Control system for driving an elongated medical instrument

Abstract

The application is suitable for the technical field of surgical robots, and discloses a control system for driving an elongated medical instrument, which comprises a driving device, a first clamping wheel mechanism, a second clamping wheel mechanism, a detection mechanism and a controller installed on a rack; the controller is configured to perform the following steps: obtaining a control instruction, the control instruction carrying a clamping identifier; when the clamping identifier is a first identifier, controlling the driving device to enter a speed mode, driving the first clamping wheel mechanism to move in a direction close to the second clamping wheel mechanism, clamping the elongated medical instrument, and obtaining the clamping force of the first clamping wheel mechanism and the second clamping wheel mechanism on the elongated medical instrument in real time; when the clamping force meets a preset clamping condition, controlling the driving device to drive the elongated medical instrument, and recording the current position of the first clamping wheel mechanism as a clamping origin. The control system of the application embodiment can effectively avoid the phenomenon of slippage and damage of the elongated medical instrument.

Description

Technical Field

[0001] This invention relates to the field of surgical robot technology, and in particular to a control system for driving a slender medical device. Background Technology

[0002] Interventional treatments are mostly performed in radiation environments. Generally, an interventional surgical robot is used to control slender medical devices (such as guide wires and catheters) to be introduced into the lesion site in the human body. The slender medical devices are held and driven by the slave end device of the interventional surgical robot.

[0003] The slave device of the interventional surgical robot grips and drives the slender medical device forward or backward. Currently, during the movement of the slender medical device, if the gripping force applied is too small, the device is prone to slippage; if the gripping force applied is too large, the device is easily damaged. Summary of the Invention

[0004] The purpose of this invention is to provide a control system for driving slender medical devices, which aims to solve the technical problems of slippage and damage during the delivery of slender medical devices.

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

[0006] A control system for driving a slender medical device includes a drive unit mounted on a frame, a first clamping wheel mechanism, a second clamping wheel mechanism, a detection mechanism, and a controller; the drive unit is at least used to drive the first clamping wheel mechanism to move toward or away from the second clamping wheel mechanism;

[0007] The detection mechanism is used to detect the clamping force of the first clamping wheel mechanism and the second clamping wheel mechanism on the slender medical device, and send the clamping force to the controller;

[0008] The controller is configured to perform the following steps: acquiring a control command, the control command carrying a clamping identifier;

[0009] When the clamping identifier is the first identifier, the drive device is controlled to enter the speed mode, driving the first clamping wheel mechanism to move closer to the second clamping wheel mechanism to clamp the slender medical device, and the clamping force of the first clamping wheel mechanism and the second clamping wheel mechanism on the slender medical device is acquired in real time.

[0010] When the clamping force meets the preset clamping conditions, the driving device is controlled to drive the slender medical device, and the current position of the first clamping wheel mechanism is recorded as the clamping origin.

[0011] Furthermore, the steps performed by the controller also include:

[0012] When the clamping identifier is not the first identifier, the clamping origin is obtained, the driving device is controlled to enter the position mode, and the first clamping wheel mechanism is driven to move to the clamping origin so that the first clamping wheel mechanism and the second clamping wheel mechanism clamp and the driving device is controlled to drive the slender medical device.

[0013] Furthermore, the step of ensuring that the clamping force meets the preset clamping conditions includes:

[0014] When the clamping force is greater than the first preset clamping force and less than the second preset clamping force, the clamping force satisfies the preset clamping condition.

[0015] Furthermore, the driving device has a plug-in portion, and the driving device is also used to drive the plug-in portion to move; the first clamping wheel mechanism is provided with a plug-in interface.

[0016] The first clamping wheel mechanism is mounted in front of the frame, and the controller is further configured to perform the following steps:

[0017] Obtain the initialization command;

[0018] Based on the initialization command, the drive device is controlled to enter speed mode, driving the plug-in part to move along the first direction;

[0019] When the plug-in part moves along the first direction to reach the preset initial zero point, the drive device is controlled to enter the position mode, and the plug-in part is driven to move along the second direction to reach the preset installation position, wherein the first direction and the second direction are opposite.

[0020] When the plug-in portion is in the mounting position, the plug interface of the first clamping wheel mechanism can be installed on the plug-in portion.

[0021] Furthermore, the control system also includes a sensing mechanism for sensing whether the plug-in portion has moved to a preset initial zero point.

[0022] Furthermore, the sensing mechanism includes a trigger and a sensor mounted on the frame, the driving device is also used to drive the trigger and the plug-in portion to move simultaneously, and the controller is further configured to perform the following steps:

[0023] The drive device is controlled to enter speed mode, driving the plug-in part and the sensing element to move;

[0024] When the sensor detects the trigger, it determines that the plug-in portion has reached a preset initial zero point.

[0025] Furthermore, the frame includes a sterile box and a power box, the sterile box is detachably mounted on the power box, the first clamping wheel mechanism and the second clamping wheel mechanism are both located inside the sterile box, and the driving device is located in the power box;

[0026] The controller is also configured to perform the following steps:

[0027] After receiving the control command, but before controlling the drive device to move, determine whether the sterile box has been detected;

[0028] If not, then exit;

[0029] If so, the drive device is controlled to move according to the clamping mark.

