Interventional surgery robot, control method and device of interventional surgery robot

Abstract

This invention discloses an interventional surgical robot, its control method, and an apparatus, relating to the field of medical device technology. The interventional surgical robot includes: a main body structure, a catheter control mechanism, a marker collector, and a control device. The catheter control mechanism and the marker collector are integrated into the main body structure and are communicatively connected to the control device. The catheter control mechanism is used to perform driving operations on the instrument catheter; the marker collector is used to collect instrument markers on the instrument catheter; and the control device is used to determine the catheter pushing position based on the marker position information corresponding to the collected instrument markers. This invention solves the problem of traditional interventional surgical systems relying on manual visual positioning for pushing the catheter, improving the accuracy of reading the catheter pushing position, thereby reducing the instrument pushing error of the interventional surgical robot and improving the safety of the interventional treatment process.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to an interventional surgical robot, a control method for the interventional surgical robot, and a device thereof. Background Technology

[0002] An interventional surgical robot is a surgical robot that uses hardware structures such as push rods, control devices, and drive components to perform drive operations such as pushing, rotating, and retracting various catheters.

[0003] Traditional interventional surgical robots rely on medical staff to manually push catheters by visually evaluating image data. If the catheter needs to be pushed back to the target after withdrawal, or if another catheter needs to be pushed to the target, medical staff need to visually evaluate the image data again to locate the target pushing position. Therefore, the surgical skills required of medical staff are high, and pushing errors caused by visual fatigue or hand movements are inevitable, resulting in greater difficulty in the operation and greater risks to the surgical process. Summary of the Invention

[0004] This invention provides an interventional surgical robot, a control method for the interventional surgical robot, and a device for controlling the interventional surgical robot, in order to solve the problem that traditional interventional surgical systems rely on manual visual positioning and pushing, improve the accuracy of reading the pushing position of the instrument catheter, thereby reducing the instrument pushing error of the interventional surgical robot and improving the safety of the interventional treatment process.

[0005] According to one embodiment of the present invention, an interventional surgical robot is provided, the interventional surgical robot comprising: a main body structure, a catheter control mechanism, a marker collector, and a control device, wherein the catheter control mechanism and the marker collector are integrated into the main body structure, and both the catheter control mechanism and the marker collector are communicatively connected to the control device;

[0006] The catheter control mechanism is used to perform driving operations on the instrument catheter;

[0007] The tag collector is used to collect instrument tags on the instrument catheter;

[0008] The control device is used to determine the catheter pushing position of the instrument catheter based on the collected instrument marker location information.

[0009] According to another embodiment of the present invention, a control method for an interventional surgical robot is provided, the method comprising:

[0010] In response to the detection of a drive control command, the device catheter is driven by the catheter control mechanism in the interventional surgical robot.

[0011] Obtain the instrument markings on the instrument catheter collected by the marker collector in the interventional surgical robot;

[0012] Based on the collected instrument marker location information, the catheter delivery position of the instrument catheter is determined.

[0013] According to another embodiment of the present invention, a control device for an interventional surgical robot is provided, the device comprising:

[0014] The instrument catheter push control module is used to respond to the detection of a drive control command and to perform drive operations on the instrument catheter by controlling the catheter control mechanism in the interventional surgical robot;

[0015] The instrument marker acquisition module is used to acquire the instrument markers on the instrument catheter collected by the marker collector in the interventional surgical robot;

[0016] The catheter delivery position determination module is used to determine the catheter delivery position of the instrument catheter based on the marker position information corresponding to the collected instrument marker.

[0017] According to another embodiment of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions, the computer instructions being configured to cause a processor to execute and implement the control method of the interventional surgical robot according to any embodiment of the present invention.

[0018] The technical solution of this invention, by setting a marker collector in the interventional surgical robot, collects instrument markers on the instrument catheter, and determines the catheter push position based on the marker position information corresponding to the instrument markers through a control device, solves the problem of traditional interventional surgical systems relying on manual visual positioning for push position determination, improves the accuracy of reading the push position of the instrument catheter, thereby reducing the instrument push error of the interventional surgical robot and improving the safety of the interventional treatment process.

[0019] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the structure of an interventional surgical robot provided in one embodiment of the present invention;

[0022] Figure 2 This is a schematic diagram illustrating the acquisition of instrument markers according to an embodiment of the present invention;

[0023] Figure 3 This is a schematic diagram of the structure of a control device provided in one embodiment of the present invention;

[0024] Figure 4 This is a schematic diagram of the structure of another interventional surgical robot provided in one embodiment of the present invention;

[0025] Figure 5 A flowchart illustrating a control method for an interventional surgical robot according to an embodiment of the present invention;

[0026] Figure 6 A flowchart illustrating another control method for an interventional surgical robot provided in one embodiment of the present invention;

[0027] Figure 7 A flowchart illustrating another control method for an interventional surgical robot provided in one embodiment of the present invention;

[0028] Figure 8 This is a schematic diagram of the structure of a control device for an interventional surgical robot provided in one embodiment of the present invention.

