates to the field of interventional machine control technology, and relates to an interventional robot and a multi-mode control method, including a master device, a slave device, a master processor and a slave processor; the master device includes a first control terminal and a second control terminal, or a first driver trigger key and a second driver trigger key; the slave device includes a first control mechanism, a second control mechanism and a third control mechanism; the first control terminal, the second control terminal, the first driver trigger key, the second driver trigger key are connected to the master processor, the first control mechanism, the second control mechanism and the third control mechanism are connected to the slave processor, and the master processor is connected to the slave processor. The technical solution provided by the present application can facilitate doctors to use interventional robots conveniently and flexibly.

Description

Technical Field

[0001] The present application relates to the technical field of interventional machine control, and more specifically, to an interventional robot and a multi-mode control method. Background Art

[0002] The interventional robot includes a master device and a slave device connected to the master device. The operator operates on the master device and sends operation information to the slave device, allowing the slave device to complete the corresponding operation, enabling the operator to perform surgery in a radiation-free environment and ensuring the operator's safety.

[0003] With the development of interventional robotics technology, it has become a trend in the industry to set up multiple control mechanisms on the end device to deliver and rotate multiple slender medical devices simultaneously or at different times to meet various surgical needs.

[0004] However, how to conveniently and flexibly control multiple operating mechanisms to clamp multiple slender medical devices while meeting the operating requirements of different operators is an urgent problem to be solved. Summary of the invention

[0005] In order to solve the above technical problems, the present application embodiment provides an interventional robot, which adopts the following technical solution:

[0006] The interventional robot comprises: a master device, a slave device, a master processor and a slave processor;

[0007] The master device includes a first control end and a second control end, or a first driver trigger key and a second driver trigger key; the slave device includes a first control mechanism, a second control mechanism and a third control mechanism; the first control end, the second control end, the first driver trigger key and the second driver trigger key are connected to the master processor, the first control mechanism, the second control mechanism and the third control mechanism are connected to the slave processor, and the master processor is connected to the slave processor;

[0008] The host-end processor is used to receive a mode selection instruction and a displacement instruction, wherein the displacement instruction includes at least one of a first operating parameter generated by the first control end, a second operating parameter generated by the second control end, a first trigger switch parameter generated by the first driver trigger key, and a second trigger switch parameter generated by the second driver trigger key; and acquire a target control mode according to the mode selection instruction;

[0009] The slave processor is used to determine the displacements corresponding to the first control mechanism, the second control mechanism and the third control mechanism according to the displacement instruction and the target control mode; clamp the catheter to move and rotate based on the displacements corresponding to the first control mechanism and the second control mechanism, and clamp the guide wire to move and rotate based on the displacement corresponding to the third control mechanism.

[0010] In order to solve the above technical problems, the embodiment of the present application provides a multi-mode control method, which adopts the following technical solutions:

[0011] The multi-mode control method comprises the following steps:

[0012] S01: Obtain the target control mode according to the mode selection instruction;

[0013] S02: receiving a displacement instruction, and determining displacement amounts corresponding to the first control mechanism, the second control mechanism, and the third control mechanism of the target control mode based on the displacement instruction;

[0014] S03: Clamp the catheter to move or rotate based on the displacement corresponding to the first control mechanism and the second control mechanism; clamp the guide wire to move or rotate based on the displacement corresponding to the third control mechanism.

[0015] Further, the target control mode is a manual independent mode, and the displacement instruction includes a first operating parameter generated by the first control end and a second operating parameter generated by the second control end;

[0016] The step of S02 specifically includes:

[0017] Receiving a first operating parameter of a first control terminal, and calculating the displacement of the first control mechanism and the second control mechanism according to the first operating parameter;

[0018] receiving a second operating parameter of the second control end, and calculating a target displacement of the third control mechanism according to the second operating parameter;

[0019] The step of S03 specifically includes:

[0020] Controlling the first control mechanism and the second control mechanism to clamp the catheter, and controlling the third control mechanism to clamp the guide wire and move;

[0021] Acquiring real-time displacements of the first control mechanism, the second control mechanism, and the third control mechanism;

[0022] When the real-time displacement of the first control mechanism is equal to the first preset displacement, pausing the movement of the first control mechanism, the second control mechanism and the third control mechanism, and controlling the first control mechanism and the third control mechanism to perform a reset operation;

[0023] When the first control mechanism and the third control mechanism complete the reset operation, the first control mechanism, the second control mechanism and the third control mechanism are restored to move until the first control mechanism and the second control mechanism complete the target displacement;

[0024] When the real-time displacement of the third control mechanism is equal to the third preset displacement, pausing the movement of the first control mechanism, the second control mechanism and the third control mechanism, and controlling the third control mechanism to perform a reset operation;

[0025] After the third operating mechanism completes the reset operation, the first operating mechanism, the second operating mechanism and the third operating mechanism are restored to move until the first operating mechanism and the second operating mechanism complete the target displacement.

[0026] Further, the target control mode is a catheter jog independent mode, and the displacement instruction includes a first trigger switch parameter of a first driver trigger key;

[0027] The step of S02 specifically includes:

[0028] receiving a first trigger switch parameter of a first driver trigger key, and calculating target displacements of the first control mechanism and the second control mechanism according to the first trigger switch parameter;

[0029] The step of S03 specifically includes:

[0030] Controlling the first control mechanism and the second control mechanism to clamp the catheter;

[0031] Acquiring real-time displacement of the first control mechanism in real time;

[0032] When the real-time displacement of the first control mechanism is equal to the first preset displacement, pausing the movement of the first control mechanism and the second control mechanism, and controlling the first control mechanism to perform a reset operation;

[0033] After the first operating mechanism completes the reset operation, the first operating mechanism and the second operating mechanism are restored to move until the first operating mechanism and the second operating mechanism complete the target displacement.

