Catheter robot and method of controlling the same

Abstract

The application provides a catheter robot and a control method thereof. The catheter robot comprises a manipulator, a catheter instrument, and a control device. The manipulator comprises a driving mechanism and a sensor for detecting the position of the driving mechanism. The catheter instrument comprises a catheter and a transmission mechanism for driving the end movement of the catheter. The control device is coupled with the driving mechanism and is configured to: control the driving mechanism to output a target torque when the transmission mechanism is successfully connected with the driving mechanism, and acquire a current position value detected by the sensor when the driving mechanism outputs the target torque; determine a position offset value of the driving mechanism based on a mapping relationship between the output torque of the driving mechanism and the position offset value and the target torque; determine a target position value of the driving mechanism when the catheter is in a zero position state based on the current position value and the position offset value; and control the driving mechanism to move according to the target position value to realize the zero position state of the catheter. According to the scheme of the application, zero adjustment can be performed without manual operation, and the zero adjustment efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of medical devices, and more particularly to a catheter robot and its control method. 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] Current catheter robots such as Figure 1 As shown, the operating table 9 is located on the right side of the catheterization robot. 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 5 and the outer catheter instrument 4 are respectively mounted at the ends of the first manipulator assembly 3 and the second manipulator assembly 2. During operation, the inner catheter 7 is inside the outer catheter 8, and 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 extends into the patient's airway (e.g., trachea) and fixed. However, when installing the inner catheter instrument 5 or the outer catheter instrument 4 into the first manipulator assembly 3 or the second manipulator assembly 2, the ends of the inner catheter 7 or the outer catheter 8 are often not straight, requiring manual adjustment to a straight state, i.e., the zeroing process. Because automatic zeroing is not possible, the efficiency and accuracy of zeroing are low, causing significant problems. Therefore, there is an urgent need for a catheterization robot capable of automatic zeroing to improve zeroing efficiency. Summary of the Invention

[0006] In view of the shortcomings of the prior art, the present invention provides a catheter robot and its control method, which can automatically perform zeroing without manual operation, thereby improving zeroing efficiency and accuracy.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] In a first aspect, embodiments of the present invention provide a catheter robot, comprising:

[0009] The manipulator includes a drive mechanism and a sensor for detecting the position of the drive mechanism;

[0010] A catheter device, comprising a catheter and a drive mechanism for moving the distal end of the catheter, the drive mechanism being removably connected to the drive mechanism;

[0011] and a control device, coupled to the drive mechanism, and configured to:

[0012] When the transmission mechanism and the drive mechanism are successfully connected, the drive mechanism is controlled to output a target torque, and the current position value of the drive mechanism when it outputs the target torque is detected by the sensor.

[0013] Based on the mapping relationship between the output torque of the drive mechanism and the position offset value, and the target torque, the position offset value of the drive mechanism is determined;

[0014] Based on the current position value and the position offset value, the target position value of the drive mechanism is determined when the conduit is in the zero position state;

[0015] The drive mechanism is controlled to move according to the target position value to achieve the zero position state of the conduit.

[0016] Further, controlling the drive mechanism to output the target torque includes:

[0017] Based on the mapping relationship between the rotation direction of the drive mechanism and the bending direction of the end of the conduit, the target rotation direction in which the drive mechanism pulls the end of the conduit to bend through the transmission mechanism is determined;

[0018] The drive mechanism is controlled to output the target torque in the target rotation direction.

[0019] Further, determining the target position value of the drive mechanism when the conduit is in the zero-position state based on the current position value and the position offset value includes:

[0020] Obtain the difference between the current position value and the position offset value;

[0021] The difference is used as the target position value of the catheter in the zero position state.

[0022] Furthermore, the control device is also configured to:

[0023] Detect whether the transmission mechanism and the drive mechanism are successfully connected.

[0024] Furthermore, the detection of whether the transmission mechanism and the drive mechanism are successfully connected includes:

[0025] In response to the catheter device being mounted to the manipulator, the drive mechanism is controlled to rotate, and the current value driving the drive mechanism is monitored;

[0026] When the current value reaches the preset current value, it is determined that the transmission mechanism and the drive mechanism are successfully connected, and the rotation of the drive mechanism is stopped; or,

[0027] If the current current value does not reach the preset current value, it is determined that the transmission mechanism and the drive mechanism are not successfully connected, and the drive mechanism is controlled to rotate.

