Fast cross device delivery status detection device, detection method and interventional surgery robot

Abstract

The application is suitable for the technical field of medical devices, and discloses a fast cross device delivery state detection device, a detection method and an interventional surgery robot. The fast cross device delivery state detection device comprises a first body, a second body, a fixed valve, a delivery mechanism, a first detection component, a second detection component and a third detection component. In the length direction of a guide wire, the first body and the second body are arranged at intervals, the fixed valve is arranged on the first body, and the delivery mechanism is arranged on the second body. The fast cross device delivery state detection device can detect the advancing state and the retreating state of a balloon catheter, and can avoid damage to the balloon catheter during the advancing and retreating processes.

Description

Technical Field

[0001] This invention relates to the field of medical devices, and more particularly to a device for detecting the status of rapid medical device delivery, a detection method therefor, and an interventional surgical robot. Background Technology

[0002] Interventional surgery is a procedure that uses specialized catheters, guidewires, and other precision instruments to perform internal diagnosis and local treatment under the guidance of medical imaging equipment. Interventional surgical robots are commonly used in interventional surgery. Rapid-access instruments, such as guidewires and catheters, are frequently used in interventional surgery and play a crucial role in the treatment of various vascular diseases.

[0003] In related technologies, when doctors use robots to perform interventional surgeries, such as percutaneous coronary intervention, they need to monitor the forward and backward movement of the rapid-transfer instrument on the screen. This requirement for real-time manual monitoring of the rapid-transfer instrument's delivery status can make it difficult for doctors to fully concentrate on the surgery. Summary of the Invention

[0004] The first objective of this invention is to provide a device for detecting the delivery status of express delivery instruments, which aims to solve the technical problem in the related art that requires manual real-time monitoring of the delivery status of express delivery instruments.

[0005] To achieve the above objectives, the solution provided by the present invention is as follows:

[0006] A rapid intercourse device delivery status detection device is capable of delivering a balloon catheter to allow the balloon catheter to move along the length of a guidewire. The balloon catheter includes a first segment and a second segment connected in sequence. The first segment and the second segment intersect with the guidewire to form an intersection point. The end of the second segment away from the intersection point is defined as the tail end. The rapid intercourse device delivery status detection device comprises:

[0007] The system comprises a first body, a second body, a fixed valve, a delivery mechanism, a first detection component, a second detection component, and a third detection component.

[0008] Along the length of the guidewire, the first body and the second body are spaced apart, the fixed valve is located in the first body, and the balloon catheter can pass through the fixed valve along the length of the guidewire.

[0009] The delivery mechanism is disposed on the second body and is at least used to deliver the second segment so that the first segment moves forward or backward along the length direction of the guide wire; the first detection component is used to trigger the delivery mechanism to stop moving when it detects the intersection point that follows the first segment backward.

[0010] The second body is capable of moving when the first detection component triggers the delivery mechanism to stop moving, and drives the balloon catheter to retract, so as to pull the balloon of the balloon catheter out of the fixing valve; the second detection component is used to trigger the second body to stop moving when it detects the retracted balloon of the balloon catheter.

[0011] The third detection component is used to trigger the delivery mechanism to stop moving when it detects that the tail end is in a forward state.

[0012] In some embodiments, the first detection component includes a first detection element and a first elastic element, the first detection element is provided with a first rotating part, and the first detection element is rotatably connected to the second body through the first rotating part;

[0013] One end of the first elastic element is connected to the second body, and the other end of the first elastic element is connected to the first detection element to provide a preset pressure that restricts the movement of the first detection element;

[0014] When the first detection element detects the intersection, it overcomes the preset pressure under the pushing action of the second segment to rotate around the first rotating part and triggers the delivery mechanism to stop moving.

[0015] In some embodiments, the second body is provided with an intersection detection position, and the first detection element is used to detect the intersection when the intersection retracts to the intersection detection position.

[0016] In some embodiments, the second body is provided with a first guide groove and a second guide groove, the first guide groove being used to guide the balloon catheter, and the second guide groove being used to guide the guidewire;

[0017] The first guide groove and the second guide groove are located on both sides of the first detection element, and the first guide groove and the second guide groove intersect at the intersection detection position.

[0018] In some embodiments, the second detection component includes a transmitting part and a receiving part disposed opposite to each other, the transmitting part emitting light toward the receiving part, a detection area being formed between the transmitting part and the receiving part, and both the balloon catheter and the guidewire being able to pass through the detection area.

[0019] The receiving unit is used to detect whether the light intensity value decreases during the retraction of the balloon catheter to determine whether the balloon has passed through the detection area, and when the light intensity value is detected to be less than a set value, it determines that the balloon has withdrawn from the fixing valve and triggers the second body to stop moving.

[0020] In some embodiments, the fixed valve is provided with a blocking member, the blocking member having a perforation for the first section to pass through, and the diameter of the balloon is larger than the diameter of the perforation.

[0021] The third detection component includes a force detection unit and a force transmission unit. One end of the force transmission unit is connected to the fixed valve, and the other end of the force transmission unit contacts the force detection unit to transmit the force received by the fixed valve to the force detection unit.

[0022] When the balloon retracts past the perforation, the blocking member applies resistance to the balloon, and under the reaction of the balloon, drives the fixed valve to move towards the second body.

[0023] The force detection unit is located on the first body and is used to obtain the force feedback value transmitted by the force transmission unit and to detect whether the amplitude of the force feedback value increases instantaneously, so as to determine whether the fixed valve is withdrawn at the point where the diameter of the balloon is at its maximum.

[0024] The force detection unit is used to determine when the balloon is withdrawn from the fixed valve at its maximum diameter, triggering the second body to stop moving and triggering the delivery mechanism to deliver the second segment, so that the balloon follows the second segment backward to completely withdraw from the fixed valve.

[0025] In some embodiments, the first body includes a fixed base and a floating base, the floating base being connected to the fixed base, and the fixed valve being disposed on the floating base;

[0026] The force detection unit is disposed on the fixed base, and the end of the force transmission unit away from the force detection unit is connected to the floating base to transmit the force received by the floating base to the force detection unit.