[0034] Further, the target control mode is the guidewire inching independent mode, and the displacement instruction includes a second trigger switch parameter of a second driver trigger key;

[0035] The step of S02 specifically includes:

[0036] receiving a second trigger switch parameter of a second driver trigger key, and calculating a target displacement of a third control mechanism according to the second trigger switch parameter;

[0037] The step of S03 specifically includes:

[0038] Controlling the third control mechanism to clamp the guide wire and move;

[0039] Acquiring real-time displacement of the third control mechanism in real time;

[0040] When the real-time displacement of the third control mechanism is equal to the third preset displacement, pausing the movement of the third control mechanism, and controlling the third control mechanism to perform a reset operation;

[0041] After the third operating mechanism completes the reset operation, the movement of the third operating mechanism is resumed until the third operating mechanism completes the target displacement.

[0042] Furthermore, after the step S03, the method further includes:

[0043] Get the preset waiting time of the jog independent mode;

[0044] If the first trigger switch parameter or the second trigger switch parameter is not received within the waiting time, the inching independent mode is exited.

[0045] Further, the target control mode is a tube-wire linkage mode, the displacement instruction includes a first operating parameter generated by a first control end, a second operating parameter generated by a second control end, a first trigger switch parameter generated by a first driver trigger key, and a second trigger switch parameter generated by a second driver trigger key, and the specific steps of S02 include:

[0046] Calculating target displacements of the first control mechanism, the second control mechanism, and the third control mechanism according to a first operating parameter generated by any of the first control terminals, a second operating parameter generated by the second control terminals, a first trigger switch parameter generated by a first driver trigger key, and a second trigger switch parameter generated by a second driver trigger key;

[0047] The step of S03 specifically includes:

[0048] Control the first control mechanism and the second control mechanism to clamp the catheter, and control the third control mechanism to clamp the guide wire and move it,

[0049] Acquiring real-time displacement of the first control mechanism in real time;

[0050] When the real-time displacement of the first control mechanism is equal to the first preset displacement, pausing the movement of the first control mechanism, the second control mechanism and the third control mechanism, and controlling the first control mechanism to perform a reset operation;

[0051] After the first operating mechanism completes the reset operation, the first operating mechanism, the second operating mechanism and the third operating mechanism are restored to move until the first operating mechanism and the second operating mechanism complete the target displacement.

[0052] Furthermore, before the step S03, the method further includes:

[0053] receiving a speed control instruction, wherein the speed control instruction includes a preset first speed and a preset second speed;

[0054] The steps of clamping the catheter to move or rotate based on the displacements corresponding to the first control mechanism and the second control mechanism, and clamping the guide wire to move or rotate based on the displacements corresponding to the third control mechanism specifically include:

[0055] Based on the displacements corresponding to the first and second control mechanisms, the catheter is clamped to move and rotate at a uniform speed at the first speed; based on the displacements corresponding to the third control mechanism, the guide wire is clamped to move and rotate at a uniform speed at the second speed.

[0056] Further, the target control mode is a catheter cruise control mode;

[0057] The step of S02 specifically includes:

[0058] receiving a first trigger switch instruction, obtaining a first trigger switch parameter to determine the current positions of the first control mechanism, the second control mechanism, and the third control mechanism, and calculating target displacements of the first control mechanism, the second control mechanism, and the third control mechanism according to the first trigger switch parameter;

[0059] The step of S03 specifically includes:

[0060] Control the first control mechanism and the second control mechanism to clamp the catheter, and control the third control mechanism to clamp the guide wire and move it,

[0061] Acquire the real-time displacements of the first control mechanism, the second control mechanism, and the third control mechanism in real time;

[0062] When the real-time displacement of the first control mechanism is equal to the first preset displacement, pausing the movement of the first control mechanism, the second control mechanism and the third control mechanism, and controlling the first control mechanism and the third control mechanism to perform a reset operation;

[0063] After the first control mechanism and the third control mechanism complete the reset operation, the first control mechanism, the second control mechanism and the third control mechanism are restored to move until the first control mechanism, the second control mechanism and the third control mechanism complete the target displacement.

[0064] Furthermore, the target control mode is a guidewire cruise control mode;

[0065] The step of S02 specifically includes:

[0066] receiving a second trigger switch instruction, obtaining a second trigger switch parameter to determine the current positions of the second control mechanism and the third control mechanism, and calculating a target displacement of the third control mechanism according to the second trigger switch parameter;

[0067] The step of S03 specifically includes:

[0068] Controlling the third control mechanism to clamp the guide wire and move it,

[0069] Acquiring real-time displacement of the third control mechanism in real time;

[0070] When the real-time displacement of the third control mechanism is equal to the third preset displacement, pausing the movement of the third control mechanism, and controlling the third control mechanism to perform a reset operation;

[0071] After the third operating mechanism completes the reset operation, the movement of the third operating mechanism is resumed until the third operating mechanism completes the target displacement.

[0072] In order to solve the above technical problems, the embodiment of the present application further provides a computer-readable storage medium, which adopts the following technical solution:

[0073] The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the multiple mode control method are implemented.

