Instrument control device and instrument control system

Abstract

The application particularly relates to an instrument control device and an instrument control system, and particularly relates to an instrument control device for controlling an elongated medical instrument, and particularly comprising a fixing assembly, a power mechanism and a sleeve type clamping piece. The fixing assembly comprises a first fixing piece, and the first fixing piece is hollowly arranged to form a closed space; the first fixing piece is provided with a slot communicating with the closed space, and the slot is matched with the sleeve type clamping piece to place the sleeve type clamping piece. The power mechanism is installed in the closed space of the first fixing piece and is used for driving the sleeve type clamping piece to move. When the sleeve type clamping piece is placed in the slot, the sleeve type clamping piece is detachably connected with the power mechanism and is partially exposed outside the first fixing piece. The instrument control device disclosed by the application realizes quick disassembly and assembly of the sleeve type clamping piece on the fixing assembly, and further realizes quick disassembly and assembly of the elongated medical instrument on the fixing assembly, so that the placement and replacement of the elongated medical instrument in the operation become more simple and convenient.

Description

Technical Field

[0001] This invention belongs to the field of interventional robotics technology, specifically relating to an instrument control device and an instrument control system. Background Technology

[0002] Interventional vascular technology is an emerging diagnostic and treatment method for cardiovascular and cerebrovascular diseases. Under the guidance of medical imaging, doctors use catheters to directly reach the lesion site in the body (such as coronary arteries and blood vessels in the brain, liver, kidneys, etc.) along the blood vessel lumen. Then, they use the catheters to deliver diagnostic agents or surgical instruments (such as balloons, stents, coils, etc.) to perform minimally invasive diagnosis and treatment of lesions that are far away in the body.

[0003] Currently, minimally invasive vascular interventional therapy often relies on vascular interventional surgical robots to position guidewires / catheters within the patient's blood vessels. The clamping components of the guidewires / catheters are pushed and propelled on the operating platform.

[0004] When a large number of slender medical devices are used, the limited surface area of ​​the surgical sterilization cart makes the disassembly and assembly of these devices on the operating platform inefficient. In particular, the disassembly and assembly of sleeve-type clamps are prone to tangling or even knotting, which prolongs the operation time and reduces the efficiency of the operation. Especially in critical or complex interventional surgeries, this may delay the rescue opportunity and cause irreparable consequences. Summary of the Invention

[0005] The objective of this invention is to at least solve the problem that existing interventional surgical robots cannot achieve rapid assembly and disassembly of slender medical devices. This objective is achieved through the following technical solution:

[0006] A first aspect of the present invention provides a device control apparatus for controlling a slender medical device, the device control apparatus comprising a fixing component, a power mechanism, and a sleeve-type clamping component;

[0007] The fixing component includes a first fixing member, which is hollow to form a closed space; the first fixing member has a slot communicating with the closed space, and the slot is adapted to the sleeve clamping member to place the sleeve clamping member.

[0008] The power mechanism is installed in the enclosed space of the first fixing member and is used to drive the movement of the sleeve clamping member;

[0009] When the sleeve-type clamping member is placed in the slot, it is detachably connected to the power mechanism and partially exposed outside the first fixing member.

[0010] The instrument control device of this invention includes a fixing component, a power mechanism, and a sleeve-type clamping component. By providing a first fixing component with a slot for placing the sleeve-type clamping component, and with a portion of the sleeve-type clamping component protruding from the first fixing component when in the placed state, the assembly and disassembly of the sleeve-type clamping component on the fixing component becomes simpler and faster. Since the sleeve-type clamping component is used to clamp slender medical instruments, it enables rapid assembly and disassembly of slender medical instruments on the fixing component, making the steps for doctors to place and change slender medical instruments during surgery simpler and faster, helping to reduce operation steps and surgical time. Simultaneously, by providing a power mechanism detachably connected to the sleeve-type clamping component, the movement of the slender medical instrument during use is ensured. Furthermore, placing the power mechanism within the enclosed space of the fixing component helps reduce the influence of the external environment on the power mechanism, achieving an isolation and disinfection effect.

[0011] In addition, the instrument control device according to the present invention may also have the following additional technical features:

[0012] In some embodiments of the present invention, the sleeve-type clamping member includes:

[0013] The main body has a receiving channel through which the elongated medical device passes, and the main body is provided with a clamping part for clamping the elongated medical device; the clamping part includes a plurality of elastic members, and a slit is formed between adjacent elastic members along the axial direction of the elongated medical device, the slit communicating with the receiving channel;

[0014] A cap, which is used to be fitted onto the outside of the clamping part, and the cap is provided with a through hole communicating with the receiving channel;

[0015] The cap has a first state in which it is fitted onto the clamping part and squeezes the elastic member, and a second state in which it is separated from the clamping part. In the first state, the clamping part clamps the elongated medical device. In the second state, the elongated medical device is movably disposed in the receiving channel.

[0016] In some embodiments of the present invention, the fixing component further includes a second fixing member movably mounted on the first fixing member, the first fixing member being provided with a first fixing part, the second fixing member being provided with a second fixing part, the second fixing part being used to cooperate with the first fixing part to clamp the sleeve-type clamping member; the first fixing part and the second fixing part are connected to the peripheral surface of the main body through an oil-free bushing;

[0017] The main body is provided with a first meshing part, the power mechanism includes a first driving member, the output shaft of the first driving member is provided with a second meshing part, and the second meshing part is meshed with the first meshing part.

[0018] The first fixing member is provided with a receiving groove, which is adapted to the first engaging part and is located above the second engaging part.

[0019] In some embodiments of the present invention, the instrument control device further includes an automatic assembly assembly, the automatic assembly assembly comprising:

[0020] A clamping mechanism for clamping the cap;

[0021] An assembly mechanism is provided to drive the clamping mechanism to move so that the cap remains in contact with the body.

[0022] The power mechanism is also used to drive the main body to rotate, so as to switch the cap between the first state and the second state.

