Interventional surgical robot

Abstract

The application relates to an interventional surgery robot. The interventional surgery robot comprises a delivery control component, which comprises a bottom plate, a pushing device arranged on one side of the bottom plate, an elongated member and a control mechanism, the proximal end of the elongated member being connected with the control mechanism, and the control mechanism being arranged on one side of the pushing device; wherein the pushing device is used for driving the control mechanism to move, and the control mechanism is used for controlling the bending and turning of the distal end of the elongated member in the lumen of a target object. The interventional surgery robot can solve the problem of difficult catheterization.

Description

Technical Field

[0001] This application relates to the field of medical devices, and in particular to an interventional surgical robot. Background Technology

[0002] Endoscopic retrograde cholangiopancreatography (ERCP) is an effective treatment for pancreatobiliary diseases, primarily involving pancreatobiliary stones. This procedure is highly specialized, technically challenging, and carries a high risk of postoperative complications. Among emerging technologies, such as interventional surgical robots, there are relatively few products and techniques applied to this field.

[0003] During ERCP surgery, surgeons often need to coordinate the endoscope, forceps, and catheter to advance the catheter, which presents challenges such as difficulty in catheter insertion and selective guidewire entry into the pancreatic or bile duct. These insertion difficulties are a pressing issue that interventional surgical robots need to address. Summary of the Invention

[0004] Therefore, it is necessary to provide an interventional surgical robot that can solve the problem of difficult catheter and guidewire insertion, in order to address the aforementioned technical issues.

[0005] In a first aspect, this application provides an interventional surgical robot. The interventional surgical robot includes: a delivery control component, which includes:

[0006] Base plate;

[0007] A pushing device is located on one side of the base plate;

[0008] The slender member and the control mechanism are connected at the proximal end of the slender member and the control mechanism is located on one side of the pushing device;

[0009] The pushing device is used to drive the control mechanism to move, and the control mechanism is used to control the bending and turning of the distal end of the slender piece in the cavity of the target object.

[0010] In one embodiment, the distal end of the elongated member includes a serpentine structure and a plurality of control wires passing through the serpentine structure. The plurality of control wires are also connected to a control structure. The control mechanism controls the plurality of control wires to change the bending and turning of the serpentine structure so that the distal portion of the elongated member bends and turns.

[0011] In one embodiment, the elongated member includes a hollow outer layer structure and an inner layer structure. The outer layer structure is fitted over the inner layer structure and forms a receiving cavity between them. The serpentine structure is located in the region of the receiving cavity corresponding to the distal end of the elongated member. Several control wires extend from the receiving cavity to the proximal end of the elongated member and are connected to the control mechanism via transmission.

[0012] In one embodiment, the inner structure includes a hollow cavity and a partition layer disposed in the hollow cavity, the partition layer extending along the axial direction of the elongated member and dividing the hollow cavity into a first chamber and a second chamber that are independent of each other in the radial direction.

[0013] In one embodiment, the pushing device includes a linear slide rail and a transmission mechanism;

[0014] The control mechanism includes a control base, which is movably connected to a transmission mechanism. The transmission mechanism drives the control base to reciprocate along a linear slide rail.

[0015] In one embodiment, the control mechanism further includes an upper drive mechanism that is connected to a plurality of control wires, wherein the upper drive mechanism is detachably electrically connected to the control base.

[0016] In one embodiment, the upper drive mechanism includes: a plurality of guide components, each guide component including a tension wheel and a winding wheel arranged in sequence, wherein a control wire extends from the proximal end of the elongated member, is wound and fixed to the winding wheel via the tension wheel, and wherein the angle between the portion of the control wire extending from the proximal end of the elongated member along the tension wheel and the surface of the inner layer structure of the elongated member is between 0 and 15°.

[0017] In one embodiment, the interventional surgical robot further includes: a guidewire delivery mechanism disposed at the proximal end of the linear slide rail and an instrument catheter delivery mechanism disposed at the distal end of the linear slide rail;

[0018] Among them, the guide wire delivery mechanism is movably connected to the transmission mechanism. The transmission structure drives the guide wire delivery mechanism to reciprocate along the slide rail. The guide wire delivery mechanism is also used to control the guide wire to move to the target position in the inner cavity of the slender member.

[0019] The instrument catheter delivery mechanism is used to control the movement of the instrument catheter along the guidewire to the target position and to perform the instrument operation corresponding to the instrument catheter.

[0020] In one embodiment, the interventional surgical robot further includes a force detection mechanism and a main operating end connected in communication. The force detection mechanism is disposed within the control mechanism and the guidewire delivery mechanism and is used to detect the resistance when the slender member and the guidewire move in the lumen of the target object. The resistance is sent to the main operating end through visual feedback and / or tactile feedback.

[0021] In one embodiment, the interventional surgical robot further includes: a surgical end, comprising a multi-degree-of-freedom robotic arm, and a delivery control component detachably mounted at the end of the robotic arm; and

[0022] The main operating end is connected to the surgical operating end. The main operating end includes several control components. The main operating end operates the control components to generate operating instructions. The operating instructions are sent to the surgical operating end to control the robotic arm and delivery control components to perform associated operations.

