Catheter robot and control method, control device thereof

Abstract

The application discloses a catheter robot and a control method and device thereof. The catheter robot comprises a manipulator assembly for mounting and driving a catheter instrument. The control method comprises: acquiring a mounting direction of the catheter instrument on the manipulator assembly; determining one of a first mapping relationship and a second mapping relationship as a target mapping relationship according to the mounting direction; and controlling a driving mechanism in the manipulator assembly to manipulate movement of the catheter instrument in a target movement direction based on the target mapping relationship. The catheter instrument is driven by the manipulator assembly according to the mapping relationship corresponding to the mounting direction, so that the influence of the catheter control effect caused by the change of the mounting direction of the catheter instrument is solved, and the catheter robot can be adaptively adjusted according to the use environment.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a catheter robot and its control method and control device. Background Technology

[0002] Interventional therapy is a minimally invasive treatment that utilizes modern high-tech methods. Under the guidance of medical imaging equipment, specialized catheters, guidewires, and other precision instruments are introduced into the human body to diagnose and treat internal diseases locally.

[0003] Interventional therapy utilizes digital imaging technology, expanding the doctor's field of vision and extending their reach with the aid of catheters and guidewires. Its incision (puncture point) is only the size of a grain of rice, allowing for the treatment of many diseases that were previously difficult or impossible to treat with surgical or medical methods, such as tumors, hemangiomas, and various types of bleeding, without cutting into human tissue. Interventional therapy is characterized by being non-surgical, minimally invasive, allowing for rapid recovery, and yielding good results, representing a future trend in medicine.

[0004] To better facilitate interventional treatments, catheter robots have been developed. These robots control catheters to enter the body, enabling the diagnosis and local treatment of internal conditions. Some interventional procedures are performed in special environments, such as vascular interventional surgery. Catheter robots avoid the pitfalls of doctors directly manipulating catheters and guidewires in the catheterization lab and being exposed to X-rays for extended periods. This allows doctors to remotely control catheters and guidewires outside of the radiation environment, providing a safer working environment. Other interventional procedures are performed within routine surgeries, such as bronchial lesion examinations.

[0005] However, existing catheter robots are very inconvenient to use. For example... Figure 1 As shown, the operating table 9 is on the right and the catheterization robot is on the left. The first manipulator assembly 3 and the second manipulator assembly 2 of the catheterization robot are both mounted on the trolley 1. The inner catheter instrument box 5 and the outer sheath instrument box 4 are respectively mounted at the ends of the first and second manipulator assemblies of the catheterization robot. When in operation, the inner catheter 7 is inside the outer catheter (outer sheath) 8. Both the inner catheter 7 and the outer catheter 8 extend towards the right side of the catheterization robot. During operation, both catheters need to be inserted into the guide 6, which is then inserted into the patient's airway (such as the trachea) and secured. Figure 2 As shown, due to operating room space or other factors, if the operating table 9 is on the left and the catheter robot is on the right, the catheter robot needs to be rotated 180 degrees and repositioned. If the surgical space and conditions do not allow for this, it will cause great trouble. Summary of the Invention

[0006] In order to overcome the shortcomings and deficiencies of the prior art, the present invention aims to provide a catheter robot and its control method and control device to solve the problem that the catheter robot in the prior art cannot make adaptive adjustments according to the use environment.

[0007] The objective of this invention is achieved through the following technical solution:

[0008] This invention provides a control method for a catheter robot, the catheter robot including a manipulator assembly for mounting and driving catheter instruments, the control method comprising:

[0009] Obtain the installation orientation of the catheter instrument in the manipulator assembly;

[0010] Based on the installation direction, one of the first mapping relationship and the second mapping relationship is determined as the target mapping relationship. The first mapping relationship includes the mapping relationship between the drive mechanism in the manipulator assembly and the target movement direction when the installation direction is the first direction. The second mapping relationship includes the mapping relationship between the drive mechanism in the manipulator assembly and the target movement direction when the installation direction is the second direction.

[0011] Based on the target mapping relationship, the drive mechanism in the manipulator assembly is controlled to manipulate the movement of the catheter instrument in the target direction of movement.

[0012] Further, the manipulator assembly includes a first manipulator assembly and a second manipulator assembly, the catheter instrument includes an internal catheter instrument and an external catheter instrument, and obtaining the installation direction of the catheter instrument in the manipulator assembly includes:

[0013] If the internal catheter device is detected to be installed in the first manipulator assembly in a first direction, and the external catheter device is detected to be installed in the second manipulator assembly in a first direction, then the installation direction is determined to be the first direction;

[0014] If the external catheter device is detected to be installed in the first manipulator assembly in a second direction, and the internal catheter device is detected to be installed in the second manipulator assembly in a second direction, then the installation direction is determined to be the second direction.

[0015] Wherein, the first direction is the direction on the side of the first manipulator component adjacent to the second manipulator component, and the second direction is the direction on the side of the first manipulator component away from the second manipulator component.

[0016] Furthermore, the first mapping relationship includes:

[0017] The direction in which the drive mechanism in the second manipulator assembly manipulates the external catheter instrument to move forward, and the direction in which the drive mechanism in the first manipulator assembly manipulates the internal catheter instrument to move forward, are both the same as the first direction.

[0018] Furthermore, the first mapping relationship includes:

[0019] Configure the second controller component as the main controller component and the first controller component as the secondary controller component;

[0020] The secondary manipulator component is configured to move synchronously with the primary manipulator component.

[0021] Furthermore, the second mapping relationship includes:

[0022] The drive mechanism in the first manipulator assembly is configured to move the external catheter instrument forward in the same direction as the drive mechanism in the second manipulator assembly, which moves the internal catheter instrument forward in the same direction.

[0023] Furthermore, the second mapping relationship includes:

[0024] Configure the first control component as the main control component and the second control component as the secondary control component;

[0025] The secondary manipulator component is configured to move synchronously with the primary manipulator component.

[0026] Further, the first manipulator assembly includes a first drive disc for docking the catheter device, the second manipulator assembly includes a second drive disc for docking the catheter device, and the first mapping relationship includes:

[0027] The first drive component in the first drive disk is configured to drive the internal catheter device to move in a first bending direction, and the second drive component is configured to drive the internal catheter device to move in a second bending direction.

[0028] The third drive component in the second drive disk drives the external catheter device to move in the first bending direction, and the fourth drive component drives the external catheter device to move in the second bending direction.

[0029] Further, the first manipulator assembly includes a first drive disc for docking the catheter device, the second manipulator assembly includes a second drive disc for docking the catheter device, and the second mapping relationship includes:

[0030] The first drive component in the first drive disk is configured to drive the external catheter device to move in a first bending direction, and the second drive component is configured to drive the external catheter device to move in a second bending direction.

[0031] The third drive component in the second drive disk drives the internal catheter device to move in the first bending direction, and the fourth drive component drives the internal catheter device to move in the second bending direction.

[0032] Furthermore, before determining the first mapping relationship as the target mapping relationship, the control method further includes:

[0033] Detect whether the first manipulator assembly is equipped with the internal catheter device, and whether the second manipulator assembly is equipped with the external catheter device;

[0034] When it is detected that the first manipulator assembly is not equipped with the internal catheter instrument, or the second manipulator assembly is not equipped with the external catheter instrument, the catheter robot is controlled to issue an alarm.

[0035] Furthermore, before determining the second mapping relationship as the target mapping relationship, the control method further includes:

[0036] Detect whether the first manipulator assembly is equipped with the external catheter device, and whether the second manipulator assembly is equipped with the internal catheter device;

[0037] When it is detected that the first manipulator assembly is not equipped with the external catheter instrument, or the second manipulator assembly is not equipped with the internal catheter instrument, the catheter robot is controlled to issue an alarm.

[0038] Furthermore, an installation direction detection mechanism is provided between the manipulator assembly and the catheter instrument, and obtaining the installation direction of the catheter instrument in the manipulator assembly includes:

[0039] The installation orientation of the catheter instrument in the manipulator assembly is detected by the installation orientation detection mechanism.