[0027] The floating seat is used to generate a tendency to move toward the second body under the drive of the fixed valve when the balloon retracts past the perforation.

[0028] In some embodiments, the third detection component includes a second detection element and a third elastic element, wherein a second rotating part is provided on each of the opposite sides of the second detection element, and the second detection element is rotatably connected to the second body through the second rotating part;

[0029] One end of the third elastic element is connected to the second body, and the other end of the third elastic element is connected to the second detection element to restrict the movement of the second detection element;

[0030] The second detection element is used to compress the third elastic element and trigger the delivery mechanism to stop moving when the tail end advances to the point of pushing against the second detection element.

[0031] A second objective of this invention is to provide a method for detecting the delivery status of a rapid-delivery device, applied to the aforementioned rapid-delivery device delivery status detection apparatus, wherein the rapid-delivery device delivery status detection method includes:

[0032] The delivery mechanism is controlled to deliver the second segment, causing the first segment to retract;

[0033] When the first detection component detects the intersection, it receives a first trigger signal and controls the delivery mechanism to stop moving so that the intersection stops retracting. At the same time, it controls the second body to move.

[0034] The system acquires a second trigger signal emitted when the second detection component detects the balloon of the balloon catheter, determines that the balloon of the balloon catheter has withdrawn from the fixing valve, and controls the second body to stop moving; and

[0035] The delivery mechanism is controlled to deliver the second segment so that the first segment can move forward. When the third detection component detects the tail end, a third trigger signal is obtained, and the delivery mechanism is controlled to stop moving so that the first segment stops moving forward.

[0036] A third objective of the present invention is to provide an interventional surgical robot, comprising a robot body and the aforementioned rapid instrument delivery status detection device, wherein the first body and the second body are both disposed on the robot body.

[0037] The rapid delivery device for detecting the delivery status of medical instruments provided by this invention has the following beneficial effects:

[0038] The rapid-access instrument delivery status detection device of this application embodiment uses a first detection component to detect the intersection point of the balloon catheter during its retraction process after surgery. Upon detecting the intersection point, it triggers the delivery mechanism to stop delivery. A second body moves away from the first body only when the first detection component detects the intersection point and triggers the delivery mechanism to stop delivery, thus moving the balloon catheter backward as a whole. This facilitates the withdrawal of the balloon from the fixed valve and prevents damage to the balloon catheter during retraction. Furthermore, a second detection component detects whether the balloon has been withdrawn from the fixed valve, thereby detecting the retraction status of the balloon catheter and facilitating the assessment of its operational status during retraction and determining whether the balloon has been withdrawn from the fixed valve. Simultaneously, the first and second detection components can respectively trigger the delivery mechanism and the second body to stop moving when they detect the intersection point and the balloon. When the second detection component triggers the second body to stop moving, the balloon catheter is withdrawn from the fixed valve. This eliminates the need for manual real-time monitoring of the balloon catheter's retraction status.

[0039] The rapid delivery device status detection device of this application embodiment also sets a third detection component to detect the advancing tail end during the advance of the balloon catheter, and triggers the delivery mechanism to stop delivering the second segment of advancement when the tail end is detected, thereby determining that the balloon catheter cannot continue to be delivered forward, and helps to avoid the phenomenon that the balloon catheter is damaged when it continues to be delivered forward because its length is insufficient to reach the lesion position. In this way, there is no need for manual real-time monitoring of the advancement status of the balloon catheter. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0041] Figure 1 This is a schematic diagram of the structure of the interventional surgical robot provided in an embodiment of the present invention;

[0042] Figure 2 This is a schematic diagram of the rapid delivery device delivery status detection device provided in this embodiment of the invention in the state of delivering balloon catheter;

[0043] Figure 3 This is a partial top view of the rapid delivery device status detection device provided in an embodiment of the present invention;

[0044] Figure 4 yes Figure 3 A partial structural diagram from one perspective;

[0045] Figure 5 yes Figure 4 A magnified view of a portion of point a.

[0046] Figure 6 yes Figure 3 A partial structural diagram from another perspective;

[0047] Figure 7 This is a schematic diagram of the balloon catheter passing through the fixing valve in the rapid medical device delivery status detection device provided in this embodiment of the invention;

[0048] Figure 8 This is a top view of the first body in the rapid delivery device status detection device provided in this embodiment of the invention;

[0049] Figure 9 yes Figure 8 A schematic diagram of the cross-sectional structure along the AA direction;

[0050] Figure 10 This is a top view of the fixed valve in the rapid delivery device status detection device provided in this embodiment of the invention;

[0051] Figure 11 yes Figure 10 A schematic diagram of the cross-sectional structure along the BB direction;

[0052] Figure 12 This is a schematic diagram of one structure of the first detection component in the rapid delivery device status detection device provided in this embodiment of the invention;

[0053] Figure 13 This is a schematic diagram of one of the structures of the third detection component in the rapid delivery device status detection device provided in the embodiment of the present invention.

[0054] Explanation of icon numbers:

[0055] 10. Rapid instrument delivery status detection device; 20. Interventional surgical robot; 30. Balloon catheter; 40. Guidewire;

[0056] 100. First body; 110. Fixed base; 120. Floating base; 130. Second elastic element;

[0057] 200. Second unit; 210. First receiving slot; 220. Crosspoint detection position; 230. First guide slot; 240. Second guide slot; 250. Second receiving slot;

[0058] 300. Fixed valve; 310. Blocking element; 320. First valve body; 330. Second valve body;

[0059] 400. Delivery mechanism; 410. Clamping assembly; 411. First roller; 412. Second roller;

[0060] 500, First detection component; 510, First detection element; 511, First detection section; 512, First inductive magnet; 520, First elastic element; 530, First rotating part;

[0061] 600. Second detection component; 610. Transmitter; 620. Receiver; 630. Detection area; 640. Force detection unit; 650. Force transmission unit;

[0062] 700. Third detection component; 710. Second detection element; 711. Second detection section; 712. Second induction magnet; 713. Guide groove; 714. Locking protrusion; 720. Third elastic element; 730. Second rotating part;

[0063] 21. Robot body;

[0064] 31. First segment; 32. Second segment; 33. Tail end; 34. Balloon. Detailed Implementation

[0065] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0066] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0067] It should also be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on the other component or may be connected to an intermediary component. When a component is referred to as being "connected to" another component, it can be directly connected to the other component or indirectly connected to the other component through an intermediary component.