[0023] In one embodiment, the interventional surgical robot further includes a vision unit disposed at the distal end of the base plate for acquiring visual images of the lumen of the target object.

[0024] The vision unit includes a direct-view lens and a side-view lens. The direct-view lens and the side-view lens can be switched by a switch to acquire images from different perspectives.

[0025] The aforementioned interventional surgical robot includes a delivery control component, which comprises a base plate, a pushing device, an elongated component, and a control mechanism. The pushing device is located on one side of the base plate. The proximal end of the elongated component is connected to the control mechanism, which is located on one side of the pushing device. The pushing device drives the control mechanism to move, and the control mechanism controls the bending and turning of the distal end of the elongated component within the lumen of the target object. Because the proximal end of the elongated component is connected to the control mechanism, and the control mechanism controls the bending and turning of the distal end of the elongated component within the lumen of the target object, it helps overcome the problem of difficult intubation. The robot has a simple structure and high controllability. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the delivery control component in one embodiment;

[0027] Figure 2 This is a schematic diagram of the structure of the slender component in one embodiment;

[0028] Figure 3 This is a schematic diagram of the structure of the elongated component in another embodiment;

[0029] Figure 4 This is a schematic diagram of the upper drive mechanism in one embodiment;

[0030] Figure 5 This is a schematic diagram showing the comparison before and after setting the tensioning wheel in one embodiment;

[0031] Figure 6 This is a schematic diagram of the delivery control component in another embodiment;

[0032] Figure 7 This is a schematic diagram of the force detection mechanism of the control mechanism in one embodiment;

[0033] Figure 8 This is a schematic diagram of the force detection mechanism of the guidewire delivery mechanism in one embodiment;

[0034] Figure 9This is a schematic diagram of the robotic arm in one embodiment;

[0035] Figure 10 This is a schematic diagram of the composition of an interventional surgical robot in one embodiment;

[0036] Figure 11 This is a schematic diagram of the control components in one embodiment;

[0037] Figure 12 This is a schematic diagram of the joystick's range of motion in one embodiment;

[0038] Figure 13 This is a schematic diagram of the endoscope operation handwheel in one embodiment;

[0039] Figure 14 This is a schematic diagram of the structure of the trolley in one embodiment;

[0040] Figure 15 This is a diagram of the quick-release structure of the robotic arm in one embodiment;

[0041] Figure 16 This is a schematic diagram of the master-slave operation control flow in one embodiment;

[0042] Figure 17 This is a flowchart illustrating the force sensing and force feedback process in one embodiment;

[0043] Figure 18 Here is a flowchart of the system rotation in one embodiment;

[0044] Figure 19 Here is a system implementation flowchart for one embodiment;

[0045] Figure 20 Here is a control flowchart of the snake bone catheter in one embodiment;

[0046] Figure 21 This is a schematic diagram of the endoscope switching control method in one embodiment;

[0047] Figure 22 This is a flowchart of an image enhancement display in one embodiment. Detailed Implementation

[0048] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0049] See Figure 1The interventional surgical robot includes a delivery control unit 100, which comprises a base plate 101; a pushing device 102 disposed on one side of the base plate 101; an elongated member 103; and a control mechanism 104. The proximal end of the elongated member 103 is connected to the control mechanism 104, which is disposed on one side of the pushing device 102. The pushing device 102 is used to drive the control mechanism 104 to move, and the control mechanism 104 is used to control the bending and turning of the distal end of the elongated member 103 within the lumen of the target object. In this application, the proximal end refers to the end closer to the object being operated on, such as the doctor, and the distal end refers to the end farther from the object being operated on, such as the doctor.

[0050] Interventional surgical robots typically include an endoscope and an instrument channel connected to the endoscope. The endoscope is used to enter the lumen of the target object to acquire images. The slender member 103 often enters the lumen of the target object through the instrument channel. To adapt to the existing structure of the instrument channel and facilitate the insertion of the slender member 103 into the instrument channel, a pushing device 102 is set at a preset angle on one side of the base plate 101. This preset angle is consistent with the angle of the instrument channel entrance.

[0051] The control mechanism 104 is located on one side of the pushing device 102. The pushing device 104 drives the control mechanism 102 to move, and at the same time, drives the slender member 103 to move.

[0052] The distal end of the elongated member 103 is a controllable end, and the control mechanism 104 is used to control the bending and turning of the distal end of the elongated member 103 within the cavity of the target object. Compared with existing interventional surgical robots that require the coordination of an endoscope, a forceps lifter, and a catheter to achieve cannulation, this application uses the control mechanism 102 to control the bending and turning of the distal end of the elongated member 103, which helps to overcome the problem of difficult cannulation. The structure is simple and highly controllable.

[0053] In some embodiments, the outer diameter of the distal end of the elongated member 103 should be smaller than the diameter of the lumen of the target object, thereby facilitating successful cannulation.