[0028] Further, controlling the rotation of the drive mechanism includes:

[0029] The drive mechanism is controlled to rotate alternately in a clockwise and counterclockwise direction, wherein the range of the clockwise rotation of the drive mechanism is between [0°, 180°], and the range of the counterclockwise rotation of the drive mechanism is between [-180°, 0°].

[0030] Furthermore, the driving mechanism includes a motor and a driving disk driven to rotate by the motor. The driving mechanism also includes an elastic element coupled to the driving disk. With the help of the elastic element, the driving disk can float in the direction of elastic deformation of the elastic element.

[0031] Furthermore, the transmission mechanism includes a transmission disk and a drive wire. One end of the drive wire is wound around the transmission disk, and the other end extends along the conduit and is fixed to the end of the conduit. The transmission disk and the drive disk are removably connected by a convex-concave fit.

[0032] Furthermore, one of the drive disk and the transmission disk includes a connecting post and the other includes a connecting groove, the connecting post being adapted to the connecting groove, and the top end of the connecting post being configured as an arc structure.

[0033] Secondly, embodiments of the present invention also provide a control method for a catheter robot, the catheter robot comprising:

[0034] The manipulator includes a drive mechanism and a sensor for detecting the position of the drive mechanism;

[0035] A catheter device, comprising a catheter and a drive mechanism for moving the distal end of the catheter, the drive mechanism being removably connected to the drive mechanism;

[0036] The control method includes:

[0037] When the transmission mechanism and the drive mechanism are successfully connected, the drive mechanism is controlled to output a target torque, and the current position value of the drive mechanism when it outputs the target torque is detected by the sensor.

[0038] Based on the mapping relationship between the output torque of the drive mechanism and the position offset value, and the target torque, the position offset value of the drive mechanism is determined;

[0039] Based on the current position value and the position offset value, the target position value of the drive mechanism is determined when the conduit is in the zero position state;

[0040] The drive mechanism is controlled to move according to the target position value to achieve the zero position state of the conduit.

[0041] Thirdly, embodiments of the present invention also provide a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the control method of the catheter robot described in any of the above embodiments.

[0042] The technical solution of this invention determines the target position value of the driving mechanism when the conduit is in a zero-position state by obtaining the current position value and the position offset value, and controls the movement of the driving mechanism to achieve the zero-position state. No manual operation is required, and zeroing can be performed automatically, improving zeroing efficiency and accuracy. Attached Figure Description

[0043] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0044] Figure 1 This is a schematic diagram of the structure of a catheter robot in the prior art;

[0045] Figure 2 This is a schematic diagram of the structure of a catheter robot in the prior art;

[0046] Figure 3This is a schematic diagram of the drive mechanism and transmission mechanism of the catheter robot in an embodiment of the present invention;

[0047] Figure 4 This is a flowchart illustrating the control method of the catheter robot in an embodiment of the present invention;

[0048] Figure 5 This is a schematic diagram of the zeroing process of the catheter robot in an embodiment of the present invention;

[0049] Figure 6 This is a schematic diagram illustrating the bending process of the drive disc and transmission disc in an embodiment of the present invention.

[0050] Figure 7 This is a schematic diagram illustrating the bending process of the drive disc and transmission disc in an embodiment of the present invention.

[0051] Figure 8 This is a flowchart illustrating the control method of the catheter robot in an embodiment of the present invention;

[0052] Figure 9 This is a flowchart illustrating the control method of the catheter robot in an embodiment of the present invention. Detailed Implementation

[0053] To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

[0054] 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 referred to as being "connected to" another element, it can be directly connected 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.

[0055] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0056] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0057] 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 description of the invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0058] The following will be described in detail with reference to the accompanying drawings.

[0059] like Figure 1 , 2 As shown, the catheter robot of this embodiment of the invention includes a trolley and a manipulator assembly mounted on the trolley, a catheter instrument mounted on the manipulator assembly and driven by the manipulator assembly, and a control device coupled to the manipulator assembly.

[0060] The control device 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 may include one or more processors of the same type, such as one or more CPUs, or one or more GPUs; or it may include processors of different types, such as one or more CPUs and one or more GPUs. In some embodiments, the control device may be integrated into the catheter robot setup. The control device may also be independent of the catheter robot setup. The control device may also be deployed in the cloud.