[0029] Figure label:

[0030] Interventional surgical robot-10, main body structure-1, sterilization box-11, guidewire control mechanism-12, Y-type connection valve-13, outlet end-131, first inlet end-132, second inlet end-133, guiding catheter-14, catheter control mechanism-2, first catheter control mechanism-21, second catheter control mechanism-22, marker collector-3, first marker collector-31, second marker collector-32, instrument catheter-4, first instrument catheter-41, second instrument catheter-42, working guidewire-5, control device-6, processor-61, ROM-62, RAM-63, bus-64, I / O interface-65, input unit-66, output unit-67, storage unit-68, communication unit-69, encoder-7. Detailed Implementation

[0031] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0032] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0033] Figure 1 This is a schematic diagram of the structure of an interventional surgical robot provided in one embodiment of the present invention. The interventional surgical robot in this embodiment can be applied to the control method and device of the interventional surgical robot provided in the following embodiments of the present invention.

[0034] like Figure 1 As shown, the interventional surgical robot 10 includes: a main body structure 1, a catheter control mechanism 2, a marker collector 3, and a control device ( Figure 1 (Not shown in the image), the catheter control mechanism 2 and the marker collector 3 are integrated into the main body structure 1. Both the catheter control mechanism 2 and the marker collector 3 are communicatively connected to the control device. The catheter control mechanism 2 is used to perform driving operations on the instrument catheter 4. The marker collector 3 is used to collect instrument markers on the instrument catheter 4. The control device is used to determine the catheter pushing position of the instrument catheter 4 based on the marker position information corresponding to the collected instrument markers.

[0035] In one optional embodiment, the main body structure 1 includes a sterilization box 11, a guidewire control mechanism 12, a Y-type connecting valve 13, and a guiding conduit 14. The sterilization box 11 is provided with a box inlet and a box outlet. The conduit control mechanism 2 is installed inside the sterilization box 11 near the box outlet. The guidewire control mechanism 12 is located at the rear end of the conduit control mechanism 2. The Y-type connecting valve 13 is installed at the box outlet of the sterilization box 11. The outlet end 131 and the first inlet end 132 of the Y-type connecting valve 13 are located outside the sterilization box 11, and the second inlet end 133 of the Y-type connecting valve 13 is located inside the sterilization box 11. The outlet end 131 and the second inlet end 133 of the Y-type connecting valve 13 are on the same axis as the guidewire control mechanism 12. One end of the guiding conduit 14 is fixedly connected to the outlet end 131 of the Y-type connecting valve 13.

[0036] The guidewire control mechanism 12 is used to drive the working guidewire 5. The working guidewire 5 can travel within the blood vessel, playing a crucial role in interventional treatment by following the puncture needle into the blood vessel, reaching the site of interest, traversing the site of interest, and delivering interventional devices. The success of percutaneous coronary intervention (PCI) depends to some extent on the successful passage of the working guidewire 5 through the site of interest. The device catheter 4 uses the working guidewire 5 as its working track, passing through the guiding catheter 14 to reach the site of interest.

[0037] In one alternative embodiment, the driving operations include rotation, forward movement, and retraction.

[0038] For example, the guide wire control mechanism 12 is composed of a guide wire active drive wheel group, a guide wire passive drive wheel group and a rotating component. The guide wire active drive wheel group and the guide wire passive drive wheel group are used to jointly control the forward and backward movement of the working guide wire 5. The rotating component can make the guide wire active drive wheel group and the guide wire passive drive wheel group rotate around the rotation axis to control the rotation of the working guide wire 5.

[0039] For example, the catheter control mechanism 2 is composed of a catheter active drive wheel set, a catheter passive drive wheel set and a rotating component. The catheter active drive wheel set and the catheter passive drive wheel set are used to jointly control the forward and backward movement of the mechanical catheter 4. The rotating component can make the catheter active drive wheel set and the catheter passive drive wheel set rotate around the rotation axis to control the rotation of the mechanical catheter 4.

[0040] The hardware structure of the catheter control mechanism 2 and the guidewire control mechanism 12 is not limited here. It is understood that any catheter control mechanism 2 and guidewire control mechanism 12 that can realize rotation operation, forward operation and retraction operation are within the protection scope of this application.