[0068] Furthermore, the use of terms such as "first" and "second" in this invention is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this invention.

[0069] In related technologies, during the delivery of rapid-access instruments by the master manipulator controlling the slave actuator of the interventional surgical robot, the surgeon needs to monitor the balloon catheter's forward and backward movement on the screen in real time to monitor its delivery status and reduce the probability of medical accidents. However, this method of requiring the surgeon to monitor the balloon catheter's delivery status in real time can easily lead to distraction during the operation.

[0070] Therefore, embodiments of this application provide a rapid instrument delivery status detection device 10, a detection method, and an interventional surgical robot 20 to achieve automatic advance and retreat of the balloon catheter 30 and solve the problem that currently requires manual real-time monitoring of the balloon catheter 30 delivery status.

[0071] like Figure 1 , Figure 2 and Figure 3 As shown, and in combination Figure 7 The rapid intercourse device delivery status detection device 10 provided in this application embodiment can deliver a balloon catheter 30 so that the balloon catheter 30 can move along the length direction of a guidewire 40 (such as a microguidewire). The balloon catheter 30 includes a first segment 31 and a second segment 32 connected in sequence. The first segment 31 and the second segment 32 intersect with the guidewire 40 and form an intersection point (not shown). The end of the second segment 32 away from the intersection point is defined as the tail end 33. The rapid intercourse device delivery status detection device 10 includes a first body 100, a second body 200, a fixed valve 300, a delivery mechanism 400, a first detection component 500, a second detection component 600, and a third detection component 700. The first body 100 and the second body 200 are spaced apart along the length direction of the guidewire 40. The fixed valve 300 is located in the first body 100. The balloon catheter 30 can pass through the fixed valve 300 along the length direction of the guidewire 40. The balloon catheter 30 can move forward and backward within the fixed valve 300.

[0072] Furthermore, the delivery mechanism 400 is disposed on the second body 200 and is at least used to deliver the second segment 32 forward or backward, so that the first segment 31 moves forward or backward along the length direction of the guidewire 40. The first detection component 500 is used to trigger the delivery mechanism 400 to stop moving when it detects the intersection point following the retraction of the first segment 31. Thus, while the intersection point is sensed by the first detection component 500, the first detection component 500 sends a trigger signal to trigger the delivery mechanism 400 to stop delivery. The second body 200 can move when the first detection component 500 triggers the delivery mechanism 400 to stop moving, and drive the balloon catheter 30 backward, so that the balloon 34 of the balloon catheter 30 is withdrawn from the fixing valve 300. The second detection component 600 is used to trigger the second body 200 to stop moving when it detects the retracted balloon 34 of the balloon catheter 30.

[0073] The second body 200 moves as a whole only when the first detection component 500 detects the intersection and triggers the delivery mechanism 400 to stop delivery, thereby causing the balloon catheter 30 to retract and withdraw from the fixing valve 300. Compared to continuously retracting the first segment 31 to retract the balloon catheter 30 and withdraw from the fixing valve 300, and moving the second body 200 directly without detecting the intersection to retract the balloon catheter 30 and withdraw from the fixing valve 300, this method avoids damage to the balloon catheter 30 during retraction. The third detection component 700 is used to trigger the delivery mechanism 400 to stop moving when it detects the tail end 33 in the forward state, thus preventing damage to the balloon catheter 30 during forward movement.

[0074] Understandably, the rapid surgical instrument delivery status detection device 10 of this application embodiment delivers the balloon catheter 30 by setting a delivery mechanism 400 to achieve automatic advance and retreat of the balloon catheter 30. A first detection component 500 is set to detect the intersection point of the balloon catheter 30 during the retreat process after the operation is completed, and triggers the delivery mechanism 400 to stop delivery when the intersection point is detected. The second body 200 moves away from the first body 100 along the length direction of the guidewire 40 only when the first detection component 500 detects the intersection point and triggers the delivery mechanism 400 to stop delivery, so as to drive the balloon catheter 30 to move backward as a whole, which is beneficial to withdraw the balloon 34 from the fixed valve 300 and avoid damage to the balloon catheter 30 during the retreat process.

[0075] Furthermore, a second detection component 600 is provided to detect whether the balloon 34 has been withdrawn from the fixed valve 300. When the second detection component 600 detects the retracting balloon 34, it triggers the second body 200 to stop moving, thereby stopping the balloon catheter 30 from retracting. At this point, it can be determined that the balloon 34 has been withdrawn from the fixed valve 300. It can be understood that the withdrawal of the balloon 34 from the fixed valve 300 includes both complete withdrawal and partial withdrawal. When the second detection component 600 detects that part of the balloon 34 has been withdrawn from the fixed valve 300, it triggers the second body 200 to stop moving. Then, the delivery mechanism 400 delivers the second segment 32 backward a certain distance, so that the remaining part of the balloon 34 is withdrawn from the fixed valve 300.

[0076] The rapid delivery device 10 of this application embodiment detects the retraction status of the balloon catheter 30 by moving the first body 100 to move the balloon catheter 30 backward as a whole when a crossover point is detected during the retraction process of the balloon catheter 30, and by detecting whether the retracted balloon 34 has been withdrawn from the fixing valve 300. This allows for the determination of the operating status of the balloon catheter 30 during the retraction process and whether the balloon 34 has been withdrawn from the fixing valve 300. Simultaneously, the first detection component 500 and the second detection component 600 can respectively trigger the delivery mechanism 400 and the second body 200 to stop moving when a crossover point and the balloon 34 are detected. When the second detection component 600 triggers the second body 200 to stop moving, the balloon catheter 30 withdraws from the fixing valve 300. Thus, there is no need for manual real-time monitoring of the retraction status of the balloon catheter 30.