[0054] In one embodiment, such as Figure 2 As shown, the distal end of the elongated member 103 includes a serpentine structure 105 and a plurality of control wires 106 passing through the serpentine structure 105. The plurality of control wires 106 extend and connect to the control structure 104. The control mechanism 104 controls the plurality of control wires 106 to change the bending and turning of the serpentine structure 105, so that the distal part of the elongated member 103 bends and turns.

[0055] In this embodiment, control wires 106 are threaded through the snake structure 105. In some embodiments, there are four control wires 106. The control structure 104 changes the bending and turning of the snake structure 105 by pulling the control wires 106, thereby causing the distal part of the elongated member 103 to bend and turn.

[0056] In some embodiments, the proximal end of the elongated member 103 is a flexible structure, which facilitates the movement of the elongated member 103 in the complex tubular structure of the target object.

[0057] In one embodiment, such as Figure 3 As shown, the elongated member 103 includes a hollow outer layer structure 107 and an inner layer structure 108. The outer layer structure 107 is sleeved on the outside of the inner layer structure 108 and forms a storage cavity between them. The serpentine structure 105 is located in the region of the storage cavity corresponding to the distal end of the elongated member 103. Several control wires 106 extend from the storage cavity to the proximal end of the elongated member 103 and are connected to the control mechanism 104 for transmission.

[0058] The outer structure 107 of the elongated member can be made of rubber. In the cavity between the outer structure 107 and the inner structure 108, the serpentine structure 105 is located in the region of the cavity corresponding to the distal end of the elongated member, while the region corresponding to the proximal end of the elongated member 103 is a flexible structure 109. The control wire 106 extends from the cavity to the proximal end of the elongated member 103 and is connected to the control mechanism 104 for transmission. Thus, the control mechanism 104 pulls the control wire 106, which can cause the distal end of the elongated member 103 to bend or turn.

[0059] In one embodiment, reference Figure 3 The inner structure 108 includes a hollow cavity and a partition layer 110 disposed in the hollow cavity. The partition layer extends along the axial direction of the elongated member 103 and divides the hollow cavity into a first chamber 111 and a second chamber 112 that are independent of each other in the radial direction.

[0060] In some embodiments, target manipulation instruments such as guidewires and stents used for surgical treatment can be moved to the distal end of the elongated member 103 through the first chamber 111. In other embodiments, contrast agent is injected into the second chamber 112 to perform contrast imaging on the target lumen, which is beneficial for enhancing the imaging observation effect.

[0061] In one embodiment, reference Figure 1The pushing device 102 includes a linear slide rail 113 and a transmission mechanism 114; the control mechanism 104 includes a control base 115, which is movably connected to the transmission mechanism 114. The transmission mechanism 114 drives the control base 115 to reciprocate along the linear slide rail 113, thereby driving the slender piece 103 forward or backward in the cavity. The transmission mechanism 114 includes, for example, a lead screw nut and a motor disposed on one side of the lead screw nut. The control base 115 and the lead screw nut are threadedly connected. The motor drives the lead screw nut to rotate, thereby driving the control base 115 to reciprocate on the linear slide rail 113. There are two lead screw nuts, respectively arranged on opposite sides of the extension direction of the linear slide rail 113; and the two lead screw nuts are staggered, making the forward and backward movement of the control base 115 on the linear slide rail 113 more stable, avoiding unexpected axial movement of the slender piece 103 during delivery.

[0062] In one embodiment, reference Figure 1 The control mechanism 104 also includes an upper drive mechanism 116, which is connected to a plurality of control wires 106. The upper drive mechanism 116 is detachably electrically connected to the control base 115.

[0063] The upper drive mechanism 116 of the control mechanism 104 is detachably electrically connected to the control base 115. In one embodiment, the upper drive mechanism 116 is a reusable, washable, and sterilizable instrument. In another embodiment, the upper drive mechanism 116 is designed as a consumable for single use. The control base 115 contains a circuit board, and the upper and lower connecting surfaces of the control mechanism 104 have power and communication interfaces for electrical connection, solving the wiring connection problem required for the power supply and control of the upper drive mechanism 116 motor.

[0064] The upper drive mechanism 116 is connected to several control wires 106 for transmission. The control base 115 moves back and forth along the linear slide rail, thereby driving the control wires 106 in the snake bone structure 105 at the distal end of the slender member 103 to extend and retract.

[0065] In one embodiment, such as Figure 4 As shown, the upper drive mechanism 116 includes several guide components, each guide component including a tension wheel 117 and a winding wheel 118 arranged in sequence. The control wire 106 extends from the proximal end of the elongated member 103, is wound and fixed to the winding wheel 118 via the tension wheel 117, wherein the angle between the portion of the control wire 106 extending from the proximal end of the elongated member 103 along the tension wheel 117 and the surface of the inner layer structure 108 of the elongated member 103 is between 0 and 15°.