[0041] The Y-type connecting valve 13 is a hollow structure. For example, the Y-type connecting valve 13 is mainly composed of Y-type connector, guidewire torque device, guidewire insertion cannula and protective sleeve. The channel formed by the second inlet end 133 and the outlet end 131 on the Y-type connecting valve 13 is used to guide, place and lock the instrument catheter 4. The first inlet end 132 on the Y-type connecting valve 13 is used to place interventional substances, such as saline, contrast agents, drugs and substances required in the interventional treatment process.

[0042] The main functions of the guiding catheter 14 include, but are not limited to, delivering the instrument catheter 4 and interventional materials, as well as monitoring coronary artery pressure. In some practical applications, the guiding catheter 14 is an angiography catheter. Angiography catheters typically have suitable rigidity, elasticity, flexibility, and torsional strength, good shape memory, smooth walls, and high angiography performance. In some practical scenarios, angiography catheters also need to have good X-ray transmission performance.

[0043] Among them, for example, the instrument catheter 4 includes, but is not limited to, imaging catheters and surgical catheters, wherein the surgical catheters include, but are not limited to, balloon catheters and stent catheters.

[0044] For example, the imaging catheter consists of a catheter assembly and an imaging probe, wherein the catheter assembly carries the imaging probe to deliver the imaging probe to a target location, and the imaging probe is used to perform imaging operations.

[0045] Among them, balloon catheters can be used to characterize interventional catheters carrying balloons, and balloons can be used to dilate narrowed lesions and improve blood flow. In some practical applications, the balloon type used with the system is the rapid exchange balloon. Rapid exchange balloons are mostly monorail balloons, which are currently the most widely used balloon type in PCI treatment. Only the proximal 15-30cm of the rapid exchange balloon can slide coaxially along the working guidewire 5, and it can be used with a standard working guidewire 5 of 180-195cm in length, which can be easily operated by a single person. Rapid exchange balloon types include, but are not limited to: high compliance balloons, semi-compliant balloons, low compliance balloons, and non-compliant balloons; or pre-dilation balloons, stent balloons, and post-dilation balloons; or special types of balloons, such as cutting balloons, shockwave balloons, and drug-eluting balloons.

[0046] Among them, stent catheters can be used to characterize interventional catheters carrying stents. After the blood vessel is expanded and reshaped by a balloon catheter, a stent can be inserted into the stenotic or occluded segment of the vessel to further support the vessel, reduce elastic recoil and reshaping, and thus further maintain unobstructed blood flow. Currently, stents are widely used in interventional treatment of coronary artery, intracranial artery, carotid artery, renal artery, and femoral artery diseases. Correspondingly, stent types are mainly classified as coronary stents, intracranial stents, and peripheral vascular stents.

[0047] In one optional embodiment, the marker collector 3 is mounted on the main body structure 1 or the catheter control mechanism 2. In one specific embodiment, the marker collector 3 can be mounted on the bottom of the sterilization box 11 located at the front end of the catheter control mechanism 2, or on the bottom of the sterilization box 11 located at the rear end of the catheter control mechanism 2, and can also be mounted on the second inlet end 133 of the Y-type connecting valve 13. In another specific embodiment, the marker collector 3 can be mounted on the catheter input end or the catheter output end of the catheter control mechanism 2. Figure 1 As shown, the marker collector 3 is installed at the catheter input end of the catheter control mechanism 2.

[0048] For example, the tag collector 3 may include, but is not limited to, a camera or a tag acquisition device. When the tag collector 3 is a tag acquisition device, the type of the device tag is an RFID (Radio Frequency Identification) tag or a UDI (Unique Device Identification) tag. There is no limitation on the type of tag collector 3 and the device tag here, and the specific settings can be customized according to actual needs.

[0049] Specifically, the catheter position information is used to characterize the location of the region of interest within the lumen. In this embodiment, the catheter position information is represented by the position information between the tip of the instrument catheter and the marker collector.

[0050] In this embodiment, the instrument catheter 4 is provided with multiple instrument markings. Figure 2 This is a schematic diagram illustrating the acquisition of instrument markers according to an embodiment of the present invention. Figure 2 The image above shows an instrument marker. The circle represents the acquisition field of the marker collector 3, and the arrow inside the circle indicates the instrument marker within the selected acquisition field of view. Figure 2 The image below shows another type of instrument marking. Specifically, each instrument marking on instrument catheter 4 represents a marking location information.

[0051] The labeling content for multiple instrument markings is not limited here; it can be customized according to actual needs.