[0077] The rapid instrument delivery status detection device 10 of this application embodiment also sets a third detection component 700 to detect the advancing tail end 33 during the advancement of the balloon catheter 30. When the tail end 33 is detected, the delivery mechanism 400 is triggered to stop the advancement of the second segment 32, thereby determining that the balloon catheter cannot be delivered further. This helps to avoid the phenomenon that the balloon catheter 30 is damaged when it is advanced because its length is insufficient to reach the lesion. In this way, there is no need for manual real-time monitoring of the advancement status of the balloon catheter 30, which helps the doctor to devote himself to the operation.

[0078] like Figure 2 and Figure 3 As shown, in one embodiment, the first detection component 500 includes a first detection element 510 and a first elastic element 520. The first detection element 510 is provided with a first rotating part 530, and the first detection element 510 is rotatably connected to the second body 200 through the first rotating part 530. One end of the first elastic element 520 is connected to the second body 200, and the other end of the first elastic element 520 is connected to the first detection element 510 to provide a preset pressure to restrict the movement of the first detection element 510, thereby restricting the movement of the first detection element 510 when it is not pushed by the second segment 32, and keeping the detection position of the first detection element 510 in the initial state, thereby improving the structural stability of the first detection component 500. When the first detection element 510 is used to detect an intersection, it overcomes the preset pressure and compresses the first elastic element 520 under the pushing action of the second segment 32 to rotate around the first rotating part 530, while triggering the delivery mechanism 400 to stop moving. At this time, the detection position of the first detection element 510 is in the detection state, and the method of detecting intersections is simple. In addition, the first elastic member 520 is also used to elastically extend and push the first detection member 510 when the pushing force of the second section 32 is removed, so that the detection position of the first detection member 510 returns to the initial state. For example, the first elastic member 520 is a spring and the first rotating part 530 is a rotating shaft.

[0079] like Figure 2 , Figure 4 and Figure 5 As shown, in one embodiment, the second body 200 is provided with a first sensor (not shown), such as a Hall effect switch sensor. When the first detection element 510 swings to a sensing position above the first sensor against a preset pressure, the first sensor emits a first sensing signal, such as a light signal, to indicate that the first detection element 510 has detected an intersection. In one embodiment, the second body 200 is provided with a first receiving groove 210 for accommodating a portion of the first detection element 510. (In conjunction with...) Figure 12In an embodiment equipped with a first sensor, the first detection element 510 includes a first detection section 511 and a first sensing magnet 512. A first rotating section 530 passes through the first detection section 511 and connects the first detection section 511 to the second body 200. A first elastic element 520 is located on top of the first rotating section 530, and one end of the first elastic element 520 away from the delivery mechanism 400 is connected to the first detection section 511 to limit the swing of the first detection section 511. The first sensing magnet 512 is connected to the end of the first detection section 511 away from the first elastic element 520. During the retraction of the conduit, when the first detection section 511 detects an intersection point, it compresses the first elastic element 520 under the pushing action of the second segment 32 to swing around the first rotating section 530, thereby causing the first sensing magnet 512 to swing to the sensing position of the first sensor.

[0080] like Figure 5 As shown, in one embodiment, the second body 200 is provided with a crosspoint detection position 220. The first detection element 510 is used to detect the crosspoint when it retracts to the crosspoint detection position 220. In the embodiments of this application, the crosspoint detection position 220 is fixedly installed on the second body 200. The first detection element 510 can detect whether the crosspoint has retracted to the crosspoint detection position 220 to determine whether a crosspoint has been detected, thus simplifying the method of detecting the crosspoint. The crosspoint detection position 220 assists the first detection element 510 in detecting the crosspoint during the retraction of the balloon catheter 30, thereby protecting the balloon catheter 30 to a certain extent and preventing damage to the balloon catheter 30 during the retraction process.

[0081] like Figure 2 , Figure 4 and Figure 5 As shown, in one embodiment, the second body 200 is provided with a first guide groove 230 and a second guide groove 240. The first guide groove 230 is used to guide the balloon catheter 30, and the second guide groove 240 is used to guide the guide wire 40. The first guide groove 230 and the second guide groove 240 are respectively located on both sides of the first detection element 510, and the first guide groove 230 and the second guide groove 240 intersect at the intersection detection position 220. The provision of the first guide groove 230 and the second guide groove 240 in this embodiment helps to guide the balloon catheter 30 and the guide wire 40 to intersect, avoiding the phenomenon that the second segment 32 will be completely offset when the first segment 31 of the balloon catheter 30 moves along the length direction of the guide wire 40.

[0082] like Figure 2 As shown, in one embodiment, the guidewire 40 enters from a portion between the two ends of the balloon catheter 30 and exits from another portion between the two ends of the balloon catheter 30, so that the first segment 31 moves back and forth along the axial direction of the guidewire 40, and the first segment 31 of the balloon catheter 30 is coaxial with the guidewire 40.

[0083] like Figure 2 As shown, in one embodiment, the first detection component 500 includes a first visual imaging device (not shown) and a first light source module (not shown), both located above the balloon catheter 30. A first detection area (not shown) is formed below the first visual imaging device, which can be understood as the image recognition area of ​​the first visual imaging device. The first visual imaging device can capture images of the first detection area in real time. During the retraction process, the intersection point can pass through the first detection area. The first light source module is used to emit light into the first detection area to enhance the image quality acquired by the first visual imaging device. When the first visual imaging device captures an image of the intersection point retracting into the first detection area, it triggers the delivery mechanism 400 to stop moving. It can be understood that during the retraction process of the intersection point following the first segment 31, when the intersection point reaches the first detection area, the first visual imaging device can capture an image of the intersection point in the first detection area, then process the image using a corresponding algorithm and output a signal to determine that the intersection point has retracted into the first detection area. For example, the first visual imaging device is a camera.