[0074] Compared with the prior art, the embodiments of the present application have the following beneficial effects:

[0075] By connecting the first control end and the second control end or the first driver trigger key and the second driver trigger key through the main-end processor of the present application, the first control mechanism, the second control mechanism and the third control mechanism of the present application can be controlled through different receiving components, and a variety of different control modes can be achieved through multiple receiving components. Therefore, the same control mechanism can execute a variety of different modes, so that when using the interventional robot, the doctor can quickly switch between the required different modes according to actual needs without changing the position of the catheter and guide wire, thereby realizing convenient and flexible control of multiple operating mechanisms to clamp multiple slender medical devices and meeting the operating needs of different operators. BRIEF DESCRIPTION OF THE DRAWINGS

[0076] In order to more clearly illustrate the scheme of the present application, a brief introduction is given below to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0077] Figure 1 A schematic diagram of the structure of the interventional robot according to an embodiment of the present application;

[0078] Figure 2 A schematic diagram of the structure of a master-end device according to an embodiment of the present application;

[0079] Figure 3 This is a schematic diagram of the structure of a slave device according to an embodiment of the present application;

[0080] Figure 4 Flow chart of multiple mode methods of embodiments of the present application.

[0081] Figure numerals: master device 1, control end 11, first control end 111, second control end 112, driver 12, first driver trigger key 121, second driver trigger key 122, slave device 2, first control mechanism 21, second control mechanism 22, third control mechanism 23, master processor 3, slave processor 4. DETAILED DESCRIPTION

[0082] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by technicians in the technical field of this application; the terms used in the specification of the application herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. The terms "first", "second", etc. in the specification and claims of this application or the above-mentioned drawings are used to distinguish different objects, not to describe a specific order.

[0083] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0084] The interventional robot of the present application comprises: the master device 1 comprises a first control terminal 111 and a second control terminal 112, or a first driver trigger key 121 and a second driver trigger key 122; the slave device 2 comprises a first control mechanism 21, a second control mechanism 22 and a third control mechanism 23; the first control terminal 111, the second control terminal 112, the first driver trigger key 121, the second driver trigger key 122 are connected to the master processor 3, the first control mechanism 21, the second control mechanism 22 and the third control mechanism 23 are connected to the slave processor 4, and the master processor 3 is connected to the slave processor 4;

[0085] The main-end processor 4 is used to receive mode selection instructions and displacement instructions, wherein the displacement instructions include at least one of a first operating parameter generated by the first control end 111, a second operating parameter generated by the second control end 112, a first trigger switch parameter generated by the first drive trigger key 121, and a second trigger switch parameter generated by the second drive trigger key 122; and obtain the target control mode according to the mode selection instruction.

[0086] The main end device 1 is used to receive mode selection instructions and displacement instructions. The doctor selects different modes according to actual needs, and inputs displacement instructions according to the required moving distances of the first control mechanism 21, the second control mechanism 22, and the third control mechanism 23. In the embodiment of the present application, the main end device 1 has two receiving components, namely the control end 11 and the driver 12, wherein the control end 11 includes a first control end 111 and a second control end 112, wherein the driver includes a first driver trigger key 121 and a second driver trigger key 122. In other embodiments of the present application, the main end device 1 also includes other receiving components.

[0087] The master device 1 is also used to receive at least one of a first operating parameter generated by the first control terminal 111, a second operating parameter generated by the second control terminal 112, a first trigger switch parameter generated by the first driver trigger key 121, and a second trigger switch parameter generated by the second driver trigger key 122.

[0088] The slave processor 4 is used to control the first control mechanism 21, the second control mechanism 22 and the third control mechanism 23 of the slave device 2 to displace and reset according to the target control mode and displacement amount selected by the master device 1, so as to transport the catheter and / or the guidewire, wherein the first control mechanism 21 and the second control mechanism 22 are used to transport the catheter, and the third control mechanism 23 is used to transport the guidewire. The slave processor 4 is also used to control the first control mechanism 21 and / or the second control mechanism 22 of the slave device 2 to drive the catheter to rotate, and control the third control mechanism 23 of the slave device 2 to drive the guidewire to rotate according to the target control mode and displacement amount selected by the master device 1.

[0089] In the embodiment of the present application, the modes corresponding to the mode selection instructions include manual independent mode, catheter inching independent mode, guidewire inching independent mode, tube-wire linkage mode, tube-wire linkage mode cruise control mode, catheter cruise control mode, and guidewire cruise control mode. The slave device 2 controls the first control mechanism 21, the second control mechanism 22, and the third control mechanism 23 to displace and reset in different modes and displacement amounts. In other embodiments of the present application, the mode selection instructions also include other types of modes.

[0090] By connecting the first control terminal 111 and the second control terminal 112 or the first driver trigger key 121 and the second driver trigger key 122 through the main-end processor 3 of the present application, the first control mechanism 21, the second control mechanism 22 and the third control mechanism 23 of the present application can be controlled through different receiving components, and multiple receiving components have multiple different control modes, so that the same control mechanism can be controlled by multiple modes, so that when the doctor uses the interventional robot, he can control multiple operating mechanisms to clamp multiple slender medical devices conveniently and flexibly according to actual needs without changing the position of the catheter and guide wire, while meeting the operation needs of different operators.

[0091] The multiple mode control methods of this application include:

[0092] S01: Obtain the target control mode according to the mode selection instruction;

[0093] S02: receiving a displacement instruction, and determining the displacement amounts corresponding to the first control mechanism 21, the second control mechanism 22, and the third control mechanism 23 of the target control mode based on the displacement instruction;

[0094] S03: Clamp the catheter to move or rotate based on the displacement corresponding to the first control mechanism 21 and the second control mechanism 22; clamp the guide wire to move or rotate based on the displacement corresponding to the third control mechanism 23.

[0095] In an embodiment of the present application, the method for obtaining the target control mode can be activated by a special mode selection method, such as selecting a specific mode with a mode button, or it can be activated by other methods. For example, the first control end 111 is a handle structure, and when the handle is turned, it is automatically confirmed that the mode corresponding to the target control mode is the manual mode, and the corresponding displacement amount is also obtained according to the rotation of the handle, that is, the target control mode and the displacement instruction are obtained by turning the handle at the same time.