[0052] Figure 3 This is a schematic diagram of a control device provided according to one embodiment of the present invention. The control device 6 is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. Electronic devices can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0053] like Figure 6 As shown, the control device 6 includes at least one processor 61 and a memory, such as a read-only memory (ROM) 62 or a random access memory (RAM) 63, communicatively connected to the at least one processor 61. The memory stores computer programs executable by the at least one processor. The processor 61 can perform various appropriate actions and processes based on the computer program stored in the ROM 62 or loaded from storage unit 68 into the RAM 63. The RAM 61 can also store various programs and data required for the operation of the control device 6. The processor 61, ROM 62, and RAM 61 are interconnected via a bus 64. An input / output (I / O) interface 65 is also connected to the bus 64.

[0054] Multiple components in the control device 6 are connected to the I / O interface 65, including: an input unit 66, such as a keyboard, mouse, etc.; an output unit 67, such as various types of displays, speakers, etc.; a storage unit 68, such as a disk, optical disk, etc.; and a communication unit 69, such as a network card, modem, wireless transceiver, etc. The communication unit 69 allows the control device 6 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0055] Processor 61 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 61 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, control device, microcontroller, etc. Processor 61 performs the various methods and processes described above, such as the control method of the interventional surgical system provided in the above embodiments.

[0056] In some embodiments, the control method for the interventional surgical system provided in the above embodiments can be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 68. In some embodiments, part or all of the computer program can be loaded and / or installed on the control device 6 via ROM 62 and / or communication unit 69. When the computer program is loaded into RAM 61 and executed by processor 61, one or more steps of the control method for the interventional surgical system described above can be performed. Alternatively, in other embodiments, processor 61 can be configured to perform the control method for the interventional surgical system by any other suitable means (e.g., by means of firmware).

[0057] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0058] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0059] The technical solution of this embodiment solves the problem of traditional interventional surgery systems relying on manual visual positioning for catheter placement by setting a marker collector in the interventional surgery robot. The marker collector collects instrument markers on the instrument catheter, and the control device determines the catheter placement position based on the marker position information corresponding to the instrument markers. This improves the accuracy of reading the placement position of the instrument catheter, thereby reducing the instrument placement error of the interventional surgery robot and improving the safety of the interventional treatment process.

[0060] Figure 4 This is a schematic diagram of the structure of another interventional surgical robot provided in one embodiment of the present invention. Figure 4 As shown, the interventional surgical robot 10 in this embodiment includes, in addition to, Figure 1 In addition to the components shown, an encoder 7 may also be included if the instrument marking on the instrument catheter 4 is one.

[0061] The encoder 7 is installed inside the catheter control mechanism 2. The corresponding control device is specifically used to: in response to the instrument mark collected by the mark collector 3 on the instrument catheter 4, control the encoder 7 to monitor the coded push position of the instrument catheter 4; and determine the catheter push position of the instrument catheter 4 based on the coded push position and the mark position information corresponding to the instrument mark.

[0062] In this embodiment, the marker position information corresponding to the instrument marker is used to characterize the position information between the tip of the instrument catheter and the instrument marker.

[0063] Specifically, encoder 7 is used to monitor the coded push position of the instrument catheter 4. The coded push position can be used to characterize the push position of the instrument catheter 4 after the instrument mark passes the mark collector 3. For example, encoder 7 calculates the coded push position by monitoring the circumference and number of gear rotations of the catheter control mechanism 2. Assuming the circumference is 2cm and the number of gear rotations at the current acquisition time is 6, the coded push position is 12cm.

[0064] Specifically, the catheter push position is equal to the sum of the coded push position and the corresponding mark position information of the device mark. For example, if the coded push position is 12cm and the corresponding mark position information of the device mark is 10cm, then the catheter push position is 22cm.

[0065] Since the instrument catheter needs to be inserted into the lumen, setting multiple instrument markers on the instrument catheter may be limited by instrument manufacturing processes or surgical safety. The technical solution of this embodiment solves the problem of manufacturing limitations associated with setting multiple instrument markers on the catheter by setting an encoder inside the catheter control mechanism and setting only one instrument marker on the instrument catheter. This reduces instrument pushing errors by the interventional surgical robot and lowers the manufacturing difficulty of the catheter while ensuring the safety of interventional treatment.

[0066] Based on the above embodiments, optionally, the device mark includes device identification information, and the control device stores a device attribute list. The device attribute list includes preset attribute data corresponding to at least one device mark, and the preset attribute data includes preset push speed and / or preset position information.