[0023] In some embodiments of the present invention, the first fixing member is further provided with a first movable groove and a second movable groove communicating with the slot, the first movable groove and the second movable groove being offset and extending in a direction perpendicular to the axial direction of the elongated medical device.

[0024] The clamping mechanism includes:

[0025] Mounting component, which is movably mounted on the first fixing component;

[0026] A first extrusion member is mounted on the mounting member and is used to abut against a portion of the outer peripheral surface of the cap and the main body;

[0027] The second extrusion member is mounted on the mounting member and is used to abut against another part of the outer peripheral surface of the cap, and the distance between the second extrusion member and the first extrusion member is adjustable;

[0028] A driving member, mounted on the mounting member, is used to drive the first extruder and / or the second extruder to move in order to clamp or release the cap.

[0029] In some embodiments of the present invention, the assembly mechanism includes a traction member disposed on the first fixing member, and the traction member is used to drive the mounting member to move so that the cap and the body remain in contact.

[0030] In some embodiments of the present invention, the first fixing part and the second fixing part are magnetically engaged so that the second fixing member covers the first fixing member.

[0031] In some embodiments of the present invention, the elastic element is provided with a detection element, the detection element abuts against the peripheral surface of the elongated medical device, and the detection element is used to detect the clamping force of the plurality of elastic elements on the elongated medical device;

[0032] The first driving member is used to drive the main body to rotate a certain number of times according to the clamping force.

[0033] Another aspect of the present invention provides an instrument control system, comprising two instrument control devices as described in the present invention, and further comprising a second drive member, a lead screw, a first conveyor and a second conveyor;

[0034] The second drive component is connected to the lead screw shaft via a coupling; the lead screw shaft includes a first lead screw and a second lead screw with opposite directions of rotation, the first conveyor is connected to the first lead screw, the second conveyor is connected to the second lead screw, and the two instrument control devices are respectively installed on the first conveyor and the second conveyor;

[0035] When the first and second conveyors move synchronously toward or away from each other along the lead screw, one of the instrument control devices clamps the elongated medical device.

[0036] In some embodiments of the present invention, a controller is also included;

[0037] The controller is used to acquire the expected displacement and / or expected angle, and to process the expected displacement and / or expected angle using a fuzzy PID algorithm to obtain control parameters; to establish a dynamic model of the second drive component and / or a dynamic model of the power mechanism based on the calculation formula of the second drive component and / or the calculation formula of the power mechanism; and to control the dynamic model of the second drive component and / or the dynamic model of the power mechanism based on the control parameters to obtain the actual displacement and / or actual angle.

[0038] The calculation formula for the power mechanism is as follows:

[0039]

[0040] Wherein, T1 is the driving torque of the first driving member, J1 is the moment of inertia of the first driving member, J2 is the moment of inertia of the first meshing part, J3 is the moment of inertia of the oilless bushing, J4 is the moment of inertia of the sleeve clamping member, θ4 is the rotation angle of the sleeve clamping member, B2 is the damping coefficient of the first driving member, and Δ2 is the uncertainty disturbance.

[0041] The rotation angle of the sleeve-type clamp is the same as the rotation angle of the first driving member;

[0042] The calculation formula for the second driving component is:

[0043]

[0044] Where T2 is the driving torque of the second driving component, k1 is the moment of inertia of the second driving component, k2 is the moment of inertia of the coupling, k3 is the moment of inertia of the lead screw shaft, B1 is the damping coefficient of the second driving component, and P b Let m be the lead of the lead screw shaft. s Let η1 be the mass of the instrument control device, η1 be the positive transmission efficiency of the lead screw, and X be the mass of the control device. s μ represents the axial displacement of the instrument control device. v μ is the coefficient of viscous friction. c Let be the Coulomb friction coefficient, and Δ1 be the uncertainty disturbance. Attached Figure Description

[0045] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0046] Figure 1 This is a schematic diagram of the instrument control device according to Embodiment 1 of the present invention;

[0047] Figure 2 This is a schematic diagram of the sleeve-type clamping component described in Embodiment 1 of the present invention;

[0048] Figure 3 This is a partial structural schematic diagram of the sleeve-type clamping member described in Embodiment 1 of the present invention;

[0049] Figure 4 This is a schematic diagram of the structure of the fixing component described in Embodiment 1 of the present invention;

[0050] Figure 5 This is a partial structural diagram of the fixing component described in Embodiment 1 of the present invention;

[0051] Figure 6 This is a schematic diagram of the power mechanism described in Embodiment 1 of the present invention;

[0052] Figure 7 This is a schematic diagram of the structure of the automatic assembly component described in Embodiment 1 of the present invention;

[0053] Figure 8 This is a schematic diagram of the clamping mechanism described in Embodiment 1 of the present invention;

[0054] Figure 9This is a schematic diagram of the instrument control system described in Embodiment 2 of the present invention;

[0055] Figure 10 This is a schematic diagram of the instrument delivery device according to Embodiment 2 of the present invention;

[0056] Figure 11 This is the logic control diagram of the controller described in Embodiment 2 of the present invention.

[0057] The markings in the attached diagram are as follows:

[0058] 10. Instrument delivery device; 20. Instrument control device;

[0059] 1. Fixing component; 11. First fixing member; 111. Base plate; 112. Protective cover; 113. Slot; 114. Conveying groove; 115. Receiving groove; 116. First movable groove; 117. Second movable groove; 12. Second fixing member; 121. Operating handle; 122. Receiving space; 13. First fixing part; 14. Second fixing part; 15. First oil-free bushing; 16. Second oil-free bushing; 17. Connecting member; 18. Magnetic suction member;

[0060] 2. Sleeve-type clamping component; 21. Main body; 211. Receiving channel; 212. Clamping part; 2121. Elastic element; 2122. Slit; 213. First engaging part; 22. Cap;

[0061] 3. Power mechanism; 31. First driving component; 32. Second meshing part;

[0062] 4. Clamping mechanism; 41. Mounting component; 42. First pressing component; 421. Groove; 422. Protrusion; 43. Second pressing component; 44. Driving wheel; 45. Driven wheel; 46. Conveyor belt; 47. First guide rail; 48. Driving component; 49. Second guide rail;

