Interventional surgery robot multi-instrument cooperative operation system

Abstract

The application relates to the technical field of medical robot control, and proposes an interventional surgery robot multi-instrument cooperative operation system, which comprises a master end operator, a slave end driving mechanism, a first operation part, a second operation part and a linkage unit. When the linkage unit is selected, one of the first operation part and the second operation part is separately operated to generate instruction information. Based on the instruction information, the slave end driving mechanism controls the common action of a plurality of elongated medical instruments corresponding to the first operation part and a plurality of elongated medical instruments corresponding to the second operation part, so that a user can simultaneously control two different control devices by separately operating one of the first operation part and the second operation part. The operation cooperativity of the elongated medical instruments is improved, the operation precision is improved, the surgery efficiency is improved, the assistance degree to doctors is improved, and the safety hidden danger in the surgery process is reduced.

Description

Technical Field

[0001] This application relates to the field of medical robot control technology, and in particular to a multi-instrument collaborative operating system for interventional surgical robots. Background Technology

[0002] During vascular interventional procedures, operators are exposed to X-ray radiation for extended periods. To address this, remotely operated interventional surgical robots have been developed. Operators can remotely control these robots, enabling them to perform vascular interventional procedures in environments with high radiation levels, effectively protecting the operator.

[0003] Typically, interventional surgical robots are used to perform vascular interventional surgeries. Multiple drive mechanisms within the robot work together to deliver slender medical devices such as catheters and guidewires. In existing technologies, a single control device can only instruct a drive mechanism to move or rotate one or more slender medical devices axially via command information. When multiple slender medical devices need to be operated simultaneously, the user must operate multiple control devices simultaneously to move or rotate their respective corresponding slender medical devices axially. This method requires the user to use different fingers to operate two different control devices simultaneously, resulting in poor coordination between the operation of each slender medical device. Consequently, this leads to low operational precision, low surgical efficiency, limited assistance to the surgeon, and certain safety hazards. Summary of the Invention

[0004] This application provides a multi-instrument collaborative operating system for interventional surgical robots, aiming to solve the problems in the prior art where operating multiple slender medical instruments requires the user to operate two different control devices simultaneously with different fingers, resulting in poor coordination of the operation of each slender medical instrument, leading to low operating accuracy, low surgical efficiency, low level of assistance to doctors, and certain safety hazards.

[0005] To address the aforementioned technical problems, this application provides a multi-instrument collaborative operating system for interventional surgical robots, comprising:

[0006] The master operator is used to send command information;

[0007] The slave-end drive mechanism is connected to the master-end manipulator and is used to receive instruction information sent by the master-end manipulator and control the movement of multiple slender medical devices based on the instruction information.

[0008] A first operation unit, located on the main operator, is configured to respond to user operations on the first operation unit, wherein the instruction information is generated based on user operations on the first operation unit;

[0009] The second operation unit, located on the main operator, is configured to respond to user operations on the second operation unit, wherein the instruction information is generated based on user operations on the second operation unit;

[0010] A linkage unit, located on the main operator, is configured to enable the user to perform linkage operations on the first operation unit and the second operation unit, wherein the instruction information is generated based on the linkage operations of the first operation unit and the second operation unit;

[0011] The linkage operation is as follows: when the linkage unit is selected, instruction information is generated by individually operating one of the first operation unit and the second operation unit. Based on the instruction information, the slave drive mechanism controls the multiple slender medical devices corresponding to the first operation unit and the multiple slender medical devices corresponding to the second operation unit to operate together.

[0012] Furthermore, the first operating unit includes a first switching position and a first operating lever. The plurality of elongated medical devices corresponding to the first operating unit include a first elongated medical device and a second elongated medical device. The first switching position is configured to respond to the user switching between operating modes of operating the first elongated medical device alone, operating the second elongated medical device alone, and operating the first elongated medical device and the second elongated medical device together. The first operating lever is configured to respond to the user controlling the plurality of elongated medical devices corresponding to the first operating unit to perform linear motion and / or rotational motion.

[0013] Furthermore, the second operating unit includes a second switching position and a second operating lever. The plurality of elongated medical devices corresponding to the second operating unit include a third elongated medical device and a fourth elongated medical device. The second switching position is configured to respond to the user switching between operating modes of operating the third elongated medical device alone, operating the fourth elongated medical device alone, and operating the third elongated medical device and the fourth elongated medical device together. The second operating lever is configured to respond to the user controlling the plurality of elongated medical devices corresponding to the second operating unit to perform linear motion and / or rotational motion.

[0014] Furthermore, the linkage unit is a linkage knob. By rotating the linkage knob, according to the current operation mode of the first gear switching and the operation mode of the second gear switching, the second operating lever is operated separately to generate instruction information. Based on the instruction information, the slave drive mechanism controls the multiple slender medical devices corresponding to the first operating part and the multiple slender medical devices corresponding to the second operating part to perform linear motion and / or rotational motion together.

