Catheter robot direction automatic setting method, catheter robot and medium

Abstract

The application discloses a kind of catheter robot direction automatic setting method, catheter robot and medium, the two mechanical arm ends of catheter robot are respectively equipped with mounting disc, mounting disc is used to install instrument box, the type of instrument box includes inner tube instrument box and sheath instrument box, direction automatic setting method includes: when detecting that instrument box is installed to mounting disc, the position and type of instrument box are automatically identified;According to the position and type of instrument box, the working direction of catheter robot is determined.Through when instrument box is installed to mounting disc, the type of instrument box is automatically identified, and according to the type of instrument box, the working direction of catheter robot is determined, the working direction of catheter robot is automatically set, without manually selecting working direction, also without moving robot to new position, improve work efficiency, reduce artificial cost and reduce error rate.

Description

Technical Field

[0001] This invention belongs to the field of medical devices, and in particular relates to an automatic direction setting method for a catheter robot, the catheter robot, and the medium. Background Technology

[0002] With the development of science and technology and the innovation of artificial intelligence, surgical robots have begun to be widely used in clinical surgery. Surgical robots can replace doctors in performing on-site surgery. Doctors only need to operate and control the surgical robot from a remote control console, thereby serving patients in more areas, such as remote areas that lack experienced surgeons.

[0003] The application of catheterization robots is becoming increasingly widespread. Catheterization robots are equipped with catheters at the end of their robotic arms. These catheters can enter the patient's body through the mouth, nose, or other openings to perform endoscopic examinations or surgeries. Catheterization robots are generally configured with two arms, left and right. The catheters mounted on the left and right arms are divided into internal and external catheters. The internal catheter needs to be inserted into the external catheter, and finally, guided by a guide, it is inserted into the mouth or other areas. Therefore, the instrument boxes for installing the internal and external catheters cannot be mixed or their directions arbitrarily changed.

[0004] In existing technologies, the working direction of catheter robots is manually set. For example... Figure 1A As shown, when the right robotic arm of the catheterization robot is configured with an external catheter instrument box, its working direction is manually set to the right. This means it can only perform surgery on patients in beds on the right side of the catheterization robot, not on patients in beds on the left side. If the external catheter instrument box on the right robotic arm of the catheterization robot is removed and a new external catheter instrument box is installed on the left robotic arm, the working direction of the catheterization robot needs to be set to the left. However, since the catheterization robot cannot automatically set its working direction, this must be confirmed manually, and the working direction of the catheterization robot must be manually reset. In other words, if the patient's bed for the next surgery is moved to the left side of the catheterization robot, one solution is to install the internal and external catheters in the original way, that is, configure the right robotic arm with an external catheter, without resetting the working direction of the catheterization robot, but instead move the catheterization robot (…). Figure 1B (The scenario is after a 180° rotation and movement); another solution is to install the inner and outer guide tubes in the opposite direction to the original method, that is, to configure the outer guide tube on the left robotic arm and manually set the working direction of the guide tube robot to the left. On the one hand, because the guide tube robot is very heavy, it is time-consuming and labor-intensive to move, and more space needs to be reserved for the guide tube robot to move, which places higher demands on the space of the environment; on the other hand, if the working direction is manually reset, it will require additional manual steps to set the working direction of the guide tube robot, which is time-consuming and labor-intensive, and since it is set manually, it will also lead to a higher error rate. Summary of the Invention

[0005] To address the problem that existing catheterization robots cannot automatically set their working direction, requiring manual setting or movement of the robot when changing the operating table position, which is time-consuming, labor-intensive, and increases the error rate, this invention proposes an automatic catheterization robot direction setting method, the technical solution of which is as follows:

[0006] On one hand, the present invention provides an automatic orientation setting method for a catheterization robot. The two robotic arms of the catheterization robot are each equipped with a mounting plate at their ends. The mounting plates are used to mount instrument boxes, including internal tube instrument boxes and external sheath instrument boxes.

[0007] Automatic direction setting methods include:

[0008] When the instrument box is detected to be installed on the installation tray, the position and type of the instrument box are automatically identified;

[0009] The working direction of the catheter robot is determined based on the location and type of the instrument box.

[0010] Furthermore, the instrument box is connected to a catheter, and after determining the working direction of the catheter robot, the automatic direction setting method also includes:

[0011] Identify the installation orientation of the instrument box;

[0012] When the installation direction is consistent with the working direction, the mapping relationship between the drive mechanism in the robotic arm and the target movement direction at the end of the conduit is configured according to the working direction.

[0013] Furthermore, the mounting plate includes multiple drive plates, the instrument box includes multiple transmission plates, the drive plates are removably connected to the transmission plates, and the transmission plates drive the movement of the catheter tip. The drive mechanism includes multiple drive plates, and the target movement direction includes the target bending movement direction of the catheter tip. The mapping relationship between the drive mechanism in the robotic arm and the target movement direction of the catheter tip is configured according to the working direction, including:

[0014] Based on the working direction and the physical connection between the drive disc and the transmission disc, configure the mapping relationship between the drive disc and the target bending motion direction.