[0066] In this configuration, control wires 106 extend from the proximal end of the elongated member 103 and are wound and fixed to the winding reel 118 via tensioning wheel 117. In some embodiments, there are four control wires 106, arranged in pairs in the vertical and horizontal directions, respectively controlling the bending and turning of the distal end of the elongated member 103. The same set of control wires is wound in opposite directions on two winding reels. The two winding reel shafts are driven by gears and synchronous belts, and are powered by two separate drive motors. When the two winding reels rotate in the same direction, because the control wires on the reels are wound in opposite directions, one control wire is pulled while the other is simultaneously relaxed, thus controlling the distal end of the elongated member 103. This arrangement enables the reversal of the control wires, solving the spatial layout problem.

[0067] like Figure 5 This illustration shows a comparison diagram before and after the tensioning wheel is installed in one embodiment of this application. If the control wire 106 extends directly from the proximal end of the elongated member 103 and is wound and fixed to the winding wheel 118, the large angle between the control wire 106 and the axial direction of the elongated member 103 makes it easy to cut the outer rubber layer of the elongated member 103 when pulled. However, after the control wire 106 extends from the proximal end of the elongated member 103, it is guided by the tensioning wheel 117 before being wound and fixed to the winding wheel 118. Simultaneously, the angle between the portion of the control wire 106 extending from the proximal end of the elongated member 103 to the tensioning wheel 117 and the surface of the inner structure of the elongated member 103 is between 0-15°, avoiding the risk of cutting the outer rubber layer of the elongated member caused by the angle between the control wire 106 and the axial direction of the elongated member 103. In some embodiments, Figure 5 The position of the tensioning wheel 117 can be the winding wheel 118. That is, the control wire 106 extends from the proximal end of the elongated member 103 and is wound and fixed to the winding wheel 118. The angle between the portion of the control wire 106 from the proximal end of the elongated member 103 along the winding wheel 118 and the surface of the inner layer structure 108 of the elongated member 103 is between 0 and 15°, which can also avoid the risk of the outer rubber layer of the elongated member being cut.

[0068] In one embodiment, reference Figure 1 The interventional surgical robot also includes: a guidewire delivery mechanism 119 disposed at the proximal end of the linear slide rail and an instrument catheter delivery mechanism 120 disposed at the distal end of the linear slide rail; wherein, the guidewire delivery mechanism 119 is movably connected to a transmission mechanism 114, and the transmission mechanism 114 drives the guidewire delivery mechanism 119 to reciprocate along the slide rail 113. (Reference) Figure 6 The guidewire delivery mechanism 119 is also used to control the guidewire 121 to move to the target position in the inner lumen of the elongated member 103; the instrument catheter delivery mechanism 120 is used to control the instrument catheter 122 to move along the guidewire 121 to the target position and perform instrument operations corresponding to the instrument catheter 122.

[0069] The guidewire delivery mechanism 119 includes a circular turntable, grippers, and a direct-acting element. The circular turntable and grippers are fixedly connected, and the grippers include a fixed end and a movable end. The guidewire 121 can be accommodated between the fixed end and the movable end. Driven by the direct-acting element, the movable end controls the opening and closing of the guidewire 121 with the fixed end. The transmission structure 114 drives the guidewire delivery mechanism 119 to reciprocate along the slide rail 113. The movable end of the guidewire delivery mechanism 119 drives the guidewire 121 to extend and retract, thereby controlling the guidewire 121 to move to the target position within the inner cavity of the elongated member 103. The inner cavity can be the first chamber 111 of the inner layer structure of the elongated member. The distal end of the guidewire 121 extends from the outlet of the serpentine structure at the distal end of the first chamber 111. Through the insertion channel formed by the bending and turning of the serpentine structure 105, the distal end of the guidewire 121 is inserted into the target cavity.

[0070] Before delivery of the instrument catheter 122, the control elongated member 103 is withdrawn from the target lumen. The instrument catheter 122 is fitted onto the outside of the guidewire 121. Driven by the instrument catheter delivery mechanism 120, the instrument catheter 122 moves along the guidewire 121 to the target position, thereby performing the instrument operation corresponding to the instrument catheter 122. Specifically, refer to... Figure 6 The instrument catheter delivery mechanism 120 includes at least two wheel-like mechanisms 123. The at least two wheel-like mechanisms 123 move horizontally to grip or release the instrument catheter 122. The at least two wheel-like mechanisms 123 move vertically in an alternating manner to rotate the instrument catheter 122. The at least two wheel-like mechanisms 123 rotate in opposite directions while gripping the catheter to control the telescopic movement of the instrument catheter 122. Exemplarily, the instrument catheter 122 may be a balloon catheter.

[0071] In one embodiment, the interventional surgical robot further includes a force detection mechanism 146 and a main operating terminal 126 connected in communication. The force detection mechanism 146 is disposed within the control mechanism 116 and the guidewire delivery mechanism 119, and is used to detect the resistance when the elongated member 103 and the guidewire 121 move in the lumen of the target object. The resistance is sent to the main operating terminal 126 through visual feedback and / or tactile feedback.