[0096] The objects controlled by different modes of the multiple mode control methods are the same first control mechanism 21, second control mechanism 22 and third control mechanism 23, and the difference is that the displacement sequence of the control mechanism in different modes is different, the control mechanism for activating movement is different, the displacement distance is different, the reset is different, etc. The doctor can choose a mode he needs to control the movement of the control mechanism during surgery. In this embodiment, the target control mode is any one of the manual independent mode, catheter cruise control mode, guidewire cruise control mode, tube-wire linkage mode, inching mode or cruise control mode in tube-wire linkage mode.

[0097] In other embodiments of the present application, the number of control mechanisms is not limited to three. Depending on actual needs and corresponding structures, the number of control mechanisms can be equal to or less than three.

[0098] In order to ensure that the catheter and guidewire can move long distances, each control mechanism needs to have different reset methods in different modes to ensure that multiple control mechanisms can accurately deliver and rotate the catheter and guidewire in coordination or separately.

[0099] In the embodiment of the present application, the catheter is fixed on the first control mechanism 21 and the second control mechanism 22, wherein the first control mechanism 21 is a movable end and the second control mechanism 22 is a fixed end. In a certain mode, after the catheter is transported a certain distance, the first control mechanism 21 needs to be reset and re-clamp the catheter. Therefore, during the process of transporting the catheter, when the distance moved by the first control mechanism 21 is equal to the first preset displacement, the first control mechanism 21 releases the catheter and then resets.

[0100] For example, the required conveying catheter distance is 100mm, the spacing between the first control mechanism 21 and the second control mechanism 22 is 120mm, the starting position of the first control mechanism 21 is at the scale of 32mm, and in this mode, the first control mechanism 21 needs to withdraw and re-clamp the catheter after the catheter is transported for 30mm; when the catheter is initially clamped, the position of the first control mechanism 21 is at the scale of 32mm, and the position of the second control mechanism 22 is at the scale of 152mm. After the first control mechanism 21 clamps the catheter, the first control mechanism 21 and the second control mechanism 22 convey the catheter to move. When the catheter moves a distance of 30mm, that is, the first control mechanism 21 is located at the scale of 2mm, and the second control mechanism 22 is located at the scale of 122mm, the first control mechanism 21 releases the catheter and resets it to the position of the scale of 32mm, and clamps the catheter again to complete the first tube delivery; in this way, the required conveying catheter distance of 100mm is completely delivered.

[0101] In other embodiments of the present application, the first control mechanism 21, the second control mechanism 22, and the third control mechanism 23 do not have a reset action.

[0102] In the embodiment of the present application, the target control mode is a manual independent mode, and the displacement instruction includes a first operating parameter generated by the first control terminal 111 and a second operating parameter generated by the second control terminal 112;

[0103] The step S02 specifically includes: receiving a first operating parameter of the first control terminal 111, and calculating the displacement of the first control mechanism 21 and the second control mechanism 22 according to the first operating parameter; receiving a second operating parameter of the second control terminal 112, and calculating the target displacement of the third control mechanism 23 according to the second operating parameter;

[0104] The step S03 specifically includes: controlling the first control mechanism 21 and the second control mechanism 22 to clamp the catheter, controlling the third control mechanism 23 to clamp the guide wire and move, and obtaining the real-time displacement of the first control mechanism 21, the second control mechanism 22 and the third control mechanism 23 in real time; when the real-time displacement of the first control mechanism 21 is equal to the first preset displacement, pausing the movement of the first control mechanism 21, the second control mechanism 22 and the third control mechanism 23, and controlling the first control mechanism 21 and the third control mechanism 23 to perform a reset operation; when the first control mechanism 21 and the third control mechanism 23 complete the reset operation, resuming the movement of the first control mechanism 21, the second control mechanism 22 and the third control mechanism 23 until the first control mechanism 21 and the second control mechanism 22 complete the target displacement.

[0105] When the real-time displacement of the third control mechanism is equal to the third preset displacement, the movement of the first control mechanism 21, the second control mechanism 22 and the third control mechanism 23 is suspended, and the third control mechanism 23 is controlled to perform a reset operation; when the third control mechanism 23 completes the reset operation, the movement of the first control mechanism 21, the second control mechanism 22 and the third control mechanism 23 is resumed until the first control mechanism 21 and the second control mechanism 22 complete the target displacement.

[0106] In manual independent mode, the displacement instruction includes a first operating parameter generated by the first control end 111 and a second operating parameter generated by the second control end 112, and the first operating parameter and the second operating parameter are converted into target displacements corresponding to the first control mechanism 21, the second control mechanism 22 and the third control mechanism 23, so as to control the movement of the first control mechanism 21, the second control mechanism 22 and the third control mechanism 23.

[0107] During the movement process in the manual independent mode, the first control mechanism 21, the second control mechanism 22 and the third control mechanism 23 will all move. When the real-time displacement of the first control mechanism 21 reaches the first preset displacement, the first control mechanism 21 needs to execute a reset procedure. At this time, the movement of the first control mechanism 21, the second control mechanism 22 and the third control mechanism 23 is suspended, and the first control mechanism 21 and the third control mechanism 23 are reset: the first control mechanism 21 releases the catheter and resets to the original position, and the third control mechanism 23 releases the guide wire and resets to a position 30 mm away from the second control mechanism 22. After the first control mechanism 21 and the third control mechanism 23 complete the reset, the movement of the first control mechanism 21, the second control mechanism 22 and the third control mechanism 23 is restored, and the doctor can continue to control the movement of the three control mechanisms.