[0015] Furthermore, the first operating unit also includes a first compensation member. When the first switching position is switched to respond to the user's individual operation of the first slender medical device and the first operating lever responds to the user's control of the first slender medical device to perform linear movement, if it is necessary for the second slender medical device to remain stationary relative to the blood vessel, in the event of relative displacement between the second slender medical device and the blood vessel, the displacement compensation of the second slender medical device is performed by operating the first compensation member, so that the second slender medical device remains stationary relative to the blood vessel; if it is necessary for both the first slender medical device and the second slender medical device to move and for relative displacement to occur between the first slender medical device and the second slender medical device, the displacement compensation of the second slender medical device is performed by operating the first compensation member, so that relative displacement occurs between the first slender medical device and the second slender medical device.

[0016] When the first switching position is switched to respond to the user's individual operation of the second slender medical device and the first operating lever responds to the user's control of the second slender medical device to perform linear movement, if it is necessary for the first slender medical device to remain stationary relative to the blood vessel, in the event of relative displacement between the first slender medical device and the blood vessel, the displacement compensation of the first slender medical device is performed by operating the first compensation component to keep the first slender medical device stationary relative to the blood vessel; if it is necessary for both the first slender medical device and the second slender medical device to move and for relative displacement to occur between the first slender medical device and the second slender medical device, the displacement compensation of the first slender medical device is performed by operating the first compensation component to allow relative displacement between the first slender medical device and the second slender medical device.

[0017] Furthermore, the second operating unit also includes a second compensation member. When the second switching position is switched to respond to the user's individual operation of the third slender medical device and the second operating lever responds to the user's control of the third slender medical device to perform linear movement, if it is necessary for the fourth slender medical device to remain stationary relative to the blood vessel, the second compensation member is operated to compensate for the displacement of the fourth slender medical device in the event of relative displacement between the fourth slender medical device and the blood vessel, so that the fourth slender medical device remains stationary relative to the blood vessel; if it is necessary for both the third slender medical device and the fourth slender medical device to move and for relative displacement to occur between the third slender medical device and the fourth slender medical device, the second compensation member is operated to compensate for the displacement of the fourth slender medical device, so that relative displacement occurs between the third slender medical device and the fourth slender medical device.

[0018] When the second switching position is switched to respond to the user's individual operation of the fourth slender medical device and the second operating lever responds to the user's control of the fourth slender medical device to perform linear movement, if it is necessary for the third slender medical device to remain stationary relative to the blood vessel, the displacement of the third slender medical device is compensated by operating the second compensation member in the event of relative displacement between the third slender medical device and the blood vessel, so that the third slender medical device remains stationary relative to the blood vessel; if it is necessary for both the third slender medical device and the fourth slender medical device to move and for relative displacement to occur between the third slender medical device and the fourth slender medical device, the displacement of the third slender medical device is compensated by operating the second compensation member, so that relative displacement occurs between the third slender medical device and the fourth slender medical device.

[0019] Furthermore, it also includes a display unit and a precision operation unit, the display unit being configured to respond to the user's switching of motion modes, and the precision operation unit being configured to enable the user to precisely operate multiple slender medical devices according to the motion mode switched by the current display unit.

[0020] Furthermore, the motion mode includes a displacement mode and a speed mode. In the displacement mode, the slave-end drive mechanism controls the slender medical device to perform linear motion according to a preset displacement amount. In the speed mode, the slave-end drive mechanism controls the slender medical device to perform linear motion according to a preset speed amount. The precision operation unit is a precision button.

[0021] When the display unit switches to displacement mode and the precision button is pressed, the current slave drive mechanism controls the slender medical device to perform linear motion according to 1 / N of the preset displacement amount.

[0022] When the display unit switches to speed mode and the precision button is pressed, the current slave drive mechanism controls the slender medical device to move linearly according to 1 / N of the preset speed.

[0023] Furthermore, the main operator is a desktop operator.

[0024] Furthermore, the main end operator is a handle-type operator.

[0025] This application discloses a multi-instrument collaborative operating system for interventional surgical robots, comprising a master manipulator, a slave drive mechanism, a first operating unit, a second operating unit, and a linkage unit. When the linkage unit is selected, instruction information is generated by individually operating one of the first and second operating units. Based on the instruction information, the slave drive mechanism controls multiple slender medical instruments corresponding to the first operating unit and multiple slender medical instruments corresponding to the second operating unit to operate together. This allows the user to simultaneously control two different control devices by individually operating one of the first and second operating units, improving the coordination of operation of each slender medical instrument, thereby improving operational precision, surgical efficiency, and the level of assistance to the surgeon, while reducing safety hazards during the surgical process. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the multi-instrument collaborative operating system for the interventional surgical robot of the present invention;

[0027] Figure 2 This is a schematic diagram of the overall structure of the desktop operator of the present invention;

[0028] Figure 3 This is a schematic diagram of the front structure of the handle-type operator of the present invention;

[0029] Figure 4 This is a schematic diagram of the back of the handle-type operator of the present invention.

[0030] The names of the components shown in the figure are as follows: 1. Master operator; 11. First operating unit; 111. First switching position; 112. First compensation component; 113. First operating lever; 12. Second operating unit; 121. Second switching position; 122. Second compensation component; 123. Second operating lever; 13. Linkage unit; 14. Precision operation unit; 15. Display unit; 2. Slave drive mechanism.