[0040] Furthermore, the installation orientation detection mechanism includes: a first interface and a second interface installed on the manipulator assembly, and an alignment interface installed on the catheter instrument, wherein the alignment interface selectively mates with the first interface and the second interface.

[0041] Furthermore, the catheter robot is equipped with an installation direction input module, and obtaining the installation direction of the catheter instrument in the manipulator assembly includes:

[0042] The installation direction of the catheter instrument in the manipulator assembly is obtained through the installation direction input module.

[0043] This application also provides a catheter robot, comprising:

[0044] Manipulator components;

[0045] and a control device, coupled to the manipulator assembly, configured to:

[0046] Obtain the installation orientation of the catheter instrument in the manipulator assembly; based on the installation orientation, determine one of a first mapping relationship and a second mapping relationship as a target mapping relationship, wherein the first mapping relationship includes a mapping relationship between the drive mechanism in the manipulator assembly and the target movement direction when the installation orientation is a first orientation, and the second mapping relationship includes a mapping relationship between the drive mechanism in the manipulator assembly and the target movement direction when the installation orientation is a second orientation;

[0047] Based on the target mapping relationship, the drive mechanism in the manipulator assembly is controlled to manipulate the movement of the catheter instrument in the target direction of movement.

[0048] This application also provides a computer-readable storage medium storing a computer program configured to be loaded by a processor and executed to implement the steps of the control method described above.

[0049] This application also provides a control device for a catheter robot, the control device comprising:

[0050] Memory, used to store computer programs;

[0051] and a processor for loading and executing the computer program;

[0052] The computer program is configured to be loaded by the processor and executed to implement the control method described above.

[0053] The beneficial effects of this invention are as follows: by controlling the manipulator assembly to drive the catheter instrument according to the installation direction of the catheter instrument in the manipulator assembly, and by using a mapping relationship corresponding to the installation direction, the impact on the catheter control effect caused by the change of the installation direction of the catheter instrument is solved, so that the catheter robot can make adaptive adjustments according to the usage environment. Attached Figure Description

[0054] Figure 1 This is a schematic diagram of a structure in the prior art where the operating table is on the right and the catheter robot is on the left.

[0055] Figure 2This is a schematic diagram of a structure in existing technology where the operating table is on the left and the catheter robot is on the right.

[0056] Figure 3 This is a flowchart illustrating the control method of the catheter robot in this invention;

[0057] Figure 4 This is a schematic diagram of the duct robot in the first direction of the present invention;

[0058] Figure 5 This is a schematic diagram of the structure of the robotic arm and manipulator assembly of the catheter robot in this invention;

[0059] Figure 6 This is a schematic diagram of the catheter device structure of the catheter robot in the first direction in this invention;

[0060] Figure 7 This is a schematic diagram of the duct robot in the second direction of the present invention;

[0061] Figure 8 This is a schematic diagram of the catheter device structure of the catheter robot in the second direction in this invention;

[0062] Figure 9 This is a schematic diagram of the duct robot in the first direction according to another embodiment of the present invention;

[0063] Figure 10 This is a schematic diagram of the catheter device structure of the catheter robot in the second direction in another embodiment of the present invention;

[0064] Figure 11 This is a schematic diagram of the mechanical arm and manipulator assembly of the catheter robot in another embodiment of the present invention;

[0065] Figure 12 This is a schematic diagram of the catheter device structure of the catheter robot in the second direction in another embodiment of the present invention. Detailed Implementation

[0066] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. Preferred embodiments of the invention are shown in the drawings. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a thorough and complete understanding of the disclosure of the invention.

[0067] It should be noted that when an element is referred to as being "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intervening element. When an element is considered to be "coupled" to another element, it can be directly coupled to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation. The terms "distal" and "proximal" used herein are directional terms commonly used in the field of interventional medical devices, where "distal" refers to the end away from the operator during the procedure, and "proximal" refers to the end closer to the operator during the procedure.

[0068] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the specification of this invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items. In this invention, "each" includes one or more items.

[0069] Figure 3 This is a flowchart illustrating the control method for the catheter robot in this invention. Figure 4 This is a schematic diagram of the duct robot in the first direction of the present invention. Figure 5 This is a schematic diagram of the mechanical arm and manipulator assembly of the catheter robot in this invention. Figure 6 This is a schematic diagram of the catheter device structure of the catheter robot in the first direction in this invention. Figure 7 This is a schematic diagram of the duct robot in the second direction in this invention. Figure 8 This is a schematic diagram of the catheter device structure of the catheter robot in the second direction in this invention.

[0070] like Figures 3 to 8 As shown, this invention provides a control method for a catheter robot. The catheter robot includes a manipulator assembly for mounting and driving catheter instruments. The control method includes:

[0071] Step S1: Obtain the installation orientation of the catheter instrument in the manipulator assembly.

[0072] Step S2: Based on the installation direction, determine one of the first mapping relationship and the second mapping relationship as the target mapping relationship.

[0073] For example, the first mapping relationship includes the mapping relationship between the drive mechanism in the manipulator assembly and the target movement direction when the installation direction is the first direction, and the second mapping relationship includes the mapping relationship between the drive mechanism in the manipulator assembly and the target movement direction when the installation direction is the second direction. That is, when the installation direction is the first direction, the first mapping relationship associated with the first direction is determined as the target mapping relationship from the first mapping relationship and the second mapping relationship; when the installation direction is the second direction, the second mapping relationship associated with the second direction is determined as the target mapping relationship from the first mapping relationship and the second mapping relationship.

[0074] Step S3: Control the drive mechanism in the manipulator assembly based on the target mapping relationship to manipulate the movement of the catheter instrument in the target movement direction.

[0075] In some embodiments, such as Figures 4 to 8 As shown, the manipulator assembly includes a first manipulator assembly 2 and a second manipulator assembly 3, and the catheter instruments include an internal catheter instrument 5 and an external catheter instrument 4. Obtaining the installation orientation of the catheter instruments in the manipulator assembly includes:

[0076] The internal catheter device 5 is detected to be installed in the first manipulator assembly 2 in the first direction, and the external catheter device 4 is detected to be installed in the second manipulator assembly 3 in the first direction, and the installation direction is determined to be the first direction;

[0077] The external catheter device 4 is detected to be installed in the first manipulator assembly 2 in the second direction, and the internal catheter device 5 is detected to be installed in the second manipulator assembly 3 in the second direction, and the installation direction is determined to be the second direction;

[0078] Wherein, the first direction is the direction on the side of the first manipulator component 2 adjacent to the second manipulator component 3, and the second direction is the direction on the side of the first manipulator component 2 away from the second manipulator component 3. Exemplarily, the first and second directions are usually opposite. In some embodiments, the first direction is described as the left-hand direction and the second direction as the right-hand direction. Of course, in other embodiments, the first direction can also be the right-hand direction and the second direction as the left-hand direction.

[0079] In some embodiments, such as Figures 4 to 6 As shown, the first mapping relationship includes:

[0080] The direction in which the drive mechanism in the second manipulator assembly 3 manipulates the external catheter instrument 4 to move forward, and the direction in which the drive mechanism in the first manipulator assembly 2 manipulates the internal catheter instrument 5 to move forward, are both the same as the first direction. That is, in the first mapping relationship, for example, the movement of the external catheter instrument 4 and the internal catheter instrument 5 to the left is defined as the direction of forward movement, and the movement of the external catheter instrument 4 and the internal catheter instrument 5 to the right is defined as the direction of backward movement. It can be understood that since the feed movement includes forward feed movement and backward feed movement, configuring the direction in which the drive mechanism in the second manipulator assembly 3 manipulates the external catheter instrument 4 to move forward, and the direction in which the drive mechanism in the first manipulator assembly 2 manipulates the internal catheter instrument 5 to move forward, both to be the same as the first direction, also substantially includes configuring the direction in which the drive mechanism in the second manipulator assembly 3 manipulates the external catheter instrument 4 to move backward, and the direction in which the drive mechanism in the first manipulator assembly 2 manipulates the internal catheter instrument 5 to move backward, both to be opposite to the first direction. The foregoing explanation is mainly for the purpose of brevity.