[0108] When the real-time displacement of the third control mechanism 23 is equal to the third preset displacement, the movement of the first control mechanism 21, the second control mechanism 22 and the third control mechanism 23 is also suspended. The third control mechanism 23 is reset: the third control mechanism 23 releases the guide wire and resets to a position 30 mm away from the second control mechanism 22. After the third control mechanism 23 completes the reset operation, the movement of the first control mechanism 21, the second control mechanism 22 and the third control mechanism 23 is resumed until the target displacement is achieved.

[0109] The first control end of the manual independent mode corresponds to the left operating stick, and the second control end corresponds to the right operating stick. When the doctor holds the operating stick, the main end processor 3 obtains the displacement generated by the two operating sticks, and the slave end processor 4 calculates the corresponding target displacement of the first control mechanism 21, the second control mechanism 22 and the third control mechanism 23, and generates the position coordinate system of the three control mechanisms at the same time, and then sends it at a time interval of every 10ms, forming a closed loop with the three control mechanisms and the first control end 111 and the second control end 112. The three control mechanisms update the current position to the slave end processor 4, so that the first control mechanism 21 and the third control mechanism 23 can be reset.

[0110] In the embodiment of the present application, the target control mode is the catheter jog independent mode, and the displacement instruction includes the first trigger switch parameter of the first driver trigger key 121;

[0111] The step S02 specifically includes: receiving a first trigger switch parameter of the first driver trigger key 121, and calculating target displacements of the first control mechanism 21 and the second control mechanism 22 according to the first trigger switch parameter;

[0112] The step S03 specifically includes: controlling the first control mechanism 21 and the second control mechanism 22 to clamp the catheter; obtaining the real-time displacement of the first control mechanism 21 in real time; when the real-time displacement of the first control mechanism 21 is equal to the first preset displacement, pausing the movement of the first control mechanism 21 and the second control mechanism 22, and controlling the first control mechanism 21 to perform a reset operation; when the first control mechanism 21 completes the reset operation, resuming the movement of the first control mechanism 21 and the second control mechanism 22 until the first control mechanism 21 and the second control mechanism 22 complete the target displacement.

[0113] In the catheter jog independent mode, the displacement instruction includes the first trigger switch parameter of the first driver trigger key 121, and the first trigger switch parameter is converted into the target displacement corresponding to the first control mechanism 21 and the second control mechanism 22, so as to control the first control mechanism 21 and the second control mechanism 22.

[0114] During the movement of the catheter inching independent mode, only the first control mechanism 21 and the second control mechanism 22 move. When the real-time displacement of the first control mechanism 21 reaches the first preset displacement, the first control mechanism 21 needs to execute a reset procedure. At this time, the movement of the first control mechanism 21 and the second control mechanism 22 is paused, and the first control mechanism 21 is reset: the first control mechanism 21 is reset to the original position. After the first control mechanism 21 completes the reset, the movement of the first control mechanism 21 and the second control mechanism 22 is resumed. In the catheter inching independent mode, the original position of the first control mechanism 21 is at the scale of 30mm, and the first preset displacement is 30mm.

[0115] In other embodiments of the present application, the target control mode is the guidewire inching independent mode, and the displacement instruction includes the second trigger switch parameter of the second driver trigger key 122;

[0116] The step S02 specifically includes: receiving a second trigger switch parameter of the second driver trigger key 122, and calculating a target displacement of the third control mechanism according to the second trigger switch parameter;

[0117] The step S03 specifically includes: controlling the third control mechanism 23 to clamp the guide wire and move; acquiring the real-time displacement of the third control mechanism 23 in real time; when the real-time displacement of the third control mechanism 23 is equal to the third preset displacement, pausing the movement of the third control mechanism 23, and controlling the third control mechanism 23 to perform a reset operation; when the third control mechanism 23 completes the reset operation, resuming the movement of the third control mechanism 23 until the third control mechanism 23 completes the target displacement.

[0118] In the guide wire inching independent mode, the displacement instruction includes the second trigger switch parameter of the second driver trigger key 122, and the second trigger switch parameter is converted into the target displacement of the third control mechanism to control the third control mechanism 23.

[0119] During the movement of the guide wire inching independent mode, only the third control mechanism 23 moves. When the real-time displacement of the third control mechanism 23 reaches the third preset displacement, the third control mechanism 23 needs to execute a reset procedure, at which time the movement of the third control mechanism 23 is paused, and the third control mechanism 23 releases the guide wire and resets. After the third control mechanism 23 completes the reset, the movement of the third control mechanism 23 is resumed.

[0120] In the guidewire inching independent mode, the third preset displacement is a position where the third control mechanism 23 is 20 mm away from the second control mechanism 22 .

[0121] In the embodiment of the present application, after the step S03, it also includes: obtaining a preset waiting time for the jog independent mode; if the first trigger switch parameter or the second trigger switch parameter is not received within the waiting time, exiting the jog independent mode.

[0122] In the independent mode of the guidewire inching and the independent mode of the catheter inching, the program is limited to 10 seconds to continue receiving the first trigger switch parameter or the second trigger switch parameter. If the first trigger switch parameter or the second trigger switch parameter is not received again within 10 seconds, the program will no longer wait for acceptance and will directly exit the catheter inching mode or the guidewire inching mode.

[0123] In other embodiments of the present application, the limited time is not limited to the above-mentioned 10 seconds, and can be longer or shorter.

[0124] In the embodiment of the present application, the target control mode is the tube-wire linkage mode, and the displacement instruction includes a first operation parameter generated by the first control end 111, a second operation parameter generated by the second control end 112, a first trigger switch parameter generated by the first driver trigger key 121, and a second trigger switch parameter generated by the second driver trigger key 122.