[0072] The force detection mechanism 146 is a device that converts the magnitude of force into a corresponding electrical signal. In some embodiments, the force detection mechanism 146 is disposed within the control mechanism 104 and is used to detect the resistance encountered when the elongated member 103 moves within the cavity of a target object. Figure 7As shown, one end of the force detection mechanism 146 is connected to the upper drive mechanism 116, and the other end is connected to the control base 115. Since the upper drive mechanism 116 and the control base 115 are movably connected, when the elongated member 103 moves, due to the resistance of the elongated member 103 moving within the cavity of the target object, the upper drive mechanism 116 has a slight displacement relative to the control base 115. This displacement compresses the force detection mechanism 146, thus achieving force detection. In other embodiments, such as... Figure 8 As shown, the force detection mechanism 146 is also located within the guidewire delivery mechanism 119. When the grippers in the guidewire delivery mechanism 119 close and clamp the guidewire 121 for pushing, the force detection mechanism 146 is used to detect the resistance when the guidewire 121 moves in the lumen of the target object. The resistance is sent to the main operating end 126 through visual feedback and / or tactile feedback, so that the operator of the main operating end 126 can intuitively feel the resistance when the slender part 103 or the guidewire 121 moves in the lumen of the target object.

[0073] In one embodiment, such as Figures 9 to 11 As shown, the interventional surgical robot also includes a surgical operating end 124 and a main operating end 126. The surgical operating end 124 includes a multi-degree-of-freedom robotic arm 125. A delivery control unit 100 is detachably mounted at the end of the robotic arm 125. The main operating end 126 is communicatively connected to the surgical operating end 124. The main operating end 126 includes several control units. Operating these control units generates operating commands, which are sent to the surgical operating end 124 to control the robotic arm 125 and the delivery control unit 100 to perform associated operations.

[0074] An operator remotely controls the surgical operating terminal 124 from the main operating terminal 126 to complete the surgical procedure. The main operating terminal 126 and the surgical operating terminal 124 are communicatively connected. The main operating terminal 126 includes several control components. For example, refer to... Figure 11 The control component may include any one of a rocker arm 127, a push rod 128, or a foot pedal 129. The rocker arm 127 includes a fixed end and a movable end. The fixed end of the rocker arm 127 is fixed to the main operating end 126, and the position of the movable end of the rocker arm 127 can be adjusted arbitrarily. In some embodiments, the rocker arm 127 has a fixed length, and the movable end of the rocker arm 127 can move within a hemispherical space with the fixed end of the rocker arm 127 as its center, and the length of the rocker arm 127 as its radius. In other embodiments, the length of the rocker arm 127 is variable, and the movable end of the rocker arm 127 can move within a hemispherical space with the variable length of the rocker arm 127 as its radius, with the fixed end of the rocker arm 127 as its center. Figure 12 The diagram shown illustrates the range of motion of the joystick.

[0075] A push rod 128 is mounted on the main operating end 126. The push rod 128 can be pushed, pulled, or rotated. The foot pedal device 129 is a control component that uses a foot pedal for motion control, and the foot pedal device 129 has a foot pedal panel. Exemplarily, the foot pedal panel is suspended by default and can rebound after being stepped on.

[0076] Operating any control component will generate a corresponding operation command. The main operation terminal 126 sends the operation command to the surgical operation terminal 124. In response to the operation command, the surgical operation terminal 124 controls the robotic arm 125 and the delivery control component 100 to perform the associated operation.

[0077] In one embodiment, reference Figure 1 The interventional surgical robot also includes a vision unit 130, which is located at the far end of the base plate 101 and is used to acquire visual images of the lumen of the target object. The vision unit 130 includes a direct-viewing lens and a side-viewing lens, which are switched by a switch to acquire images from different perspectives.

[0078] The visual unit 130 has an opening on its surface that adapts to the inlet of the endoscopic instrument channel. The outlet of the endoscopic instrument channel connects to a lens, and a guide wire 121 enters the endoscopic instrument channel through the opening. In some embodiments, the visual unit 130 has an internal space for accommodating the endoscope operating handwheel 131. The visual unit 130 also has an electric control mechanism for controlling the endoscope operating handwheel 131. Figure 13 A schematic diagram of the endoscope operating handwheel in one embodiment of this application is shown. In some embodiments, by controlling the vision unit 130, the end of the endoscope with the lens can be pushed to the target position. The lens can be an image acquisition lens. In some embodiments, the endoscope operating handwheel 131 also has a water / air switch, and the electric control mechanism inside the vision unit 130 is also used to control the water / air switch to realize the water spraying and air spraying functions.

[0079] The interventional surgical robot also includes a switching switch. The switching switch can be set on the main operating terminal 126. The main operating terminal 126 responds to the switching action of the switching switch and generates a switching command, thereby realizing the switching between the direct-viewing lens and the side-viewing lens to acquire images from different perspectives.

[0080] In this embodiment, a vision unit is used to control the endoscope, which helps to improve the problem of difficult intubation.