[0031] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0033] Those skilled in the art will understand that, unless explicitly stated otherwise, the singular forms “a,” “an,” “the,” and “the” used herein may also include the plural forms. It should be further understood that the term “comprising” as used in the specification of this application means the presence of features, integers, steps, operations, elements, units, cells, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, units, cells, components, and / or groups thereof. It should be understood that when we say an element is “connected” or “coupled” to another element, it can be directly connected or coupled to the other element, or there may be intermediate elements. Furthermore, “connected” or “coupled” as used herein can include wireless connections or wireless couplings. The term “and / or” as used herein includes all or any of the units and all combinations thereof of one or more associated listed items.

[0034] It will be understood by those skilled in the art that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. It should also be understood that terms such as those defined in general dictionaries should be understood to have the same meaning as in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless specifically defined as herein.

[0035] Reference Figure 1 A multi-instrument collaborative operating system for interventional surgical robots, comprising:

[0036] Master operator 1 is used to send instruction information;

[0037] The slave drive mechanism 2 is connected to the master operator 1 and is used to receive instruction information sent by the master operator 1 and control the movement of multiple slender medical devices based on the instruction information.

[0038] A first operation unit 11 is located on the main terminal operator 1 and configured to respond to the user's operation on the first operation unit 11, wherein the instruction information is generated according to the user's operation on the first operation unit 11.

[0039] The second operation unit 12 is located on the main operation unit 1 and is configured to respond to the user's operation on the second operation unit 12, wherein the instruction information is generated based on the user's operation on the second operation unit 12.

[0040] The linkage unit 13 is located on the main operator 1 and is configured to enable the user to perform linkage operations on the first operation unit 11 and the second operation unit 12, wherein the instruction information is generated based on the linkage operations of the first operation unit 11 and the second operation unit 12.

[0041] The linkage operation is as follows: when the linkage unit 13 is selected, it generates instruction information by individually operating one of the first operation unit 11 and the second operation unit 12. Based on the instruction information, the slave drive mechanism 2 controls the multiple slender medical devices corresponding to the first operation unit 11 and the multiple slender medical devices corresponding to the second operation unit 12 to operate together.

[0042] Specifically, the master actuator 1 may consist of an operating lever, an encoder for collecting linear displacement and rotational data of the operating lever, a processor and controller for calculating and processing the linear displacement and rotational data collected by the encoder, a communication unit for transmitting the linear displacement and rotational data to the slave drive mechanism 2, and peripheral devices that provide power or support to these components. The slave drive mechanism 2 includes a main body and at least two delivery devices mounted on the main body. The delivery devices are slidable along the main body and are used to clamp, move axially, and / or rotate the elongated medical device.

[0043] In existing technologies, a single control device can only instruct the driven mechanism 2 to move and / or rotate one or more elongated medical devices axially via command information. When multiple elongated medical devices need to be operated simultaneously, the user can only operate multiple control devices simultaneously to move and / or rotate their respective corresponding elongated medical devices. Taking the first and second control devices in the prior art as examples, the first control device can be configured to instruct the robot drive mechanism to move and / or rotate one or more elongated medical devices axially in response to the user's manipulation of the first control device, and the second control device can be configured to instruct the robot drive mechanism to move and / or rotate one or more elongated medical devices axially in response to the user's manipulation of the second control device. Both the first and second control devices can be operated simultaneously by the user's first and second fingers. In this approach, both the first and second control devices can only control one elongated medical device at a time; therefore, two elongated medical devices can only be operated collaboratively by two fingers simultaneously. When faced with complex surgical situations requiring the simultaneous operation of three or more slender medical instruments, since the existing first and second control devices can only control one instrument at a time, additional control devices may be needed to accommodate the simultaneous operation of three or more instruments. This inevitably increases the size of the main manipulator. Furthermore, having three or more control devices is inconvenient for the user's hands, and operating with three or more fingers simultaneously reduces coordination, surgical precision, and increases surgical risk.

[0044] In this application, the master operator 1 sends instruction information in two ways: by clicking a button on the display screen and by operating the first operation unit 11 and / or the second operation unit 12. The method of sending instruction information by the master operator 1 can be selected according to the actual situation. For example, refer to... Figure 2The first operating unit 11 is a left operating unit located on the left side of the main operating unit 1, operated by the user's left hand, and includes a left operating lever. The second operating unit 12 is a right operating unit located on the right side of the main operating unit 1, and includes a right operating lever. The main operating unit 1 is equipped with a switching gear for switching devices. The slave drive mechanism 2 includes multiple delivery devices, each equipped with a corresponding elongated medical device. The delivery device equipped with the selected elongated medical device is selected by switching gears, and the delivery device performs corresponding actions according to the user's operation of the left and / or right operating units. Specifically, the instruction information in this application includes an operation identifier, a selection identifier, a target rotation, and a target displacement. The operation identifier includes a first identifier and a second identifier. The selection identifier includes identifiers of multiple corresponding delivery devices. The target displacement includes the distance the elongated medical device moves towards or away from the patient. The target rotation includes the rotation angle of the elongated medical device. The first identifier corresponds to the left operating lever, and the second identifier corresponds to the right operating lever. When the user moves the joystick linearly, the joystick sends the operation identifier, selection identifier, and target rotation and / or target displacement to the master operator 1. The master operator 1 generates instruction information based on the operation identifier, selection identifier, and target rotation and / or target displacement and sends it to the slave drive mechanism 2. The slave drive mechanism 2 receives the instruction information from the master operator 1 and determines whether it is the first or second identifier based on the operation identifier. If it is the first identifier, it is determined that the user is operating the left joystick, and the delivery device is selected based on the selection identifier. The slave drive mechanism 2 controls the movement distance of the slender medical device selected by the selection identifier to move closer to the patient or backward away from the patient based on the target displacement, and controls the rotation angle of the slender medical device selected by the selection identifier based on the target rotation. If it is the second identifier, it is determined that the user is operating the right joystick, and the delivery device is selected based on the selection identifier. The slave drive mechanism 2 controls the movement distance of the slender medical device selected by the selection identifier to move closer to the patient or backward away from the patient based on the target displacement, and controls the rotation angle of the slender medical device selected by the selection identifier based on the target rotation. For example, when the first operating unit 11 is selected to simultaneously control two elongated medical devices, or the second operating unit 12 is selected to simultaneously operate two elongated medical devices, the above method allows the operation of two elongated medical devices to be performed by one operating unit without adding a control device. This avoids making the main operating device too large, and also facilitates user hand operation, maintaining good coordination. The above is only an example of one operating unit simultaneously controlling two elongated medical devices. Specifically, the number of elongated medical devices simultaneously controlled by one operating unit can be adaptively adjusted according to the actual needs of the surgery.