[0067] Specifically, the device identification information is used to uniquely identify the device catheter 4. For example, the preset attribute data may also include the catheter identifier, catheter type, manufacturing date, manufacturer, and catheter size of the device catheter 4. For example, the device identification information can be added to the device label in the form of a QR code, barcode, or similar format.

[0068] The advantage of this setup is that, due to the different manufacturers and manufacturing processes of various instrument catheters, when there are many types and quantities of instrument catheters, the number of instrument markings on each instrument catheter and the preset location information corresponding to the instrument markings may all be different. By uniquely identifying the instrument catheter through instrument identification information, and then obtaining the preset attribute data of the instrument catheter by querying the instrument attribute list, the problem of inaccurate management when there are many instrument catheters is solved, and the intelligent control capability of the interventional surgery robot is further improved.

[0069] Figure 5 This is a flowchart illustrating a control method for an interventional surgical robot according to an embodiment of the present invention. This embodiment is applicable to situations involving the control of an interventional surgical robot. The method can be executed by a control device for the interventional surgical robot, which can be implemented in hardware and / or software and can be configured within the interventional surgical robot. Figure 5 As shown, the method includes:

[0070] S310, In response to the detection of a drive control command, the instrument catheter is driven by controlling the catheter control mechanism in the interventional surgical robot.

[0071] The interventional surgical robot used in this embodiment includes at least a main body structure, a catheter control mechanism, a marker collector, and a control device. Multiple instrument markers are set on the instrument catheter pushed by the interventional surgical robot, and the control device is used to execute the operations in the control method of the interventional surgical robot provided in this embodiment. Detailed examples of the structural configuration and functional descriptions of the above hardware structures are provided in the aforementioned embodiments, and will not be repeated here.

[0072] Specifically, the drive control command is used to characterize the control command that triggers the catheter control mechanism in the interventional surgical robot to perform drive operations on the instrument catheter. In an optional embodiment, the drive control command is generated in response to detecting a drive trigger operation input by the user based on a visual interface; and / or, in response to detecting a trigger operation of the drive component on the interventional surgical robot. The method for generating the drive control command is not limited here, and can be customized according to actual needs.

[0073] S320. Obtain the instrument markers on the instrument catheters collected by the marker collector in the interventional surgical robot.

[0074] In this embodiment, the tag collector can collect instrument tags on the instrument catheter based on a preset collection period. For example, the preset collection period can be 1 second, but this is not limited and can be customized according to actual needs.

[0075] S330. Based on the collected instrument marker location information, determine the catheter delivery position of the instrument catheter.

[0076] The method for determining the catheter push position in this embodiment is the same as or similar to the process described above where the control device determines the catheter push position based on the collected instrument marker location information, and will not be repeated here.

[0077] The technical solution of this embodiment, in response to the detection of a drive control command, controls the catheter control mechanism in the interventional surgical robot to perform a drive operation on the instrument catheter, acquires the instrument markers on the instrument catheter collected by the marker collector in the interventional surgical robot, and determines the catheter push position based on the marker position information corresponding to the collected instrument markers. This solves the problem of traditional interventional surgical systems relying on manual visual positioning to determine the push position, improves the accuracy of reading the push position of the instrument catheter, thereby reducing the instrument push error of the interventional surgical robot and improving the safety of the interventional treatment process.

[0078] Figure 6 This is a flowchart illustrating another control method for an interventional surgical robot according to an embodiment of the present invention. This embodiment further refines the step of "determining the catheter push position based on the collected instrument marker location information" in the above embodiment. For example... Figure 6 As shown, the method includes:

[0079] S410, in response to detecting a drive control command, performs a drive operation on the instrument catheter by controlling the catheter control mechanism in the interventional surgical robot.

[0080] The interventional surgical robot used in this embodiment includes at least a main body structure, a catheter control mechanism, a marker collector, an encoder, and a control device. An instrument marker is set on the instrument catheter pushed by the interventional surgical robot, and the control device is used to execute the operations in the control method of the interventional surgical robot provided in this embodiment. Detailed examples of the structural configuration and functional descriptions of the above hardware structures are provided in the aforementioned embodiments, and will not be repeated here.

[0081] In this embodiment, S410 and Figure 5 S310 in the previous example is the same as or similar to S310 in the present embodiment, and will not be described again here.

[0082] S420: Obtain the instrument markers on the instrument catheters collected by the marker collector in the interventional surgical robot.

[0083] In one optional embodiment, the tag collector can collect instrument tags on the instrument catheter based on a preset collection period. For example, the preset collection period can be 1 second; however, this preset collection period is not limited and can be customized according to actual needs.