[0030] Furthermore, the control commands include control modes for driving the movement of the elongated medical device, the control modes including any one of delivery, rotation, retraction, or delivery and rotation.

[0031] Furthermore, the driving device includes a rotary moving mechanism; when the control mode is rotation or retraction, the controller controls the driving device to enter a position mode, driving the first clamping wheel mechanism to move away from the second clamping wheel mechanism to a first position, so that the first clamping wheel mechanism and the second clamping wheel mechanism release the slender medical device, and the rotary moving mechanism drives the slender medical device to rotate or retract.

[0032] Furthermore, the driving device includes a rotary movement mechanism; when the control mode is delivery and rotation, the controller controls the driving device to enter a position mode and alternately executes the following two control steps:

[0033] According to the first preset conditions, the first clamping wheel mechanism and the second clamping wheel mechanism are controlled to deliver the slender medical device;

[0034] The control drive device drives the first clamping wheel mechanism to move away from the second clamping wheel mechanism to a first position, and according to the second preset conditions, the rotary moving mechanism drives the slender medical device to rotate or retract.

[0035] The control system for driving slender medical devices provided by this invention has the following beneficial effects:

[0036] In this embodiment, the drive device, the first clamping wheel mechanism, the second clamping wheel mechanism, the detection mechanism, and the controller are all mounted on a frame, which carries the drive device, the first clamping wheel mechanism, the second clamping wheel mechanism, the detection mechanism, and the controller. The drive device drives the first clamping wheel mechanism to move closer to or further away from the second clamping wheel mechanism, thereby enabling the first and second clamping wheel mechanisms to automatically clamp or release the elongated medical device. The detection mechanism detects the clamping force of the first and second clamping wheel mechanisms on the elongated medical device and sends the clamping force to the controller, thus allowing the controller to obtain the clamping force acting on the elongated medical device.

[0037] Before controlling the drive device to drive the elongated medical device, the controller in this embodiment of the application controls the drive device to enter speed mode according to the acquired first identifier, so as to drive the first clamping wheel mechanism to move towards the second clamping wheel mechanism. Thus, the first clamping wheel mechanism and the second elongated medical device clamp the elongated medical device. The controller can also acquire the magnitude of the clamping force in real time and determine whether the magnitude of the clamping force meets the preset clamping conditions. When the magnitude of the clamping force meets the preset clamping conditions, the controller controls the drive device to stop moving the first clamping wheel mechanism and drive the elongated medical device, and records the current position of the first clamping wheel mechanism as the clamping origin. At this time, the clamping force of the first clamping wheel mechanism and the second clamping wheel mechanism on the elongated medical device is appropriate, neither too large nor too small, effectively avoiding the phenomenon of slippage of the elongated medical device and damage to the elongated medical device, and helping to shorten the operation time and improve the operation efficiency. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0039] Figure 1 This is a structural block diagram of the control system for driving a slender medical device provided in an embodiment of the present invention;

[0040] Figure 2 This is a schematic diagram of a controller performing a clamping task in a control system for driving a slender medical device provided in an embodiment of the present invention;

[0041] Figure 3 This is another schematic diagram of the controller performing a clamping task in the control system for driving a slender medical device provided in an embodiment of the present invention;

[0042] Figure 4This is a flowchart illustrating the process of the controller performing an initialization task in the control system for driving a slender medical device provided in an embodiment of the present invention.

[0043] Figure 5 This is an exploded view of the control system for driving a slender medical device provided in an embodiment of the present invention.

[0044] Figure 6 This is an exploded structural diagram of the control system for driving a slender medical device provided in an embodiment of the present invention from another perspective.

[0045] Figure 7 This is a partial structural schematic diagram of the control system for driving a slender medical device provided in an embodiment of the present invention;

[0046] Figure 8 yes Figure 7 A magnified schematic diagram of the local structure at point i;

[0047] Figure 9 This is a schematic diagram of the assembly structure of the driving device, detection mechanism, and sensing mechanism in the control system for driving a slender medical device provided in an embodiment of the present invention;

[0048] Figure 10 yes Figure 9 Partial structural diagram;

[0049] Figure 11 This is a schematic diagram of the structure of the first clamping wheel mechanism in the control system for driving a slender medical device provided in an embodiment of the present invention.

[0050] Explanation of icon numbers:

[0051] 10. Rack; 11. Sterile box; 111. Second opening; 12. Power box; 121. First opening;

[0052] 20. Drive unit; 21. Connecting part; 22. Drive component; 23. Transmission component; 231. Groove; 232. Transmission plate; 24. Floating mechanism; 25. Linear slide rail; 26. Slider;

[0053] 30. First clamping wheel mechanism; 31. Insertion interface; 32. Mounting housing; 33. First clamping wheel;

[0054] 40. Second clamping wheel mechanism;

[0055] 50. Testing mechanism; 51. Pressure sensor; 52. Fixture;

[0056] 60. Sensing mechanism; 61. Trigger; 62. Sensing element. Detailed Implementation

[0057] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0058] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0059] It should also be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on the other component or may be connected to an intermediary component. When a component is referred to as being "connected to" another component, it can be directly connected to the other component or indirectly connected to the other component through an intermediary component.

[0060] Furthermore, the use of terms such as "first" and "second" in this invention is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this invention.