[0015] Furthermore, the robotic arm includes multiple drive joints, the drive mechanism includes drive joints, and the target motion direction includes the target feed motion direction at the end of the conduit. The mapping relationship between the drive mechanism in the robotic arm and the target motion direction at the end of the conduit, configured according to the working direction, includes:

[0016] Configure the mapping relationship between the drive joint and the target feed motion direction according to the working direction.

[0017] Furthermore, the automatic direction setting method also includes:

[0018] The robotic arm equipped with an outer sheath instrument box is configured as the active robotic arm, and the robotic arm equipped with an inner tube instrument box is configured as the driven robotic arm.

[0019] The driven robotic arm is configured to move synchronously with the active robotic arm.

[0020] Furthermore, the automatic direction setting method also includes:

[0021] When the installation direction is inconsistent with the working direction, control the rotation of the installation plate to make the installation direction consistent with the working direction.

[0022] Furthermore, the automatic direction setting method also includes:

[0023] After controlling the rotation of the mounting plate, the mapping relationship between the drive mechanism in the robotic arm and the target motion direction at the end of the conduit is configured according to the working direction.

[0024] Furthermore, the automatic direction setting method also includes:

[0025] Once the instrument box is detected to have been removed, the control panel automatically rotates back to its initial position.

[0026] Furthermore, the mounting tray includes a first mounting tray and a second mounting tray, and the instrument box includes a first instrument box and a second instrument box. The first mounting tray is used to mount the first instrument box, and the second mounting tray is used to mount the second instrument box. The working direction includes a first direction and a second direction, which are opposite to each other. The position of the instrument box includes a first position and a second position, where the first position corresponds to the first instrument box and the second position corresponds to the second instrument box. Determining the working direction of the catheter robot based on the position and type of the instrument box also includes:

[0027] If the instrument box is located at the first position and the type of the first instrument box is an external sheath instrument box, then the working direction of the catheter robot is determined to be the first direction;

[0028] If the instrument box is located in the first position and the type of the first instrument box is an internal tube instrument box, then the working direction of the catheter robot is determined to be the second direction.

[0029] If the instrument box is located in the second position, and the type of the second instrument box is an external sheath instrument box, then the working direction of the catheter robot is determined to be the second direction;

[0030] If the instrument box is located in the second position and the type of the second instrument box is an internal tube instrument box, then the working direction of the catheter robot is determined to be the first direction.

[0031] Furthermore, the installation tray includes a first identification device and a second identification device, and the instrument box includes an identification device;

[0032] The installation orientation of the identification instrument box includes:

[0033] If the marking device is recognized by the first identification device, then the installation direction is the first direction;

[0034] If the marking device is recognized by the second identification device, then the installation direction is the second direction.

[0035] Furthermore, the automatic direction setting method also includes:

[0036] Based on the configured mapping relationship, set the rotation direction and control parameters of the drive disk; the control parameters include the movement speed.

[0037] On the other hand, the present invention provides a catheter robot, characterized in that it includes two robotic arms and a processor, the ends of the two robotic arms are respectively provided with mounting plates, the mounting plates are used to install instrument boxes, the types of instrument boxes include internal tube instrument boxes and external sheath instrument boxes, and the processor is used to execute the automatic direction setting method of the catheter robot as described above.

[0038] In another aspect, the present invention provides a readable storage medium, characterized in that the readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the above-mentioned method for automatically setting the direction of a duct robot.

[0039] The beneficial effects of this invention are: by using the solution of this invention, the type of instrument box is automatically identified when the instrument box is installed on the installation plate, and the working direction of the catheter robot is determined according to the type of instrument box, so as to realize the automatic setting of the working direction of the catheter robot without the need to manually select the working direction or move the robot to a new position, thereby improving work efficiency, reducing labor costs and reducing error rate. Attached Figure Description

[0040] Figure 1A This is a schematic diagram illustrating the application scenarios of catheter robots in existing technologies;

[0041] Figure 1B This is a schematic diagram illustrating the application scenario of a catheter robot after it has been moved in the existing technology;

[0042] Figure 2 This is a schematic diagram of the structure of an embodiment of the catheter robot of the present invention;

[0043] Figure 3 This is a schematic diagram of the structure of an embodiment of the installation disk of the present invention;

[0044] Figure 4 This is a schematic diagram of the structure of an embodiment of the mounting box of the present invention;

[0045] Figure 5This is a schematic diagram of the structure of an embodiment of the mounting box of the present invention when the mounting direction is correct;

[0046] Figure 6 This is a schematic diagram of an embodiment of the mounting box of the present invention when the installation direction is incorrect;

[0047] Figure 7 This is a schematic diagram of the mapping relationship between the drive disc and the transmission disc in an embodiment of the left arm external sheath instrument box of the present invention;

[0048] Figure 8 This is a schematic diagram of the mapping relationship between the drive disc and the transmission disc in an embodiment of the left arm inner tube instrument box of the present invention;