[0084] In another alternative embodiment, the marker collector detects the trigger signal corresponding to the instrument marker on the instrument catheter in real time. When the instrument marker on the instrument catheter enters the field of view of the marker collector, a trigger signal corresponding to the instrument marker is generated.

[0085] S430, The encoder in the control catheter control mechanism monitors the coded push position of the instrument catheter.

[0086] In this embodiment, the encoder is controlled when the marker collector collects the instrument marker on the instrument catheter.

[0087] S440. Based on the coded push position and the mark position information corresponding to the instrument mark, determine the catheter push position of the instrument catheter.

[0088] In this embodiment, S430-S440 corresponds to or is similar to the process of determining the duct push position based on the coded push position described above, and will not be repeated here.

[0089] Figure 7 This is a flowchart illustrating another control method for an interventional surgical robot according to an embodiment of the present invention. This embodiment further refines the control method for the interventional surgical robot described in the above embodiment. Figure 7 As shown, the method includes:

[0090] S510, in response to the detection of a drive control command, performs a drive operation on the instrument catheter by controlling the catheter control mechanism in the interventional surgical robot.

[0091] S520: Obtain the instrument markers on the instrument catheters collected by the marker collector in the interventional surgical robot.

[0092] In this embodiment, S510-S520 and Figure 5 S310-S320 in the text correspond to the same or similar, or are the same as... Figure 6 S410-S420 in the above are the same or similar, and will not be described again in this embodiment.

[0093] S530. Based on the list of medical device attributes, obtain the medical device attribute data corresponding to the medical device identification information in the medical device mark.

[0094] In this embodiment, the device label includes device identification information. Specifically, the device identification information is used to uniquely identify the device catheter. For example, the preset attribute data may also include the catheter identifier, catheter type, manufacturing date, manufacturer, and catheter size of the device catheter. For example, the device identification information can be added to the device label in the form of a QR code, barcode, or similar format.

[0095] S540. Determine whether the instrument attribute data includes preset position information. If yes, execute S550; otherwise, execute S560.

[0096] S550, Use the preset position information as the mark position information corresponding to the instrument mark.

[0097] In this embodiment, when the instrument markings can directly reflect location information, such as Figure 2 In the form shown in the image above, the device attribute data may not include preset location information. This is useful when device markings cannot directly reflect location information, such as... Figure 2 If the device is in the form shown in the image below, then the device attribute data must include preset location information.

[0098] S560. Based on the collected instrument marker location information, determine the catheter delivery position of the instrument catheter.

[0099] In this embodiment, S560 and Figure 5 The S330 in the text corresponds to the same or similar, or is the same as... Figure 6 S430-S440 in the above are the same or similar, and will not be described again in this embodiment.

[0100] Based on the above embodiments, the method may optionally further include: when the device attribute data includes a preset push speed, continuing to perform a driving operation on the device catheter based on the preset push speed.

[0101] In one optional embodiment, the preset push speeds corresponding to different instrument catheters may be the same or different. After obtaining the instrument identification information, the preset push speed corresponding to the instrument catheter is used to continue to perform driving operation on the instrument catheter.

[0102] In another optional embodiment, the preset pushing speed includes a first pushing speed and a second pushing speed. Based on the preset pushing speed, the driving operation on the instrument catheter continues, including: if the catheter pushing position meets a first preset position range, the driving operation on the instrument catheter continues based on the first pushing speed; if the catheter pushing position meets a second preset position range, the driving operation on the instrument catheter continues based on the second pushing speed.

[0103] In this embodiment, the preset position in the first preset position range is smaller than the preset position in the second preset position range, and the first pushing speed is greater than the second pushing speed.

[0104] Specifically, the first preset position range represents the forward pushing position area during interventional treatment. For example, the first preset position range can be used to represent the pushing position area where the tip of the instrument catheter is located in the front half of the guiding catheter. The second preset position range represents the backward pushing position area during interventional treatment. For example, the second preset position range can be used to represent the pushing position area where the tip of the instrument catheter is located in the rear half of the guiding catheter.

[0105] The advantage of this setting is that the driving operation of the instrument catheter can be dynamically adjusted according to the catheter push position and preset push speed, thereby improving the push efficiency of the instrument catheter while ensuring push safety.

[0106] It should be noted that this embodiment uses two pushing position areas and two pushing speeds as an example to illustrate the process of pushing the instrument catheter. It can be understood that in some practical applications, the pushing process of the instrument catheter can be divided into more pushing position areas, and correspondingly, more pushing speeds can be used to control the pushing process of the instrument catheter.