[0084] like Figure 7 As shown, in one embodiment, the second detection component 600 includes a second visual imaging device (not shown) and a second light source module (not shown), both located above the balloon catheter 30. A second detection area (not shown) is formed below the second visual imaging device, which can be understood as the image recognition area of ​​the second visual imaging device. The second visual imaging device can capture images of the second detection area in real time. The balloon 34 passes through the second detection area during its retraction. The second light source module emits light into the second detection area to enhance the image quality acquired by the second visual imaging device. When the second visual imaging device captures an image of the balloon 34 retracting into the second detection area, it triggers the second body 200 to stop moving. It can be understood that during the retraction of the balloon 34 following the balloon catheter 30, when the balloon 34 reaches the second detection area, the second visual imaging device can capture an image of the balloon 34 in the second detection area, then process the image using a corresponding algorithm and output a signal to determine that the balloon 34 has retracted into the second detection area. For example, the second vision imaging device is an industrial camera.

[0085] like Figure 1 , Figure 2 and Figure 7As shown, in one embodiment, the second detection component 600 includes a transmitting part 610 and a receiving part 620 disposed opposite to each other. The transmitting part 610 emits light to the receiving part 620, and a detection area 630 is formed between the transmitting part 610 and the receiving part 620. The balloon catheter 30 and the guide wire 40 can both pass through the detection area 630. The diameter of the first segment 31 is smaller than the diameter of the balloon 34, and the diameter of the guide wire 40 is smaller than the diameter of the balloon catheter 30. The diameter of the balloon 34 gradually increases from both ends of the balloon 34 to the middle of the balloon 34, and the guide wire 40 passes through the balloon catheter 30. The receiving part 620 is used to detect whether the light intensity value decreases during the retraction of the balloon catheter 30 to determine whether the balloon 34 has passed through the detection area 630. When the detected light intensity value is less than a set value, it determines that the balloon 34 has withdrawn from the fixing valve 300 and triggers the second body 200 to stop moving.

[0086] It is understandable that during the retraction of the balloon catheter 30, the receiving unit 620 detects the change in the area of ​​the light beam blocked by the balloon 34 within the detection area 630, thereby detecting the change in light intensity. As the balloon catheter 30 passes through the detection area 630 and partially blocks the light beam emitted by the emitting unit 610 to the receiving unit 620, the light intensity detected by the receiving unit 620 decreases. When the balloon 34 moves backward through the detection area 630, the balloon 34 blocks more light beams than the balloon catheter 30, and the receiving unit 620 receives less light beams. Therefore, the light intensity detected by the receiving unit 620 continues to decrease. When the middle of the balloon 34 reaches the detection area 630, the blocking of the light beam is at its maximum. At this point, the light intensity detected by the receiving unit 620 decreases again and falls below the set value. Based on this, it can be determined that the balloon 34 has withdrawn from the fixing valve 300. In one embodiment, both the transmitter 610 and the receiver 620 are located on the outer side of the first body 100 near the second body 200. This way, when the receiver 620 detects the balloon 34, the balloon 34 has already completely withdrawn from the fixing valve 300, thus preventing damage to the balloon catheter 30 caused by the delivery mechanism 400 retracting after detecting the balloon 34's exit from the fixing valve 300. The transmitter 610 and receiver 620 can be considered as a set of optical sensors.

[0087] like Figure 2 , Figure 8 and Figure 9 As shown, and in combination Figure 10 and Figure 11In one embodiment, the fixed valve 300 is provided with a blocking member 310. The blocking member 310 has a perforation (not shown) for the first section 31 to pass through. The diameter of the balloon 34 is larger than the diameter of the perforation, so that the blocking member 310 generates a certain resistance to the balloon 34 as it passes through the perforation. When the balloon 34 passes through the perforation at its largest diameter, the resistance of the blocking member 310 to the balloon 34 will increase significantly. Since forces are mutual, the balloon 34 will generate a certain pulling force on the blocking member 310 when it passes through the perforation. The third detection component 700 includes a force detection unit 640 and a force transmission unit 650. One end of the force transmission unit 650 is connected to the fixed valve 300, and the other end of the force transmission unit 650 contacts the force detection unit 640 to transmit the force received by the fixed valve 300 to the force detection unit 640. For example, the force transmission unit 650 obtains the pulling force received by the fixed valve 300 and transmits it to the force detection unit 640 in a numerical manner.

[0088] When the balloon 34 retracts through the perforation, the blocking member 310 applies resistance to the balloon 34, and the reaction force of the balloon 34 drives the fixed valve 300 to move towards the second body 200. A force detection unit 640 is provided in the first body 100. The force detection unit 640 is used to acquire the force feedback value transmitted by the force transmission unit 650 and to detect whether the amplitude of the force feedback value increases instantaneously, in order to determine whether the fixed valve 300 has been withdrawn at the point of maximum diameter of the balloon 34. During the process of the balloon 34 retracting through the perforation, when the point of maximum diameter of the balloon 34 passes through the perforation, the resistance of the blocking member 310 to the balloon 34 increases significantly. This causes the force feedback value detected by the force detection unit 640 to increase instantaneously, based on which it can be determined that the fixed valve 300 has been withdrawn at the point of maximum diameter of the balloon 34. The force detection unit 640 is also used to determine when the balloon 34 is withdrawn from the fixing valve 300 at its maximum diameter. In this case, it triggers the second body 200 to stop moving and the delivery mechanism 400 to deliver the second segment 32, causing the balloon 34 to retract along with the second segment 32, thus completely withdrawing it from the fixing valve 300. In this embodiment, the delivery mechanism 400 is activated to deliver the second segment 32 only after the maximum diameter of the balloon 34 has been withdrawn from the fixing valve 300, thereby withdrawing the remaining portion of the balloon 34 from the fixing valve 300. This helps to prevent the balloon 34 from being damaged during retraction because the maximum diameter of the balloon 34 may become stuck in the perforation. For example, the force detection unit 640 is a force detection sensor, the force transmission unit 650 is a force transmission rod, the fixed valve 300 is a T valve, the T valve has a first valve body 320 extending along the length direction of the guide wire 40, and a second valve body 330 perpendicular to the first valve body 320, and a blocking member 310 is disposed in the first valve body 320, the blocking member 310 is a sealing ring.