[0045] Furthermore, in this application, due to the inclusion of a linkage unit 13, when the linkage unit 13 is selected, operating either the first operating unit 11 or the second operating unit 12 individually can control the coordinated operation of multiple elongated medical devices corresponding to the first operating unit 11 and the multiple elongated medical devices corresponding to the second operating unit 12. It is worth noting that when the linkage unit 13 is selected, the user can only operate the pre-set operating units that can effectively perform user operations; operating units that cannot perform user operations are in an invalid state. Specifically, when the linkage unit 13 is selected, the second operating unit 12 is set to perform effective operations. The user can only perform linkage operations by operating the second operating unit 12, and when the user operates the first operating unit 11, no instruction information is generated, which is an invalid operation. The purpose of the above setting is to avoid the problem of chaotic operation information caused by the user simultaneously operating the first operating unit 11 and the second operating unit 12 when the linkage unit 13 is selected. (Refer to...) Figure 2The instruction information in this application includes an operation identifier, a selection identifier, a target rotation, and a target displacement. The operation identifier includes a first identifier and a second identifier. The selection identifier includes identifiers of multiple corresponding delivery devices. The target displacement includes the distance the elongated medical device moves towards or away from the patient. The target rotation includes the rotation angle of the elongated medical device. The first identifier corresponds to the left operating lever, and the second identifier corresponds to the right operating lever. When the linkage unit 13 is selected, the user operates the operating lever linearly. The operating lever sends the operation identifier, the selection identifier, and the target rotation and / or target displacement to the master operator 1. The master operator 1 generates instruction information based on the operation identifier, the selection identifier, and the target rotation and / or target displacement and sends it to the slave drive mechanism 2. The slave-end drive mechanism 2 receives instructions from the master-end operator 1. It determines whether the instruction is a first or second identifier based on the operation identifier. If it is the first identifier, the user's operation is deemed invalid, and the selected elongated medical devices cannot operate according to the instruction. If it is the second identifier, the user is identified as operating the right control lever. Simultaneously, the delivery device is selected based on the selected identifier. The slave-end drive mechanism 2 controls the movement distance of the selected elongated medical device (advancing towards the patient or retreating away from the patient) based on the target displacement, and controls the rotation angle of the elongated medical devices selected by the left and right control levers based on the target rotation. For example, the first operation unit 11 can simultaneously control two elongated medical devices, and the second operation unit 12 can also simultaneously operate two elongated medical devices. When the linkage unit 13 is selected, the user can simultaneously operate four elongated medical devices by operating only the second operation unit 12. The above method improves the coordination of operation of various slender medical devices, thereby improving operational precision, surgical efficiency, and the level of assistance to doctors, while reducing safety risks during surgery. The above only illustrates the scenario of simultaneously controlling four slender medical devices by operating only the second operating unit 12. Specifically, adjustments can be made to adapt the method to simultaneously control multiple slender medical devices corresponding to operating units using only one operating unit, according to the actual needs of the surgery.

[0046] Reference Figure 2In one specific embodiment, the first operating unit 11 includes a first switching position 111 and a first operating lever 113. The plurality of elongated medical devices corresponding to the first operating unit 11 include a first elongated medical device and a second elongated medical device. The first switching position 111 is configured to respond to switching between operating modes by the user: operating the first elongated medical device alone, operating the second elongated medical device alone, and operating both the first and second elongated medical devices simultaneously. The first operating lever 113 is configured to respond to the user controlling the plurality of elongated medical devices corresponding to the first operating unit 11 to perform linear and / or rotational movements. In the prior art, a control device can only perform one operation on one elongated medical device, which is not conducive to the coordinated operation of multiple devices. Specifically, the first operating unit 11 is a left operating unit located on the left side of the main operating device 1, the first switching position 111 is a left switching position, and the first operating lever 113 is a left operating lever. The user can switch between different operating modes using the first switching position 111. The first switching position 111 allows for quick changes in the operating method, improving the coordination of multi-instrument operation. At the same time, the reasonable layout and classification of control positions reduce the complexity of multi-instrument collaborative control, thereby reducing the learning cost for doctors and the probability of misoperation.