[0081] Furthermore, the first mapping relationship includes:

[0082] The second manipulator assembly 3 is configured as the main manipulator assembly, and the first manipulator assembly 2 as the auxiliary manipulator assembly; the auxiliary manipulator assembly is configured to move synchronously with the main manipulator assembly. That is, in the first mapping relationship, when the drive mechanism in the second manipulator assembly 3 manipulates the external catheter device 4 to move forward or backward, the drive mechanism in the first manipulator assembly 2 can, for example, follow the external catheter device 4 to manipulate the internal catheter device 5 to move forward or backward in a 1:1 ratio. This is because, during the insertion of the external catheter device 4 and the internal catheter device 5 into the guide 6, it is necessary to ensure that the external catheter device 4 and the internal catheter device 5 do not move relative to each other; therefore, it is necessary to control the external catheter device 4 and the internal catheter device 5 to move synchronously. Of course, the drive mechanism in the first manipulator assembly 2 can, for example, follow the external catheter device 4 to manipulate the internal catheter device 5 to move forward or backward in other ratios.

[0083] Optionally, the secondary manipulator assembly can also be configured to move independently, meaning that when the secondary manipulator assembly is actively controlled to move, the primary manipulator assembly will not move synchronously with it. For example, when the internal catheter instrument 5 is actively controlled to move, the external catheter instrument 4 will not move synchronously with it. This is because after the external catheter instrument 4 and the internal catheter instrument 5 are inserted into the guide 6, the movement of the internal catheter instrument 5 needs to be controlled separately to examine the internal condition. At this time, the movement of the external catheter instrument 4 would affect the normal examination; therefore, it is not necessary for the external catheter instrument 4 to move synchronously with the internal catheter instrument 5.

[0084] In some embodiments, such as Figure 5 , Figure 7 , Figure 8 As shown, the second mapping relationship includes:

[0085] The drive mechanism in the first manipulator assembly 2 manipulates the external catheter device 4 to move forward in the same direction as the drive mechanism in the second manipulator assembly 3 manipulates the internal catheter device 5 to move forward in the same direction. That is, in the second mapping relationship, the movement of the external catheter device 4 and the internal catheter device 5 to the right is defined as the direction of forward movement, while the movement of the external catheter device 4 and the internal catheter device 5 to the left is defined as the direction of backward movement. It is understandable that the direction in which the drive mechanism in the first manipulator assembly 2 manipulates the external catheter instrument 4 to move forward and the direction in which the drive mechanism in the second manipulator assembly 3 manipulates the internal catheter instrument 5 to move forward are the same as the second direction. The fact that the direction in which the drive mechanism in the first manipulator assembly 2 manipulates the external catheter instrument 4 to move forward and the direction in which the drive mechanism in the second manipulator assembly 3 manipulates the internal catheter instrument 5 to move forward are the same as the second direction also includes the direction in which the drive mechanism in the first manipulator assembly 2 manipulates the external catheter instrument 4 to move backward and the direction in which the drive mechanism in the second manipulator assembly 3 manipulates the internal catheter instrument 5 to move backward are opposite to the second direction. The foregoing description is mainly for the purpose of brevity.

[0086] Furthermore, the second mapping relationship includes:

[0087] The first manipulator assembly 2 is configured as the main manipulator assembly, and the second manipulator assembly 3 as the secondary manipulator assembly; the secondary manipulator assembly is configured to move synchronously with the main manipulator assembly. That is, in the second mapping relationship, when the drive mechanism in the first manipulator assembly 2 manipulates the external catheter device 4 to move forward or backward, the drive mechanism in the second manipulator assembly 3 can, for example, follow the external catheter device 4 to manipulate the internal catheter device 5 to move forward or backward in a 1:1 ratio. This is because, during the insertion of the external catheter device 4 and the internal catheter device 5 into the guide 6, it is necessary to ensure that the external catheter device 4 and the internal catheter device 5 do not move relative to each other; therefore, it is necessary to control the external catheter device 4 and the internal catheter device 5 to move synchronously. Of course, the drive mechanism in the second manipulator assembly 3 can, for example, follow the external catheter device 4 to manipulate the internal catheter device 5 to move forward or backward in other ratios.

[0088] Optionally, the secondary manipulator assembly can also be configured to move independently, meaning that when the secondary manipulator assembly is actively controlled to move, the primary manipulator assembly will not move synchronously with it. For example, when the internal catheter instrument 5 is actively controlled to move, the external catheter instrument 4 will not move synchronously with it. This is because after the external catheter instrument 4 and the internal catheter instrument 5 are inserted into the guide 6, the movement of the internal catheter instrument 5 needs to be controlled separately to examine the internal condition. At this time, the movement of the external catheter instrument 4 would affect the normal examination; therefore, it is not necessary for the external catheter instrument 4 to move synchronously with the internal catheter instrument 5.

[0089] In some embodiments, the manipulator assembly includes a robotic arm and a drive disk located at the distal end of the robotic arm. The drive disk is used for docking with a catheter instrument and is sometimes referred to as a manipulator. The robotic arm is typically configured to manipulate the catheter instrument for feed movements, and the drive disk is typically configured to manipulate the catheter instrument for bending movements. The robotic arm has multiple actively actuated joints, thereby allowing it to be configured to drive the catheter instrument in forward or backward feed movements. Figure 5 As shown, the first manipulator assembly 2 includes a first robotic arm 201 and a first drive disk 202, with the first drive disk 202 located at the end of the first robotic arm 201; the second manipulator assembly 3 includes a second robotic arm 301 and a second drive disk 302, with the second drive disk 302 located at the end of the second robotic arm 301. One of the external catheter instrument 4 and the internal catheter instrument 5 is mounted on the first drive disk 202, and the other is mounted on the second drive disk 302.

[0090] Furthermore, such as Figure 9 and 10 The first drive disk 202 has a first positioning interface 12 on the side away from the second drive disk 302, and the second drive disk 302 has a second positioning interface 11 on the side away from the first drive disk 202. The guide 6 has a third positioning interface 13 that cooperates with the first positioning interface 12 and the second positioning interface 11. When the second positioning interface 11 and the third positioning interface 13 cooperate, the robot end effector is paired with the guide's pose to ensure that the catheter enters the guide in the correct position and direction. At this time, the manipulator component needs to work in the first mapping relationship. After the cooperation is completed, the inner and outer catheters 8 and the guide 6 inlet are on the same straight line, and the working trajectory always moves on this straight line, which facilitates the operation of the pre-cooperation process. When the first positioning interface 12 and the third positioning interface 13 cooperate, the manipulator component needs to work in the second mapping relationship. The manipulator component adopts a dual-interface design, which allows the catheter robot to adapt to both the first and second mapping relationships.

[0091] In some embodiments, the first positioning interface 12 or the second positioning interface 11 and the third positioning interface 13 can form a complementary structure to facilitate, for example, mechanical positioning. For instance, both the first positioning interface 12 and the second positioning interface 11 can be designed as notches, and correspondingly, the third positioning interface 13 can be designed as a protrusion complementary to the notch. Preferably, the notch can be an inverted cone structure, and the protrusion can be a cone structure, with the opening size gradually narrowing in the direction the protrusion is inserted into the notch to facilitate guidance and positioning during mating. The inverted cone structure can be, for example, an inverted conical structure, with the conical structure corresponding to the conical structure.

[0092] In some embodiments, such as Figure 5 As shown, the first manipulator assembly 2 includes a first drive disk 202 for catheter instrument docking, and the second manipulator assembly 3 includes a second drive disk 302 for catheter instrument docking. The first mapping relationship includes:

[0093] The first drive assembly in the first drive disk 202 drives the internal catheter device 5 and manipulates the internal catheter device 5 to move in the first bending direction; the second drive assembly drives the internal catheter device 5 and manipulates the internal catheter device 5 to move in the second bending direction.

[0094] The third drive component in the second drive disk 302 drives the external catheter device 4 and manipulates the external catheter device 4 to move in the first bending direction, and the fourth drive component drives the external catheter device 4 and manipulates the external catheter device 4 to move in the second bending direction.