[0081] In one embodiment, such as Figure 14A schematic diagram of the trolley structure in one embodiment of this application is shown. The interventional surgical robot also includes a trolley 132, the top surface of which includes a slide rail 133, a slider 134, and a slide plate 135. The slide plate 135 is fixedly connected to the slider 134, and the slide plate 135 can be connected to the robotic arm 125 via a quick-release structure. The slider 134 can be driven to move linearly through a transmission structure such as a lead screw and nut or a gear and rack below the top surface of the trolley 132, thereby driving the robotic arm 125 to move. The top surface of the trolley also includes a touch-screen interactive operation screen 136, which can display the robotic arm's posture information and provide corresponding control buttons, facilitating the patient to adjust the posture of the robotic arm and the pushing device at the surgical end. The robotic arm 125 includes a base 137, a first link 138, a second link 139, and a flange 140 connecting to the delivery control component 100. The first link 138 and the base 137 can move up and down and rotate, and the second link 139 can rotate relative to the first link 138.

[0082] like Figure 15 The diagram shows the quick-release structure of the robotic arm. The base 137 of the robotic arm 125 and the slide plate 135 on the connected trolley 132 are connected by a knob-locking mechanism for quick disassembly and assembly. The bottom of the knob shaft is in the shape of a straight line, and the corresponding position on the slide plate 135 is designed with a slot that matches the shape of the knob 141 so that the knob 141 can pass through. Based on the straight slot 142, the bottom of the slide plate 135 is rotated 90° around the center to create another shallow straight slot, making the bottom slot 143 a cross shape. A limit block 144 is provided at the position of the bottom slot of the slide plate 135, and an elastic pad 145 is provided on the limit block 144 to contact the bottom of the knob. The limiting block 144 provides a downward limit for the knob 141, and also limits its rotation, allowing the knob 141 to rotate up to 90°. Combined with the upward elastic force of the elastic pad 145, the knob 141 passes through the slide plate 135 and, after rotating 90°, fits perfectly into the shallow slot, completing the locking mechanism. The knob 141 remains locked due to the upward pressure of the shallow slot and the elastic pad 145. For disassembly, simply press the knob downwards and then rotate it 90° in the opposite direction. This connection method is simple to install and remove, facilitating machine assembly and disassembly.

[0083] In one embodiment, a method for controlling an interventional surgical robot is provided.

[0084] The machine resets, and the operator inserts the guidewire into the slender piece, then inserts both into the instrument channel of the endoscope. The operator manually advances the endoscope, pushing the endoscope, guidewire, and slender piece together, selectively switching between direct and side-view lenses to facilitate advancement to the first target position. In some embodiments, the endoscope is first pushed to the first target position, followed by the guidewire and slender piece. The endoscope is then manually advanced to the second target position. The operator adjusts the position of the trolley and robotic arm, embedding the endoscope's operating handwheel into the visual unit. The operator performs master-end operations on the main operating end. The surgical operating end, based on master-slave control logic, performs corresponding operations according to the operator's instructions, including: fine-tuning the endoscope's direction and position, then locking the endoscope to improve the field of view for cannulation. The guidewire is locked, and the distal end of the slender piece is moved through the instrument channel to the second target position. The distal end of the slender piece is adjusted and advanced for cannulation. Contrast agent injection is performed. Based on the image information and intelligent prompts, the distal end of the slender device is adjusted to the target bifurcation, and the distal end of the slender device is aligned with the third or fourth target position as needed for the surgery. The slender device is locked, the guidewire is released, and the guidewire is pushed along the slender device to the third or fourth target position. The guidewire is locked again, the slender device is withdrawn, and the instrument catheter is pushed along the guidewire to the third or fourth target position to complete the subsequent operation. A force detection mechanism is installed at the surgical end, and a force feedback mechanism is designed on the main operating end push rod. Based on force sensing and force feedback control algorithms, the sensor can accurately obtain the resistance of the guidewire or slender device during the advancement and rotation process, and send the sensed force data to the main operating end push rod mechanism, so that the operator has a direct tactile feel.

[0085] Among them, such as Figure 16 The diagram shows the master-slave operation control flow. The master operating terminal and the surgical operating terminal can be directly connected via TCP / IP communication or a public network connection to complete data transmission between the two ends. The data at both ends of this system mainly consists of two channels: control data and image data. One channel of control data transmits control signals from the operating object to the surgical operating terminal for execution, and transmits signals from the various sensing modules of the surgical operating terminal to the master operating terminal to provide feedback, including force feedback for guidewire and slender component advancement, and position information of the guidewire and slender components. The other channel of image data is used to transmit image information between the master operating terminal and the surgical operating terminal, allowing the operating object to intuitively obtain relevant image information such as lesions on the target object when operating on the master operating terminal.