[0047] Reference Figure 2 In one specific embodiment, the second operating unit 12 includes a second switching position 121 and a second operating lever 123. The plurality of elongated medical devices corresponding to the second operating unit 12 include a third elongated medical device and a fourth elongated medical device. The second switching position 121 is configured to respond to switching between operating modes by the user: operating the third elongated medical device alone, operating the fourth elongated medical device alone, and operating both the third and fourth elongated medical devices simultaneously. The second operating lever 123 is configured to respond to the user controlling the plurality of elongated medical devices corresponding to the second operating unit 12 to perform linear and / or rotational movements. Specifically, the second operating unit 12 is a right operating unit located on the left side of the main operating device 1, the second switching position 121 is a right switching position, and the second operating lever 123 is a right operating lever. The user can switch between different operating modes using the second switching position 121. The second switching position 121 allows for quick changes in the operating method, improving the coordination of multi-instrument operation. At the same time, the reasonable layout and classification of control positions reduce the complexity of multi-instrument collaborative control, thereby reducing the learning cost for doctors and the probability of misoperation.

[0048] Reference Figure 2In one specific embodiment, the linkage unit 13 is a linkage knob. Rotating the linkage knob generates instruction information by individually operating the second operating lever 123 according to the operation mode of the first switching position 111 and the operation mode of the second switching position 121. Based on the instruction information, the slave-end drive mechanism 2 controls multiple slender medical devices corresponding to the first operating unit 11 and multiple slender medical devices corresponding to the second operating unit 12 to jointly perform linear and / or rotational movements. For example, the first slender medical device is a first catheter, the second slender medical device is a second catheter, the third slender medical device is a quick-crossing catheter, and the fourth slender medical device is a first guidewire. The above describes the specific content of switching slender medical devices using the switching positions. In other embodiments, the second switching position 121 can switch between different guidewires according to the actual needs of the surgery, for example, the third slender medical device can be the first guidewire, and the third slender medical device can be the second guidewire. Taking a first slender medical device as the first catheter, a second slender medical device as the second catheter, a third slender medical device as the quick-crossing catheter, and a fourth slender medical device as the first guidewire as an example, when the first switching position 111 is switched to respond to the user's individual operation of the first catheter and the second switching position 121 is switched to respond to the user's individual operation of the quick-crossing catheter, the second operating lever 123 is operated individually to generate command information. Based on the command information, the slave-end drive mechanism 2 controls the first catheter and the quick-crossing catheter to perform linear motion and / or rotational motion together. When the first switching position 111 is switched to respond to the user's individual operation of the second catheter and the second switching position 121 is switched to respond to the user's individual operation of the quick-crossing catheter, the second operating lever 123 is operated individually to generate command information. Based on the command information, the slave-end drive mechanism 2 controls the second catheter and the quick-crossing catheter to perform linear motion and / or rotational motion together. The above lists two combinations of the operation modes of switching the first switching position 111 and the second switching position 121 under the linkage operation. It also includes combinations of operation modes such as "first catheter + second catheter + quick-connect catheter", "first catheter + first guidewire", "second catheter + first guidewire", "first catheter + second catheter + first guidewire", "first catheter + quick-connect catheter + first guidewire", "second catheter + quick-connect catheter + first guidewire", and "first catheter + second catheter + quick-connect catheter + first guidewire". Through the above linkage function, instrument operation can be simplified, actions that are difficult to perform manually can be completed, and surgical efficiency can be improved. In another feasible embodiment, the linkage unit 13 is a linkage button; pressing the linkage button performs the linkage operation. This application only exemplifies a few operation modes of the linkage unit; other operation modes that can achieve the above functions should be within the protection scope of this application.

[0049] Reference Figure 2In one feasible implementation, the first operating unit 11 further includes a first compensation member 112. When the first switching position 111 is switched to respond to the user's individual operation of the first elongated medical device and the first operating lever 113 responds to the user's control of the first elongated medical device to perform linear movement, if it is necessary for the second elongated medical device to remain stationary relative to the blood vessel, the displacement compensation of the second elongated medical device is performed by operating the first compensation member 112 in the case of relative displacement between the second elongated medical device and the blood vessel, so that the second elongated medical device remains stationary relative to the blood vessel; if it is necessary for both the first elongated medical device and the second elongated medical device to move and for relative displacement to occur between the first elongated medical device and the second elongated medical device, the displacement compensation of the second elongated medical device is performed by operating the first compensation member 112, so that relative displacement occurs between the first elongated medical device and the second elongated medical device.

[0050] When the first switching position 111 is switched to respond to the user's individual operation of the second slender medical device and the first operating lever 113 responds to the user's control of the second slender medical device to perform linear movement, if it is necessary for the first slender medical device to remain stationary relative to the blood vessel, the displacement compensation of the first slender medical device is performed by operating the first compensation member 112 in the event of relative displacement between the first slender medical device and the blood vessel, so that the first slender medical device remains stationary relative to the blood vessel; if it is necessary for both the first slender medical device and the second slender medical device to move and for relative displacement to occur between the first slender medical device and the second slender medical device, the displacement compensation of the first slender medical device is performed by operating the first compensation member 112, so that relative displacement occurs between the first slender medical device and the second slender medical device.