[0095] Furthermore, the second mapping relationship includes:

[0096] The first drive assembly in the first drive disk 202 drives the external catheter device 4 and manipulates the external catheter device 4 to move in the first bending direction; the second drive assembly drives the external catheter device 4 and manipulates the external catheter device 4 to move in the second bending direction.

[0097] The third drive component in the second drive disk 302 drives the internal catheter device 5 and manipulates the internal catheter device 5 to move in the first bending direction, and the fourth drive component drives the internal catheter device 5 and manipulates the internal catheter device 5 to move in the second bending direction.

[0098] The first bending direction and the second bending direction can be movements in a degree of freedom of posture. It should be noted that a bending direction includes movements in both clockwise and counterclockwise directions in a degree of freedom of posture, or a bending direction includes movements in the up or down direction in a degree of freedom of posture, or a bending direction includes movements in the left or right direction in a degree of freedom of posture.

[0099] Further, the internal catheter device 5 is provided with an internal catheter 7, and the internal catheter device 5 controls the movement of the internal catheter 7 in a first bending direction and a second bending direction; the external catheter device 4 is provided with an external catheter 8, and the external catheter device 4 controls the movement of the external catheter 8 in a first bending direction and a second bending direction. The internal catheter 7 and the external catheter 8 can be, for example, flexible catheters. Specifically, in the first mapping relationship, the first driving component drives the internal catheter device 5 and controls the movement of the internal catheter 7 in the first bending direction, the second driving component drives the internal catheter device 5 and controls the movement of the internal catheter 7 in the second bending direction; the third driving component drives the external catheter device 4 and controls the movement of the external catheter 8 in the first bending direction, and the fourth driving component drives the external catheter device 4 and controls the movement of the external catheter 8 in the second bending direction. In the second mapping relationship, the first driving component drives the external catheter device 4 and controls the movement of the external catheter 8 in the first bending direction, the second driving component drives the external catheter device 4 and controls the movement of the external catheter 8 in the second bending direction; the third driving component drives the internal catheter device 5 and controls the movement of the internal catheter 7 in the first bending direction, and the fourth driving component drives the internal catheter device 5 and controls the movement of the internal catheter 7 in the second bending direction. The first drive assembly and the third drive assembly, as well as the second drive assembly and the fourth drive assembly, are symmetrical about the same point to facilitate the reversible installation of catheter instruments.

[0100] In some embodiments, exemplary examples include... Figure 5 As shown, the first drive assembly includes a first driver 21 and a second driver 22; the second drive assembly includes a third driver 23 and a fourth driver 24; the third drive assembly includes a fifth driver 31 and a sixth driver 32; and the fourth drive assembly includes a seventh driver 33 and an eighth driver 34. Specifically, the first driver 21 and the fifth driver 31, the second driver 22 and the sixth driver 32, the third driver 23 and the seventh driver 33, and the fourth driver 24 and the eighth driver 34 are all symmetrical about the same point, that is, about the midpoint of the line connecting the first driver 21 and the fifth driver 31, the midpoint of the line connecting the second driver 22 and the sixth driver 32, the midpoint of the line connecting the third driver 23 and the seventh driver 33, or the midpoint of the line connecting the fourth driver 24 and the eighth driver 34.

[0101] like Figure 6 and Figure 8As shown, in some embodiments, the movement with the first bending direction being upward or downward, and the movement with the second bending direction being left or right, are used as examples for explanation. The internal catheter device 5 is provided with a first upper drive disc 51, a first lower drive disc 52, a first left drive disc 53, and a first right drive disc 54. The first upper drive disc 51 and the first lower drive disc 52 form a group and are used to control the bending of the internal catheter 7 in the upward and downward directions. The first left drive disc 53 and the first right drive disc 54 form a group and are used to control the bending of the internal catheter 7 in the left and right directions. The external catheter device 4 is provided with a second upper drive disc 41, a second lower drive disc 42, a second left drive disc 43, and a second right drive disc 44. The second upper drive disc 41 and the second lower drive disc 42 form a group and are used to control the bending of the external catheter 8 in the upward and downward directions. The second left drive disc 43 and the second right drive disc 44 form a group and are used to control the bending of the external catheter 8 in the left and right directions.

[0102] The aforementioned drivers are used to drive the transmission discs that cooperate with them in the first or second mapping relationship.

[0103] like Figures 4 to 6 As shown, in the first mapping relationship, that is, when the catheter instrument is detected to be installed in the first direction in the manipulator assembly. The first driver 21 is used to drive the first upper drive plate 51, the second driver 22 is used to drive the first lower drive plate 52, the third driver 23 is used to drive the first left drive plate 53, and the fourth driver 24 is used to drive the first right drive plate 54; the fifth driver 31 is used to drive the second upper drive plate 41, the sixth driver 32 is used to drive the second lower drive plate 42, the seventh driver 33 is used to drive the second left drive plate 43, and the eighth driver 34 is used to drive the second right drive plate 44.

[0104] In one embodiment, the first actuator 21 drives the first upper transmission disk 51 to rotate and tighten the upper cable of the inner conduit 7, and the second actuator 22 drives the first lower transmission disk 52 to rotate and loosen the lower cable of the inner conduit 7, thereby controlling the inner conduit 7 to bend in the upward direction; when the first actuator 21 and the second actuator 22 drive in opposite directions, the inner conduit 7 is controlled to bend in the downward direction. The third actuator 23 drives the first left transmission disk 53 to rotate and tighten the left cable of the inner conduit 7, and the fourth actuator 24 drives the first right transmission disk 54 to rotate and loosen the right cable of the inner conduit 7, thereby controlling the inner conduit 7 to bend in the left direction; when the third actuator 23 and the fourth actuator 24 drive in opposite directions, the inner conduit 7 is controlled to bend in the right direction.

[0105] The fifth actuator 31 drives the second upper transmission disc 41 to rotate and tighten the upper cable of the outer conduit 8, while the sixth actuator 32 drives the second lower transmission disc 42 to rotate and loosen the lower cable of the outer conduit 8, thereby controlling the outer conduit 8 to bend in the upward direction. When the fifth actuator 31 and the sixth actuator 32 drive in opposite directions, the outer conduit 8 is controlled to bend in the downward direction. The seventh actuator 33 drives the second left transmission disc 43 to rotate and tighten the left cable of the outer conduit 8, while the eighth actuator 34 drives the second right transmission disc 44 to rotate and loosen the right cable of the outer conduit 8, thereby controlling the outer conduit 8 to bend in the left direction. When the seventh actuator 33 and the eighth actuator 34 drive in opposite directions, the outer conduit 8 is controlled to bend in the right direction.

[0106] like Figure 5 , Figure 7 and Figure 8 As shown, in the second mapping relationship, i.e., when the catheter instrument is detected to be installed in the second direction in the manipulator assembly, the first driver 21 is used to drive the second upper drive plate 41, the second driver 22 is used to drive the second lower drive plate 42, the third driver 23 is used to drive the second left drive plate 43, and the fourth driver 24 is used to drive the second right drive plate 44; the fifth driver 31 is used to drive the first upper drive plate 51, the sixth driver 32 is used to drive the first lower drive plate 52, the seventh driver 33 is used to drive the first left drive plate 53, and the eighth driver 34 is used to drive the first right drive plate 54.

[0107] In one embodiment, the fifth actuator 31 drives the first upper transmission disk 51 to rotate and tighten the upper cable of the inner conduit 7, while the sixth actuator 32 drives the first lower transmission disk 52 to rotate and loosen the lower cable of the inner conduit 7, thereby controlling the inner conduit 7 to bend in the upward direction. When the fifth actuator 31 and the sixth actuator 32 drive in opposite directions, the inner conduit 7 is controlled to bend in the downward direction. The seventh actuator 33 drives the first left transmission disk 53 to rotate and tighten the left cable of the inner conduit 7, while the eighth actuator 34 drives the first right transmission disk 54 to rotate and loosen the right cable of the inner conduit 7, thereby controlling the inner conduit 7 to bend in the left direction. When the seventh actuator 33 and the eighth actuator 34 drive in opposite directions, the inner conduit 7 is controlled to bend in the right direction.