[0061] like Figure 1As shown, the manipulator assembly includes a first manipulator assembly 3 and a second manipulator assembly 2, and the catheter instruments include an internal catheter instrument 5 and an external catheter instrument 4. The internal catheter instrument 5 can be selectively mounted on either the first manipulator assembly 3 or the second manipulator assembly 2. When the internal catheter instrument 5 is mounted on the first manipulator assembly 3, the external catheter instrument 4 is mounted on the second manipulator assembly 2. When the internal catheter instrument 5 is mounted on the second manipulator assembly 2, the external catheter instrument 4 is mounted on the first manipulator assembly 3.

[0062] The catheter device includes a device cartridge for removable connection to a manipulator assembly, and a catheter connected to and driven by the device cartridge to perform bending movements. For example, the catheter of the internal catheter device 5 can be defined as internal catheter 7, and the catheter of the external catheter device 4 can be defined as external catheter 8.

[0063] In use, the internal catheter device 5 and the external catheter device 4 are oriented in the same direction, and the internal catheter 7 passes through the device box of the external catheter device 4 first, and then passes through the external catheter 8.

[0064] like Figure 2 As shown, the first manipulator assembly 3 includes a first robotic arm 301 and a first manipulator 302, and the second manipulator assembly 2 includes a second robotic arm 201 and a second manipulator 202. The instrument case for the internal catheter instrument 5 and the instrument case for the external catheter instrument 4 can, for example, be mounted on the first manipulator 302 and the second manipulator 202 respectively, or they can be mounted on the second manipulator 202 and the first manipulator 302 respectively. The movement of the first robotic arm 301 and the second robotic arm 201 controls the feeding movement of the internal and external catheter ends, for example, the forward or backward movement of the internal catheter end. The first manipulator 302 and the second manipulator 202 drive the instrument case to control the bending movement of the internal and external catheter ends, for example, the leftward or rightward bending of the internal catheter end.

[0065] In some embodiments, the present invention provides a zeroing method applicable to catheter devices installed after installation with a manipulator, mainly used to adjust the end of the catheter in the catheter device to be in a straight state, at which time the end of the catheter is in a zero-position state. Since the first and second manipulators have essentially the same structure, and the internal and external catheter devices also have essentially the same structure, the installation and zeroing of any catheter device with any manipulator can be used as an example for illustration.

[0066] For example, such as Figure 3As shown, the structural components related to the embodiment of the present invention are described using the first manipulator 202 and the external catheter device 4 as examples. The first manipulator 202 includes a drive mechanism 21 and a sensor (not shown in the figure) for detecting the position of the drive mechanism 21. The external catheter device 4 includes a device housing and a catheter 31 connected to and driven by the device housing. The device housing includes a transmission mechanism 32, which connects to and drives the end of the catheter 31, such as a terminal instrument, to perform bending movements. The device housing and the manipulator can be removably connected through the transmission mechanism 32 and the drive mechanism 21.

[0067] like Figure 4 As shown, in this embodiment of the invention, the control device is configured to perform:

[0068] Step S110: When the transmission mechanism and the drive mechanism are successfully connected, control the drive mechanism to output the target torque, and obtain the current position value of the drive mechanism when it outputs the target torque as detected by the sensor.

[0069] In some embodiments, when the transmission mechanism 32 and the drive mechanism 21 are successfully connected and matched, the drive mechanism 21 is controlled to output a target torque along the direction of the bend in the pull wire at the end of the pull guide. The current position value at which the drive mechanism 21 outputs the target torque, as detected by the sensor, is obtained. This current position value is a stable position value detected by the sensor. The sensor can be a motor encoder or other sensors capable of detecting the current position value; the present invention does not limit this. For example, if the target torque value output by the drive mechanism 21 is 10N, the current position value obtained by the sensor is 65.3mm.

[0070] As an optional embodiment, the control of the drive mechanism to output a target torque includes: determining, based on the mapping relationship between the rotation direction of the drive mechanism and the bending direction of the catheter tip, the target rotation direction in which the drive mechanism pulls the catheter tip through the transmission mechanism to bend; and controlling the drive mechanism to output a target torque in the target rotation direction. In some embodiments, the target rotation direction of the drive mechanism may refer to the direction in which the drive mechanism pulls the catheter tip through the transmission mechanism to bend.

[0071] Some embodiments, such as Figure 3 , 5 As shown, the drive mechanism 21 drives the transmission mechanism 32 to rotate, which will cause the end device 33 of the catheter 31 to bend and straighten. Different rotation directions of different drive mechanisms will cause the end device 33 to bend in different directions. For the same rotation direction of the same drive mechanism, different target torques within a reasonable range of its output will cause the end device 33 to bend to different degrees.