[0061] Currently, during the movement of slender medical devices, if the clamping force is too small, the slender medical device will slip; if the clamping force is too large, it will easily damage the slender medical device.

[0062] To solve the aforementioned technical problems, such as Figures 1 to 11 As shown, this application provides a control system for driving a slender medical device, applied to an interventional surgical robot. (Refer to...) Figure 1 , Figure 2 , Figure 5 and Figure 7 The control system for driving a slender medical device provided in this application includes:

[0063] The frame 10 includes a drive unit 20, a first clamping wheel mechanism 30, a second clamping wheel mechanism 40, a detection mechanism 50, and a controller. The drive unit 20 is used to drive the first clamping wheel mechanism 30 to move closer to or further away from the second clamping wheel mechanism 40. The detection mechanism 50 is used to detect the clamping force of the first clamping wheel mechanism 30 and the second clamping wheel mechanism 40 on the slender medical device and send the clamping force to the controller.

[0064] The controller is configured to perform the following steps: acquire a control command carrying a clamping identifier;

[0065] When the clamping mark is the first mark, the control drive device 20 enters the speed mode, drives the first clamping wheel mechanism 30 to move closer to the second clamping wheel mechanism 40, clamps the slender medical device, and obtains the clamping force of the first clamping wheel mechanism 30 and the second clamping wheel mechanism 40 on the slender medical device in real time.

[0066] When the clamping force meets the preset clamping conditions, the control drive device 20 drives the slender medical device and records the current position of the first clamping wheel mechanism 30 as the clamping origin.

[0067] In this embodiment, the drive device 20, the first clamping wheel mechanism 30, the second clamping wheel mechanism 40, the detection mechanism 50, and the controller are all mounted on the frame 10, allowing the frame 10 to support the drive device 20, the first clamping wheel mechanism 30, the second clamping wheel mechanism 40, the detection mechanism 50, and the controller. The drive device 20 drives the first clamping wheel mechanism 30 to move closer to or further away from the second clamping wheel mechanism 40, thereby enabling the first clamping wheel mechanism 30 and the second clamping wheel mechanism 40 to automatically clamp or release a slender medical device, which can be a guidewire, catheter, or other slender instrument used in interventional treatment. The detection mechanism 50 detects the clamping force of the first clamping wheel mechanism 30 and the second clamping wheel mechanism 40 on the slender medical device and sends the clamping force to the controller, thus allowing the controller to obtain the clamping force on the slender medical device.

[0068] In the steps executed by the controller, the control command can be understood as being issued by the main control terminal of the control system, the clamping identifier can be understood as a clamping command, the speed mode refers to the drive device 20 moving at a certain speed, and the first identifier includes clamping commands in the following two situations: the first clamping command carried by the control command in the case of clamping a slender medical device for the first time; and the non-first clamping command carried by the control command in the case where the diameter of the currently clamped slender medical device is different from the diameter of the slender medical device clamped for the first time. The preset clamping conditions can be understood as the set clamping force value range conditions or other conditions related to the clamping force.

[0069] Before controlling the drive device 20 to drive the elongated medical device, the controller in this embodiment, based on the acquired first identifier (e.g., the first clamping command carried by the control instruction in the case of the first clamping of the elongated medical device), controls the drive device 20 to enter the speed mode to drive the first clamping wheel mechanism 30 to move. Thus, the first clamping wheel mechanism 30 and the second elongated medical device clamp the elongated medical device. The controller can also acquire the magnitude of the clamping force in real time and determine whether the magnitude of the clamping force meets the preset clamping conditions. When the magnitude of the clamping force meets the preset clamping conditions, the controller controls the drive device 20 to stop moving the first clamping wheel mechanism 30 and driving the elongated medical device, and records the current position of the first clamping wheel mechanism 30 as the clamping origin. At this time, the clamping force of the first clamping wheel mechanism 30 and the second clamping wheel mechanism 40 on the elongated medical device is appropriate, neither too large nor too small, effectively avoiding the phenomenon of slippage and damage to the elongated medical device, and helping to shorten the operation time and improve the operation efficiency.

[0070] Reference Figure 1 The control system for driving slender medical devices also includes a main control terminal and a database module. Both the main control terminal and the database module communicate with the controller. The main control terminal can issue commands such as control instructions to the controller under the operation of doctors or other operators. The controller can send the recorded clamping origin, the diameter of the currently clamped slender medical device, etc. to the database module for storage, so that when the controller obtains control commands carrying non-first clamping commands, it can query the relevant data stored in the database module.

[0071] Combination Figure 1 , Figure 5 and Figure 7 In one specific embodiment, both the drive device 20 and the detection mechanism 50 establish communication with the controller, so that the controller can send signals to the drive device 20 to control the drive device 20, and can obtain the clamping force of the first clamping wheel mechanism 30 and the second clamping wheel mechanism 40 on the slender medical device from the detection mechanism 50.

[0072] Reference Figure 3 and Figure 5 The steps performed by the controller also include:

[0073] When the clamping mark is not the first mark, the clamping origin is obtained, the drive device 20 is controlled to enter the position mode, and the first clamping wheel mechanism 30 is driven to move to the clamping origin so that the first clamping wheel mechanism 30 and the second clamping wheel mechanism 40 clamp the slender medical device, and the drive device 20 is controlled to drive the slender medical device.