[0125] The specific step of S02 includes: calculating the target displacements of the first control mechanism 21, the second control mechanism 22 and the third control mechanism 23 according to the first operation parameter generated by any of the first control end 111, the second operation parameter generated by the second control end 112, the first trigger switch parameter generated by the first driver trigger key 121 and the second trigger switch parameter generated by the second driver trigger key 122;

[0126] The step S03 specifically includes: controlling the first control mechanism 21 and the second control mechanism 22 to clamp the catheter, controlling the third control mechanism 23 to clamp the guide wire and move, and obtaining the real-time displacement of the first control mechanism 21 in real time; when the real-time displacement of the first control mechanism 21 is equal to the first preset displacement, pausing the movement of the first control mechanism 21, the second control mechanism 22 and the third control mechanism 23, and controlling the first control mechanism 21 to perform a reset operation; when the first control mechanism 21 completes the reset operation, resuming the movement of the first control mechanism 21, the second control mechanism 22 and the third control mechanism 23 until the first control mechanism 21 and the second control mechanism 22 complete the target displacement.

[0127] In the tube-wire linkage mode, the first control end 111 and the second control end 112 can both control the first control mechanism 21, the second control mechanism 22 and the first control mechanism 23 to move. When the real-time displacement of the first control mechanism 21 is equal to the first preset displacement, the movement of the first control mechanism 21, the second control mechanism 22 and the third control mechanism 23 is suspended, and the first control mechanism 21 is reset: the first control mechanism 21 releases the catheter and resets to the original position. After the first control mechanism 21 completes the reset, the movement of the first control mechanism 21, the second control mechanism 22 and the third control mechanism 23 is resumed.

[0128] In the tube-wire linkage mode, the first preset displacement is that the first control mechanism 21 moves 30 mm, and the original position is the position of the scale line 32 mm.

[0129] In the embodiment of the present application, before the step S03, the following steps are also included:

[0130] receiving a speed control instruction, wherein the speed control instruction includes a preset first speed and a preset second speed;

[0131] The steps of clamping the catheter to move and rotate based on the displacement corresponding to the first control mechanism 21 and the second control mechanism 22, and clamping the guide wire to move and rotate based on the displacement corresponding to the third control mechanism 23 specifically include:

[0132] Based on the displacements corresponding to the first control mechanism 21 and the second control mechanism 22 , the catheter is clamped to move and rotate at a uniform speed at the first speed; based on the displacements corresponding to the third control mechanism 23 , the guide wire is clamped to move and rotate at a uniform speed at the second speed.

[0133] The tube-wire linkage mode advances to the tube-wire linkage cruise control mode. Through the control of the speed control instruction, the first control mechanism 21 and the second control mechanism 22 can move and rotate the catheter at a constant speed, and the third control mechanism 23 can move and rotate the guide wire at a constant speed.

[0134] In the embodiment of the present application, the target control mode is a duct cruise control mode;

[0135] The step S02 specifically includes: receiving a first trigger switch instruction, obtaining a first trigger switch parameter to determine the current positions of the first control mechanism 21, the second control mechanism 22, and the third control mechanism 23, and calculating the target displacements of the first control mechanism 21, the second control mechanism 22, and the third control mechanism 23 according to the first trigger switch parameter;

[0136] The step S03 specifically includes: controlling the first control mechanism 21 and the second control mechanism 22 to clamp the catheter, controlling the third control mechanism 23 to clamp the guide wire and move, and obtaining the real-time displacement of the first control mechanism 21, the second control mechanism 22, and the third control mechanism 23 in real time; when the real-time displacement of the first control mechanism 21 is equal to the first preset displacement, pausing the movement of the first control mechanism 21, the second control mechanism 22, and the third control mechanism 23, and controlling the first control mechanism 21 and the third control mechanism 23 to perform a reset operation; when the first control mechanism 21 and the third control mechanism 23 complete the reset operation, resuming the movement of the first control mechanism 21, the second control mechanism 22, and the third control mechanism 23 until the first control mechanism 21, the second control mechanism 22, and the third control mechanism 23 complete the target displacement.

[0137] In the catheter cruise control mode, when the real-time displacement of the first control mechanism 21 is equal to the first preset displacement, the movement of the first control mechanism 21, the second control mechanism 22 and the third control mechanism 23 are suspended, and the first control mechanism 21 and the third control mechanism 23 are reset: the first control mechanism 21 releases the catheter and resets to the original position, and at the same time, the third control mechanism 23 releases the guide wire and resets to a position 20 mm away from the second control mechanism 22.

[0138] In the duct cruise control mode, the first preset displacement is that the first control mechanism 21 moves 30 mm, and the original position is the position of the scale line 32 mm.

[0139] In the embodiment of the present application, the target control mode is a guidewire cruise control mode;

[0140] The step S02 specifically includes: receiving a second trigger switch instruction, obtaining a second trigger switch parameter to determine the current positions of the second control mechanism 22 and the third control mechanism 23, and calculating a target displacement of the third control mechanism 23 according to the second trigger switch parameter.

[0141] The step S03 specifically includes: controlling the third control mechanism 23 to clamp the guide wire and move, and obtaining the real-time displacement of the third control mechanism 23 in real time; when the real-time displacement of the third control mechanism 23 is equal to the third preset displacement, pausing the movement of the third control mechanism 23, and controlling the third control mechanism 23 to perform a reset operation; when the third control mechanism 23 completes the reset operation, resuming the movement of the third control mechanism 23 until the third control mechanism 23 completes the target displacement.