[0051] The second operating unit 12 further includes a second compensation member 122. When the second switching position 121 is switched to respond to the user's individual operation of the third slender medical device and the second operating lever 123 responds to the user's control of the third slender medical device to perform linear movement, if it is necessary for the fourth slender medical device to remain stationary relative to the blood vessel, and a relative displacement occurs between the fourth slender medical device and the blood vessel, the second compensation member 122 is operated to compensate for the displacement of the fourth slender medical device so that the fourth slender medical device remains stationary relative to the blood vessel; if it is necessary for both the third slender medical device and the fourth slender medical device to move and for a relative displacement to occur between the third slender medical device and the fourth slender medical device, the second compensation member 122 is operated to compensate for the displacement of the fourth slender medical device so that a relative displacement occurs between the third slender medical device and the fourth slender medical device.

[0052] When the second switching position 121 is switched to a position responsive to the user's individual operation of the fourth slender medical device and the second operating lever 123 responsive to the user's control of the fourth slender medical device to perform linear movement, if the third slender medical device needs to remain stationary relative to the blood vessel, and a relative displacement occurs between the third slender medical device and the blood vessel, the displacement compensation of the third slender medical device is performed by operating the second compensation member 122 to keep the third slender medical device stationary relative to the blood vessel; if both the third slender medical device and the fourth slender medical device need to move, and a relative displacement occurs between the third slender medical device and the fourth slender medical device, the displacement compensation of the third slender medical device is performed by operating the second compensation member 122 to allow a relative displacement between the third slender medical device and the fourth slender medical device. Currently, the multi-instrument collaborative operation mode of vascular interventional surgical robots has problems such as complex operation, inflexibility, and high learning costs for doctors. In panvascular surgery, there are challenges such as the inability to rapidly deliver instruments through large arteries or catheters with established safe access, and the inability to precisely manipulate instruments within the treatment area. During interventional procedures, operating only one instrument may cause other instruments to move passively (due to tortuosity, frictional resistance, etc.), potentially damaging blood vessels and posing risks to the surgery. Machine-assisted surgery struggles to perform this compensatory operation, necessitating manual surgery, typically by manually compensating for passively moved instruments. In this embodiment, the first compensating element 112 is a left auxiliary roller, and the second compensating element 122 is a right auxiliary roller.Taking a first slender medical device as the first catheter, a second slender medical device as the second catheter, a third slender medical device as a quick-connect catheter, and a fourth slender medical device as the first guidewire as an example, during coordinated multi-instrument operation in interventional surgery, when the left switch is adjusted to operate the first catheter alone, the left operating lever controls the first catheter, and the left auxiliary roller controls the second catheter. When operating the first catheter forward or backward, the second catheter may experience passive movement, which can be compensated for by operating the left auxiliary roller to keep the second catheter relatively stationary. When the left switch is adjusted to operate the second catheter alone, the left operating lever controls the second catheter, and the left auxiliary roller controls the first catheter. When operating the second catheter forward or backward, the first catheter may experience passive movement. The left auxiliary roller can be used for compensation to keep the first catheter relatively stationary. When the right switch is set to operate the quick-crossing catheter alone, the right operating lever controls the quick-crossing catheter, and the right auxiliary roller controls the first guidewire. When the quick-crossing catheter is moved forward or backward, the first guidewire may move passively. This can be compensated for by operating the right auxiliary roller to keep the first guidewire relatively stationary. When the right switch is set to operate the first guidewire alone, the left operating lever controls the first guidewire, and the left auxiliary roller controls the quick-crossing catheter. When the first guidewire is moved forward or backward, the quick-crossing catheter may move passively. This can be compensated for by operating the right auxiliary roller to keep the quick-crossing catheter relatively stationary. The right operating lever and right auxiliary roller can be operated with one hand. By operating the auxiliary roller, the risk of other instruments suddenly moving during the movement of a single instrument can be effectively prevented, improving the safety of the surgery and allowing for fine-tuning of relative movement in the treatment area, thus improving surgical efficiency.

[0053] Reference Figure 2 In one feasible implementation, it further includes a display unit 15 and a precision operation unit 14, the display unit 15 being configured to respond to a user switching a motion mode, and the precision operation unit 14 being configured to enable the user to precisely operate multiple slender medical devices according to the motion mode currently switched by the display unit 15.

[0054] Specifically, the motion mode includes a displacement mode and a speed mode. In the displacement mode, the slave-end drive mechanism 2 controls the slender medical device to perform linear motion according to a preset displacement amount. In the speed mode, the slave-end drive mechanism 2 controls the slender medical device to perform linear motion according to a preset speed amount. The precision operation unit 14 is a precision button.

[0055] When the display unit 15 switches to displacement mode and the precision button is pressed, the current slave drive mechanism 2 controls the slender medical device to perform linear motion according to 1 / N of the preset displacement amount.