[0108] The first actuator 21 drives the second upper transmission disk 41 to rotate and tighten the upper cable of the outer conduit 8, while the second actuator 22 drives the second lower transmission disk 42 to rotate and loosen the lower cable of the outer conduit 8, thereby controlling the outer conduit 8 to bend in the upward direction. When the first actuator 21 and the second actuator 22 drive in opposite directions, the outer conduit 8 is controlled to bend in the downward direction. The third actuator 23 drives the second left transmission disk 43 to rotate and tighten the left cable of the outer conduit 8, while the fourth actuator 24 drives the second right transmission disk 44 to rotate and loosen the right cable of the outer conduit 8, thereby controlling the outer conduit 8 to bend in the left direction. When the third actuator 23 and the fourth actuator 24 drive in opposite directions, the outer conduit 8 is controlled to bend in the right direction.

[0109] In some embodiments, before determining the first mapping relationship as the target mapping relationship, the control method further includes:

[0110] The system detects whether the first manipulator assembly 2 is equipped with the internal catheter device 5 and whether the second manipulator assembly 3 is equipped with the external catheter device 4. If the system detects that the first manipulator assembly 2 is not equipped with the internal catheter device 5 or the second manipulator assembly 3 is not equipped with the external catheter device 4, the system controls the catheter robot to issue an alarm. In actual operation, it is possible that both the first manipulator assembly 2 and the second manipulator assembly 3 are equipped with the internal catheter device 5 or both are equipped with the external catheter device 4. To avoid erroneous operation, the system controls the catheter robot to issue an alarm when it detects that the first manipulator assembly 2 is not equipped with the internal catheter device 5 or the second manipulator assembly 3 is not equipped with the external catheter device 4, to remind medical personnel to reinstall them.

[0111] Similarly, before determining the second mapping relationship as the target mapping relationship, the control method also includes:

[0112] The system detects whether the first manipulator component has an external catheter device installed, and whether the second manipulator component has an internal catheter device installed. If the first manipulator component is found to be without an external catheter device, or the second manipulator component is found to be without an internal catheter device, the control system issues an alarm. In actual operation, it is possible that both the first manipulator component 2 and the second manipulator component 3 may have internal catheter devices 5 or both may have external catheter devices 4 installed. To avoid erroneous operation, the control system issues an alarm when the first manipulator component is found to be without an external catheter device, or the second manipulator component is found to be without an internal catheter device, to remind medical personnel to reinstall them.

[0113] In some embodiments, an installation orientation detection mechanism is provided between the manipulator assembly and the catheter device to obtain the installation orientation of the catheter device in the manipulator assembly, including: detecting the installation orientation of the catheter device in the manipulator assembly through the installation orientation detection mechanism.

[0114] like Figure 11 and Figure 12 As shown, the installation orientation detection mechanism includes: a first interface 61 and a second interface 62 installed on the manipulator assembly, and an alignment interface 63 installed on the catheter instrument. The alignment interface 63 selectively mates with either the first interface 61 or the second interface 62. Specifically, the first drive disk 202 is provided with the first interface 61 and the second interface 62, the second drive disk 302 is provided with the first interface 61 and the second interface 62, and both the external catheter instrument 4 and the internal catheter instrument 5 are provided with the alignment interface 63. The alignment interface 63 is located at the end of the external catheter instrument 4 away from the extension direction of the external catheter 8, and the alignment interface 63 is located at the end of the internal catheter instrument 5 away from the extension direction of the internal catheter 7. Figure 11 and Figure 12 As shown, when the alignment interface 63 of the internal catheter device 5 is detected to mate with the first interface 61 of the first drive disk 202, and the alignment interface 63 of the external catheter device 4 is detected to mate with the first interface 61 of the second drive disk 302, it is generally desirable to achieve the first mapping relationship as the target mapping relationship. When the alignment interface 63 of the internal catheter device 5 is detected to mate with the second interface 62 of the second drive disk 302, and the alignment interface 63 of the external catheter device 4 is detected to mate with the second interface 62 of the first drive disk 202, it is generally desirable to achieve the second mapping relationship as the target mapping relationship.

[0115] In some embodiments, the alignment interface 63 may also be located at one end of the catheter instrument facing the catheter extension direction. Specifically, the alignment interface 63 is located at one end of the outer catheter instrument 4 facing the outer catheter 8, and at one end of the inner catheter instrument 5 facing the inner catheter 7. When the alignment interface 63 is detected to be engaged with the second interface 62, it can be determined that the catheter is facing the catheter robot in a first direction, and the catheter instrument is in a first installation direction. When the alignment interface 63 is detected to be engaged with the first interface 61, it can be determined that the catheter is facing the catheter robot in a second direction, and the catheter instrument is in a second installation direction. Specifically, when the alignment interface 63 of the inner catheter instrument 5 is detected to be engaged with the second interface 62 of the first drive disk 202, and the alignment interface 63 of the outer catheter instrument 4 is detected to be engaged with the second interface 62 of the second drive disk 302, it is generally desirable to achieve the first mapping relationship as the target mapping relationship. When it is detected that the alignment interface 63 of the internal catheter device 5 is engaged with the first interface 61 of the second drive disk 302, and the alignment interface 63 of the external catheter device 4 is engaged with the first interface 61 of the first drive disk 202, it is generally desirable to achieve the second mapping relationship as the target mapping relationship.

[0116] Of course, in some embodiments, the first interface 61 and the second interface 62 may be mounted on the catheter instrument, and the alignment interface 63 may be mounted on the manipulator assembly. That is, the external catheter instrument 4 has the first interface 61 and the second interface 62, the internal catheter instrument 5 has the first interface 61 and the second interface 62, and both the first drive disk 202 and the second drive disk 302 have the alignment interface 63. It is only necessary to be able to identify the installation direction of the catheter instrument on the manipulator assembly.

[0117] In another embodiment, the installation orientation detection mechanism includes: a first magnetic receiver and a second magnetic receiver mounted on the catheter device, and a magnetic element mounted on the catheter device, the magnetic element selectively engaging with the first and second magnetic receivers. By selectively engaging the magnetic element with the first and second magnetic receivers, the installation orientation of the catheter device in the manipulator assembly is identified. Specifically, the first magnetic receiver replaces the first interface 61, the second magnetic receiver replaces the second interface 62, and the magnetic element replaces the alignment interface 63.

[0118] Furthermore, both the external catheter device 4 and the internal catheter device 5 are equipped with electronic identification modules corresponding to the external catheter device 4 and the internal catheter device 5, respectively. The electronic identification modules are electrically connected to the alignment interface 63. The catheter robot identifies the installation direction of the catheter device and whether the catheter device is the external catheter device 4 or the internal catheter device 5 through the electrical connection between the alignment interface 63 and the first interface 61 or the second interface 62.

[0119] In one embodiment, the catheter robot is equipped with an installation direction input module to obtain the installation direction of the catheter instrument on the manipulator assembly. This includes obtaining the installation direction of the catheter instrument on the manipulator assembly through the installation direction input module. The installation direction input module can be a button, touchscreen, voice, or other similar module, allowing the installation direction to be confirmed by manually inputting it into the catheter robot.

[0120] Of course, in one embodiment, an image sensor can also be installed on the catheter robot to obtain the installation orientation of the external catheter instrument 4 and the internal catheter instrument 5 in the manipulator assembly, so as to update the subsequent mapping relationship. Identification marks can be set on the external catheter instrument 4 and the internal catheter instrument 5 to facilitate identification.

[0121] This application also provides a catheter robot, which is controlled using the control method described above. The catheter robot includes:

[0122] Manipulator assembly. The manipulator assembly includes a robotic arm and a drive disk. The robotic arm has multiple joints that drive the catheter instrument to move forward or backward. For example... Figure 5As shown, the first manipulator assembly 2 includes a first robotic arm 201 and a first drive disk 202, with the first drive disk 202 located at the end of the first robotic arm 201; the second manipulator assembly 3 includes a second robotic arm 301 and a second drive disk 302, with the second drive disk 302 located at the end of the second robotic arm 301.