[0142] In the guidewire cruise control mode, only the third control mechanism 23 moves. When the real-time displacement of the third control mechanism 23 is equal to the third preset displacement, the movement of the third control mechanism 23 is paused and the third control mechanism 23 is reset: the third control mechanism 23 releases the guidewire and resets to a position 20 mm away from the second control mechanism 22.

[0143] In the guidewire cruise control mode, the third preset displacement is a position where the third control mechanism 23 is 20 mm away from the second control mechanism 22 .

[0144] The present application provides a computer-readable storage medium:

[0145] The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the multiple mode control method are implemented.

[0146] The doctor of the present application selects / switches the required target control mode according to actual needs, and controls the first control mechanism 21, the second control mechanism 22 and the third control mechanism 23 to shift and reset in different ways based on different target control modes and displacement instructions. This avoids the doctor's operating efficiency being too low due to a single operating mode, thereby greatly improving the doctor's operating efficiency.

[0147] Obviously, the embodiments described above are only some embodiments of the present application, rather than all embodiments. The preferred embodiments of the present application are given in the accompanying drawings, but they do not limit the patent scope of the present application. The present application can be implemented in many different forms. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present application more thorough and comprehensive. Although the present application is described in detail with reference to the aforementioned embodiments, for those skilled in the art, it is still possible to modify the technical solutions recorded in the aforementioned specific implementation methods, or to perform equivalent replacement of some of the technical features therein. Any equivalent structure made using the contents of the specification and drawings of this application, directly or indirectly used in other related technical fields, is similarly within the scope of patent protection of this application.

Claims

1. An interventional robot, characterized in that: It includes a master device, a slave device, a master processor and a slave processor; The master device includes a first control end and a second control end, or a first driver trigger key and a second driver trigger key; the slave device includes a first control mechanism, a second control mechanism and a third control mechanism; the first control end, the second control end, the first driver trigger key and the second driver trigger key are connected to the master processor, the first control mechanism, the second control mechanism and the third control mechanism are connected to the slave processor, and the master processor is connected to the slave processor; The main end processor is used to receive a mode selection instruction and a displacement instruction, wherein the displacement instruction includes at least one of a first operating parameter generated by the first control end, a second operating parameter generated by the second control end, a first trigger switch parameter generated by the first driver trigger key, and a second trigger switch parameter generated by the second driver trigger key; acquiring a target control mode according to the mode selection instruction, wherein the target control mode includes a manual independent mode, a catheter jog independent mode, a guidewire jog independent mode, a tube-wire linkage mode, a catheter cruise control mode, and a guidewire cruise control mode; The slave-end processor is used to determine the displacements corresponding to the first control mechanism, the second control mechanism and the third control mechanism according to the displacement instruction and the target control mode; clamp the catheter for movement and rotation based on the displacements corresponding to the first control mechanism and the second control mechanism, and clamp the guide wire for movement and rotation based on the displacement corresponding to the third control mechanism; the slave-end processor is specifically used to calculate the target displacements of the first control mechanism and the second control mechanism according to the first operating parameter in the manual independent mode, and calculate the target displacements of the third control mechanism according to the second operating parameter, or calculate the target displacements of the first control mechanism and the second control mechanism according to the first trigger switch parameter in the catheter jog independent mode, or calculate the target displacements of the third control mechanism according to the second trigger switch parameter in the guide wire jog independent mode, or calculate the target displacements of the first control mechanism, the second control mechanism and the third control mechanism according to any of the first operating parameter, the second operating parameter, the first trigger switch parameter and the second trigger switch parameter in the tube-wire linkage mode, or calculate the target displacements of the first control mechanism, the second control mechanism and the third control mechanism according to the first trigger switch parameter in the catheter cruise control mode, or calculate the target displacements of the third control mechanism according to the second trigger switch parameter in the guide wire cruise control mode.

2. The interventional robot according to claim 1, characterized in that: The interventional robot performs a plurality of mode control steps, and the plurality of mode control steps include the following steps: S01: Obtain the target control mode according to the mode selection instruction; S02: receiving a displacement instruction, and determining displacement amounts corresponding to the first control mechanism, the second control mechanism, and the third control mechanism of the target control mode based on the displacement instruction; S03: Clamp the catheter to move or rotate based on the displacement corresponding to the first control mechanism and the second control mechanism; clamp the guide wire to move or rotate based on the displacement corresponding to the third control mechanism.

3. The interventional robot according to claim 2, characterized in that: The target control mode is a manual independent mode, and the displacement instruction includes a first operating parameter generated by a first control terminal and a second operating parameter generated by a second control terminal; The step of S02 specifically includes: Receiving a first operating parameter of a first control terminal, and calculating the displacement of the first control mechanism and the second control mechanism according to the first operating parameter; receiving a second operating parameter of the second control end, and calculating a target displacement of the third control mechanism according to the second operating parameter; The step of S03 specifically includes: Controlling the first control mechanism and the second control mechanism to clamp the catheter, and controlling the third control mechanism to clamp the guide wire and move; Acquiring real-time displacements of the first control mechanism, the second control mechanism, and the third control mechanism; When the real-time displacement of the first control mechanism is equal to the first preset displacement, pausing the movement of the first control mechanism, the second control mechanism and the third control mechanism, and controlling the first control mechanism and the third control mechanism to perform a reset operation; When the first control mechanism and the third control mechanism complete the reset operation, the first control mechanism, the second control mechanism and the third control mechanism are restored to move until the first control mechanism and the second control mechanism complete the target displacement; When the real-time displacement of the third control mechanism is equal to the third preset displacement, pausing the movement of the first control mechanism, the second control mechanism and the third control mechanism, and controlling the third control mechanism to perform a reset operation; After the third operating mechanism completes the reset operation, the first operating mechanism, the second operating mechanism and the third operating mechanism are restored to move until the first operating mechanism and the second operating mechanism complete the target displacement.