[0056] The display unit 15 switches to speed mode. After pressing the precision button, the current slave drive mechanism 2 controls the slender medical device to move linearly according to 1 / N of the preset speed. The selection of the aforementioned precision gear can effectively improve the efficiency and accuracy of the entire surgery. Furthermore, the speed mode includes a constant speed mode and a variable speed mode. For example, in constant speed mode, the operating lever is located within a safe range near the origin (refer to...). Figure 2 The origin is zero, left is positive, the safety threshold is X, f(x) is the position of the control lever, and the safe range of the control lever is -X < f(x) < X. The delivery device does not respond when X ≤ f(x) ≤ 15. When X ≤ f(x) ≤ 15, the delivery device moves forward at a constant speed V1. When -15 ≤ f(x) ≤ -X, the delivery device moves backward at a constant speed V1. In variable speed mode, the control lever is within the safe range near the origin (refer to...). Figure 2 The origin is zero, left is positive, the safety threshold is X, f(x) is the position of the control lever, and the safe range of the control lever is -X < f(x) < X). The delivery device does not respond. When the value of f(x) changes from X to 15, the forward speed of the delivery device will also change from 0 to the selected maximum value V2; when the value of f(x) changes from -X to -15, the backward speed of the delivery device will also change from 0 to the selected maximum value V2.

[0057] Reference Figure 2 In one feasible embodiment, the main operating device 1 is a desktop operating device. In this embodiment, the first operating part 11 is a left operating part located on the left side of the main operating device 1, and the first switching position 111 is a left switching position, which is switched by moving up and down; the first operating lever 113 is a left operating lever, and the first compensating member 112 is a left auxiliary roller, wherein the left operating lever is used to control the linear or rotational movement of the slender medical device corresponding to the left operating part; the second operating part 12 is a right operating part located on the left side of the main operating device 1, and the second switching position 121 is a right switching position, which is switched by moving up and down; the second operating lever 123 is a right operating lever, and the second compensating member 122 is a right auxiliary roller, wherein the right operating lever is used to control the linear or rotational movement of the slender medical device corresponding to the right operating part; the linkage unit 13 is a linkage knob, and the precision operation unit 14 is a precision button; the display unit 15 is a touch screen, used to respond to the user's switching of the movement mode and to display status information in real time.

[0058] Reference Figure 3 and Figure 4In one feasible embodiment, the main end manipulator 1 is a handle-type manipulator. In this embodiment, the first operating part 11 is a left operating part located on the left side of the main end manipulator 1, the first switching position 111 is a first up button corresponding to the first catheter and a first down button corresponding to the second catheter; the first operating lever 113 is a left operating lever; the first compensation member 112 is a left auxiliary roller; the second operating part 12 is a right operating part located on the left side of the main end manipulator 1, the second switching position 121 is a second up button corresponding to the quick-connect catheter and a second down button corresponding to the first guidewire, the second operating lever 123 is a right operating lever, and the second compensation member 122 is a right auxiliary roller; the linkage unit 13 is a linkage button, which, when pressed, links the left and right operating levers accordingly, wherein the green light indicator can be linked; the precision operating unit 14 is a left precision button and a right precision button, wherein when the left precision button is pressed, the operating lever speed decreases by a corresponding multiple; when the right precision button is pressed, the operating lever speed decreases by a corresponding multiple.

[0059] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, apparatus, article, or method that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, apparatus, article, or method. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, apparatus, article, or method that includes that element.

[0060] The above description is only a preferred embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural changes made based on the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A multi-instrument collaborative operating system for interventional surgical robots, characterized in that, include: The master operator is used to send command information; The slave-end drive mechanism is connected to the master-end manipulator and is used to receive instruction information sent by the master-end manipulator and control the movement of multiple slender medical devices based on the instruction information. A first operation unit, located on the main operator, is configured to respond to user operations on the first operation unit, wherein the instruction information is generated based on user operations on the first operation unit; The second operation unit, located on the main operator, is configured to respond to user operations on the second operation unit, wherein the instruction information is generated based on user operations on the second operation unit; A linkage unit, located on the main operator, is configured to enable the user to perform linkage operations on the first operation unit and the second operation unit, wherein the instruction information is generated based on the linkage operations of the first operation unit and the second operation unit; The linkage operation is as follows: when the linkage unit is selected, instruction information is generated by operating one of the first operation unit and the second operation unit separately. Based on the instruction information, the slave drive mechanism controls the multiple slender medical devices corresponding to the first operation unit and the multiple slender medical devices corresponding to the second operation unit to act together. Furthermore, the first operating unit and / or the second operating unit also includes a compensation member, which is configured to: when a corresponding elongated medical device is controlled to move by the first operating unit or the second operating unit, the compensation member is operated to compensate for the displacement of another elongated medical device corresponding to the same operating unit that is not directly operated, so as to counteract the unexpected displacement of the other elongated medical device caused by passive friction.

2. The multi-instrument collaborative operating system for interventional surgical robots according to claim 1, characterized in that, The first operating unit includes a first switching position and a first operating lever. The plurality of elongated medical devices corresponding to the first operating unit include a first elongated medical device and a second elongated medical device. The first switching position is configured to respond to the user switching between operating modes of operating the first elongated medical device alone, operating the second elongated medical device alone, and operating the first elongated medical device and the second elongated medical device together. The first operating lever is configured to respond to the user controlling the plurality of elongated medical devices corresponding to the first operating unit to perform linear motion and / or rotational motion.