[0072] For example, combining Figure 6 and Figure 7 As shown, the corresponding degrees of freedom can be adjusted by setting the connection relationship between the transmission disc and the end of the guide tube for wire take-up and unwinding. (Reference) Figure 7 As shown in the diagram, the circumference represents the cross-section of the catheter tip, and the four points ad intersecting the circumference are connected to the transmission disk AD via a drive wire. For example, one end of the drive wire is connected to... Figure 7 Point a is connected to a drive wire, with the other end connected to drive disc A. The rotation of drive disc A, as it winds up, pulls the drive wire at point a, causing the catheter tip to move upwards. Similarly, one end of another drive wire is connected to point c on the circumference, and the other end is connected to drive disc C. The rotation of drive disc C, as it winds up, pulls the drive wire at point c, causing the catheter tip to move downwards. Drive discs A and C can also unwind, controlling the upward bending of the catheter tip by the winding of A and the downward bending by the winding of C and the unwinding of A. Likewise, the cooperation of drive discs B and D controls the outward or inward bending of the catheter tip. Therefore, Figure 7 This allows for directional control of two degrees of freedom: one degree of freedom for up and down directions, and the other for inward and outward directions. Assuming transmission discs A and C control bending in one degree of freedom in two directions, and transmission discs B and D control bending in the other degree of freedom in two directions, then drive disc 1 is connected to transmission disc A, drive disc 2 to transmission disc B, drive disc 3 to transmission disc C, and drive disc 4 to transmission disc D. The mapping relationship is as follows: when bending upwards, the A-axis is pulled and the C-axis is released; when bending to the right, the B-axis is pulled and the D-axis is released; when bending downwards, the C-axis is pulled and the A-axis is released; when bending to the left, the D-axis is pulled and the B-axis is released. To more accurately adjust the end effector 33 to a straight state, a suitable target torque and a suitable target rotation direction can be selected, and the drive mechanism 21 can be controlled to output the target torque in the target rotation direction.

[0073] Step S120: Determine the position offset value of the drive mechanism based on the mapping relationship between the output torque of the drive mechanism and the position offset value, and the target torque.

[0074] In some embodiments, the position offset value is correlated with the change in the length of the drawstring of the drive mechanism at the end of the conduit in the target bending direction. This change in length can exemplarily reflect the position offset value of the drive mechanism before and after the output target torque. In embodiments of the present invention, the relationship between the output torque and the position offset value can be a relationship between a single drive mechanism or a relationship between multiple drive mechanisms, with each drive mechanism corresponding to a relationship. For relationships between multiple drive mechanisms, it can be zero-adjustment control of each drive mechanism individually or adjustment of multiple drive mechanisms at once. The mapping relationship between the output torque and the position offset value can be obtained by using kinematic and dynamic modeling, or by measuring the correspondence between the output torque and the position offset value. For example, the relationship between the output torque of a single drive mechanism and the position offset value of the drive bending conduit end corresponding to that drive mechanism, as shown in Table 1, can be obtained, for example, by combining... Figure 6 The driving mechanism corresponds to the driving disk A, and the bending direction of the end of the conduit driven by the pull wire of the driving disk A is upward.

[0075] Table 1. Mapping relationship between output torque and position offset value

[0076] Output torque Position offset value 5N 3mm 10N 4.6mm 15N 6.3mm 20N 7.6mm

[0077] For example, when the target torque value output by the control drive mechanism 21 (e.g., drive disk A) is 10N, based on the mapping relationship between the output torque and the position offset value, it is determined that when the end of the control conduit makes a bending motion in the upward bending direction, the position offset value of the drive mechanism 21 is 4.6mm.

[0078] Step S130: Based on the current position value and the position offset value, determine the target position value of the drive mechanism when the conduit is in the zero position state.

[0079] As an optional embodiment, determining the target position value of the drive mechanism when the conduit is in the zero position state based on the current position value and the position offset value includes: obtaining the difference between the current position value and the position offset value; and using the difference as the target position value of the conduit in the zero position state.

[0080] For example, the target torque value output by the control drive mechanism 21 is 10N. At this time, the current position value obtained by the sensor is 65.3mm. Meanwhile, based on the mapping relationship between the output torque of the drive mechanism 21 and the position offset value, the position offset value of the drive mechanism 21 is determined to be 4.6mm. Subtracting the position offset value of 4.6mm from the current position value of 65.3mm gives a difference of 60.7mm. At this time, the difference of 60.7mm is taken as the target position value Z1 of the drive mechanism 21 in the zero position state.