[0074] In this embodiment, the clamping identifier is not the first identifier. It can be understood that the clamping identifier includes the non-first clamping command carried by the control command when the diameter of the currently clamped slender medical device is the same as the diameter of the first clamped slender medical device. At this time, since the diameter of the currently clamped slender medical device is the same as the diameter of the first clamped slender medical device, the controller can first obtain the clamping origin, and then control the drive device 20 to enter the position mode according to the position of the clamping origin. That is, control the drive device 20 to move by a specified displacement, thereby driving the first clamping wheel mechanism 30 to move to the clamping origin, completing the clamping of the slender medical device by the first clamping wheel mechanism 30 and the second clamping wheel mechanism 40. At this time, the clamping force meets the preset clamping conditions, so the drive device 20 is controlled to drive the slender medical device to move, thereby controlling the drive device 20 to quickly and accurately reach the clamping origin, shortening the operation time. By controlling the drive device 20 to enter the position mode, the slender medical device is protected, excessive clamping force is avoided, and the software control difficulty of the drive device 20 is effectively reduced. In one specific embodiment, after the controller obtains a control command carrying a clamping identifier, it can determine whether the clamping identifier is the first identifier, so as to execute the corresponding steps described above.

[0075] In one specific embodiment, the controller further performs the following steps before acquiring the clamping origin:

[0076] When the acquired control command carries a non-first clamping command, first determine whether the diameter of the currently clamped slender medical device is the same as the diameter of the first clamped slender medical device.

[0077] If they are the same, then retrieve the clamping origin from the database;

[0078] If they are different, the controller will repeat the operation steps according to the steps performed when the clamping identifier is the first identifier, in order to re-acquire the clamping origin.

[0079] When the controller performs a clamping task, it determines whether the diameter of the slender medical device currently being clamped is the same as the diameter of the slender medical device being clamped for the first time. Then it determines whether the control drive device 20 enters position mode or speed mode. This effectively avoids damage to the slender medical device due to miscontrol and helps improve the control accuracy of the controller.

[0080] Reference Figure 3 The steps to ensure that the clamping force meets the preset clamping conditions include:

[0081] When the clamping force is greater than the first preset clamping force and less than the second preset clamping force, the clamping force satisfies the preset clamping condition.

[0082] In this embodiment, the first preset clamping force can be understood as the lowest value in the set clamping force value range, the second preset clamping force can be understood as the highest value in the set clamping force value range, and the preset clamping condition can be understood as the set clamping force value range.

[0083] Combination Figure 3 and Figure 5 In one specific embodiment, the controller is further configured to determine whether the clamping force is greater than a first preset clamping force and less than a second preset clamping force;

[0084] If so, the control drive device 20 stops driving the first clamping wheel mechanism 30 to move, and records the current position of the first clamping wheel mechanism 30 as the clamping origin;

[0085] If not, the controller determines whether to increase or decrease the clamping force based on the current clamping force value, and controls the drive device 20 to drive the first clamping wheel mechanism 30 to move closer to or further away from the second clamping wheel mechanism 40 until the clamping force value is adjusted to within the set clamping force value range. For example, if the controller receives a clamping force less than the first preset clamping force, it controls the drive device 20 to rotate forward in speed mode, driving the first clamping wheel mechanism 30 to move closer to the second clamping wheel mechanism 40 to increase the clamping force until the clamping force is greater than the first preset clamping force and less than the second preset clamping force, at which point the clamping is appropriate. Conversely, if the controller receives a clamping force greater than the second preset clamping force, it controls the drive device 20 to rotate in speed mode, driving the first clamping wheel mechanism 30 to move further away from the second clamping wheel mechanism 40 to decrease the clamping force until the clamping force is greater than the first preset clamping force and less than the second preset clamping force, at which point the clamping is appropriate.

[0086] The steps performed by the controller above help to flexibly adjust the clamping force to ensure that the clamping force applied by the first clamping wheel mechanism 30 and the second clamping wheel mechanism 40 to the slender medical device is appropriate, and that the position of the first clamping wheel mechanism 30 clamping the slender medical device is appropriate, effectively avoiding the phenomenon of slippage of the slender medical device and damage to the slender medical device.

[0087] Reference Figure 4 , Figure 5 and Figure 7 and combined Figure 11 The drive unit 20 has a plug-in portion 21, and the drive unit 20 is also used to drive the plug-in portion 21 to move. The first clamping wheel mechanism 30 is provided with a plug-in interface 31. The first clamping wheel mechanism 30 is installed in front of the frame 10. The controller is also configured to perform the following steps:

[0088] Obtain the initialization command;

[0089] Based on the initialization command, the control drive device 20 enters the speed mode, and the drive plug-in part 21 moves along the first direction;

[0090] When the plug-in part 21 moves along the first direction to reach the preset initial zero point, the control drive device 20 enters the position mode and drives the plug-in part 21 to move along the second direction to reach the preset installation position. The first direction and the second direction are opposite.

[0091] When the plug-in part 21 is in the mounting position, the plug-in interface 31 of the first clamping wheel mechanism 30 can be installed on the plug-in part 21.