[0063] 5. Assembly mechanism; 51. Connecting assembly; 511. Connecting sheet metal; 512. Locking nut; 52. Traction component;

[0064] 6. Inspection items;

[0065] 7. Slender medical devices;

[0066] 8. Install the substrate;

[0067] 91. Second drive component; 92. Support base; 93. First coupling; 94. Second coupling; 95. First lead screw; 96. Second lead screw; 97. Delivery guide rail; 98. First conveying component; 99. Second conveying component. Detailed Implementation

[0068] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0069] It should be understood that the terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “described” as used herein may also include the plural forms. The terms “comprising,” “including,” “containing,” and “having” are inclusive and therefore indicate the presence of the stated features, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein are not construed as requiring them to be performed in a particular order described or illustrated unless the order of performance is explicitly indicated. It should also be understood that additional or alternative steps may be used.

[0070] Although terms such as first, second, third, etc., may be used in this document to describe multiple elements, components, regions, layers, and / or segments, these elements, components, regions, layers, and / or segments should not be limited by these terms. These terms may be used only to distinguish one element, component, region, layer, or segment from another. Unless the context clearly indicates otherwise, terms such as "first," "second," and other numerical terms used herein do not imply order or sequence. Therefore, the first element, component, region, layer, or segment discussed below may be referred to as the second element, component, region, layer, or segment without departing from the teachings of the exemplary embodiments.

[0071] For ease of description, spatial relative terms may be used in the text to describe the relationship of one element or feature relative to another element or feature, as shown in the figure. These relative terms include, for example, "inside," "outside," "middle," "outer," "below," "below," "above," "over," etc. Such spatial relative terms are intended to include different orientations of the device in use or operation, other than those depicted in the figure. For example, if the device in the figure is flipped, an element described as "below other elements or features" or "below other elements or features" would subsequently be oriented as "above other elements or features" or "above other elements or features." Therefore, the example term "below" can include both upper and lower orientations. The device may be otherwise oriented (rotated 90 degrees or in other directions), and the spatial relative descriptors used in the text will be interpreted accordingly.

[0072] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0073] Example 1

[0074] like Figure 1 As shown, the present invention relates to a device control device 20 for controlling a slender medical device 7. In terms of overall design, the device control device 20 includes a fixing component 1, a power mechanism 3, and a sleeve-type clamping component 2.

[0075] The fixing component 1 includes a first fixing member 11, which is hollow to form a closed space. The first fixing member 11 has a slot 113 communicating with the closed space. The slot 113 is adapted to accommodate the sleeve-type clamping member 2. A power mechanism 3 is installed within the closed space of the first fixing member 11 to drive the movement of the sleeve-type clamping member 2. When the sleeve-type clamping member 2 is placed in the slot 113, it is detachably connected to the power mechanism 3 and partially protrudes from the first fixing member 11.

[0076] The instrument control device 20 of this invention, by providing a first fixing member 11 with a slot 113 for placing a sleeve-type clamping member 2, and when the sleeve-type clamping member 2 is in the placed state, part of it is exposed outside the first fixing member 11. That is, when it is necessary to disassemble / replace the slender medical device 7, the sleeve-type clamping member 2 can be taken out from the slot 113; or during installation, the sleeve-type clamping member 2 carrying the slender medical device 7 is placed on the slot, making the disassembly and assembly of the sleeve-type clamping member 2 on the fixing component 1 simpler and faster. Since the sleeve-type clamping member 2 is used to clamp the slender medical device 7, the slender medical device 7 can be quickly disassembled and assembled on the fixing component 1, making the steps for doctors to place and replace the slender medical device 7 during surgery simpler and faster, helping to reduce operation steps and operation time. At the same time, by providing a power mechanism 3 that is detachably connected to the sleeve-type clamping member 2, it helps to ensure the movement effect of the slender medical device 7 during use. In addition, the power mechanism 3 is set in the enclosed space of the fixed component 1, which helps to reduce the impact of the external environment on the power mechanism 3 and achieve the effect of isolation and disinfection.

[0077] Specifically, the aforementioned instrument control device 20 includes a sleeve-type clamping member 2, a fixing assembly 1, a power mechanism 3, and an automatic assembly assembly. In this embodiment, the sleeve-type clamping member 2 includes a main body 21 and a cap 22. For example... Figures 1-3 As shown, the main body 21 is cylindrical in shape and has a receiving channel 211 through which a long and thin medical device 7 passes. A clamping part 212 is provided at the first end of the main body 21, and a first engaging part 213 is provided at the second end. The clamping part 212 is used to clamp the long and thin medical device 7, and the first engaging part 213 is detachably connected to the power mechanism 3 and can move under the action of the power mechanism 3. In this embodiment, the clamping part 212 includes several elastic members 2121, and a slit 2122 is formed between adjacent elastic members 2121 along the axial direction of the long and thin medical device 7, the slit 2122 communicating with the receiving channel 211. Preferably, there are four elastic members 2121, and the four elastic members 2121 are arranged at intervals along the circumference of the main body 21, and the space between adjacent elastic members 2121 is the slit 2122. The slit 2122 provides a certain amount of room for the four elastic members 2121 to move closer together or further apart.

[0078] It should be noted that the number of elastic elements 2121 can be four, two, three, five, or other numbers, but arranging four elastic elements 2121 is optimal for clamping the slender medical device 7.

[0079] In this embodiment, the cap 22 is fitted onto the outside of the clamping part 212, and a through hole communicating with the receiving channel 211 is formed on the cap 22. It should be understood that the cap 22 in this embodiment is screwed onto the outer peripheral surface of the main body 21. The cap 22 has a first state, a second state, and a third state. In the first state, the cap 22 is fitted onto the outside of the clamping part 212 and compresses the elastic member 2121, so that the clamping part 212 clamps the elongated medical device 7. In the second state, the cap 22 is separated from the clamping part 212, and at this time, the elongated medical device 7 is movably disposed in the receiving channel 211. In the third state, the cap 22 is fitted onto the outside of the clamping part 212 and does not compress the elastic member 2121, and at this time, the elongated medical device 7 is movably disposed in the receiving channel 211. This arrangement allows the elongated medical device 7 to have two working states on the sleeve-type clamping member 2: being clamped and fixed, and being movable and delivered. It should be noted that the third state is a transitional state between the first and second states.