[0049] Figure 9 This is a schematic diagram of the mapping relationship between the drive disc and the transmission disc in a previous embodiment of the left arm inner tube instrument box of the present invention before rotation;

[0050] Figure 10 This is a schematic diagram of the mapping relationship between the drive disc and the transmission disc in one embodiment of the left arm inner tube instrument box of the present invention after rotation;

[0051] Figure 11 This is a flowchart of an embodiment of the automatic orientation setting method of the present invention;

[0052] Figure 12 This is a flowchart of an embodiment of the automatic orientation setting method of the present invention;

[0053] Figure 13 This is a sub-flowchart of an embodiment of the automatic orientation setting method of the present invention;

[0054] Figure 14 This is a schematic diagram of the device hardware operating environment according to an embodiment of the automatic orientation setting method of the present invention;

[0055] Figure 15 This is a schematic diagram of the mapping relationship between the drive disc and the transmission disc in an embodiment of the right arm external sheath instrument box of the present invention;

[0056] Figure 16 This is a schematic diagram of the mapping relationship between the drive disc and the transmission disc in an embodiment of the right arm inner tube instrument box of the present invention;

[0057] Figure 17 This is a schematic diagram of the mapping relationship between the drive disc and the transmission disc in a previous embodiment of the right arm outer sheath instrument box of the present invention before rotation;

[0058] Figure 18 This is a schematic diagram of the mapping relationship between the drive disc and the transmission disc in one embodiment of the right arm outer sheath instrument box of the present invention after rotation;

[0059] Figure 19This is a schematic diagram of an embodiment of the catheter tip bending direction control of the present invention;

[0060] Figure 20 This is a schematic diagram of an embodiment of the present invention for controlling the bending direction of the catheter tip. Detailed Implementation

[0061] To facilitate understanding of the present invention, a more detailed description is provided below with reference to the accompanying drawings and specific embodiments. Preferred embodiments of the invention are shown in the drawings. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a thorough and complete understanding of the disclosure of the invention.

[0062] It should be noted that, unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. For example, the term "a plurality of" includes two or more.

[0063] On one hand, this invention provides a method for automatically setting the direction of a catheter robot. (Reference) Figures 2-5 As shown, the catheterization robot includes two robotic arms (first robotic arm 2 and second robotic arm 3) mounted on a trolley 1. Each robotic arm has a mounting plate at its end for mounting instrument boxes. The mounting plates include a first mounting plate 4 located at the end of the first robotic arm 2 and a second mounting plate 5 located at the end of the second robotic arm 3. The instrument boxes include a first instrument box 8 and a second instrument box 9. The first mounting plate 4 is used to mount the first instrument box 8, and the second mounting plate 5 is used to mount the second instrument box 9. The instrument boxes include an inner tube instrument box and an outer sheath instrument box. The inner tube instrument box is connected to an inner catheter 7, and the outer sheath instrument box is connected to an outer catheter 6. During surgery, the inner catheter 7 is inserted into the outer catheter 6 through the outer sheath instrument box, and finally inserted into the oral cavity or other parts of the body via a guide 10.

[0064] refer to Figure 3 The installation disk is equipped with identification devices 411 and 421, for reference. Figure 4 The instrument case is equipped with an identification device 811. An identification device 411 senses the identification device 811 to obtain an identification signal and determines whether the instrument case 8 is an inner tube instrument case or an outer sheath instrument case based on the identification signal. For example, different instrument cases have different information on their identification devices, which can uniquely identify the type of the instrument case.

[0065] refer to Figure 11 As shown, the automatic orientation setting method for the catheter robot of the present invention includes the following steps:

[0066] S10: When the instrument box is detected to be installed on the installation plate, the position and type of the instrument box are automatically identified;

[0067] S20: Determine the working direction of the catheter robot based on the location and type of the instrument box.

[0068] For example, when the instrument box 8 is installed on the mounting plate 4, the identification device 411 on the mounting plate 4 comes into contact with the marking device 811 on the instrument box 8, or the distance between the two reaches its threshold, so that the identification device 411 can sense the marking device 811 and obtain identification information.

[0069] The identification device 411 and the marking device 811 can be implemented using sensors, including contact sensors and non-contact sensors. For example, contact sensors can be plug-and-play interfaces and plugs, while non-contact sensors can be electromagnetic, near-field, or similar sensors. In other embodiments, the identification device can be replaced with an imaging device configured to acquire images of at least the endplates of the two robotic arms of the catheterization robot, thereby automatically identifying the position and type of the instrument box when it is mounted on the endplate based on the images acquired by the imaging device.

[0070] The location of the instrument box refers to whether it is installed on the first robotic arm 2 or the second robotic arm 3. The acquired identification information may include the location of the instrument box. For example, when the identification device 411 or 421 senses the marking device 811, it can identify that the instrument box is installed on the first robotic arm 2.