[0081] In one optional embodiment, the manipulator includes one or more drive mechanisms 21, such as four drive mechanisms 21, and also needs to repeatedly execute steps S110-S130 in the same manner to obtain the target position values ​​Z2, Z3, and Z4 of the other three drive mechanisms 21 when the conduit is in the zero position state.

[0082] In one optional embodiment, the target position values ​​Z1, Z2, Z3, and Z4 can be obtained simultaneously, or they can be obtained sequentially through one operation at a time.

[0083] Step S140: Control the movement of the drive mechanism according to the target position value to achieve the zero position state of the conduit.

[0084] In some embodiments, the driving mode of the drive mechanism can be changed from torque mode to position mode, and the corresponding drive mechanism can be controlled to move to the target position value according to the obtained target position value Z1, thereby achieving the zero position state of the conduit, i.e., a straight state. Alternatively, the current position value can be used as a starting point, and the position offset value determined by the reverse movement can be reached to the corresponding target position value Z1, so that when the drive mechanism is in this position, the conduit is in the zero position state, i.e., a straight state. As an optional embodiment, if multiple drive mechanisms are controlled to move simultaneously, generating multiple target position values ​​such as Z1, Z2, Z3, and Z4, then the corresponding drive mechanisms are controlled to move to reach the target position value respectively.

[0085] As an optional embodiment, such as Figure 8 As shown, the control device can also be configured to:

[0086] Step S210: When the transmission mechanism and the drive mechanism are successfully connected, control the drive mechanism to output a first target torque, and obtain the first current position value detected by the sensor when the drive mechanism outputs the first target torque;

[0087] Step S220: Based on the mapping relationship between the output torque and position offset value of the drive mechanism and the first target torque, determine the first position offset value of the drive mechanism;

[0088] Step S230: Based on the first current position value and the first position offset value, determine the first target position value of the driving mechanism when the conduit is in the zero position state;

[0089] Step S240: Control the drive mechanism to output the second target torque, and obtain the second current position value detected by the sensor when the drive mechanism outputs the second target torque;

[0090] Step S250: Based on the mapping relationship between the output torque and the position offset value of the drive mechanism and the second target torque, determine the second position offset value of the drive mechanism;

[0091] Step S260: Based on the second current position value and the second position offset value, determine the second target position value of the driving mechanism when the conduit is in the zero position state;

[0092] Step S270: Determine whether the comparison value between the first target position value and the second target position value exceeds a preset threshold;

[0093] The comparison value between the first target position value and the second target position value can be either the difference between the two or the ratio between them.

[0094] Step S280: If the comparison value exceeds a preset threshold, a reliability problem with the catheter device can be indicated. Furthermore, the electrical connection between the catheter device and the manipulator can be disconnected to prevent the catheter device from being used, thereby avoiding the safety risks caused by the improper use of an unreliable catheter device.

[0095] Step S290: If the mutual comparison value does not exceed the preset threshold, the final target position value of the drive mechanism when the conduit is in the zero position can be determined based on the first target position value and / or the second target position value.

[0096] For example, a first target position value or a second target position value can be configured as the target position value; for example, the average of the first target position value and the second target position value can also be configured as the target position value.

[0097] For example, the first target torque output by the control drive mechanism 21 is 10N. At this time, the first current position value detected by the sensor is 65.3mm. Based on the mapping relationship between the output torque of the drive mechanism 21 and the position offset value, the first position offset value of the drive mechanism 21 is determined to be 4.6mm. Subtracting the first position offset value of 4.6mm from the first current position value of 65.3mm yields the first target position value of 60.7mm. The second target torque output by the control drive mechanism 21 is 15N, and the second current position value detected by the sensor is 67.1mm. Based on the mapping relationship between the output torque of the drive mechanism 21 and the position offset value, the second position offset value of the drive mechanism 21 is determined to be 6.3mm. The second current position value 67.1mm is subtracted from the second position offset value 6.3mm to obtain the first target position value 60.8mm. It is determined that the comparison value between 60.7mm and 60.8mm is less than 1mm, indicating that the catheter device is reliable. At this time, for example, the difference 60.7mm can be used as the target position value Z1 of the drive mechanism 21 in the zero position state, and the movement of the drive mechanism can be controlled to achieve the zero position state of the drive mechanism.

[0098] The technical solution of this invention determines the target position value of the driving mechanism when the conduit is in a zero-position state by obtaining the current position value and the position offset value, and controls the movement of the driving mechanism to achieve the zero-position state. No manual operation is required, and zeroing can be performed automatically, improving zeroing efficiency and accuracy.