[0092] In this embodiment, before installing the first clamping wheel mechanism 30, the controller can control the drive device 20 to drive the plug-in part 21 forward according to the acquired initialization command. When the plug-in part 21 moves to the preset initial zero point position, the controller promptly switches the motion mode of the drive device 20 from speed mode to position mode, so as to drive the plug-in part 21 to move backward a certain distance, so that the plug-in part 21 reaches the preset installation position, which facilitates the installation of the first clamping wheel mechanism 30. The preset installation position can be understood as the position where the plug-in part 21 can be correctly plugged into the plug interface 31 of the first clamping wheel mechanism 30.

[0093] Combination Figure 5 and Figure 7 In one specific embodiment, the driving device 20 includes a driving member 22 and a transmission member 23. The driving member 22 has an output shaft, which drives the transmission member 23 to move axially along the output shaft. A plug-in portion 21 is fixedly connected to the end of the transmission member 23 away from the driving member 22. The driving member 22 can enter a speed mode or a position mode under the control of a controller, thereby driving the transmission member 23 to move, which in turn drives the plug-in portion 21 to move, and then the plug-in portion 21 drives the first clamping wheel mechanism 30 to move. For example, the driving member 22 is a motor. Furthermore, the drive device 20 also includes a floating mechanism 24, a linear slide rail 25, and a slider 26 slidably connected to the linear slide rail 25. The side of the slider 26 facing away from the linear slide rail 25 is connected to the transmission member 23. The output shaft of the drive member 22 passes through the floating mechanism 24, and the floating mechanism 24 is connected to the side of the transmission member 23 closest to the drive member 22. With the cooperation of the floating mechanism 24, the drive member 22 drives the transmission member 23 to move along the extension direction of the linear slide rail 25, thereby ensuring that the first clamping wheel mechanism 30 can reciprocate linearly along the axial direction of the output shaft. The floating mechanism 24 ensures that the output shaft of the drive member 22 is coaxial with the linear slide rail 25.

[0094] Combination Figure 5 , Figure 7 and Figure 10In an embodiment where the drive device 20 includes a drive member 22 and a transmission member 23, the detection mechanism 50 includes a pressure sensor 51 and a fixing member 52. The transmission member 23 has a groove 231 at one end near the drive member 22. The fixing member 52 is fixed within the groove 231 and located on the side of the floating mechanism 24 away from the drive member 22. It is fixed to the floating mechanism 24 along the axial direction of the output shaft of the drive member 22 to effectively ensure that the transmission member 23 moves along the axial direction of the output shaft. The fixing member 52 has a mounting groove for mounting the pressure sensor 51 on the side facing the floating mechanism 24. The pressure acquisition end of the pressure sensor 51 abuts against the groove wall of the groove 231 to collect in real time the clamping force of the first clamping wheel mechanism 30 and the second clamping wheel mechanism 40 on the slender medical device when the transmission member 23 drives the first clamping wheel mechanism 30 to move. The pressure sensor 51 establishes communication with the controller to send the clamping force to the controller, thereby the controller controls the drive member 22 according to the magnitude of the clamping force. The pressure sensor 51 is a radial pressure sensor.

[0095] In this embodiment, the controller fluctuates at a high frequency during sampling. To ensure good suppression of periodic interference, the existing first-order hysteresis filtering method is used to filter the acquired data: Filtering result = Filter coefficient (a) * Current acquisition result + (1 - Filter coefficient (a)) * Previous filtering result (1)

[0096] In the above formula (1), the current acquisition result refers to the value of the clamping force detected by the pressure sensor 51 in this acquisition. The filter coefficient can be obtained by combining existing technology and will not be explained in detail here.

[0097] In this embodiment, as the motor rotates forward and drives the first clamping wheel mechanism 30 to move closer to the second clamping wheel mechanism 40, the value of the pressure sensor 51 will slowly increase. The controller determines whether the value of the pressure sensor 51 is greater than the first preset clamping force and less than the second preset clamping force. If so, the first clamping wheel mechanism 30 and the second clamping wheel mechanism 40 clamp the slender medical device in place, and the motor stops outputting. If not, the motor continues to rotate forward.

[0098] Based on existing technology, the motor speed can be set to 5 mm / s, the motor step angle to 1.8°, the motor driver chip to use 256 microsteps, and the clock frequency to 12.5 MHz. For every one revolution of the motor, the first clamping wheel mechanism 30 moves 1 mm. When the motor rotates 5 revolutions per second, the first clamping wheel mechanism 30 moves 5 mm per second. Therefore, the value written to the speed register is:

[0099] The register value = (rotational speed * (360 / step angle * microstepping) * (2^24) / clock frequency).

[0100] like Figure 5 , Figure 9and Figure 10 As shown, in an embodiment where the driving device 20 includes a driving member 22 and a transmission member 23, the transmission member 23 includes a transmission plate 232. One end of the transmission plate 232 is connected to the output shaft of the driving member 22, and the other end of the transmission plate 232 is connected to the insertion part 21. The insertion part 21 drives the first clamping wheel mechanism 30 to move under the action of the transmission plate 232, simplifying the structure of the transmission member 23. For example, the insertion part 21 is an insertion post. Further, combined with... Figure 11 The first clamping wheel mechanism 30 includes a mounting housing 32 and a first clamping wheel 33. To simplify the structure of the first clamping wheel mechanism 30, an insertion interface 31 is located at the bottom of the mounting housing 32, and the end of the insertion part 21 furthest from the transmission plate 232 is inserted into the insertion interface 31. The first clamping wheel 33 is mounted on the mounting housing 32 and partially housed within it. The mounting housing 32, under the action of the insertion part 21, drives the first clamping wheel 33 to move. The second clamping wheel mechanism 40 includes a second clamping wheel, which is disposed opposite to the first clamping wheel 33 on the frame 10.