[0071] Once the identification information is obtained, the type of instrument box 8 is automatically identified. Specifically, this identification information can be transmitted to the controller of the catheterization robot to identify the type of instrument box. This controller is located inside the catheterization robot carriage 1, or inside the main control unit connected to the catheterization robot carriage 1. The program for identifying the type of instrument box can be executed within the controller, or it can be a control program or service that communicates remotely in the cloud.

[0072] Furthermore, the working direction of the catheter robot is determined based on the location and type of the installed instrument box 4, so that the catheter robot can switch between different working directions.

[0073] For example, when the outer sheath instrument box is installed on the right arm of the catheter robot, the working direction of the catheter robot is determined to be to the right. When the next surgery requires the catheter robot to work to the left, simply install the outer sheath instrument box on the left arm of the catheter robot. The catheter robot will automatically recognize this and redetermine the working direction of the catheter robot to the left. This achieves the effect of performing the next surgery without having to move the spatial position of the catheter robot or manually set its working direction.

[0074] Further, refer to Figure 13 As shown, the working direction includes a first direction and a second direction, and the position of the instrument box includes a first position and a second position, wherein the first position corresponds to the first instrument box and the second position corresponds to the second instrument box; determining the working direction of the catheter robot based on the position and type of the instrument box further includes:

[0075] If the instrument box is in the first position and the first instrument box 8 is an external sheath instrument box, the working direction of the catheter robot is determined to be the first direction; if the instrument box is in the first position and the first instrument box 8 is an internal tube instrument box, the working direction of the catheter robot is determined to be the second direction; if the instrument box is in the second position and the second instrument box 9 is an external sheath instrument box, the working direction of the catheter robot is determined to be the second direction; if the instrument box is in the second position and the second instrument box 9 is an internal tube instrument box, the working direction of the catheter robot is determined to be the first direction.

[0076] Preferably, the first direction and the second direction are horizontally opposite directions; for example, the first direction corresponds to the right, and the second direction corresponds to the left. Correspondingly, the first instrument box is installed on the right robotic arm (referred to as the right arm), and the second instrument box is installed on the left robotic arm (referred to as the left arm). If the first instrument box installed on the right arm is an outer sheath instrument box, the working direction of the catheter robot is determined to be the first direction, i.e., to the right; if the first instrument box installed on the right arm is an inner tube instrument box, the working direction of the catheter robot is determined to be the second direction, i.e., to the left; if the second instrument box installed on the left arm is an outer sheath instrument box, the working direction of the catheter robot is determined to be the second direction, i.e., to the left; if the second instrument box installed on the left arm is an inner tube instrument box, the working direction of the catheter robot is determined to be the first direction, i.e., to the right. See details below. Figure 5 , Figure 5 A specific embodiment of a catheterization robot is given, which works in the right direction. The first robotic arm 2 (right arm) is equipped with an outer sheath instrument box, and the second robotic arm 3 (left arm) is equipped with an inner tube instrument box.

[0077] Furthermore, once the working direction of the duct robot is determined, a prompt message is issued to inform the user that the working direction has been determined, so that the user can further confirm whether the working direction needs to be changed.

[0078] Furthermore, once the first instrument box 8 and the second instrument box 9 are fully installed, if it is determined that the first instrument box 8 and the second instrument box 9 are of the same type, an alarm message will be issued to prompt the user to replace the instrument box.

[0079] For example, the installation order can be to install the first instrument box 8 first and then the second instrument box 9, or to install the second instrument box 9 first and then the first instrument box 8, or to install the first instrument box 8 and the second instrument box 9 simultaneously.

[0080] For example, if the first instrument box 8 is installed first, a prompt message will be issued after the first instrument box 8 is installed.

[0081] As described in the above embodiment, when the first instrument box 8 is installed on the right arm and the type of the first instrument box 8 is an external sheath instrument box, the working direction is determined to be to the right. At this time, the surgeon or nurse is prompted that the working direction of the catheter robot is to the right for surgery. However, if the surgeon or nurse finds that the patient is actually on the left side of the catheter robot, it indicates an installation error. The surgeon or nurse can then remove the first instrument box and reinstall it.

[0082] Reinstallation includes two scenarios: 1. Replace with a new instrument case type and install it onto the first mounting plate 4 (replace with an inner tube instrument case); 2. Install the removed original outer sheath instrument case onto the second mounting plate 5 on the left.

[0083] When performing the second reinstallation, the first instrument box installed will be replaced with the second instrument box 9.

[0084] After reinstallation, a prompt message is issued informing the surgeon or nurse that the catheterization robot is operating in the left-hand direction for surgery. The surgeon or nurse can then proceed with the installation of the first instrument box 8 (right arm). Once the first instrument box 8 is installed, if it is determined that the first instrument box 8 and the second instrument box 9 are of the same type (both are internal tube instrument boxes), an alarm message is issued to prompt the user to replace the instrument box.

[0085] The second instrument box 9 is installed first. The subsequent prompting process is similar to the above embodiment and will not be repeated here.