[0123] The control device, coupled to the manipulator assembly, is configured to: acquire the installation orientation of the catheter instrument on the manipulator assembly; and, based on the installation orientation, determine one of a first mapping relationship and a second mapping relationship as a target mapping relationship, the first mapping relationship including a mapping relationship between the drive mechanism in the manipulator assembly and the target direction of movement when the installation orientation is the first orientation, and the second mapping relationship including a mapping relationship between the drive mechanism in the manipulator assembly and the target direction of movement when the installation orientation is the second orientation. The control device can control a chip, i.e., a processor.

[0124] The drive mechanism in the manipulator assembly is controlled based on the target mapping relationship to manipulate the movement of the catheter instrument in the target direction.

[0125] Furthermore, the catheter device includes an external catheter device 4 and an internal catheter device 5. The external catheter device 4 is provided with an external catheter 8, and the external catheter device 4 controls the movement of the external catheter 8 in a first bending direction and a second bending direction. The internal catheter device 5 is provided with an internal catheter 7, and the internal catheter device 5 controls the movement of the internal catheter 7 in the first bending direction and the second bending direction.

[0126] Furthermore, the first drive disk 202 is provided with a first drive assembly and a second drive assembly, and the second drive disk 302 is provided with a third drive assembly and a fourth drive assembly. The first drive assembly and the third drive assembly, as well as the second drive assembly and the fourth drive assembly, are symmetrical about the same point to facilitate the reversible installation of catheter instruments. In the first mapping relationship, the first drive assembly in the first drive disk 202 drives the internal catheter instrument 5 and manipulates its movement in the first bending direction, and the second drive assembly drives the internal catheter instrument 5 and manipulates its movement in the second bending direction; the third drive assembly in the second drive disk 302 drives the external catheter instrument 4 and manipulates its movement in the first bending direction, and the fourth drive assembly drives the external catheter instrument 4 and manipulates its movement in the second bending direction. In the second mapping relationship, the first driving component drives the external catheter device 4 and manipulates the external catheter device 4 to move in the first bending direction; the second driving component in the first driving disk 202 drives the external catheter device 4 and manipulates the external catheter device 4 to move in the second bending direction; the third driving component in the second driving disk 302 drives the internal catheter device 5 and manipulates the internal catheter device 5 to move in the first bending direction; and the fourth driving component drives the internal catheter device 5 and manipulates the internal catheter device 5 to move in the second bending direction.

[0127] In some embodiments, exemplary examples include... Figure 5 As shown, the first drive assembly includes a first driver 21 and a second driver 22; the second drive assembly includes a third driver 23 and a fourth driver 24; the third drive assembly includes a fifth driver 31 and a sixth driver 32; and the fourth drive assembly includes a seventh driver 33 and an eighth driver 34. Specifically, the first driver 21 and the fifth driver 31, the second driver 22 and the sixth driver 32, the third driver 23 and the seventh driver 33, and the fourth driver 24 and the eighth driver 34 are all symmetrical about the same point, that is, about the midpoint of the line connecting the first driver 21 and the fifth driver 31, the midpoint of the line connecting the second driver 22 and the sixth driver 32, the midpoint of the line connecting the third driver 23 and the seventh driver 33, or the midpoint of the line connecting the fourth driver 24 and the eighth driver 34.

[0128] like Figure 6 and Figure 8 As shown, in some embodiments, the movement with the first bending direction being upward or downward, and the movement with the second bending direction being left or right, are used as examples for explanation. The internal catheter device 5 is provided with a first upper drive disc 51, a first lower drive disc 52, a first left drive disc 53, and a first right drive disc 54. The first upper drive disc 51 and the first lower drive disc 52 form a group and are used to control the bending of the internal catheter 7 in the upward and downward directions. The first left drive disc 53 and the first right drive disc 54 form a group and are used to control the bending of the internal catheter 7 in the left and right directions. The external catheter device 4 is provided with a second upper drive disc 41, a second lower drive disc 42, a second left drive disc 43, and a second right drive disc 44. The second upper drive disc 41 and the second lower drive disc 42 form a group and are used to control the bending of the external catheter 8 in the upward and downward directions. The second left drive disc 43 and the second right drive disc 44 form a group and are used to control the bending of the external catheter 8 in the left and right directions.

[0129] The aforementioned drivers are used to drive the transmission discs that cooperate with them in the first or second mapping relationship.

[0130] like Figures 4 to 6 As shown, in the first mapping relationship, that is, when the catheter instrument is detected to be installed in the first direction in the manipulator assembly. The first driver 21 is used to drive the first upper drive plate 51, the second driver 22 is used to drive the first lower drive plate 52, the third driver 23 is used to drive the first left drive plate 53, and the fourth driver 24 is used to drive the first right drive plate 54; the fifth driver 31 is used to drive the second upper drive plate 41, the sixth driver 32 is used to drive the second lower drive plate 42, the seventh driver 33 is used to drive the second left drive plate 43, and the eighth driver 34 is used to drive the second right drive plate 44.

[0131] In one embodiment, the first actuator 21 drives the first upper transmission disk 51 to rotate and tighten the upper cable of the inner conduit 7, and the second actuator 22 drives the first lower transmission disk 52 to rotate and loosen the lower cable of the inner conduit 7, thereby controlling the inner conduit 7 to bend in the upward direction; when the first actuator 21 and the second actuator 22 drive in opposite directions, the inner conduit 7 is controlled to bend in the downward direction. The third actuator 23 drives the first left transmission disk 53 to rotate and tighten the left cable of the inner conduit 7, and the fourth actuator 24 drives the first right transmission disk 54 to rotate and loosen the right cable of the inner conduit 7, thereby controlling the inner conduit 7 to bend in the left direction; when the third actuator 23 and the fourth actuator 24 drive in opposite directions, the inner conduit 7 is controlled to bend in the right direction.

[0132] The fifth actuator 31 drives the second upper transmission disc 41 to rotate and tighten the upper cable of the outer conduit 8, while the sixth actuator 32 drives the second lower transmission disc 42 to rotate and loosen the lower cable of the outer conduit 8, thereby controlling the outer conduit 8 to bend in the upward direction. When the fifth actuator 31 and the sixth actuator 32 drive in opposite directions, the outer conduit 8 is controlled to bend in the downward direction. The seventh actuator 33 drives the second left transmission disc 43 to rotate and tighten the left cable of the outer conduit 8, while the eighth actuator 34 drives the second right transmission disc 44 to rotate and loosen the right cable of the outer conduit 8, thereby controlling the outer conduit 8 to bend in the left direction. When the seventh actuator 33 and the eighth actuator 34 drive in opposite directions, the outer conduit 8 is controlled to bend in the right direction.

[0133] like Figure 5 , Figure 7 and Figure 8 As shown, in the second mapping relationship, i.e., when the catheter instrument is detected to be installed in the second direction in the manipulator assembly, the first driver 21 is used to drive the second upper drive plate 41, the second driver 22 is used to drive the second lower drive plate 42, the third driver 23 is used to drive the second left drive plate 43, and the fourth driver 24 is used to drive the second right drive plate 44; the fifth driver 31 is used to drive the first upper drive plate 51, the sixth driver 32 is used to drive the first lower drive plate 52, the seventh driver 33 is used to drive the first left drive plate 53, and the eighth driver 34 is used to drive the first right drive plate 54.

[0134] In one embodiment, the fifth actuator 31 drives the first upper transmission disk 51 to rotate and tighten the upper cable of the inner conduit 7, while the sixth actuator 32 drives the first lower transmission disk 52 to rotate and loosen the lower cable of the inner conduit 7, thereby controlling the inner conduit 7 to bend in the upward direction. When the fifth actuator 31 and the sixth actuator 32 drive in opposite directions, the inner conduit 7 is controlled to bend in the downward direction. The seventh actuator 33 drives the first left transmission disk 53 to rotate and tighten the left cable of the inner conduit 7, while the eighth actuator 34 drives the first right transmission disk 54 to rotate and loosen the right cable of the inner conduit 7, thereby controlling the inner conduit 7 to bend in the left direction. When the seventh actuator 33 and the eighth actuator 34 drive in opposite directions, the inner conduit 7 is controlled to bend in the right direction.