[0089] like Figure 1 , Figure 8 and Figure 9 As shown, and in combination Figure 7In one embodiment, the first body 100 includes a fixed base 110 and a floating base 120. The floating base 120 is connected to the fixed base 110, and a fixed valve 300 is disposed on the floating base 120. The floating base 120 can be connected to the fixed base via a slide rail and has the freedom to slide along the length of the guide wire 40 relative to the fixed base 110. The fixed valve 300 is fixedly connected to the floating base 120. A force detection unit 640 is disposed on the fixed base 110, and one end of a force transmission unit 650 away from the force detection unit 640 is connected to the floating base 120 to transmit the force received by the floating base 120 to the force detection unit 640. It is understandable that when the balloon 34 passes through the perforation, it pulls on the blocking member 310, thereby pulling on the fixing valve 300, and then on the floating base. The floating base is also indirectly subjected to the pulling force of the balloon 34. The force transmission unit 650 obtains the pulling force received by the floating base and transmits it numerically to the force detection unit 640, so that the force detection unit 640 can obtain the force feedback value transmitted by the force transmission unit 650. The floating seat 120 is used to generate a tendency to move towards the second body 200 under the drive of the fixing valve 300 when the balloon 34 retracts through the perforation. The floating seat 120 prevents the balloon 34 from being damaged during the retraction process of pulling on the blocking member 310.

[0090] like Figure 7 , Figure 8 and Figure 9 As shown, in one embodiment, a second elastic member 130 is provided between the fixed seat 110 and the floating seat 120, and the two ends of the second elastic member 130 are respectively connected to the fixed seat 110 and the floating seat 120, and abut against the fixed seat 110 and the floating seat 120. The second elastic member 130 can fix the initial state of the floating seat 120, and when the balloon 34 pulls the fixed valve 300, the floating seat 120 can generate a tendency to move towards the second body 200 under the action of the fixed valve 300, instead of sliding away from the fixed seat 110, thereby improving the connection stability of the fixed seat 110 and the floating seat 120. For example, the second elastic member 130 is a spring.

[0091] like Figure 2 and Figure 3As shown, in one embodiment, the third detection component 700 includes a second detection element 710 and a third elastic element 720. The second detection element 710 has second rotating portions 730 on both opposite sides, and the second detection element 710 is rotatably connected to the second body 200 via the second rotating portions 730. One end of the third elastic element 720 is connected to the second body 200, and the other end is connected to the second detection element 710 to restrict the movement of the second detection element 710, thereby limiting the movement of the third detection element when not pushed by the tail end 33, thus improving the structural stability of the second detection component 600. The second detection element 710 is used to compress the third elastic element 720 and trigger the delivery mechanism 400 to stop moving when the tail end 33 advances to push against the second detection element 710. The detection method is simple. For example, the third elastic element 720 is a spring, and the second rotating portion 730 is a rotating shaft.

[0092] like Figure 2 , Figure 3 and Figure 6 As shown, in one embodiment, the second body 200 is provided with a second sensor (not shown), such as a Hall effect switch sensor. When the second detection element 710 compresses the third elastic element 720 and swings to the sensing position at the top of the second sensor, the second sensor emits a second sensing signal, such as a light signal, indicating that the second detection element 710 is pushed by the tail end 33 and the balloon catheter 30 cannot continue to advance. In one embodiment, the second body 200 is provided with a second receiving groove 250 for receiving the second detection element 710.

[0093] Combination Figure 13 In an embodiment with a second sensor, the second detection element 710 includes a second detection section 711 and a second sensing magnet 712, with two second rotating sections 730 respectively connected to opposite sides of the second detection section 711. A third elastic member 720, at its end away from the delivery mechanism 400, is connected to the second detection section 711 to limit its swing. The second sensing magnet 712 is connected to the end of the second detection section 711 away from the second segment 32. During the advancement of the balloon catheter 30, when the second detection section 711 is pushed against and compressed by the tail end 33 to swing around the second rotating section 730, the second detection section 711 can drive the second sensing magnet 712 to swing to the sensing position at the top of the second sensor. The direction in which the second detection section 711 compresses the third elastic member 720 is the forward direction of the second segment 32, and the direction in which the second sensing magnet 712 swings is the backward direction of the second segment 32.

[0094] like Figure 2 , Figure 6 and Figure 13As shown, in one embodiment, the second detection element 710 is provided with a guide groove 713 for guiding the balloon catheter 30, and the portion of the second detection element 710 located below the guide groove 713 is used to block the advancement of the tail end 33. In one embodiment, the second detection element 710 is provided with locking protrusions 714 on both opposite sides, and the opposite side walls of the second receiving groove 250 are provided with locking slots (not shown). When the second detection element 710 is received in the second receiving groove 250, the two locking protrusions 714 extend into the two locking slots respectively to improve the installation stability of the second detection element 710.

[0095] like Figure 2 As shown, in one embodiment, the third detection component 700 includes a third vision imaging device (not shown) and a third light source module (not shown). Both the third vision imaging device and the third light source module are located above the second segment 32. A third detection area (not shown) is formed below the third vision imaging device. The first detection area can be understood as the image recognition area of ​​the first vision imaging device, which can capture images of the first detection area in real time. The second segment 32 passes through the third detection area during its forward movement. The third light source module is used to emit light into the third detection area to enhance the image quality acquired by the first vision imaging device. When the third vision imaging device captures an image of the tail end 33 moving into the third detection area, it triggers the delivery mechanism 400 to stop moving. It can be understood that during the process of the tail end 33 following the second segment 32, when the tail end 33 reaches the third detection area, the third vision imaging device can capture an image of the tail end 33 in the third detection area, then process the image using a corresponding algorithm and output a signal to determine that the tail end 33 has moved into the third detection area. For example, the third vision imaging device is an industrial camera.