[0107] Based on the above embodiments, the method may optionally further include: determining the real-time pushing speed of the instrument catheter based on the catheter pushing position and the driving time of the catheter control mechanism; and performing a speed warning operation based on the real-time pushing speed if the real-time pushing speed does not meet the preset speed range.

[0108] Specifically, the real-time push speed represents the ratio of the duct push position to the driving time. For example, the preset speed range can be [1cm / min 3cm / min]. There is no limitation on the preset speed range here, and it can be customized according to actual needs.

[0109] For example, the output format of the speed warning operation can include, but is not limited to, text display, sound playback, and indicator light output. For instance, the text display could be "Real-time push speed too low" or "Real-time push speed too high," etc. Sound playback could be voice playback or a prompt tone. The voice playback content could be the same as the text display, while the prompt tone playback could be low in volume and / or pitch when the real-time push speed meets a preset speed range (e.g., lower than a preset volume and pitch), and high in volume and / or pitch when the real-time push speed exceeds the preset speed range (e.g., higher than a preset volume and pitch). For example, the preset volume could be 5dB, and since pitch is determined by the vibration frequency of sound, the preset pitch could be the sound pitch emitted when the vibration frequency reaches 100Hz. Alternatively, a specific indicator light color and / or a specific indicator light flashing frequency can be used for warning indication. When the real-time push speed meets the preset speed range, the indicator light output color is green and / or the flashing frequency is low; when the real-time push speed exceeds the preset speed range, the indicator light output color is red and / or the flashing frequency is high.

[0110] This embodiment does not limit the output format of the speed warning operation; the specific format can be customized according to actual needs.

[0111] The advantage of this setup is that the real-time pushing speed of the instrument catheter can be further calculated based on the catheter pushing position, thereby achieving the purpose of providing early warning prompts on the pushing speed of the instrument catheter, further improving the intelligent control capability of the interventional surgical robot, and further improving the safety of interventional treatment.

[0112] Because different instrument catheters are manufactured by different companies and use different processes, when there are many types and quantities of instrument catheters, the number of instrument markers on each catheter and the preset position information corresponding to those markers may vary. The technical solution in this embodiment obtains instrument attribute data corresponding to the instrument identification information in the instrument markers based on an instrument attribute list. When the instrument attribute data includes a preset push speed, the drive operation on the instrument catheter continues based on that preset push speed. When the instrument attribute data includes preset position information, that preset position information is used as the marker position information corresponding to the instrument marker. This solves the problem of inaccurate management when there are many instrument catheters, further improving the intelligent control capability of the interventional surgical robot.

[0113] The following are embodiments of the control device for the interventional surgical robot provided in this invention. This device and the control method for the interventional surgical robot in the above embodiments belong to the same inventive concept. For details not described in detail in the embodiments of the control device for the interventional surgical robot, please refer to the content of the control method for the interventional surgical robot in the above embodiments.

[0114] Figure 8 This is a schematic diagram of the control device for an interventional surgical robot according to an embodiment of the present invention. Figure 8 As shown, the device includes: a device catheter push control module 610, a device marking acquisition module 620, and a catheter push position determination module 630.

[0115] The instrument catheter push control module 610 is used to perform drive operations on the instrument catheter by controlling the catheter control mechanism in the interventional surgical robot in response to the detection of a drive control command.

[0116] The instrument marker acquisition module 620 is used to acquire instrument markers on the instrument catheters collected by the marker collector in the interventional surgical robot;

[0117] The catheter delivery position determination module 630 is used to determine the catheter delivery position of the instrument catheter based on the marker position information corresponding to the collected instrument marker.

[0118] The technical solution of this embodiment solves the problem that traditional interventional surgery systems rely on manual visual positioning and pushing, improves the accuracy of reading the pushing position of the instrument catheter, thereby reducing the instrument pushing error of the interventional surgery robot and improving the safety of the interventional treatment process.

[0119] In an optional embodiment, the catheter delivery position determination module 630 is specifically used for:

[0120] When the instrument mark on the catheter is one, the encoder in the catheter control mechanism monitors the coded push position of the instrument catheter;

[0121] Based on the coded push position and the corresponding mark position information of the instrument mark, the catheter push position is determined.

[0122] In an optional embodiment, the device mark contains device identification information, and correspondingly, the device further includes:

[0123] The instrument attribute data acquisition module is used to acquire instrument attribute data corresponding to the instrument identification information in the instrument tag based on the instrument attribute list;

[0124] The instrument catheter continued driving module is used to continue driving the instrument catheter based on the preset push speed when the instrument attribute data includes the preset push speed;

[0125] The marker location information determination module is used to use the preset location information as the marker location information corresponding to the instrument marker when the instrument attribute data includes preset location information.