[0101] Reference Figure 5 and Figure 7 The control system also includes a sensing mechanism 60, which is used to sense whether the plug-in part 21 has moved to a preset initial zero point. In this embodiment, the sensing mechanism 60 is provided so that, during the process of the controller controlling the drive device 20 based on the initialization command, the controller can determine whether to control the drive device 20 to switch from speed mode to position mode based on whether the plug-in part 21 has moved to the preset initial zero point.

[0102] Reference Figure 5 , Figure 7 and Figure 9 The sensing mechanism 60 includes a trigger 61 and a sensor 62 mounted on the frame 10. The drive device 20 is also used to drive the trigger 61 and the plug-in portion 21 to move simultaneously. The controller is also configured to perform the following steps:

[0103] The control drive device 20 enters speed mode, driving the plug-in part 21 and the sensor 62 to move;

[0104] When the sensor 62 senses the trigger 61, it determines that the plug-in part 21 has reached the preset initial zero point.

[0105] In this embodiment, the sensing mechanism 60 includes a trigger element 61 and a sensing element 62. Since the driving device 20 drives the trigger element 61 and the plug-in part 21 to move simultaneously, during the process of the controller controlling the driving device 20 based on the initialization command, when the controller receives a signal from the sensing element 62 that the trigger element 61 has been sensed, it can determine that the plug-in part 21 has reached a preset initial zero point. At this time, the movement mode of the driving device 20 can be switched. In a specific embodiment, the trigger element 61 is fixed on the side of the transmission member 23 facing away from the plug-in part 21, making reasonable use of the space on the upper and lower surfaces of the transmission member 23. For example, the sensing element 62 is a photoelectric sensor, and the trigger element 61 is a sensing sheet.

[0106] Combination Figure 4 In one specific embodiment, the controller, based on the initialization command, first determines whether it is the first clamping wheel mechanism 30 that needs to be controlled; if not, it exits; if so, it controls the drive unit 22 to enter the speed mode, and the drive unit 22 starts in reverse to drive the trigger 61 and the plug-in part 21 to move forward simultaneously.

[0107] Furthermore, during the simultaneous forward movement of the trigger 61 and the plug-in part 21, the controller determines whether the sensor 62 senses the trigger 61. If so, the controller controls the drive 22 to stop its current movement, sets the current position of the plug-in part 21 to a preset initial zero point, and controls the drive 22 to rotate clockwise in position mode with a set displacement, driving the trigger 61 and the plug-in part 21 to move backward a certain distance simultaneously. For example, the controller controls the drive 22 to rotate clockwise to drive the trigger 61 and the plug-in part 21 to move backward 3.5mm simultaneously. At this time, the plug-in part 21 reaches the preset installation position. If not, the controller continues to reverse in speed mode to drive the trigger 61 and the plug-in part 21 to move forward simultaneously.

[0108] Reference Figure 3 and Figure 5 The frame 10 includes a sterile box 11 and a power box 12. The sterile box 11 is detachably mounted on the power box 12. The first clamping wheel mechanism 30 and the second clamping wheel mechanism 40 are both located inside the sterile box 11. The drive device 20 is located in the power box 12.

[0109] The controller is also configured to perform the following steps:

[0110] After receiving the control command, and before controlling the drive device 20 to move, it is determined whether the sterile box 11 is detected;

[0111] If not, then exit;

[0112] If so, the drive unit 20 is controlled to move according to the clamping mark.

[0113] In this embodiment, the frame 10 includes a sterile box 11 and a power box 12. The first clamping wheel mechanism 30 and the second clamping wheel mechanism 40 are both located inside the sterile box 11, creating a sterile surgical environment. When the controller receives a control command carrying a clamping indicator, such as when it receives a clamping command for the first time, it needs to determine whether the sterile box 11 with the first clamping wheel mechanism 30 has been installed. Only when the sterile box 11 is installed will the controller control the drive device 20 to move according to the clamping indicator; otherwise, it will disengage. This effectively avoids the erroneous operation of the controller starting the drive device 20 even when the sterile box 11 is not installed, thus improving the control accuracy of the controller.

[0114] like Figures 5 to 9 As shown, in one specific embodiment, the driving component 22, the transmission component 23, the detection mechanism 50, and the sensing mechanism 60 are all disposed within the power box 12. The side of the power box 12 facing the sterile box 11 has a first opening 121, and the insertion part 21 extends out from the first opening 121 and can move within the range of the first opening 121. The side of the sterile box 11 facing the power box 12 has a second opening 111. The transmission component 23 is also used to drive the insertion part 21 to a preset installation position under the drive of the driving component 22. When the insertion part 21 is in the preset installation position, the insertion part 21 can pass through the second opening 111 and be inserted into the insertion interface 31 of the second clamping wheel mechanism 40, so that the sterile box 11 can be installed on the power box 12. The insertion part 21 can move within the range of the second opening 111, so that the installation stability of the sterile box 11 will not be affected by the movement of the insertion part 21 when it is installed on the power box 12.