[0099] In some embodiments, the control device is further configured to detect whether the transmission mechanism and the drive mechanism are successfully connected. When installing the internal catheter instrument 5 or the external catheter instrument 4 onto the first manipulator assembly 3 or the second manipulator assembly 2, a positioning operation is first performed, i.e., the drive mechanism 21 and the transmission mechanism 32 are aligned and connected. The system then detects whether the transmission mechanism 32 and the drive mechanism 21 are successfully connected. Figure 3 As shown, the manipulator includes one or more drive mechanisms 21, such as four drive mechanisms 21, and the catheter device includes one or more transmission mechanisms 32, such as four transmission mechanisms 32. The number of drive mechanisms 21 and transmission mechanisms 32 are matched. For example, the manipulator includes four drive mechanisms 21, and the catheter device also includes four transmission mechanisms 32. When installing the catheter device onto the manipulator, a positioning operation is first performed, that is, the transmission mechanism 32 is paired and connected with the drive mechanism 21. After successful assembly, a zeroing operation is performed.

[0100] like Figure 9 As shown, the detection of whether the transmission mechanism and the drive mechanism are successfully connected includes:

[0101] Step S310: In response to the catheter device being installed on the manipulator, control the drive mechanism to rotate and monitor the current value of the drive mechanism.

[0102] In some embodiments, a sensor installed at the end of the manipulator, such as an electronic identification device, senses that the catheter instrument has been installed and sends a signal to the controller. Upon receiving the signal, the controller controls the drive mechanism 21 to rotate. At this time, the transmission mechanism 32 presses down on the drive mechanism 21, but they are not yet matched. The transmission mechanism 32 includes two protrusions, and the drive mechanism 21 includes two grooves. The protrusions are not matched into the grooves. The drive mechanism 21 needs to be rotated until the protrusions are matched into the grooves. During the rotation, the protrusions press down on the drive mechanism, and there is friction between them. A very large current is not needed to overcome the friction. However, when the protrusions are matched into the grooves, there will be a thrust to push the transmission mechanism to rotate. The thrust is significantly greater than the friction, and a larger current is needed to overcome the thrust. Therefore, the current value of the drive mechanism 21 can be monitored to determine whether the protrusions have been matched into the grooves, that is, whether the transmission mechanism 32 and the drive mechanism 21 have been successfully connected.

[0103] Step S320: When the current value reaches the preset current value, confirm that the transmission mechanism and the drive mechanism are successfully connected, and stop controlling the rotation of the drive mechanism.

[0104] In some embodiments, during the rotation of the drive mechanism 21, the current value of the drive mechanism 21 is constantly monitored. When the current value reaches the range of the preset current value, for example, greater than 10mA, it indicates that the protrusion is matched and connected into the groove. At this time, the friction is reduced and a thrust is generated. Therefore, a higher current value is required to drive the rotation. At this time, it is determined that the transmission mechanism 32 and the drive mechanism 21 are successfully connected, and the control of the drive mechanism 21 to rotate is stopped.

[0105] Furthermore, if the current value does not reach the preset current value, it is determined that the transmission mechanism and the drive mechanism are not successfully connected, and the drive mechanism is controlled to rotate.

[0106] In some embodiments, monitoring the current value of the drive mechanism 21 is a continuous monitoring process. When the current value reaches the preset current value, it indicates that the protrusion matches the groove and generates thrust, requiring a larger current. The drive mechanism 21 is then controlled to stop rotating. When the current value does not reach the preset current value, it indicates that the protrusion is rotating while rubbing against the edge of the groove, generating friction. A larger current is not required. The drive mechanism 21 is then controlled to rotate until the protrusion matches the groove, at which point the transmission mechanism 32 and the drive mechanism 21 are successfully connected.

[0107] As an optional embodiment, the control of the drive mechanism rotation includes: controlling the drive mechanism to rotate alternately in a clockwise direction and a counterclockwise direction, wherein the range of the drive mechanism rotation in the clockwise direction is between [0°, 180°], and the range of the drive mechanism rotation in the counterclockwise direction is between [-180°, 0°].

[0108] By controlling the rotation range of the drive mechanism, damage to the instrument caused by rotation in one direction exceeding its physical limits can be prevented, thus extending the instrument's service life.