[0086] When the first instrument box 8 and the second instrument box 9 are installed simultaneously, the working direction of the catheterization robot is determined according to the type of the first instrument box 8 or the second instrument box 9. If the first instrument box 8 and the second instrument box 9 are of the same type, the working direction cannot be determined, and an alarm message is issued to prompt the user to replace the instrument box.

[0087] Furthermore, the mounting plate is equipped with a rotating device, for reference. Figure 12 Furthermore, after determining the working direction of the catheter robot, the automatic direction setting method also includes:

[0088] S30: Identify the installation orientation of the instrument box;

[0089] S40: When the installation direction is inconsistent with the working direction, control the installation plate to rotate so that the installation direction is consistent with the working direction.

[0090] Using the above methods, the instrument box can be automatically identified and corrected to the correct position when the user installs it incorrectly, without requiring manual operation by the user, thus further improving efficiency and enhancing the user experience.

[0091] For example, refer to Figure 5 , Figure 6 ,in Figure 5 Assuming the instrument box is installed correctly. Figure 6 This indicates an incorrect installation of the instrument box. Figure 5 In the middle, the second instrument box installed on the left arm is the inner tube instrument box, and the first instrument box installed on the right arm is the outer sheath instrument box. The working direction of the catheter robot is to the right. The installation direction of the first instrument box 8 and the second instrument box 9 is to the right. The inner catheter is inserted into the outer catheter through the outer sheath instrument box on the right side, and then inserted into the oral cavity and other parts of the human body through the guide on the right side. Figure 6 and Figure 5 The difference is that, Figure 6 The second instrument box installed on the left arm is an internal catheter instrument box. The correct orientation of this internal catheter instrument box should be the working direction (to the right), but its installation orientation is to the left. This prevents the internal catheter from being inserted into the external catheter through the first instrument box, resulting in an incorrect installation. In this case, the second instrument box is rotated 180° to the working direction using a rotating device, causing the internal catheter to rotate from left to right, thus completing the correct installation.

[0092] Preferably, refer to Figure 4 As shown, the mounting plate is equipped with a rotating device, which can be electrically driven or mechanically driven. This invention does not limit the implementation method. The rotation angle can be n*360°+180°, where n is an integer greater than or equal to 0; it only needs to allow the mounting plate to switch between two opposite directions.

[0093] Preferred, Reference Figure 3 and Figure 4 Each mounting plate has a symmetrically arranged first mounting slot 41 and second mounting slot 42. Each instrument box has a corresponding symmetrically arranged first mounting interface 81 and second mounting interface 82, which mechanically engage with the mounting slots to complete the installation and fixation of the instrument box. The first mounting slot 41 is equipped with a first identification device 411, the second mounting slot 42 is equipped with a second identification device 421, and each instrument box is equipped with an identification device 811, which is located in one of the mounting interfaces of the instrument box.

[0094] The installation orientation of the identification instrument box includes:

[0095] If the marking device 811 is recognized by the first identification device 411, then the installation direction is the first direction;

[0096] If the identification device 811 is identified by the second identification device 421, then the installation direction is the second direction.

[0097] For example, Figure 3 The mounting plate has a first mounting slot 41 and a second mounting buckle 42 that are symmetrically arranged vertically. The first mounting slot 41 is equipped with a first identification device 411, and the second mounting slot 42 is equipped with a second identification device 421.

[0098] Figure 4 It is an external sheath instrument box with an external catheter 6 connected to the right side. The external sheath instrument box has a first installation interface 81 and a second installation interface 82 that are symmetrically arranged vertically. The identification device 811 is disposed in the first installation interface 81. In other embodiments, it may also be installed in the second installation interface 82. There is no limitation here.

[0099] When Figure 4 The outer sheath instrument box is installed in Figure 3 When the instrument box is mounted on the mounting plate 4, if the marking device 811 is identified by the first identification device 411 on the upper side of the mounting plate 4, it can be determined that the mounting direction of the outer sheath instrument box is to the right, and its outer catheter 6 is also to the right. Conversely, if the marking device is identified by the second identification device 421 on the lower side of the mounting plate 4, it can be determined that the mounting direction of the outer sheath instrument box is to the left, and its outer catheter 6 is also to the left.

[0100] The above is just one way to identify the installation direction of the instrument box. There are other ways to achieve this function, which are not limited here. For example, in other embodiments, the first identification device 411 and the second identification device 421 can also be symmetrically arranged on the left and right sides of the mounting plate 4, instead of being arranged in the vertically symmetrical first mounting slot 41 and second mounting slot 42 as described in the above embodiment.

[0101] Furthermore, the automatic direction setting method also includes:

[0102] Once the instrument box is detected to have been removed, the control panel automatically rotates to its initial position. This reset operation reduces the likelihood of errors during subsequent installations and also lowers the complexity of the control program when detecting orientation.

[0103] Further, refer to Figure 12 After identifying the installation orientation of the instrument box, the automatic orientation setting method also includes:

[0104] S50: When the installation direction is consistent with the working direction, configure the mapping relationship between the drive mechanism in the robotic arm and the target motion direction at the end of the guide tube according to the working direction.