[0126] In one optional embodiment, the preset pushing speed includes a first pushing speed and a second pushing speed, and the instrument catheter continued driving module is specifically used for:

[0127] If the catheter is pushed to a position within the first preset position range, the drive operation on the instrument catheter continues based on the first pushing speed.

[0128] If the catheter is pushed to a position within the second preset position range, the driving operation on the instrument catheter continues based on the second pushing speed.

[0129] Wherein, the preset position in the first preset position range is smaller than the preset position in the second preset position range, and the first push speed is greater than the second push speed.

[0130] In an optional embodiment, the device further includes:

[0131] The speed warning operation execution module is used to determine the real-time pushing speed of the instrument catheter based on the catheter pushing position and the driving time of the catheter control mechanism;

[0132] If the real-time push speed does not meet the preset speed range, a speed warning operation will be performed based on the real-time push speed.

[0133] The control device for the interventional surgical robot provided in this embodiment of the invention can execute the control method for the interventional surgical robot provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method.

[0134] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0135] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0136] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0137] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0138] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0139] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. An interventional procedure robot, characterized by include: The system includes a main structural component, a catheter control mechanism, a marker collector, and a control device. The catheter control mechanism and the marker collector are integrated into the main structural component, and both the catheter control mechanism and the marker collector are communicatively connected to the control device. The catheter control mechanism is used to perform driving operations on the instrument catheter; The tag collector is used to collect instrument tags on the instrument catheter; The control device is used to determine the catheter pushing position of the instrument catheter based on the collected instrument marker location information; The interventional surgical robot further includes: a control device for the interventional surgical robot, the control device comprising: The instrument catheter push control module is used to respond to the detection of a drive control command and to perform drive operations on the instrument catheter by controlling the catheter control mechanism in the interventional surgical robot; The instrument marker acquisition module is used to acquire the instrument markers on the instrument catheter collected by the marker collector in the interventional surgical robot; The catheter delivery position determination module is used to determine the catheter delivery position of the instrument catheter based on the collected marker position information corresponding to the instrument marker; The device marker contains device identification information; correspondingly, the device also includes: The instrument attribute data acquisition module is used to acquire instrument attribute data corresponding to the instrument identification information in the instrument tag based on the instrument attribute list; The instrument catheter continued driving module is used to continue driving the instrument catheter based on the preset push speed when the instrument attribute data includes the preset push speed; The marker location information determination module is used to use the preset location information as the marker location information corresponding to the instrument marker when the instrument attribute data includes preset location information.

2. The interventional surgical robot of claim 1, wherein, The marker collector is mounted on the main body structure or the conduit control mechanism.

3. The interventional surgical robot of claim 1, wherein, When the instrument marking on the catheter is one, the interventional surgical robot also includes an encoder, which is installed inside the catheter control mechanism; correspondingly, the control device is specifically used for: In response to the tag collector acquiring the instrument tag on the instrument catheter, the encoder is controlled to monitor the coded push position of the instrument catheter; Based on the coded push position and the mark position information corresponding to the instrument mark, the catheter push position of the instrument catheter is determined.

4. The interventional surgical robot of claim 1, wherein, The instrument tag contains instrument identification information, and the control device stores a list of instrument attributes. The list of instrument attributes contains preset attribute data corresponding to at least one instrument identifier. The preset attribute data includes preset push speed and / or preset position information.

5. The interventional surgical robot of claim 1, wherein, The catheter push position determination module is specifically used to: when there is only one instrument mark on the catheter, control the encoder in the catheter control mechanism to monitor the coded push position of the catheter; and determine the catheter push position based on the coded push position and the mark position information corresponding to the instrument mark.

6. The interventional surgical robot according to claim 1, characterized in that, The preset pushing speed includes a first pushing speed and a second pushing speed. The instrument catheter continued driving module is specifically used to: when the catheter pushing position meets the first preset position range, continue to perform driving operation on the instrument catheter based on the first pushing speed; when the catheter pushing position meets the second preset position range, continue to perform driving operation on the instrument catheter based on the second pushing speed; wherein, the preset position in the first preset position range is smaller than the preset position in the second preset position range, and the first pushing speed is greater than the second pushing speed.

7. The interventional surgical robot according to claim 1, characterized in that, The interventional surgical robot also includes: The speed warning operation execution module is used to determine the real-time pushing speed of the instrument catheter based on the catheter pushing position and the driving time of the catheter control mechanism; if the real-time pushing speed does not meet the preset speed range, a speed warning operation is executed based on the real-time pushing speed.

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