[0109] In some embodiments, the drive mechanism includes a motor and a drive disk driven by the motor. The drive mechanism also includes an elastic element coupled to the drive disk. The drive disk can float in the direction of elastic deformation of the elastic element by means of the elastic element. The elastic element can be, for example, a spring or other element with elastic properties, located below the drive disk. When the transmission mechanism presses down on the drive mechanism, it can float in the direction of elastic deformation, achieving a tight, concave-convex fit.

[0110] In some embodiments, the transmission disc and the drive disc are removably connected via a tongue-and-groove fit. Specifically, one of the drive disc and the transmission disc includes a connecting post, and the other includes a connecting groove. The connecting post and the connecting groove are adapted to each other. The transmission disc can be the connecting post and the drive disc the connecting groove, or vice versa; this embodiment of the invention does not limit this. In this embodiment, the transmission disc has two connecting posts, and the drive disc has two connecting grooves. It is understood that the number of connecting posts or connecting grooves can be set to three or four, etc., as needed; this embodiment of the invention does not limit this.

[0111] Furthermore, one of the drive disc and the transmission disc includes a connecting post, and the other includes a connecting groove. The connecting post and the connecting groove are adapted to each other, and the top end of the connecting post is configured as an arc structure. Specifically, the top end of the connecting post is configured as an arc structure, which mainly serves the following purposes: 1. To better cooperate with the motor connector; 2. To reduce frictional resistance during positioning and facilitate the observation of the current value of the drive mechanism. More specifically, the top end of the connecting post can also be configured as a spherical structure, but this embodiment of the invention does not limit this.

[0112] This invention also provides a control method for a catheter robot, the catheter robot comprising: a manipulator including a drive mechanism and a sensor for detecting the position of the drive mechanism; and a catheter instrument including a catheter and a transmission mechanism for driving the distal end of the catheter to move, wherein the transmission mechanism is removably connected to the drive mechanism.

[0113] like Figure 4 As shown, the control method includes the following steps:

[0114] Step S110: When the transmission mechanism and the drive mechanism are successfully connected, control the drive mechanism to output the target torque, and obtain the current position value of the drive mechanism when it outputs the target torque as detected by the sensor;

[0115] Step S120: Determine the position offset value of the drive mechanism based on the mapping relationship between the output torque and the position offset value of the drive mechanism and the target torque;

[0116] Step S130: Based on the current position value and the position offset value, determine the target position value of the drive mechanism when the conduit is in the zero position state;

[0117] Step S140: Control the movement of the drive mechanism according to the target position value to achieve the zero position state of the conduit.

[0118] Further, controlling the drive mechanism to output the target torque includes:

[0119] Based on the mapping relationship between the rotation direction of the drive mechanism and the bending direction of the end of the conduit, the target rotation direction in which the drive mechanism pulls the end of the conduit to bend through the transmission mechanism is determined;

[0120] The drive mechanism is controlled to output the target torque in the target rotation direction.

[0121] Further, determining the target position value of the drive mechanism when the conduit is in the zero-position state based on the current position value and the position offset value includes:

[0122] Obtain the difference between the current position value and the position offset value;

[0123] The difference is used as the target position value of the catheter in the zero position state.

[0124] Furthermore, the control device is also configured to:

[0125] Detect whether the transmission mechanism and the drive mechanism are successfully connected.

[0126] Furthermore, such as Figure 9 As shown, detecting whether the transmission mechanism and the drive mechanism are successfully connected includes:

[0127] Step S310: In response to the catheter device being installed on the manipulator, control the drive mechanism to rotate and monitor the current value of the drive mechanism;

[0128] Step S320: When the current current value reaches the preset current value, determine that the transmission mechanism and the drive mechanism are successfully connected, and stop controlling the rotation of the drive mechanism; or,

[0129] If the current current value does not reach the preset current value, it is determined that the transmission mechanism and the drive mechanism are not successfully connected, and the drive mechanism is controlled to rotate.

[0130] Further, controlling the rotation of the drive mechanism includes:

[0131] The drive mechanism is controlled to rotate alternately in a clockwise and counterclockwise direction, wherein the range of the clockwise rotation of the drive mechanism is between [0°, 180°], and the range of the counterclockwise rotation of the drive mechanism is between [-180°, 0°].

[0132] The technical solution of this invention determines the target position value of the driving mechanism when the conduit is in a zero-position state by obtaining the current position value and the position offset value, and controls the movement of the driving mechanism to achieve the zero-position state. No manual operation is required, and zeroing can be performed automatically, improving zeroing efficiency and accuracy.