[0135] The first actuator 21 drives the second upper transmission disk 41 to rotate and tighten the upper cable of the outer conduit 8, while the second actuator 22 drives the second lower transmission disk 42 to rotate and loosen the lower cable of the outer conduit 8, thereby controlling the outer conduit 8 to bend in the upward direction. When the first actuator 21 and the second actuator 22 drive in opposite directions, the outer conduit 8 is controlled to bend in the downward direction. The third actuator 23 drives the second left transmission disk 43 to rotate and tighten the left cable of the outer conduit 8, while the fourth actuator 24 drives the second right transmission disk 44 to rotate and loosen the right cable of the outer conduit 8, thereby controlling the outer conduit 8 to bend in the left direction. When the third actuator 23 and the fourth actuator 24 drive in opposite directions, the outer conduit 8 is controlled to bend in the right direction.

[0136] In one embodiment, the catheter robot is provided with a category detection module, which is used to detect the category of the catheter instruments installed on the manipulator assembly, that is, to detect whether the manipulator assembly is equipped with an internal catheter instrument 5 or an external catheter instrument 4.

[0137] In some embodiments, before determining the first mapping relationship as the target mapping relationship, the category detection module first detects whether the first manipulator component 2 is equipped with an internal catheter device 5 and whether the second manipulator component 3 is equipped with an external catheter device 4. When it is detected that the first manipulator component 2 is not equipped with an internal catheter device 5 or the second manipulator component 3 is not equipped with an external catheter device 4, the catheter robot is controlled to issue an alarm. In actual operation, it is possible that both the first manipulator component 2 and the second manipulator component 3 are equipped with internal catheter devices 5 or both are equipped with external catheter devices 4. To avoid erroneous operation, when it is detected that the first manipulator component 2 is not equipped with an internal catheter device 5 or the second manipulator component 3 is not equipped with an external catheter device 4, the catheter robot is controlled to issue an alarm to remind medical personnel to reinstall it.

[0138] Similarly, before determining the second mapping relationship as the target mapping relationship, the category detection module first checks whether the first manipulator component is equipped with an external catheter device and whether the second manipulator component is equipped with an internal catheter device. When it is detected that the first manipulator component is not equipped with an external catheter device or the second manipulator component is not equipped with an internal catheter device, the control catheter robot issues an alarm. In actual operation, it is possible that both the first manipulator component 2 and the second manipulator component 3 are equipped with internal catheter devices 5 or both are equipped with external catheter devices 4. To avoid erroneous operation, when it is detected that the first manipulator component is not equipped with an external catheter device or the second manipulator component is not equipped with an internal catheter device, the control catheter robot issues an alarm to remind medical personnel to reinstall it.

[0139] In one embodiment, an installation orientation detection mechanism is provided between the manipulator assembly and the catheter instrument to detect the installation orientation of the catheter instrument in the manipulator assembly.

[0140] like Figure 11 and Figure 12 As shown, the installation orientation detection mechanism includes: a first interface 61 and a second interface 62 installed on the manipulator assembly, and an alignment interface 63 installed on the catheter instrument. The alignment interface 63 selectively mates with either the first interface 61 or the second interface 62. Specifically, the first drive disk 202 is provided with the first interface 61 and the second interface 62, the second drive disk 302 is provided with the first interface 61 and the second interface 62, and both the external catheter instrument 4 and the internal catheter instrument 5 are provided with the alignment interface 63. The alignment interface 63 is located at the end of the external catheter instrument 4 away from the extension direction of the external catheter 8, and the alignment interface 63 is located at the end of the internal catheter instrument 5 away from the extension direction of the internal catheter 7. Figure 11 and Figure 12 As shown, when the alignment interface 63 of the internal catheter device 5 is detected to mate with the first interface 61 of the first drive disk 202, and the alignment interface 63 of the external catheter device 4 is detected to mate with the first interface 61 of the second drive disk 302, it is generally desirable to achieve the first mapping relationship as the target mapping relationship. When the alignment interface 63 of the internal catheter device 5 is detected to mate with the second interface 62 of the second drive disk 302, and the alignment interface 63 of the external catheter device 4 is detected to mate with the second interface 62 of the first drive disk 202, it is generally desirable to achieve the second mapping relationship as the target mapping relationship.

[0141] In some embodiments, the alignment interface 63 may also be located at one end of the catheter instrument facing the catheter extension direction. Specifically, the alignment interface 63 is located at one end of the outer catheter instrument 4 facing the outer catheter 8, and at one end of the inner catheter instrument 5 facing the inner catheter 7. When the alignment interface 63 is detected to be engaged with the second interface 62, it can be determined that the catheter is facing the catheter robot in a first direction, and the catheter instrument is in a first installation direction. When the alignment interface 63 is detected to be engaged with the first interface 61, it can be determined that the catheter is facing the catheter robot in a second direction, and the catheter instrument is in a second installation direction. Specifically, when the alignment interface 63 of the inner catheter instrument 5 is detected to be engaged with the second interface 62 of the first drive disk 202, and the alignment interface 63 of the outer catheter instrument 4 is detected to be engaged with the second interface 62 of the second drive disk 302, it is generally desirable to achieve the first mapping relationship as the target mapping relationship. When it is detected that the alignment interface 63 of the internal catheter device 5 is engaged with the first interface 61 of the second drive disk 302, and the alignment interface 63 of the external catheter device 4 is engaged with the first interface 61 of the first drive disk 202, it is generally desirable to achieve the second mapping relationship as the target mapping relationship.

[0142] Of course, in some embodiments, the first interface 61 and the second interface 62 may be mounted on the catheter instrument, and the alignment interface 63 may be mounted on the manipulator assembly. That is, the external catheter instrument 4 has the first interface 61 and the second interface 62, the internal catheter instrument 5 has the first interface 61 and the second interface 62, and both the first drive disk 202 and the second drive disk 302 have the alignment interface 63. It is only necessary to be able to identify the installation direction of the catheter instrument on the manipulator assembly.

[0143] In another embodiment, the installation orientation detection mechanism includes: a first magnetic receiver and a second magnetic receiver mounted on the catheter device, and a magnetic element mounted on the catheter device, the magnetic element selectively engaging with the first and second magnetic receivers. By selectively engaging the magnetic element with the first and second magnetic receivers, the installation orientation of the catheter device in the manipulator assembly is identified. Specifically, the first magnetic receiver replaces the first interface 61, the second magnetic receiver replaces the second interface 62, and the magnetic element replaces the alignment interface 63.

[0144] Furthermore, both the external catheter device 4 and the internal catheter device 5 are equipped with electronic identification modules (i.e., category detection modules) corresponding to the external catheter device 4 and the internal catheter device 5, and the electronic identification modules are electrically connected to the alignment interface 63. The catheter robot identifies the installation direction of the catheter device and whether the catheter device is the external catheter device 4 or the internal catheter device 5 through the electrical connection between the alignment interface 63 and the first interface 61 or the second interface 62.

[0145] In one embodiment, the catheter robot is equipped with an installation direction input module to obtain the installation direction of the catheter instrument on the manipulator assembly. This includes obtaining the installation direction of the catheter instrument on the manipulator assembly through the installation direction input module. The installation direction input module can be a button, touchscreen, voice, or other similar module, allowing the installation direction to be confirmed by manually inputting it into the catheter robot.

[0146] Of course, in one embodiment, an image sensor can also be installed on the catheter robot to obtain the installation orientation of the external catheter instrument 4 and the internal catheter instrument 5 in the manipulator assembly, so as to update the subsequent mapping relationship. Identification marks can be set on the external catheter instrument 4 and the internal catheter instrument 5 to facilitate identification.

[0147] This application also provides a computer-readable storage medium storing a computer program configured to be loaded by a processor and executed to implement the steps of the control method described above.