[0080] It should be further understood that the aforementioned elastic element 2121 is also provided with a detection element 6, which abuts against the circumferential surface of the elongated medical device 7. The detection element 6 is used to detect the clamping force of the elastic elements 2121 on the elongated medical device 7. In this embodiment, the detection element 6 is a flexible sensor. Figure 3 As shown, the flexible sensors are attached in an array with adhesive backing to the side of the elastic member 2121 facing the elongated medical device 7. When the cap 22 is screwed onto the main body 21, the elastic member 2121 deforms and makes the flexible sensors contact the surface of the elongated medical device 7, so as to realize the clamping force of the clamping part 212 on the elongated medical device 7. At this time, the first drive member 31 of the power mechanism 3 can adjust the number of rotations of the main body 21 according to the clamping force, thereby adjusting the clamping tightness and avoiding damage to the elongated medical device 7.

[0081] In practical use, the first fixing member 11 of the fixing assembly 1 is used to place the sleeve-type clamping member 2 and provide a support and restraint base for the main body 21. Furthermore, the automatic assembly assembly is used to clamp the cap 22 and can drive the cap 22 closer to and further away from the main body 21. Simultaneously, the power mechanism 3 is used to drive the main body 21 to rotate and, in cooperation with the automatic assembly assembly, switches the cap 22 between a first state and a second state. In addition, the power mechanism 3 can adjust the screw connection between the main body 21 and the cap 22 by controlling the number of rotations of the main body 21. This arrangement helps to prevent damage to the surface of the slender medical device 7 due to excessive clamping force.

[0082] In one embodiment, both the power mechanism 3 and the automatic assembly assembly are mounted on the fixed assembly 1, and the sleeve-type clamping member 2 is detachably mounted on the fixed assembly 1. Figure 1 and Figure 4 As shown, the fixing component 1 includes a first fixing member 11 and a second fixing member 12. The first fixing member 11 is provided to support the sleeve-type clamping member 2. In this embodiment, the first fixing member 11 has a rectangular parallelepiped structure and is hollow, forming a closed space. Preferably, the first fixing member 11 includes a base plate 111 and a protective cover 112. When the protective cover 112 is installed on the base plate 111, the protective cover 112 and the base plate 111 cooperate to form a closed space, within which a power mechanism 3 and an automatic assembly assembly are disposed.

[0083] It should be further understood that a slot 113 is provided on the top of the protective cover 112. The shape of the slot 113 is adapted to the main body 21 and at least partially communicates with the enclosed space. The slot 113 is used to place the sleeve-type clamping member 2. In this embodiment, the slot 113 completely penetrates the top of the protective cover 112. At this time, a first fixing part 13 is provided on the base plate 111. The top of the first fixing part 13 has a clamping groove for supporting the sleeve-type clamping member 2. The top of the first fixing part 13 is disposed in the slot 113, and the sleeve-type clamping member 2 is placed in the slot 113. When the sleeve-type clamping member 2 is placed in the clamping groove, the first engaging part 213 is detachably connected to the power mechanism 3, and part of the sleeve-type clamping member 2 is exposed outside the protective cover 112.

[0084] Still Figure 4 As shown, a receiving groove 115, a first movable groove 116, and a second movable groove 117 are also provided on the top of the protective cover 112. All three grooves communicate with the slot 113. The receiving groove 115 is adapted to the first engaging portion 213 to ensure its rotation. In this embodiment, the first movable groove 116 and the second movable groove 117 are staggered, and their extension direction is perpendicular to the axial direction of the elongated medical device 7. By defining the position and arrangement of the first movable groove 116 and the second movable groove 117, movement space can be provided for the movement of the first pressing member 42 and the second pressing member 43.

[0085] In addition, a conveying groove 114 is provided on the top of the protective cover 112. The conveying groove 114 is used to accommodate the elongated medical device 7 and to provide support for the conveying of the elongated medical device 7. It should be noted that when the second fixing member 12 is covered on the first fixing member 11, the provision of the conveying groove 114 can ensure that the conveying of the elongated medical device 7 is not affected.

[0086] Still Figure 1 and Figure 4As shown, the second fixing member 12 is movably mounted on the first fixing member 11. In this embodiment, the second fixing member 12 is connected to the first fixing member 11 via a connector 17. Preferably, the connector 17 is a hinge, so that the second fixing member 12 is pivotally mounted on the first fixing member 11. The connector 17 provides a closing action between the second fixing member 12 and the first fixing member 11, realizing the movable connection between the second fixing member 12 and the first fixing member 11. Using a hinge as the connector 17 is simple in structure, readily available for purchase and use, and helps reduce assembly costs.

[0087] It should be understood that the second fastener 12 has a receiving space 122, combined with Figure 1 and Figure 5 As shown, a second fixing part 14 is provided in the receiving space 122. The second fixing part 14 is used to cooperate with the first fixing part 13 to clamp the sleeve-type clamping member 2. Preferably, the second fixing part 14 has a clamping groove. When the second fixing part 14 is connected with the first fixing part 13, the clamping groove of the first fixing part 13 and the clamping groove of the second fixing part 14 cooperate to form an installation space for clamping the sleeve-type clamping member 2. At this time, the second fixing member 12 covers the first fixing member 11, and part of the first engaging part 213 is accommodated in the receiving space 122 to ensure that the rotation of the first engaging part 213 can be realized and to provide a good isolation environment for the power mechanism 3.

[0088] In addition, an operating handle 121 is provided on the second fixing member 12, which is used by the user to drive the second fixing member 12 so as to realize the pivotability of the second fixing member 12.