[0086] Among them, such as Figure 17The diagram illustrates the force sensing and feedback process of an interventional surgical robot. When the guidewire and slender component are advanced within the lumen of the target object at the surgical end, the force detection structure installed in the relevant advancement mechanism can detect the resistance of the guidewire during advancement and rotation, as well as the resistance of the slender component during advancement, in real time. The host computer at the surgical end processes the force sensor signals and sends them to the main operating terminal via remote communication. At the main operating terminal, on the one hand, the force value detected by the force detection structure can be displayed in real time on the imaging display device to alert the operating object and trigger an alarm when the value is too high; on the other hand, the force data is sent to the proportional-integral controller, which then converts it into the torque of the motor on the push rod for output, providing intuitive force feedback when the operating object pushes or rotates the push rod.

[0087] Among them, such as Figure 18 The diagram shows the system rotation flowchart. The operator selects the control object at the surgical end—endoscope, guidewire, or instrument catheter—by switching the foot pedal device using either a push rod or a joystick. The operator then sends a command to the controller at the surgical end by rotating the push rod, which in turn controls the drive motors of each instrument to perform the following operations: When rotating the endoscope, all mechanisms must remain clamped. The robotic arm drives the pushing device to rotate as a whole, preventing the instrument channel from being pulled into a conical rotation due to the angle between the instrument channel and the endoscope insertion part, which could cause danger. When rotating the guidewire, the guidewire is clamped by the grippers of the wire feeding mechanism, and then the circular slide rail rotates. When rotating the instrument catheter, two friction wheels clamp the catheter and then perform an up-and-down twisting motion to achieve rotation.

[0088] Among them, such as Figure 19 The diagram shows the system's propulsion process. Similar to the system rotation process, the controlled object is selected via a foot pedal, and control commands are sent to the surgical end via a push rod. When the endoscope needs to be moved forward or backward, the visual unit locks the endoscope, other instrument clamping mechanisms are released, and then the slider connected to the robotic arm base moves, moving the endoscope forward or backward without moving other instruments. When the guidewire needs to be moved forward or backward, the gripper clamps the guidewire, and then the slider connected to the circular slide rail base moves, driving the guidewire forward or backward. When the instrument catheter needs to be moved forward or backward, the friction wheel clamps the guidewire and then rotates relative to it, driving the instrument catheter forward and backward.

[0089] Among them, such as Figure 20The diagram shows the control flow chart for the snake-bone catheter. The operator can control the bending and turning of the distal snake-bone structure of the slender component via a joystick, and control the forward and backward movement of the snake-bone structure via a push rod. The snake-bone structure's pose signal generated by the operator's actions is sent to the controller at the master operating end, and then transmitted to the controller at the surgical operating end via master-slave communication. This controller then controls the drive motor of the snake-bone structure's control wire and the lead screw motor connected to the control base of the control mechanism. The snake-bone bending and turning are achieved by the snake-bone motor pulling the control wire of the snake-bone structure. This is much more convenient and simpler than the previous method of adjusting the endoscope, forceps, and catheter together. The forward and backward movement of the slender component is achieved by the linear movement of the control base of the control mechanism driven by the lead screw motor.

[0090] Among them, such as Figure 21 The diagram illustrates the flow chart of the endoscope switching control method. After the endoscope is turned on and the image system is initialized, it by default uses both the direct-view and side-view lenses to acquire two video streams, which are then simultaneously displayed on the main operating terminal's screen in separate zones. This facilitates preoperative examinations or other operations during the procedure, allowing the patient to undergo treatment while the endoscope is being inserted. Furthermore, considering the varying visual requirements of the patient at different stages of the procedure and the need for precise positioning in different scenarios, this application provides a switching control function for the direct-view and side-view lenses, displaying a single viewpoint on a single screen. For example, when the patient is undergoing endoscope insertion, a greater demand for the view in front of the endoscope can be achieved. A switching command can be sent via a switch to the surgical operating terminal through master-slave communication, activating the direct-view lens to display the human tissue environment in front of the endoscope. This addresses the inconvenience caused by the current reliance on the side-view lens for endoscope insertion, reducing the dependence on experience and skill. When the endoscope reaches the first target position, the patient can switch images on the main operating terminal, using the side-view lens for a more intuitive acquisition of image information, facilitating the search for the second target position. The above-mentioned binocular lens switching and synchronous display solutions, tailored to the different operational needs of the subjects, can reduce surgical time and facilitate the subject's access to the endoscope.

[0091] The main operating unit includes an image processing module. For example... Figure 22 The flowchart shown illustrates the image enhancement display process. Preoperatively, the interventional surgical robot can automatically segment and reconstruct 3D images from MRCP (Magnetic Resonance Cholangiopancreatography) examinations of the target patient. Intraoperatively, the robot performs 2D and 3D registration between the real-time acquired DSA (Digital Subtraction Angiography) 2D images and the preoperative 3D reconstructed images, thereby enhancing the intraoperative 2D images in real time, marking the location of the target lesion, assisting the primary operator in observation and operation, and reducing reliance on empirical evidence.