[0133] This invention also provides a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to perform a control method for a catheter robot, the method comprising:

[0134] When the transmission mechanism and the drive mechanism are successfully connected, the drive mechanism is controlled to output a target torque, and the current position value of the drive mechanism when it outputs the target torque is detected by the sensor.

[0135] Based on the mapping relationship between the output torque of the drive mechanism and the position offset value, and the target torque, the position offset value of the drive mechanism is determined;

[0136] Based on the current position value and the position offset value, the target position value of the drive mechanism is determined when the conduit is in the zero position state;

[0137] The drive mechanism is controlled to move according to the target position value to achieve the zero position state of the conduit.

[0138] Of course, the computer-executable instructions provided in the embodiments of the present invention are not limited to the method operations described above, but can also execute related operations in the control method of the catheter robot provided in any embodiment of the present invention.

[0139] The computer-readable storage medium of this invention can be any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. For example, a computer-readable storage medium can be—but is not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0140] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit programs for use by or in conjunction with an instruction execution system, apparatus, or device.

[0141] The program code contained on the storage medium can be transmitted using any suitable medium, including—but not limited to—wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0142] Computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as "C" or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or terminal. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0143] The technical solution of this invention determines the target position value of the driving mechanism when the conduit is in a zero-position state by obtaining the current position value and the position offset value, and controls the movement of the driving mechanism to achieve the zero-position state. No manual operation is required, and zeroing can be performed automatically, improving zeroing efficiency and accuracy.

[0144] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0145] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A catheter robot, characterized in that, The control device is further configured to: detect whether the transmission mechanism and the driving mechanism are successfully connected. The detection of whether the transmission mechanism and the driving mechanism are successfully connected comprises: in response to the catheter instrument being installed to the manipulator, control the driving mechanism to rotate, and monitor a current current value for driving the driving mechanism; when the current current value reaches a preset current value, determine that the transmission mechanism and the driving mechanism are successfully connected, and stop controlling the driving mechanism to rotate; or when the current current value does not reach the preset current value, determine that the transmission mechanism and the driving mechanism are not successfully connected, and continue to control the driving mechanism to rotate. The control of the driving mechanism to rotate comprises: controlling the driving mechanism to rotate in the clockwise direction and the counterclockwise direction alternately, wherein a range of the driving mechanism rotating in the clockwise direction is [0°, 180°], and a range of the driving mechanism rotating in the counterclockwise direction is [-180°, 0°].

2. The catheter robot of claim 1, wherein, The driving mechanism comprises a motor and a driving disc driven to rotate by the motor, and the driving mechanism further comprises an elastic element coupled with the driving disc, and the driving disc can float in a direction of elastic deformation of the elastic element by means of an action of the elastic element. ​ ​ 3. The catheter robot of claim 1, wherein, ​ ​ ​ 4. The catheter robot of claim 1, wherein, ​ ​ 5. The catheter robot of claim 4, wherein, ​ ​ ​ ​ 6. The catheter robot of claim 5, wherein, ​ ​ 7. The catheter robot of claim 1, wherein, ​ 8. The catheter robot of claim 7, wherein, The transmission mechanism comprises a transmission disc and a driving wire, one end of the driving wire is wound around the transmission disc, the other end of the driving wire extends along the catheter and is fixed to the end of the catheter, and the transmission disc and the driving disc are removably connected through concave-convex matching.

9. The catheter robot of claim 8, wherein, One of the driving disc and the transmission disc comprises a connecting column, and the other comprises a connecting groove, the connecting column is matched with the connecting groove, and the top end of the connecting column is configured in a circular arc structure.

10. A control method of a catheter robot, characterized by, The catheter robot comprises: a manipulator comprising a driving mechanism and a sensor detecting the position of the driving mechanism; a catheter instrument comprising a catheter and a transmission mechanism driving the end of the catheter to move, the transmission mechanism being removably connected with the driving mechanism; The control method comprises: when the transmission mechanism and the driving mechanism are successfully connected, controlling the driving mechanism to output a target torque, and acquiring a current position value detected by the sensor when the driving mechanism outputs the target torque; determining the position offset value of the driving mechanism after outputting the target torque based on the mapping relationship between the output torque and the position offset value of the driving mechanism; based on the current position value and the position offset value, determining the target position value of the driving mechanism when the catheter is in a zero position state; controlling the driving mechanism to move according to the target position value to realize the zero position state of the catheter.

11. A computer-readable storage medium storing a computer program, wherein the computer program comprises the following steps of: The computer program is executed by the processor to realize the control method of the catheter robot as claimed in claim 10.

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