[0089] It needs to be further understood that the first fixing part 13 and the second fixing part 14 are magnetically engaged so that the second fixing member 12 covers the first fixing member 11. For example... Figure 4 and Figure 5 As shown, a magnetic suction element 18 is provided on the top surface of the first fixing part 13. Simultaneously, the second fixing part 14 has an action surface that abuts against the top surface of the first fixing part 13, and a magnetic suction element is provided on this action surface. The first fixing part 13 and the second fixing part 14 are connected and fixed by magnetic attraction, which helps ensure the fixation effect of the second fixing element 12 on the first fixing element 11. Furthermore, the magnetic suction element 18 can prevent the second fixing element 12 from opening during the delivery movement of the slender medical device 7 during surgery, thus improving the safety of the instrument control device. Moreover, the magnetic attraction method allows for quick closing and closing operations, facilitating the installation and replacement of the slender medical device 7.

[0090] In some embodiments of the present invention, the first fixing part 13 and the second fixing part 14 are connected to the peripheral surface of the main body 21 via an oil-free bushing. For example... Figure 4and Figure 5 As shown, a first oil-free bushing 15 is provided in the clamping groove of the first fixing part 13, and a second oil-free bushing 16 is provided in the clamping groove of the second fixing part 14. When the second fixing part 14 is connected to the first fixing part 13, the first oil-free bushing 15 and the second oil-free bushing 16 cooperate to form a complete oil-free bushing, which is fitted on the circumferential surface of the main body 21. This arrangement can reduce the friction force when the main body 21 moves in the clamping state and ensure the lubrication effect.

[0091] like Figure 6 and Figure 7 As shown, the aforementioned power mechanism 3 includes a first driving member 31. The output shaft of the first driving member 31 is provided with a second engaging portion 32, which engages with the first engaging portion 213. At this time, the aforementioned receiving groove 115 is located above the second engaging portion 32. In this embodiment, the first driving member 31 is configured as a drive motor, the second engaging portion 32 is a transmission gear, and the first engaging portion 213 is constructed as a gear-shaped structure that engages with the second engaging portion 32. The drive motor provides driving torque, and the transmission gear is directly connected to the motor output shaft through a set screw. The sleeve-type clamping member 2 and the transmission gear transmit driving torque through meshing, causing the sleeve-type clamping member 2 to rotate. This allows for continuous full-circumference twisting of the slender medical device 7, preventing insufficient twisting angle caused by blood vessel bending or bifurcation within the body, thus ensuring the torque is transmitted to the tip of the guidewire. It also prevents the twisting torque from being unable to be transmitted to the tip of the slender medical device 7 due to a limited twisting angle range.

[0092] like Figure 7 As shown, the automatic assembly assembly includes a clamping mechanism 4 and an assembly mechanism 5. The clamping mechanism 4 is used to clamp the cap 22. The assembly mechanism 5 is used to drive the clamping mechanism 4 to move so that the cap 22 remains in contact with the body 21. By setting the automatic assembly assembly to clamping mechanism 4 and assembly mechanism 5, the clamping and movement of the cap 22 can be realized respectively, and the control effect is simple and accurate. At the same time, the power mechanism 3 can drive the body 21 to rotate, which can realize the switching of the cap 22 between the first state and the second state, thereby controlling the clamping and releasing of the sleeve-type clamping member 2 on the slender medical device 7, ensuring the delivery of the slender medical device 7.

[0093] Specifically, the clamping mechanism 4 includes a mounting member 41, a first pressing member 42, a second pressing member 43, and a driving member. The mounting member 41 is movably mounted on the first fixing member 11. The first pressing member 42 is mounted on the mounting member 41 and abuts against a portion of the outer peripheral surface of the cap 22 and the main body 21. The second pressing member 43 is mounted on the mounting member 41 and abuts against another portion of the outer peripheral surface of the cap 22, and the distance between the second pressing member 43 and the first pressing member 42 is adjustable. The driving member is mounted on the mounting member 41 and drives the first pressing member 42 and / or the second pressing member 43 to move, thereby clamping or releasing the cap 22. By controlling the movement of the second pressing member 43 and the first pressing member 42 to clamp the cap 22, not only is the installation and removal of the cap 22 controllable, but the installation effect of the cap 22 is also guaranteed.

[0094] like Figure 7 and Figure 8 As shown, a first guide rail 47 is provided on the base plate 111, and the mounting member 41 is slidably mounted on the first guide rail 47. In this embodiment, the mounting member 41 is provided with two second guide rails 49, and the aforementioned second pressing member 43 and first pressing member 42 are slidably mounted on one of the two second guide rails 49. The mounting member 41 is also provided with a driving member and a driven wheel 45. A driving wheel 44 is provided on the output shaft of the driving member. The driving wheel 44 and the driven wheel 45 are connected by a transmission belt, and both the second pressing member 43 and the first pressing member 42 are fixedly connected to the conveyor belt 46. When the driving member operates, under the constraint of the second guide rails 49, the second pressing member 43 and the first pressing member 42 will simultaneously clamp together or simultaneously separate to both sides to achieve the clamping and releasing action of the cap 22. Preferably, the driving member is a drive motor.

[0095] At this time, to ensure the normal operation of the first extruder 42 and the second extruder 43, the first extruder 42 and the second extruder 43 are staggered, so that one of the first extruder 42 and the second extruder 43 contacts the cap 22 and the main body 21; the other of the first extruder 42 and the second extruder 43 contacts the cap 22, so that the main body 21 can be rotated to connect with the cap 22, avoiding the problem that the main body 21 and the cap 22 cannot be screwed together. They are also connected to two parallel conveying sections of the transmission belt. As shown in the figure, the top of the first extruder 42 and the top of the second extruder 43 are respectively housed in the first movable groove 116 and the second movable groove 117, and move within the first movable groove 116 and the second movable groove 117 under the drive of the driving member.