4. The interventional robot according to claim 2, characterized in that: The target control mode is a catheter jog independent mode, and the displacement instruction includes a first trigger switch parameter of a first driver trigger key; The step of S02 specifically includes: receiving a first trigger switch parameter of a first driver trigger key, and calculating target displacements of the first control mechanism and the second control mechanism according to the first trigger switch parameter; The step of S03 specifically includes: Controlling the first control mechanism and the second control mechanism to clamp the catheter; Acquiring real-time displacement of the first control mechanism in real time; When the real-time displacement of the first control mechanism is equal to the first preset displacement, pausing the movement of the first control mechanism and the second control mechanism, and controlling the first control mechanism to perform a reset operation; After the first operating mechanism completes the reset operation, the first operating mechanism and the second operating mechanism are restored to move until the first operating mechanism and the second operating mechanism complete the target displacement.

5. The interventional robot according to claim 2, characterized in that: The target control mode is the guide wire inching independent mode, and the displacement instruction includes a second trigger switch parameter of a second driver trigger key; The step of S02 specifically includes: receiving a second trigger switch parameter of a second driver trigger key, and calculating a target displacement of a third control mechanism according to the second trigger switch parameter; The step of S03 specifically includes: Controlling the third control mechanism to clamp the guide wire and move; Acquiring real-time displacement of the third control mechanism in real time; When the real-time displacement of the third control mechanism is equal to the third preset displacement, pausing the movement of the third control mechanism, and controlling the third control mechanism to perform a reset operation; After the third operating mechanism completes the reset operation, the movement of the third operating mechanism is resumed until the third operating mechanism completes the target displacement.

6. The interventional robot according to claim 4 or 5, characterized in that: After the step S03, the method further includes: Get the preset waiting time of the jog independent mode; If the first trigger switch parameter or the second trigger switch parameter is not received within the waiting time, the inching independent mode is exited.

7. The interventional robot according to claim 2, characterized in that: The target control mode is a tube-wire linkage mode, the displacement instruction includes a first operation parameter generated by a first control end, a second operation parameter generated by a second control end, a first trigger switch parameter generated by a first driver trigger key, and a second trigger switch parameter generated by a second driver trigger key. The specific steps of S02 include: Calculating target displacements of the first control mechanism, the second control mechanism, and the third control mechanism according to a first operating parameter generated by any of the first control terminals, a second operating parameter generated by the second control terminals, a first trigger switch parameter generated by a first driver trigger key, and a second trigger switch parameter generated by a second driver trigger key; The step of S03 specifically includes: Control the first control mechanism and the second control mechanism to clamp the catheter, and control the third control mechanism to clamp the guide wire and move it, Acquiring real-time displacement of the first control mechanism in real time; When the real-time displacement of the first control mechanism is equal to the first preset displacement, pausing the movement of the first control mechanism, the second control mechanism and the third control mechanism, and controlling the first control mechanism to perform a reset operation; After the first operating mechanism completes the reset operation, the first operating mechanism, the second operating mechanism and the third operating mechanism are restored to move until the first operating mechanism and the second operating mechanism complete the target displacement.

8. The interventional robot according to claim 7, characterized in that: Before the step S03, the method further includes: receiving a speed control instruction, wherein the speed control instruction includes a preset first speed and a preset second speed; The steps of clamping the catheter to move or rotate based on the displacements corresponding to the first control mechanism and the second control mechanism, and clamping the guide wire to move or rotate based on the displacements corresponding to the third control mechanism specifically include: Based on the displacements corresponding to the first and second control mechanisms, the catheter is clamped to move and rotate at a uniform speed at the first speed; based on the displacements corresponding to the third control mechanism, the guide wire is clamped to move and rotate at a uniform speed at the second speed.

9. The interventional robot according to claim 2, characterized in that: The target control mode is a duct cruise control mode; The step of S02 specifically includes: receiving a first trigger switch instruction, obtaining a first trigger switch parameter to determine the current positions of the first control mechanism, the second control mechanism, and the third control mechanism, and calculating target displacements of the first control mechanism, the second control mechanism, and the third control mechanism according to the first trigger switch parameter; The step of S03 specifically includes: Control the first control mechanism and the second control mechanism to clamp the catheter, and control the third control mechanism to clamp the guide wire and move it, Acquire the real-time displacements of the first control mechanism, the second control mechanism, and the third control mechanism in real time; When the real-time displacement of the first control mechanism is equal to the first preset displacement, pausing the movement of the first control mechanism, the second control mechanism and the third control mechanism, and controlling the first control mechanism and the third control mechanism to perform a reset operation; After the first control mechanism and the third control mechanism complete the reset operation, the first control mechanism, the second control mechanism and the third control mechanism are restored to move until the first control mechanism, the second control mechanism and the third control mechanism complete the target displacement.

10. The interventional robot according to claim 2, characterized in that: The target control mode is a guidewire cruise control mode; The step of S02 specifically includes: receiving a second trigger switch instruction, obtaining a second trigger switch parameter to determine the current positions of the second control mechanism and the third control mechanism, and calculating a target displacement of the third control mechanism according to the second trigger switch parameter; The step of S03 specifically includes: Controlling the third control mechanism to clamp the guide wire and move it, Acquiring real-time displacement of the third control mechanism in real time; When the real-time displacement of the third control mechanism is equal to the third preset displacement, pausing the movement of the third control mechanism, and controlling the third control mechanism to perform a reset operation; After the third operating mechanism completes the reset operation, the movement of the third operating mechanism is resumed until the third operating mechanism completes the target displacement.

Images