[0115] Combination Figure 5 The control commands include control modes for driving the movement of a slender medical device, including delivery, rotation, retraction, and delivery and rotation. The control system of this embodiment can control the drive device 20 to drive the first clamping wheel mechanism 30 and the second clamping wheel mechanism 40 to drive the slender medical device forward or backward. It can also control the drive mechanism to drive the slender medical device to rotate independently, or rotate the slender medical device while delivering it forward. The forward movement of the slender medical device refers to the movement that causes the slender medical device to enter the blood vessel, and the retraction movement of the slender medical device refers to the movement that causes the slender medical device to withdraw from the blood vessel.

[0116] Combination Figure 3 and Figure 5The drive device 20 includes a rotary movement mechanism. When the control mode is rotation or retraction, the controller controls the drive device 20 to enter the position mode, drives the first clamping wheel mechanism 30 to move away from the second clamping wheel mechanism 40 to a first position, so that the first clamping wheel mechanism 30 and the second clamping wheel mechanism 40 release the slender medical device, and causes the rotary movement mechanism to drive the slender medical device to rotate or retract.

[0117] In this embodiment, the driving device 20 further includes a rotary moving mechanism, which is used to drive the elongated medical device to rotate and to drive the elongated medical device forward or backward. When the control mode is rotation or backward, the controller controls the driving device 20 to drive the first clamping wheel mechanism 30 to move to a first position. At this time, the clamping force of the first clamping wheel mechanism 30 and the second clamping wheel mechanism 40 on the elongated medical device is zero, and the first clamping wheel mechanism 30 and the second clamping wheel mechanism 40 do not clamp the elongated medical device, thereby avoiding damage to the elongated medical device during the rotation or backward movement of the elongated medical device driven by the rotary moving mechanism. In a specific embodiment, the first position is a preset initial zero point.

[0118] Combination Figure 3 and Figure 5 The drive unit 20 includes a rotary movement mechanism for driving the elongated medical device to rotate and for driving the elongated medical device to move forward or backward. When the control mode is delivery and rotation, it is necessary to control the elongated medical device to rotate while being delivered. The controller controls the drive unit 20 to enter the position mode and alternately executes the following two control steps:

[0119] According to the first preset conditions, the first clamping wheel mechanism 30 and the second clamping wheel mechanism 40 are controlled to deliver the slender medical device. In this step, the first preset conditions can be understood as preset conditions such as duration and displacement. For example, the drive device 20 is set to enter the position mode, and the first clamping wheel mechanism 30 is driven to move 3.5mm closer to the second clamping wheel mechanism 40 to reach the clamping origin position, so that the clamping force of the first clamping wheel mechanism 30 and the second clamping wheel mechanism 40 on the currently clamped slender medical device is greater than the first preset clamping force and less than the second preset clamping force. At this time, the clamping is appropriate. Then the current movement of the drive device 20 is stopped, and the rotation and movement mechanism is controlled to control the first clamping wheel mechanism 30 and the second clamping wheel mechanism 40 to deliver the slender medical device forward, effectively avoiding the phenomenon of slippage during delivery of the slender medical device.

[0120] The control drive device 20 drives the first clamping wheel mechanism 30 to move away from the second clamping wheel mechanism 40 to a first position. According to the second preset conditions, the rotary moving mechanism drives the slender medical device to rotate or retract. In this step, the second preset conditions can also be understood as pre-set conditions such as duration and displacement. For example, the drive device 20 is set to enter the position mode and drive the first clamping wheel mechanism 30 to move away from the second clamping wheel mechanism 40 by 3.5mm to reach the first position. When the first clamping wheel mechanism 30 is in the first position, the clamping force of the first clamping wheel mechanism 30 and the second clamping wheel mechanism 40 on the slender medical device is zero. The first clamping wheel mechanism 30 and the second clamping wheel mechanism 40 do not clamp the slender medical device, thereby avoiding damage to the slender medical device during the rotation of the rotary moving mechanism.

[0121] It is understood that in this embodiment, when it is necessary to control the slender medical device to rotate and deliver simultaneously, the controller alternately executes the above two control steps, thereby avoiding slippage of the slender medical device during delivery and preventing damage to the slender medical device during rotation.

[0122] Combination Figure 5 The driving device 20 includes a rotary moving mechanism that drives the first clamping wheel mechanism 30 and the second clamping wheel mechanism 40 to deliver the slender medical device forward. When the control mode is delivery, the controller driving device 20 enters the position mode and drives the first clamping wheel mechanism 30 to move closer to the second clamping wheel mechanism 40 so that the first clamping wheel mechanism 30 and the second clamping wheel mechanism 40 clamp the slender medical device. The clamping force of the first clamping wheel mechanism 30 and the second clamping wheel mechanism 40 on the slender medical device is within the range of the first preset clamping force and the second preset clamping force, effectively preventing the slender medical device from slipping during delivery.