[0096] It should be noted that, in addition to the connection method described above, the driving component can also drive the first pressing component 42 and the second pressing component 43 to move through other connection methods. In addition to the simultaneous movement of the first pressing component 42 and the second pressing component 43, it is also possible to drive only one of the first pressing component 42 and the second pressing component 43 to move, so as to achieve the clamping and releasing of the cap 22. However, using the connection method described above to drive the first pressing component 42 and the second pressing component 43 to move simultaneously is optimal for clamping and disassembling the cap 22.

[0097] In this embodiment, the first extruder 42 and the second extruder 43 have the same structure. For ease of description, the structure of the second extruder 43 will be used as an example. Figure 8 As shown, a groove 421 is provided on the top of the second extruder 43. The shape of the groove 421 is adapted to a portion of the outer peripheral surface of the cap 22. The groove 421 of the first extruder 42 is adapted not only to another portion of the outer peripheral surface of the cap 22, but also to a portion of the outer peripheral surface of the main body 21. This arrangement helps to further improve the clamping effect of the cap 22 and ensure the accuracy of the cap 22 when it is assembled on the main body 21. At the same time, a protrusion 422 is also provided on the groove 421 to simulate the operator clamping the cap and reduce the occurrence of the cap 22 slipping.

[0098] Still Figure 7 As shown, the assembly mechanism 5 includes a traction member 52, which is mounted on the base plate 111 and is used to drive the mounting member 41 to move so that the cap 22 and the main body 21 remain in contact. In this embodiment, the traction member 52 is an electromagnet, and the electromagnet is fixedly connected to the mounting member 41 through a connecting assembly 51. The connecting assembly 51 includes a connecting sheet metal 511 mounted on the mounting member 41 and a locking nut 512 for screwing into the traction member 52. When the electromagnet is activated, it can pull the clamping mechanism 4 backward and hold it in place. At this time, the cap 22 is fitted onto the main body 21, and the cap 22 is screwed into the main body 21 under the action of the power mechanism 3.

[0099] In actual use, when the driving component rotates, it drives the driving wheel 44 and the driven wheel 45 to rotate, and aligns the first pressing component 42 and the second pressing component 43 to clamp the cap 22. At this time, the electromagnet is activated, driving the clamping mechanism 4 to pull backward and hold it in place. Due to the engagement of the second meshing part 32 and the second meshing part 32, when the first driving component 31 rotates in the forward direction, the main body 21 rotates in the forward direction, realizing the locking action between the main body 21 and the cap 22. At this time, the sleeve-type clamping component 2 clamps the slender medical device 7. When the first driving component 31 rotates in the reverse direction, the main body 21 rotates in the reverse direction, realizing the reverse locking action between the main body 21 and the cap 22. At this time, the slender medical device 7 can be transported in the sleeve-type clamping component 2. When it is necessary to rotate the slender medical device 7, the clamping mechanism 4 releases the clamp on the cap 22 and keeps the first driving component 31 working.

[0100] Example 2

[0101] like Figure 9 As shown, this embodiment relates to a medical device control system, including two medical device control devices 20 as described in Embodiment 1, and a medical device delivery device 10. The medical device delivery device 10 includes a second drive member 91, a lead screw shaft, a first conveyor 98, and a second conveyor 99. The second drive member 91 is connected to the lead screw shaft via a coupling. The lead screw shaft includes a first lead screw 95 and a second lead screw 96 with opposite rotation. The first conveyor 98 is connected to the first lead screw 95, and the second conveyor 99 is connected to the second lead screw 96. The two medical device control devices 20 are respectively mounted on the first conveyor 98 and the second conveyor 99. When the first conveyor 98 and the second conveyor 99 move synchronously closer or farther away along the lead screw shaft, one of the medical device control devices 20 clamps a slender medical device 7.

[0102] Specifically, such as Figure 9 and Figure 10 As shown, the second driving member 91, the lead screw shaft, the first conveying member 98, and the second conveying member 99 are all mounted on a mounting base 8. In this embodiment, the mounting base 8 is a mounting plate. The mounting base 8 is provided with the second driving member 91 and a support base 92. Preferably, the second driving member 91 is a drive motor. The lead screw shaft is rotatably mounted on the support base 92. The lead screw shaft includes a first lead screw 95 and a second lead screw 96 with opposite directions of rotation. The second driving member 91 is connected to the first lead screw 95 via a first coupling 93, and the first lead screw is connected to the second lead screw 96 via a second coupling 94. A delivery guide rail 97 is also provided on the mounting base 8. The first conveying member 98 is screwed onto the first lead screw and connected to the delivery guide rail 97, and the second conveying member 99 is screwed onto the second lead screw and connected to the delivery guide rail 97. The two first conveying members 98 and the second conveying member 99 are respectively mounted on the first conveying member 98 and the second conveying member 99.

[0103] It should be noted that, in addition to being a mounting plate, the mounting base 8 can also be a planar structure of other components, so as to enable the installation of the second drive member 91, the support base 92 and the delivery guide rail 97, and the first conveyor member 98 and the second conveyor member 99 to be at the same level.

[0104] When the second drive member 91 rotates, the coupling transmits the driving torque of the second drive member 91 to the first lead screw and the second lead screw. At this time, since the first lead screw 95 and the second lead screw 96 rotate in opposite directions, the first conveyor 98 and the second conveyor 99 move synchronously towards or away from each other along the lead screw shaft. During the movement of the first conveyor 98 and the second conveyor 99, one of the instrument control devices 20 clamps the elongated medical device 7, which is movably disposed within the other instrument control device 20.

[0105] Specifically, the first delivery member 98 is located at the distal end of the lead screw shaft, and the second delivery member 99 is located at the proximal end of the lead screw shaft. The distal end is the end furthest from the patient, and the proximal end is the end closest to the patient. When the first delivery member 98 and the second delivery member 99 move towards each other synchronously, the instrument control device 20 on the first delivery member 98 clamps the slender medical device 7, and the instrument control device 20 on the second delivery member 99 releases the slender medical device 7. When the first delivery member 98 and the second delivery member 99 move away from each other synchronously, the instrument control device 20 on the first delivery member 98 releases the slender medical device 7, and the instrument control device 20 on the second delivery member 99 clamps the slender medical device 7, thereby achieving continuous delivery of the slender medical device 7 and improving surgical efficiency. The process of the instrument control device 20 clamping the slender medical device 7 and the process of the instrument control device 20 releasing the slender medical device 7 will not be described in detail here.