[0096] like Figure 2 and Figure 3As shown, in one embodiment, the delivery mechanism 400 includes a drive member (not shown), a transmission assembly (not shown), and a clamping assembly 410. The drive member drives the clamping assembly 410 via the transmission assembly. The clamping assembly 410 clamps and delivers the balloon catheter 30 under the action of the transmission assembly, thereby achieving automatic forward and backward movement of the balloon catheter 30. For example, the drive member is a motor. In one embodiment, along the length of the second segment 32, a first detection component 500 and a third detection component 700 are located on both sides of the clamping assembly 410, and are appropriately arranged to detect the intersection point and the tail end 33, respectively. In one embodiment, the clamping assembly 410 includes a first roller 411 and a second roller 412 disposed opposite to each other, with a gap between the first roller 411 and the second roller 412 allowing the balloon catheter 30 to pass through. The transmission assembly is connected to the first roller 411 and the second roller 412 respectively to drive the first roller 411 and the second roller 412 to rotate. The first roller 411 and the second roller 412 are used to clamp and deliver the balloon catheter 30. Further, the transmission assembly is a gear transmission group.

[0097] Combination Figure 1 , Figure 2 and Figure 3 ,as well as Figure 7 The embodiments of this application also provide a method for detecting the delivery status of express delivery devices, applied to the aforementioned express delivery device delivery status detection apparatus 10. This detection method includes:

[0098] The delivery mechanism 400 delivers the second segment 32, causing the first segment 31 to retract;

[0099] When the first detection component 500 detects the intersection, it receives the first trigger signal and controls the delivery mechanism 400 to stop moving so that the intersection stops moving backward. At the same time, it controls the second body 200 to move.

[0100] The system acquires a second trigger signal emitted when the second detection component 600 detects the balloon 34 of the balloon catheter 30, determines that the balloon 34 of the balloon catheter 30 has withdrawn from the fixing valve 300, and controls the second body 200 to stop moving; and

[0101] The delivery mechanism 400 delivers the second segment 32 to advance the first segment 31. When the third detection component 700 detects the tail end 33, the delivery mechanism 400 stops moving to stop the first segment 31 from advancing.

[0102] Understandably, in the rapid delivery device delivery status detection method of the application embodiment, the first detection component 500 detects the intersection point during the retraction of the balloon catheter 30, and controls the delivery mechanism 400 to stop the retraction of the second segment 32 when the intersection point is detected, while simultaneously moving the second body 200 to move the balloon catheter 30 as a whole backward. A third detection component 700 is also provided to detect whether the balloon 34 has been withdrawn from the fixing valve 300 during the retraction of the balloon catheter 30. Furthermore, the first detection component 500 and the second detection component 600 can respectively trigger the delivery mechanism 400 and the second body 200 to stop moving when the intersection point and the balloon 34 are detected, thus eliminating the need for manual real-time monitoring of the retraction status of the balloon catheter 30.

[0103] In the rapid delivery device status detection method of this application embodiment, a third detection component 700 is set to detect the tail end 33 in the forward state, and when detected, the delivery mechanism 400 is triggered to stop moving, thereby determining that the balloon catheter cannot be delivered forward. This helps to avoid the phenomenon that the balloon catheter 30 is damaged when it is delivered forward because its length is insufficient to reach the lesion. This setting also eliminates the need for manual real-time monitoring of the forward state of the balloon catheter 30, which helps doctors to devote themselves to the operation.

[0104] Combination Figure 1 , Figure 2 and Figure 3 ,as well as Figure 7 An embodiment of this application also provides an interventional surgical robot 20, including a robot body 21 and the aforementioned rapid instrument delivery status detection device 10, wherein the first body 100 and the second body 200 are both disposed on the robot body 21.

[0105] Understandably, the interventional surgical robot 20 provided in this application embodiment, by using the aforementioned rapid instrument delivery status detection device 10, specifically, uses a first detection component 500 to detect the intersection point during the retraction of the balloon catheter 30, and controls the delivery mechanism 400 to stop delivering the second segment 32 backward when the intersection point is detected, while simultaneously moving the second body 200 to move the balloon catheter 30 backward as a whole. A third detection component 700 is also provided to detect whether the balloon 34 has been withdrawn from the fixing valve 300 during the retraction of the balloon catheter 30. Furthermore, the first detection component 500 and the second detection component 600 can respectively trigger the delivery mechanism 400 and the second body 200 to stop moving when the intersection point and balloon 34 are detected, thus eliminating the need for manual real-time monitoring of the retraction status of the balloon catheter 30. Simultaneously, a third detection component 700 is used to detect the tail end 33 in the forward-moving state. Upon detection, the delivery mechanism 400 is triggered to stop moving, thus determining that the balloon catheter cannot be delivered further. This helps prevent the balloon catheter 30 from being damaged during forward delivery due to insufficient length to reach the lesion. This setup also eliminates the need for real-time manual monitoring of the balloon catheter 30's forward movement, allowing the surgeon to fully focus on the operation. Therefore, in this embodiment, by setting the first detection component 500, the second detection component 600, and the third detection component 700 to detect the intersection point, the balloon 34, and the tail end 33 respectively, the robot can automatically determine the delivery status of the balloon catheter 34, thereby achieving automatic forward and backward movement of the balloon catheter 34.