[0105] Furthermore, after controlling the rotation of the mounting plate, the mapping relationship between the drive mechanism in the robotic arm and the target movement direction of the conduit end is configured according to the working direction. This is because the mapping relationship between the drive mechanism and the target movement direction of the conduit end changes after the mounting plate rotates, and needs to be reconfigured.

[0106] Specifically, in catheter robots, the movement of the catheter tip can be decoupled into two parts: feeding motion and bending motion. Feeding motion refers to the forward and backward movement of the catheter tip within the body cavity, which is achieved by the forward and backward movement of the robotic arm, primarily used for forward and backward movement. Bending motion refers to the bending of the catheter tip in a plane perpendicular to the direction of feeding motion, primarily used for adjusting the angle of the catheter tip, and is driven by a drive disc on the mounting plate.

[0107] Therefore, the feed motion originates from the drive joints in the robotic arm, and the bending motion originates from the drive disk in the mounting plate. Thus, the mapping relationship mainly refers to the relationship between the drive mechanism in the robotic arm (including the drive joints in the robotic arm and the drive disk in the mounting plate) and the target motion direction at the end of the guide tube, where the target motion direction includes the target bending motion direction and the target feed motion direction.

[0108] Furthermore, the mounting plate includes multiple drive plates, the instrument box includes multiple transmission plates, the drive plates are removably connected to the transmission plates, and the transmission plates drive the movement of the catheter tip. The drive mechanism includes multiple drive plates, and the target movement direction includes the target bending movement direction of the catheter tip. The mapping relationship between the drive mechanism in the robotic arm and the target movement direction of the catheter tip is configured according to the working direction, including:

[0109] Based on the working direction and the physical connection between the drive disc and the transmission disc, configure the mapping relationship between the drive disc and the target bending motion direction.

[0110] Preferably, the mounting plate is provided with multiple drive plates, such as N pairs; the instrument box is provided with multiple transmission plates, such as N pairs. In some embodiments, a pair of transmission plates may include a drive wire, with its two ends wound around the two transmission plates respectively and its middle end wound around the end of the catheter. The two transmission plates rotate clockwise and counterclockwise to control the release and retraction of the drive wire, thereby enabling the catheter end to move in the corresponding bending direction. Alternatively, two drive wires may be included, with one end wound around a transmission plate and the other end positioned at the end of the catheter, and the other end wound around a different transmission plate and the other end positioned at the end of the catheter. The two transmission plates rotate clockwise and counterclockwise to control the release and retraction of the drive wire, similarly enabling the catheter end to move in the corresponding bending direction.

[0111] For example, refer to Figure 7 The transmission disk AD is equipped with coils, which are connected in pairs to the inner or outer conduit. The drive disks 1-4 drive the transmission disk AD to rotate, causing the paired coils to retract and extend, thus adjusting the angle of the inner and outer conduits at their distal ends. Therefore, the rotation direction, speed, and limit parameters of the drive disks 1-4 directly determine the angle adjustment of the inner and outer conduits at their distal ends. Since the mounting boxes 9 are installed in different directions and of different types, using the same mapping relationship would limit the conduit robot to working in only one direction. The method of this invention can automatically set a new mapping relationship when the conduit robot switches working directions, thus adapting to multiple working directions of the conduit robot without manual setting. Furthermore, the method of this invention can also reset the mapping relationship after detecting and correcting an installation error on the mounting disk, eliminating the need for manual setting.

[0112] For example, refer to Figures 7 to 10 This demonstrates the installation orientation of different types of instrument boxes mounted on the second mounting plate 5 (left arm). The outer sheath instrument box of the left arm must be facing left to operate, while the inner tube instrument box of the left arm must be facing right to operate. Therefore, Figure 7 Install the outer sheath instrument case to the left (correct installation). Figure 8 Install the internal instrument box to the right (correct installation). Figure 9 Install the internal instrument box to the right (incorrect installation before rotation). Figure 10 Install the internal instrument box to the right (after rotating, install correctly).

[0113] Each drive disc on the mounting plate corresponds to a transmission disc in the instrument box. The drive discs and transmission discs can be connected by, for example, a convex-concave mating structure. For example, the drive disc has a protrusion, and the transmission disc has a groove that matches the protrusion, and the two are inserted into each other.

[0114] in, Figure 7 The drive disks 1, 2, 3 and 4 correspond to the transmission disks A, B, C and D respectively. Transmission disks A and C control a pair of proximal coils of the external catheter, with A above C. Transmission disks B and D control a pair of distal coils of the external catheter, with B above D. Their motion relationship is based on the leftward motion parameters of the catheter.

[0115] Figure 8Drive disk 1, drive disk 2, drive disk 3 and drive disk 4 correspond to drive disk A, drive disk B, drive disk C and drive disk D respectively. Drive disk A and drive disk C control a pair of distal coils of the inner catheter, with A above C. Drive disk B and drive disk D control a pair of proximal coils of the inner catheter, with B above D. Their motion relationship is based on the rightward motion parameters of the catheter.