[0148] This application also provides a control device for a catheter robot, the control device comprising:

[0149] Memory, used to store computer programs;

[0150] and processor, used to load and execute computer programs;

[0151] The computer program is configured to be loaded by the processor and executed to implement the control method described above.

[0152] The memory may include high-speed RAM, and may also include non-volatile memory, such as at least one disk storage device.

[0153] The processor may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), one or more integrated circuits configured to implement the embodiments of this application, or a graphics processing unit (GPU). The control device includes one or more processors, which may be processors of the same type, such as one or more CPUs, or one or more GPUs; or they may be processors of different types, such as one or more CPUs and one or more GPUs.

[0154] In some embodiments, the control device can be integrated into the catheter robot setup. The control device can also be independent of the catheter robot setup. The control device can also be deployed in the cloud.

[0155] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0156] The technical features and combinations of any technical features described in the above embodiments are universal, applicable not only to single-port surgical robots but also to multi-port surgical robots, and neither affecting nor limiting their use in robotic arms with different configurations.

[0157] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A control method for a catheter robot, characterized in that, The catheter robot includes a manipulator assembly for mounting and driving catheter instruments. The manipulator assembly includes a first manipulator assembly and a second manipulator assembly. The catheter instruments include internal catheter instruments and external catheter instruments. The control method includes: Obtain the installation orientation of the catheter instrument in the manipulator assembly; Based on the installation direction, one of the first mapping relationship and the second mapping relationship is determined as the target mapping relationship. The first mapping relationship includes the mapping relationship between the drive mechanism in the manipulator assembly and the target movement direction when the installation direction is the first direction. The second mapping relationship includes the mapping relationship between the drive mechanism in the manipulator assembly and the target movement direction when the installation direction is the second direction. The first mapping relationship includes: configuring the direction in which the drive mechanism in the second manipulator assembly manipulates the external catheter instrument to move forward, and configuring the direction in which the drive mechanism in the first manipulator assembly manipulates the internal catheter instrument to move forward, are both the same as the first direction; The second mapping relationship includes: configuring the drive mechanism in the first manipulator assembly to manipulate the external catheter instrument in the direction of forward feeding, and configuring the drive mechanism in the second manipulator assembly to manipulate the internal catheter instrument in the direction of forward feeding, which is the same as the second direction; Based on the target mapping relationship, the drive mechanism in the manipulator assembly is controlled to manipulate the movement of the catheter instrument in the target direction of movement; Wherein, the first direction is the direction on the side of the first manipulator component adjacent to the second manipulator component, and the second direction is the direction on the side of the first manipulator component away from the second manipulator component.

2. The method according to claim 1, characterized in that, The step of obtaining the installation orientation of the catheter instrument in the manipulator assembly includes: If the internal catheter device is detected to be installed in the first manipulator assembly in a first direction, and the external catheter device is detected to be installed in the second manipulator assembly in a first direction, then the installation direction is determined to be the first direction; If the external catheter device is detected to be installed in the first manipulator assembly in a second direction, and the internal catheter device is detected to be installed in the second manipulator assembly in a second direction, the installation direction is determined to be the second direction.

3. The method according to claim 1, characterized in that, The first mapping relationship includes: Configure the second controller component as the main controller component and the first controller component as the secondary controller component; The secondary manipulator component is configured to move synchronously with the primary manipulator component.

4. The method according to claim 1, characterized in that, The second mapping relationship includes: Configure the first control component as the main control component and the second control component as the secondary control component; The secondary manipulator component is configured to move synchronously with the primary manipulator component.

5. The method according to any one of claims 1-4, characterized in that, The first manipulator assembly includes a first drive disc for docking the catheter device, and the second manipulator assembly includes a second drive disc for docking the catheter device. The first mapping relationship includes: The first drive component in the first drive disk is configured to drive the internal catheter device to move in a first bending direction, and the second drive component is configured to drive the internal catheter device to move in a second bending direction. The third drive component in the second drive disk drives the external catheter device to move in the first bending direction, and the fourth drive component drives the external catheter device to move in the second bending direction.

6. The method according to any one of claims 1-4, characterized in that, The first manipulator assembly includes a first drive disc for catheter instrument docking, the second manipulator assembly includes a plurality of second drive discs for catheter instrument docking, and the second mapping relationship includes: The first drive component in the first drive disk is configured to drive the external catheter device to move in a first bending direction, and the second drive component is configured to drive the external catheter device to move in a second bending direction. The third drive component in the second drive disk drives the internal catheter device to move in the first bending direction, and the fourth drive component drives the internal catheter device to move in the second bending direction.

7. The method according to any one of claims 1-4, characterized in that, Before determining the first mapping relationship as the target mapping relationship, the control method further includes: Detect whether the first manipulator assembly is equipped with the internal catheter device, and whether the second manipulator assembly is equipped with the external catheter device; When it is detected that the first manipulator assembly is not equipped with the internal catheter instrument, or the second manipulator assembly is not equipped with the external catheter instrument, the catheter robot is controlled to issue an alarm.

8. The method according to any one of claims 1-4, characterized in that, Before determining the second mapping relationship as the target mapping relationship, the control method further includes: Detect whether the first manipulator assembly is equipped with the external catheter device, and whether the second manipulator assembly is equipped with the internal catheter device; When it is detected that the first manipulator assembly is not equipped with the external catheter instrument, or the second manipulator assembly is not equipped with the internal catheter instrument, the catheter robot is controlled to issue an alarm.

9. The method according to any one of claims 1-4, characterized in that, An installation direction detection mechanism is provided between the manipulator assembly and the catheter instrument. Obtaining the installation direction of the catheter instrument in the manipulator assembly includes: The installation orientation of the catheter instrument in the manipulator assembly is detected by the installation orientation detection mechanism.

10. The method according to claim 9, characterized in that, The installation orientation detection mechanism includes: a first interface and a second interface installed on the manipulator assembly, and an alignment interface installed on the catheter instrument, wherein the alignment interface selectively mates with the first interface and the second interface.

11. The method according to any one of claims 1-4, characterized in that, The catheter robot is equipped with an installation direction input module. Obtaining the installation direction of the catheter instrument in the manipulator assembly includes: The installation direction of the catheter instrument in the manipulator assembly is obtained through the installation direction input module.

12. A catheter robot, characterized in that, include: A manipulator assembly for mounting and driving catheter instruments, the manipulator assembly including a first manipulator assembly and a second manipulator assembly, the catheter instruments including internal catheter instruments and external catheter instruments; and a control device, coupled to the manipulator assembly, configured to: Obtain the installation orientation of the catheter instrument in the manipulator assembly; based on the installation orientation, determine one of a first mapping relationship and a second mapping relationship as a target mapping relationship, wherein the first mapping relationship includes a mapping relationship between the drive mechanism in the manipulator assembly and the target movement direction when the installation orientation is a first orientation, and the second mapping relationship includes a mapping relationship between the drive mechanism in the manipulator assembly and the target movement direction when the installation orientation is a second orientation; The first mapping relationship includes: configuring the direction in which the drive mechanism in the second manipulator assembly manipulates the external catheter instrument to move forward, and configuring the direction in which the drive mechanism in the first manipulator assembly manipulates the internal catheter instrument to move forward, are both the same as the first direction; The second mapping relationship includes: configuring the drive mechanism in the first manipulator assembly to manipulate the external catheter instrument in the direction of forward feeding, and configuring the drive mechanism in the second manipulator assembly to manipulate the internal catheter instrument in the direction of forward feeding, which is the same as the second direction; Based on the target mapping relationship, the drive mechanism in the manipulator assembly is controlled to manipulate the movement of the catheter instrument in the target direction of movement; Wherein, the first direction is the direction on the side of the first manipulator component adjacent to the second manipulator component, and the second direction is the direction on the side of the first manipulator component away from the second manipulator component.

13. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program configured to be loaded by a processor and executed to implement the steps of the control method as described in any one of claims 1-11.

14. A control device for a catheter robot, characterized in that, The control device includes: Memory, used to store computer programs; and a processor for loading and executing the computer program; The computer program is configured to be loaded by the processor and executed to implement the steps of the control method as described in any one of claims 1-11.

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