[0106] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A rapid-access medical device delivery status detection device, capable of delivering a balloon catheter to allow the balloon catheter to move along the length of a guidewire, the balloon catheter comprising a first segment and a second segment connected in sequence, the first segment and the second segment intersecting with the guidewire to form an intersection point, the end of the second segment furthest from the intersection point being defined as the tail end point, characterized in that, The rapid delivery device for detecting the delivery status includes: The system comprises a first body, a second body, a fixed valve, a delivery mechanism, a first detection component, a second detection component, and a third detection component. Along the length of the guidewire, the first body and the second body are spaced apart, the fixed valve is located in the first body, and the balloon catheter can pass through the fixed valve along the length of the guidewire. The delivery mechanism is disposed on the second body and is at least used to deliver the second segment so that the first segment moves forward or backward along the length direction of the guide wire; the first detection component is used to trigger the delivery mechanism to stop moving when it detects the intersection point that follows the first segment backward. The second body is capable of moving when the first detection component triggers the delivery mechanism to stop moving, and drives the balloon catheter to retract, so as to pull the balloon of the balloon catheter out of the fixing valve; the second detection component is used to trigger the second body to stop moving when it detects the retracted balloon of the balloon catheter. The third detection component is used to trigger the delivery mechanism to stop moving when it detects that the tail end is in a forward state.

2. The rapid delivery device for detecting the delivery status of instruments as described in claim 1, characterized in that, The first detection component includes a first detection element and a first elastic element. The first detection element is provided with a first rotating part, and the first detection element is rotatably connected to the second body through the first rotating part. One end of the first elastic element is connected to the second body, and the other end of the first elastic element is connected to the first detection element to provide a preset pressure that restricts the movement of the first detection element; When the first detection element detects the intersection, it overcomes the preset pressure under the pushing action of the second segment to rotate around the first rotating part and triggers the delivery mechanism to stop moving.

3. The rapid delivery device for detecting the delivery status of instruments as described in claim 2, characterized in that, The second body is provided with an intersection detection position, and the first detection element is used to detect the intersection when the intersection moves back to the intersection detection position.

4. The rapid delivery device status detection device as described in claim 3, characterized in that, The second body is provided with a first guide groove and a second guide groove. The first guide groove is used to guide the balloon catheter, and the second guide groove is used to guide the guidewire. The first guide groove and the second guide groove are located on both sides of the first detection element, and the first guide groove and the second guide groove intersect at the intersection detection position.

5. The rapid delivery device for detecting the delivery status of instruments as described in any one of claims 1-4, characterized in that, The second detection component includes a transmitter and a receiver disposed opposite to each other. The transmitter emits light towards the receiver, and a detection area is formed between the transmitter and the receiver. Both the balloon catheter and the guidewire can pass through the detection area. The receiving unit is used to detect whether the light intensity value decreases during the retraction of the balloon catheter to determine whether the balloon has passed through the detection area, and when the light intensity value is detected to be less than a set value, it determines that the balloon has withdrawn from the fixing valve and triggers the second body to stop moving.

6. The rapid delivery device for detecting the delivery status of instruments as described in any one of claims 1-4, characterized in that, The fixed valve is provided with a blocking element, the blocking element having a perforation for the first section to pass through, and the diameter of the balloon is larger than the diameter of the perforation. The third detection component includes a force detection unit and a force transmission unit. One end of the force transmission unit is connected to the fixed valve, and the other end of the force transmission unit contacts the force detection unit to transmit the force received by the fixed valve to the force detection unit. When the balloon retracts past the perforation, the blocking member applies resistance to the balloon, and under the reaction of the balloon, drives the fixed valve to move towards the second body. The force detection unit is located on the first body and is used to obtain the force feedback value transmitted by the force transmission unit and to detect whether the amplitude of the force feedback value increases instantaneously, so as to determine whether the fixed valve is withdrawn at the point where the diameter of the balloon is at its maximum. The force detection unit is used to determine when the balloon is withdrawn from the fixed valve at its maximum diameter, triggering the second body to stop moving and triggering the delivery mechanism to deliver the second segment, so that the balloon follows the second segment backward to completely withdraw from the fixed valve.

7. The rapid delivery instrument delivery status detection device as described in claim 6, characterized in that, The first body includes a fixed base and a floating base, the floating base is connected to the fixed base, and the fixed valve is disposed on the floating base; The force detection unit is disposed on the fixed base, and the end of the force transmission unit away from the force detection unit is connected to the floating base to transmit the force received by the floating base to the force detection unit. The floating seat is used to generate a tendency to move toward the second body under the drive of the fixed valve when the balloon retracts past the perforation.

8. The rapid delivery device for detecting the delivery status of instruments as described in any one of claims 1-4, characterized in that, The third detection component includes a second detection element and a third elastic element. The second detection element has a second rotating part on each of its opposite sides. The second detection element is rotatably connected to the second body through the second rotating part. One end of the third elastic element is connected to the second body, and the other end of the third elastic element is connected to the second detection element to restrict the movement of the second detection element; The second detection element is used to compress the third elastic element and trigger the delivery mechanism to stop moving when the tail end advances to the point of pushing against the second detection element.

9. A method for detecting the delivery status of a rapid-delivery device, characterized in that, The rapid delivery device delivery status detection method, applied to the rapid delivery device delivery status detection device as described in any one of claims 1-8, comprises: The delivery mechanism is controlled to deliver the second segment, causing the first segment to retract; When the first detection component detects the intersection, it receives a first trigger signal and controls the delivery mechanism to stop moving so that the intersection stops retracting. At the same time, it controls the second body to move. The system acquires a second trigger signal emitted when the second detection component detects the balloon of the balloon catheter, determines that the balloon of the balloon catheter has withdrawn from the fixing valve, and controls the second body to stop moving; and The delivery mechanism is controlled to deliver the second segment so that the first segment can move forward. When the third detection component detects the tail end, a third trigger signal is obtained, and the delivery mechanism is controlled to stop moving so that the first segment stops moving forward.

10. An interventional surgical robot, characterized in that, The device includes a robot body and a rapid delivery device status detection device as described in any one of claims 1-8, wherein the first body and the second body are both disposed on the robot body.

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