[0116] Figure 9 Drive disk 1, drive disk 2, drive disk 3 and drive disk 4 correspond to drive disk A, drive disk B, drive disk C and drive disk D respectively. Drive disk A and drive disk are a pair of proximal coils that control the inner catheter, with A above C. Drive disk B and drive disk D control a pair of distal coils that control the inner catheter, with B above D. Their motion relationship is based on the leftward motion parameters of the catheter.

[0117] Figure 10 Drive disk 1, drive disk 2, drive disk 3, and drive disk 4 correspond to drive disk A, drive disk B, drive disk C, and drive disk D, respectively. Drive disk A and drive disk C control a pair of proximal coils of the inner catheter, with C above A. Drive disk B and drive disk D control a pair of distal coils of the inner catheter, with D above B. Their motion relationship is based on the rightward motion parameters of the catheter.

[0118] Furthermore, Figure 10 Zhongyu Figure 8 In comparison, although the driving disc and the transmission disc have the same correspondence, the position of the driving disc has rotated. Therefore, in addition to adjusting the direction of movement of the driving disc, the speed of movement and other aspects also need to be changed according to the principle of central symmetry.

[0119] The above is just one implementation of the mapping relationship; there are other ways to achieve this function, which are not limited here. For example, in other embodiments, it can be set diagonally.

[0120] For example, refer to Figures 15 to 18 This demonstrates the installation orientation of different types of instrument boxes mounted on the first mounting plate 4 (right arm). The outer sheath instrument box of the right arm must be facing to the right to operate, while the inner tube instrument box of the right arm must be facing to the left to operate. Therefore, Figure 15 Install the outer instrument case to the right (correct installation). Figure 16 Install the internal instrument box to the right (correct installation). Figure 17 Install the outer sheath instrument case to the left (incorrect installation before rotation). Figure 18 Install the external instrument box to the right (after rotation, install correctly). The drive discs controlling a set of coils are arranged diagonally, as shown below. Figure 15 As shown, drive disk 1 and drive disk 3 on the first installation disk 4 are a pair.

[0121] Figure 15 In this diagram, drive discs 1 and 3 are assumed to control bending in two directions in one degree of freedom, while drive discs 2 and 4 are assumed to control bending in two directions in another degree of freedom. Correspondingly, transmission discs A and C are assumed to control bending in two directions in one degree of freedom, and transmission discs B and D are assumed to control bending in two directions in another degree of freedom. 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.

[0122] The different degrees of freedom can be in mutually perpendicular directions. For example, one degree of freedom can be in the up and down directions, while the other degree of freedom can be in the in and out directions.

[0123] Specifically, the corresponding degrees of freedom can be adjusted by setting the connection relationship between the transmission disc and the take-up / unwinding of the guide wire at the end. (Reference) Figure 19 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 19 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 19 This allows for directional control with two degrees of freedom: one degree of freedom for the up and down directions, and the other degree of freedom for the inward and outward directions.

[0124] At this point, the end of the external conduit can bend in different directions according to the drive of the drive disc. The bending directions include upward, downward, inward, and outward, and the mapping relationship can be as follows:

[0125] Drive disc 1 retracts, drive disc 3 releases: the outer guide tube bends upward;

[0126] Drive disc 3 retracts, drive disc 1 releases: the outer conduit bends downwards;

[0127] Drive disk 2 retracts, drive disk 4 releases: the outer guide tube bends outward (perpendicular to the paper and outward);

[0128] Drive disk 4 retracts, drive disk 2 releases: the outer guide tube bends inward (perpendicular to the paper and inward).

[0129] Figure 16 In this diagram, drive discs 1 and 3 are assumed to control bending in two directions in one degree of freedom, and drive discs 2 and 4 are assumed to control bending in two directions in another degree of freedom. Correspondingly, transmission discs E and G are assumed to control bending in two directions in one degree of freedom, and transmission discs F and H are assumed to control bending in two directions in another degree of freedom. Drive disc 1 is connected to transmission disc E, drive disc 2 to transmission disc F, drive disc 3 to transmission disc G, and drive disc 4 to transmission disc H.

[0130] The different degrees of freedom can be in mutually perpendicular directions. For example, one degree of freedom can be in the up and down directions, while the other degree of freedom can be in the in and out directions.

[0131] At this point, the tip of the internal catheter can bend in different directions according to the drive of the drive disc. The bending directions include upward, downward, inward, and outward, and the mapping relationship can be as follows:

[0132] Drive disc 1 retracts, drive disc 3 releases: the inner tube bends upward;

[0133] Drive disc 3 retracts, drive disc 1 releases: the inner conduit bends downwards;

[0134] Drive disk 2 retracts, drive disk 4 releases: the inner guide tube bends outward (perpendicular to the paper and outward);

[0135] Drive disk 4 retracts, drive disk 2 releases: the inner guide tube bends inward (perpendicular to the paper and inward).