[0106] Most interventional surgical robot systems use PID controllers to improve response accuracy and compensate for errors. However, conventional PID controllers have a drawback: they cannot adjust the parameters of the proportional-derivative-integral (PDI) stage in real time. The controlled system may experience disturbances at any time (such as blood flow or obstructions from physiological tissues), and because the PID parameters are fixed, they cannot make corresponding adjustments to the disturbed system.

[0107] In one embodiment, the instrument control system further includes a controller. The controller is used to acquire the expected displacement and / or expected angle, process the expected displacement and / or expected angle using a fuzzy PID algorithm to obtain control parameters; establish a dynamic model of the second drive component 91 and / or a dynamic model of the power mechanism 3 based on the calculation formula of the second drive component 91 and / or the calculation formula of the power mechanism 3; and control the dynamic model of the second drive component 91 and / or the dynamic model of the power mechanism 3 based on the control parameters to obtain the actual displacement and / or actual angle.

[0108] The calculation formula for power mechanism 3 is as follows:

[0109]

[0110] Specifically, the calculation formula for the power mechanism 3 is derived from the following dynamic equations:

[0111] The dynamic equation for the rotation of the instrument control device 20 is as follows:

[0112]

[0113] The dynamic equation of the transmission gear is:

[0114]

[0115] The dynamic equation for the oil-free bushing is:

[0116]

[0117] The dynamic equation of the sleeve-type clamp 2 is:

[0118]

[0119] Since the transmission gear is directly connected to the first driving member 31, and the sleeve clamp 2 is also meshed with the transmission gear, the rotation angle of the sleeve clamp 2 is the same as the rotation angle of the first driving member 31.

[0120] θ1=θ2=θ3=θ4

[0121] Solving the above equations simultaneously, we can obtain the relationship between the driving torque of the first driving component 31 and the radial rotation of the sleeve-type clamping component 2:

[0122]

[0123] Wherein, T1 is the driving torque of the first driving member 31, J1 is the moment of inertia of the first driving member 31, J2 is the moment of inertia of the first meshing part 213, J3 is the moment of inertia of the oilless bushing, J4 is the moment of inertia of the sleeve clamping member 2, θ4 is the rotation angle of the sleeve clamping member 2, B2 is the damping coefficient of the first driving member 31, and Δ2 is the uncertainty disturbance.

[0124] The calculation formula for the second driving component 91 is as follows:

[0125]

[0126] And specifically derived through the following dynamic equations:

[0127] The dynamic equation for the displacement of the instrument control device 20 is as follows:

[0128]

[0129] The dynamic equations of the coupling are as follows:

[0130]

[0131] The dynamic equation of the leadscrew shaft is as follows:

[0132]

[0133] The relationship between the driving torque and thrust of the lead screw shaft is as follows:

[0134]

[0135] The thrust of the lead screw shaft is equal to the resistance of the first conveyor / the second conveyor:

[0136]

[0137] F f The frictional forces between the clamping device and the guidewire / catheter (including Coulombic friction and viscous friction):

[0138]

[0139] The relationship between the axial displacement of the first conveyor / second conveyor and the angular displacement of the lead screw shaft:

[0140]

[0141] Solving the above equations simultaneously, we can obtain the equation relating the motor driving torque to the axial displacement of the first conveyor / second conveyor:

[0142]

[0143] Where T5 is the driving torque of the second driving component 91, k1 is the moment of inertia of the second driving component 91, k2 is the moment of inertia of the coupling, k3 is the moment of inertia of the lead screw shaft, B1 is the damping coefficient of the second driving component 91, and P b m is the lead of the leadscrew shaft. s Let η1 be the mass of the instrument control device 20, η1 be the positive transmission efficiency of the lead screw shaft, and X be the mass of the instrument control device 20. s For the axial displacement of the instrument control device 20, μ v μ is the coefficient of viscous friction. c Let be the Coulomb friction coefficient. This refers to disturbances caused by uncertainty.

[0144] like Figure 11 As shown, firstly, the expected displacement and / or expected angle are determined and input so that the controller can acquire the expected displacement and / or expected angle. Then, the controller inputs the expected displacement and / or expected angle to the fuzzification module and calculates the control parameters. The fuzzy module mainly consists of three parts: fuzzification, fuzzy decision reasoning, and defuzzification (defuzzification). Fuzzy decision reasoning is set using fuzzy rules. Next, the control parameters are input to the PID control module.

[0145] In this embodiment, the controller establishes a dynamic model of the combination of the second drive component 91 and the power mechanism 3 based on the calculation formulas for the second drive component 91 and the power mechanism 3, i.e., the dynamic simulation model of the instrument control system. Then, the PID control module controls the dynamic models of the second drive component 91 and the power mechanism 3 based on the aforementioned control parameters, and calculates the actual displacement and / or actual angle based on the expected displacement and / or expected angle. Next, the controller performs error calculations on the actual displacement and / or actual angle, as well as the expected displacement and / or expected angle, and inputs the calculation results into the fuzzy PID algorithm to refine the control parameters.

[0146] This instrument control system uses a controller to control the displacement and rotation angle of the instrument control device 20, and further controls the delivery and twisting of the slender medical device 7. Specifically, by establishing dynamic models of the second drive component and the power mechanism, a computational foundation is established for precise control of the displacement and rotation of the instrument control device 20. Fuzzy algorithms are used to control uncertain disturbances. Based on disturbances arising during interventional surgery, the PID parameters can be adjusted online in real time to improve the response speed and control accuracy of the entire interventional system, thereby precisely controlling the movement and rotation of the slender medical device 7.