[0092] The control method and the setup of the main operating end and surgical operating end of the aforementioned interventional surgical robot avoid problems such as radiation exposure to the surgical object and target, limited field of vision during endoscopy, and difficulties in cannulation. A control mechanism controls the bending and steering of slender components, while simultaneously mounting at least three sets of instruments, including a vision unit to drive the endoscope, instrument catheters, and guidewires. This reduces the space occupied by instruments, facilitates endoscopy and cannulation operations, and solves the problem of difficult cannulation. The use of direct-view and side-view lenses provides a wider field of vision during endoscopy, and the image processing module can display and label the lumen and target location of the target object, making it easier for the surgical object to make information judgments and perform operations.

[0093] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0094] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. An interventional surgical robot, characterized in that, The interventional surgical robot includes: a delivery control component, the delivery control component comprising: Base plate; A pushing device, wherein the pushing device is disposed on one side of the base plate; An elongated component and a control mechanism, wherein the proximal end of the elongated component is connected to the control mechanism, and the control mechanism is disposed on one side of the pushing device; The pushing device is used to drive the control mechanism to move, and the control mechanism is used to control the bending and turning of the distal end of the slender piece in the cavity of the target object; The distal end of the elongated member includes a serpentine structure and a plurality of control wires passing through the serpentine structure. The plurality of control wires are also connected to the control mechanism, which controls the plurality of control wires to change the bending and turning of the serpentine structure so that the distal portion of the elongated member bends and turns. The pushing device includes a linear slide rail and a transmission mechanism; The control mechanism includes a control base, which is movably connected to the transmission mechanism. The transmission mechanism drives the control base to reciprocate along the linear slide rail. The interventional surgical robot also includes a guidewire delivery mechanism located at the proximal end of the linear slide rail and an instrument catheter delivery mechanism located at the distal end of the linear slide rail.

2. The interventional surgical robot according to claim 1, characterized in that, The elongated component includes a hollow outer layer structure and an inner layer structure. The outer layer structure is fitted over the inner layer structure and forms a storage cavity between them. The serpentine structure is located in the storage cavity in the region corresponding to the distal end of the elongated component. A plurality of control wires extend from the storage cavity toward the proximal end of the elongated component and are drively connected to the control mechanism.

3. The interventional surgical robot according to claim 2, characterized in that, The inner structure includes a hollow cavity and a partition layer disposed in the hollow cavity. The partition layer extends along the axial direction of the elongated member and divides the hollow cavity into a first chamber and a second chamber that are independent of each other in the radial direction.

4. The interventional surgical robot according to claim 1, characterized in that, The control mechanism further includes an upper drive mechanism, which is connected to the plurality of control wires via a transmission connection, wherein the upper drive mechanism is detachably electrically connected to the control base.

5. The interventional surgical robot according to claim 4, characterized in that, The upper drive mechanism includes: a plurality of guide components, each guide component including a tension wheel and a winding wheel arranged in sequence, wherein the control wire extends from the proximal end of the elongated member, is wound and fixed to the winding wheel via the tension wheel, and wherein the angle between the portion of the control wire from the proximal end of the elongated member along the tension wheel and the surface of the inner layer structure of the elongated member is between 0 and 15°.

6. The interventional surgical robot according to claim 1, characterized in that, The guide wire delivery mechanism is movably connected to the transmission mechanism. The transmission mechanism drives the guide wire delivery mechanism to reciprocate along the slide rail. The guide wire delivery mechanism is also used to control the guide wire to move to the target position in the inner cavity of the slender member. The instrument catheter delivery mechanism is used to control the movement of the instrument catheter along the guidewire to the target position and to perform the instrument operation corresponding to the instrument catheter.

7. The interventional surgical robot according to claim 6, characterized in that, Also includes: The force detection mechanism and the main operating terminal are connected by communication. The force detection mechanism is disposed in the control mechanism and the guide wire delivery mechanism. It is used to detect the resistance when the slender piece and the guide wire move in the lumen of the target object. The resistance is sent to the main operating terminal through visual feedback and / or tactile feedback.

8. The interventional surgical robot according to claim 1, characterized in that, Also includes: The surgical operating end includes a multi-degree-of-freedom robotic arm, and the delivery control component is detachably mounted at the end of the robotic arm; as well as The main operating terminal is communicatively connected to the surgical operating terminal. The main operating terminal includes several control components. The main operating terminal operates the several control components to generate operating instructions. The operating instructions are sent to the surgical operating terminal to control the robotic arm and the delivery control component to perform associated operations.

9. The interventional surgical robot according to claim 1, characterized in that, Also includes: A vision unit, which is disposed at the far end of the base plate, is used to acquire visual images of the cavity of the target object; The vision unit includes a direct-view lens and a side-view lens. The direct-view lens and the side-view lens are switched by a switch to acquire images from different perspectives.

10. The interventional surgical robot according to claim 1, characterized in that, The pushing device is positioned at a preset angle on one side of the base plate; the preset angle is consistent with the angle of the instrument channel entrance; the slender piece enters the cavity of the target object through the instrument channel.

11. The interventional surgical robot according to claim 1, characterized in that, The proximal end of the slender member is a flexible structure.

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