3. The multi-instrument collaborative operating system for interventional surgical robots according to claim 2, characterized in that, The second operating unit includes a second switching position and a second operating lever. The plurality of elongated medical devices corresponding to the second operating unit include a third elongated medical device and a fourth elongated medical device. The second switching position is configured to respond to the user switching between operating modes of operating the third elongated medical device alone, operating the fourth elongated medical device alone, and operating the third elongated medical device and the fourth elongated medical device together. The second operating lever is configured to respond to the user controlling the plurality of elongated medical devices corresponding to the second operating unit to perform linear motion and / or rotational motion.

4. The multi-instrument collaborative operating system for interventional surgical robots according to claim 3, characterized in that, The linkage unit is a linkage knob. Rotating the linkage knob generates instruction information by individually operating the second operating lever according to the current operation mode of the first switching gear and the operation mode of the second switching gear. Based on the instruction information, the slave drive mechanism controls multiple slender medical devices corresponding to the first operating part and multiple slender medical devices corresponding to the second operating part to perform linear motion and / or rotational motion together.

5. The multi-instrument collaborative operating system for interventional surgical robots according to claim 2, characterized in that, The first operating unit further includes a first compensation member. When the first switching position is switched to respond to the user's individual operation of the first slender medical device and the first operating lever responds to the user's control of the first slender medical device to perform linear movement, if it is necessary for the second slender medical device to remain stationary relative to the blood vessel, in the event of relative displacement between the second slender medical device and the blood vessel, the displacement compensation of the second slender medical device is performed by operating the first compensation member to keep the second slender medical device stationary relative to the blood vessel; if it is necessary for both the first slender medical device and the second slender medical device to move and for relative displacement to occur between the first slender medical device and the second slender medical device, the displacement compensation of the second slender medical device is performed by operating the first compensation member to allow relative displacement between the first slender medical device and the second slender medical device. When the first switching position is switched to respond to the user's individual operation of the second slender medical device and the first operating lever responds to the user's control of the second slender medical device to perform linear movement, if it is necessary for the first slender medical device to remain stationary relative to the blood vessel, in the event of relative displacement between the first slender medical device and the blood vessel, the displacement compensation of the first slender medical device is performed by operating the first compensation component to keep the first slender medical device stationary relative to the blood vessel; if it is necessary for both the first slender medical device and the second slender medical device to move and for relative displacement to occur between the first slender medical device and the second slender medical device, the displacement compensation of the first slender medical device is performed by operating the first compensation component to allow relative displacement between the first slender medical device and the second slender medical device.

6. The multi-instrument collaborative operating system for interventional surgical robots according to claim 3, characterized in that, The second operating unit further includes a second compensation member. When the second switching position is switched to respond to the user's individual operation of the third slender medical device and the second operating lever responds to the user's control of the third slender medical device to perform linear movement, if it is necessary for the fourth slender medical device to remain stationary relative to the blood vessel, the second compensation member is operated to compensate for the displacement of the fourth slender medical device in the event of relative displacement between the fourth slender medical device and the blood vessel, so that the fourth slender medical device remains stationary relative to the blood vessel; if it is necessary for both the third slender medical device and the fourth slender medical device to move and for relative displacement to occur between the third slender medical device and the fourth slender medical device, the second compensation member is operated to compensate for the displacement of the fourth slender medical device, so that relative displacement occurs between the third slender medical device and the fourth slender medical device. When the second switching position is switched to respond to the user's individual operation of the fourth slender medical device and the second operating lever responds to the user's control of the fourth slender medical device to perform linear movement, if it is necessary for the third slender medical device to remain stationary relative to the blood vessel, the displacement of the third slender medical device is compensated by operating the second compensation member in the event of relative displacement between the third slender medical device and the blood vessel, so that the third slender medical device remains stationary relative to the blood vessel; if it is necessary for both the third slender medical device and the fourth slender medical device to move and for relative displacement to occur between the third slender medical device and the fourth slender medical device, the displacement of the third slender medical device is compensated by operating the second compensation member, so that relative displacement occurs between the third slender medical device and the fourth slender medical device.

7. The multi-instrument collaborative operating system for interventional surgical robots according to claim 1, characterized in that, It also includes a display unit and a precision operation unit. The display unit is configured to respond to the user's switching of motion modes, and the precision operation unit is configured to enable the user to perform precise operation on multiple slender medical devices according to the motion mode switched by the current display unit.

8. The multi-instrument collaborative operating system for interventional surgical robots according to claim 7, characterized in that, The motion mode includes a displacement mode and a speed mode. In the displacement mode, the slave-end drive mechanism controls the slender medical device to move linearly according to a preset displacement amount. In the speed mode, the slave-end drive mechanism controls the slender medical device to move linearly according to a preset speed amount. The precision operation unit is a precision button. When the display unit switches to displacement mode and the precision button is pressed, the current slave drive mechanism controls the slender medical device to perform linear motion according to 1 / N of the preset displacement amount. When the display unit switches to speed mode and the precision button is pressed, the current slave drive mechanism controls the slender medical device to move linearly according to 1 / N of the preset speed.

9. The multi-instrument collaborative operating system for interventional surgical robots according to claim 1, characterized in that, The main operator is a desktop operator.

10. The multi-instrument collaborative operating system for interventional surgical robots according to claim 1, characterized in that, The main operating device is a handle-type operating device.

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