[0147] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A device control apparatus for controlling a slender medical device, characterized in that, The instrument control device includes a fixing component, a power mechanism, and a sleeve-type clamping component; The fixing component includes a first fixing member, which is hollow to form a closed space; the first fixing member has a slot communicating with the closed space, and the slot is adapted to the sleeve clamping member to place the sleeve clamping member. The power mechanism is installed in the enclosed space of the first fixing member and is used to drive the movement of the sleeve clamping member; When the sleeve-type clamping member is placed in the slot, it is detachably connected to the power mechanism and partially exposed outside the first fixing member; The sleeve-type clamping component includes: The main body has a receiving channel through which the elongated medical device passes, and the main body is provided with a clamping part for clamping the elongated medical device. A cap, which is used to be fitted onto the outside of the clamping part, and the cap is provided with a through hole communicating with the receiving channel; The cap has a first state of being fitted onto the clamping part and a second state of being separated from the clamping part. In the first state, the cap drives the clamping part to clamp the slender medical device. In the second state, the elongated medical device is movably disposed in the receiving channel.

2. The instrument control device according to claim 1, characterized in that, The clamping part includes a plurality of elastic elements, and a slit is formed between adjacent elastic elements along the axial direction of the elongated medical device, the slit being connected to the receiving channel; In the first state, the cap is fitted onto the clamping part and squeezes the elastic member.

3. The instrument control device according to claim 2, characterized in that, The fixing component further includes a second fixing component movably mounted on the first fixing component. The first fixing component is provided with a first fixing part, and the second fixing component is provided with a second fixing part. The second fixing part is used to cooperate with the first fixing part to clamp the sleeve-type clamping component. The first fixing part and the second fixing part are respectively connected to the peripheral surface of the main body through oil-free bushings. The main body is provided with a first meshing part, the power mechanism includes a first driving member, the output shaft of the first driving member is provided with a second meshing part, and the second meshing part is meshed with the first meshing part. The first fixing member is provided with a receiving groove, which is adapted to the first engaging part and is located above the second engaging part.

4. The instrument control device according to claim 3, characterized in that, The instrument control device further includes an automatic assembly component, which includes: A clamping mechanism for clamping the cap; An assembly mechanism is provided to drive the clamping mechanism to move so that the cap remains in contact with the body. The power mechanism is also used to drive the main body to rotate, so as to switch the cap between the first state and the second state.

5. The instrument control device according to claim 4, characterized in that, The first fixing member is also provided with a first movable groove and a second movable groove that communicate with the slot. The first movable groove and the second movable groove are offset and extend in a direction perpendicular to the axial direction of the slender medical device. The clamping mechanism includes: Mounting component, which is movably mounted on the first fixing component; A first extrusion member is mounted on the mounting member and is used to abut against a portion of the outer peripheral surface of the cap and the main body. The second extrusion member is mounted on the mounting member and is used to abut against another part of the outer peripheral surface of the cap, and the distance between the second extrusion member and the first extrusion member is adjustable; A driving member, mounted on the mounting member, is used to drive the first extruder and / or the second extruder to move in order to clamp or release the cap.

6. The instrument control device according to claim 5, characterized in that, The assembly mechanism includes a traction member disposed on the first fixing member, and the traction member is used to drive the mounting member to move so that the cap and the body remain in contact.

7. The instrument control device according to claim 3, characterized in that, The first fixing part and the second fixing part are magnetically attracted to each other so that the second fixing member covers the first fixing member.

8. The instrument control device according to claim 3, characterized in that, The elastic element is provided with a detection element, which abuts against the peripheral surface of the elongated medical device. The detection element is used to detect the clamping force of the elastic elements on the elongated medical device. The first driving member is used to drive the main body to rotate a certain number of times according to the clamping force.

9. A machine control system, characterized in that, It includes two instrument control devices as described in any one of claims 3 to 8, and further includes a second drive member, a lead screw, a first conveyor and a second conveyor; The second drive component is connected to the lead screw shaft via a coupling; the lead screw shaft includes a first lead screw and a second lead screw with opposite directions of rotation, the first conveyor is connected to the first lead screw, the second conveyor is connected to the second lead screw, and the two instrument control devices are respectively installed on the first conveyor and the second conveyor; When the first conveyor and the second conveyor move synchronously toward or away from each other along the lead screw, one of the instrument control devices clamps the slender medical device.

10. The instrument control system according to claim 9, characterized in that, It also includes the controller; The controller is used to acquire the expected displacement and / or expected angle, and to process the expected displacement and / or expected angle using a fuzzy PID algorithm to obtain control parameters; to establish a dynamic model of the second drive component and / or a dynamic model of the power mechanism based on the calculation formula of the second drive component and / or the calculation formula of the power mechanism; and to control the dynamic model of the second drive component and / or the dynamic model of the power mechanism based on the control parameters to obtain the actual displacement and / or actual angle. The calculation formula for the power mechanism is as follows: ； Wherein, T1 is the driving torque of the first driving member, J1 is the moment of inertia of the first driving member, J2 is the moment of inertia of the first meshing part, J3 is the moment of inertia of the oil-free bushing, J4 is the moment of inertia of the sleeve-type clamping member, θ4 is the rotation angle of the sleeve-type clamping member, and B2 is the damping coefficient of the first driving member. 2 represents uncertain disturbances; The rotation angle of the sleeve-type clamp is the same as the rotation angle of the first driving member; The calculation formula for the second driving component is: ； Where T2 is the driving torque of the second driving component, k1 is the moment of inertia of the second driving component, k2 is the moment of inertia of the coupling, k3 is the moment of inertia of the lead screw shaft, B1 is the damping coefficient of the second driving component, and P b Let m be the lead of the lead screw shaft. s Let η1 be the mass of the instrument control device, η1 be the positive transmission efficiency of the lead screw, and X be the mass of the control device. s μ represents the axial displacement of the instrument control device. v μ is the coefficient of viscous friction. c Let be the Coulomb friction coefficient. 1 represents uncertain disturbances.

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