[0123] In one specific embodiment, in conjunction with relevant technologies, the rotary movement mechanism includes a power source and a gear transmission group. The power source drives and connects to the gear transmission group, and the gear transmission group drives and connects to the first clamping wheel mechanism 30 and the second clamping wheel mechanism 40, so that the first clamping wheel mechanism 30 and the second clamping wheel mechanism 40 move under the drive of the power source, thereby the first clamping wheel mechanism 30 and the second clamping wheel mechanism 40 cooperate to deliver the slender medical device forward.

[0124] In one specific embodiment, in conjunction with related technologies, the rotating moving mechanism further includes a rotating mechanism for driving the elongated medical device to rotate and a moving mechanism for driving the elongated medical device to retract.

[0125] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A control system for driving a slender medical device, characterized in that, include: The machine includes a drive unit, a first clamping wheel mechanism, a second clamping wheel mechanism, a detection mechanism, and a controller, all mounted on a frame. The drive unit is at least used to drive the first clamping wheel mechanism to move towards or away from the second clamping wheel mechanism. The detection mechanism is used to detect the clamping force of the first clamping wheel mechanism and the second clamping wheel mechanism on the slender medical device, and send the clamping force to the controller; The controller is configured to perform the following steps: acquiring a control command, the control command carrying a clamping identifier; When the clamping identifier is the first identifier, the drive device is controlled to enter the speed mode, driving the first clamping wheel mechanism to move closer to the second clamping wheel mechanism to clamp the slender medical device, and the clamping force of the first clamping wheel mechanism and the second clamping wheel mechanism on the slender medical device is acquired in real time. When the clamping force meets the preset clamping conditions, the driving device is controlled to drive the slender medical device, and the current position of the first clamping wheel mechanism is recorded as the clamping origin. The driving device has a plug-in portion, and the driving device is also used to drive the plug-in portion to move. The first clamping wheel mechanism is provided with a plug-in interface. The first clamping wheel mechanism is mounted in front of the frame, and the controller is further configured to perform the following steps: Obtain the initialization command; Based on the initialization command, the drive device is controlled to enter speed mode, driving the plug-in part to move along the first direction; When the plug-in part moves along the first direction to reach the preset initial zero point, the drive device is controlled to enter the position mode, and the plug-in part is driven to move along the second direction to reach the preset installation position, wherein the first direction and the second direction are opposite. When the plug-in portion is in the mounting position, the plug interface of the first clamping wheel mechanism can be installed on the plug-in portion.

2. The control system for driving a slender medical device as described in claim 1, characterized in that, The steps performed by the controller also include: When the clamping identifier is not the first identifier, the clamping origin is obtained, the driving device is controlled to enter the position mode, and the first clamping wheel mechanism is driven to move to the clamping origin so that the first clamping wheel mechanism and the second clamping wheel mechanism clamp and the driving device is controlled to drive the slender medical device.

3. The control system for driving a slender medical device as described in claim 1, characterized in that, The steps to ensure that the clamping force meets the preset clamping conditions include: When the clamping force is greater than the first preset clamping force and less than the second preset clamping force, the clamping force satisfies the preset clamping condition.

4. The control system for driving a slender medical device as described in claim 1, characterized in that, The control system also includes a sensing mechanism, which is used to sense whether the plug-in part has moved to a preset initial zero point.

5. The control system for driving a slender medical device as described in claim 4, characterized in that, The sensing mechanism includes a trigger and a sensor mounted on the frame. The driving device is also used to drive the trigger and the plug-in portion to move simultaneously. The controller is further configured to perform the following steps: The drive device is controlled to enter speed mode, driving the plug-in part and the trigger to move; When the sensor detects the trigger, it determines that the plug-in portion has reached a preset initial zero point.

6. The control system for driving a slender medical device as described in any one of claims 1-3, characterized in that, The frame includes a sterile box and a power box. The sterile box is detachably mounted on the power box. The first clamping wheel mechanism and the second clamping wheel mechanism are both located inside the sterile box. The driving device is located in the power box. The controller is also configured to perform the following steps: After receiving the control command, but before controlling the drive device to move, determine whether the sterile box has been detected; If not, then exit; If so, the drive device is controlled to move according to the clamping mark.

7. The control system for driving a slender medical device as described in any one of claims 1-3, characterized in that, The control commands include control modes for driving the movement of the elongated medical device, the control modes including any one of delivery, rotation, retraction, or delivery and rotation.

8. The control system for driving a slender medical device as described in claim 7, characterized in that, The driving device includes a rotary moving mechanism; when the control mode is rotation or retraction, the controller controls the driving device to enter the position mode, drives the first clamping wheel mechanism to move away from the second clamping wheel mechanism to a first position, so that the first clamping wheel mechanism and the second clamping wheel mechanism release the slender medical device, and causes the rotary moving mechanism to drive the slender medical device to rotate or retract.

9. The control system for driving a slender medical device as described in claim 7, characterized in that, The driving device includes a rotary movement mechanism; when the control mode is delivery and rotation, the controller controls the driving device to enter a position mode and alternately executes the following two control steps: According to the first preset conditions, the first clamping wheel mechanism and the second clamping wheel mechanism are controlled to deliver the slender medical device; The control drive device drives the first clamping wheel mechanism to move away from the second clamping wheel mechanism to a first position, and according to the second preset conditions, the rotary moving mechanism drives the slender medical device to rotate or retract.

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