[0136] Figure 17 In the configuration, drive disc 1 is connected to transmission disc C, drive disc 2 to transmission disc D, drive disc 3 to transmission disc A, and drive disc 4 to transmission disc B. Due to an installation error, the first mounting disc 4, along with the first instrument box 8, needs to be rotated 180° to the correct orientation.

[0137] Figure 18 Depend on Figure 7 After rotation, the drive disk 1 and transmission disk C, drive disk 2 and transmission disk D, drive disk 3 and transmission disk A, and drive disk 4 and transmission disk B are still connected accordingly.

[0138] The different degrees of freedom can be in mutually perpendicular directions. For example, one degree of freedom can be in the up and down directions, while the other degree of freedom can be in the in and out directions.

[0139] At this point, the end of the external conduit can bend in different directions according to the drive of the drive disc. The bending directions include upward, downward, inward, and outward, and the mapping relationship can be as follows:

[0140] Drive disc 3 retracts, drive disc 1 releases: the outer guide tube bends upward;

[0141] Drive disc 1 retracts, drive disc 3 releases: the outer conduit bends downwards;

[0142] Drive disk 4 retracts, drive disk 2 releases: the outer guide tube bends outward (perpendicular to the paper and outward);

[0143] Drive disk 2 retracts, drive disk 4 releases: the outer guide tube bends inward (perpendicular to the paper and inward).

[0144] The above is just one implementation of the mapping relationship; other methods can also achieve this function, and no limitations are imposed here. (Reference) Figure 20 As shown, another connection relationship between the transmission disc and the end of the guide tube is given. Here, a and b are located at the intersections of rays at an angle of 45° away from the upward direction and the circumference, respectively, and c and d are located at the intersections of rays at an angle of 45° away from the downward direction and the circumference, respectively. Figure 20 The plan and Figure 19 The difference lies in the method used: a and b jointly take in the line (corresponding to drive discs A and B), and d and c jointly release the line (corresponding to drive discs B and D) to achieve upward bending of the guide tube end. Correspondingly, the downward, outward, and inward directions are also controlled by the simultaneous take-in and release of line by all four drive discs. For example, BC taking in and AD releasing corresponds to outward bending. Furthermore, this invention is not limited to... Figure 19 and Figure 20 In some implementation methods, there can be various connection relationships between the transmission disc and the take-up and untake-up lines at the end of the conduit, thereby enabling bending of the end of the conduit in any direction, such as a direction that deviates from the upward direction at any angle and is obliquely upward.

[0145] Furthermore, the robotic arm includes multiple drive joints, the drive mechanism includes drive joints, and the target motion direction includes the target feed motion direction at the end of the conduit. The mapping relationship between the drive mechanism in the robotic arm and the target motion direction at the end of the conduit, configured according to the working direction, includes:

[0146] Configure the mapping relationship between the drive joint and the target feed motion direction according to the working direction.

[0147] Furthermore, the target feed motion direction includes forward and backward movements, corresponding to the forward and backward movements of the catheter tip within the body cavity, respectively. For example, when the catheter robot's working direction is to the right, the target feed motion direction corresponding to the rightward movement of the drive joint is forward, and the target feed motion direction corresponding to the leftward movement of the drive joint is backward. When the catheter robot's working direction is to the left, the target feed motion direction corresponding to the leftward movement of the drive joint is forward, and the target feed motion direction corresponding to the rightward movement of the drive joint is backward.

[0148] Furthermore, the automatic direction setting method also includes:

[0149] The robotic arm equipped with an outer sheath instrument box is configured as the active robotic arm, and the robotic arm equipped with an inner tube instrument box is configured as the driven robotic arm.

[0150] The driven robotic arm is configured to move synchronously with the active robotic arm. Furthermore, the automatic direction setting method also includes:

[0151] Based on the configured mapping relationship, set the rotation direction and control parameters of the drive disk; the control parameters include the movement speed. For example, Figure 18 The drive disc 3 retracts the line, and the drive disc 1 releases the line. The corresponding outer guide tube bends upward. The rotation direction of the drive disc 3 can be set to clockwise for retracting the line and counterclockwise for releasing the line. The rotation speed can also be set according to whether it is connected to an inner or outer guide tube.

[0152] Furthermore, the drive mechanism is controlled according to the configured mapping relationship to achieve control of the catheter robot in the target motion direction. This includes controlling the drive disk to change the target bending motion direction of the catheter tip, and controlling the drive joint to change the target feeding motion direction of the catheter tip. On the other hand, the present invention provides a catheter robot, including two robotic arms and a processor. The ends of the two robotic arms are respectively provided with mounting plates for mounting instrument boxes. The instrument boxes include internal tube instrument boxes and external sheath instrument boxes. The processor is used to execute the above-described automatic direction setting method for the catheter robot.

[0153] In another aspect, the present invention provides a readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the above-described method for automatically setting the direction of the duct robot.

[0154] For details, please refer to the following: Figure 14 In practical applications, Figure 14 This is a schematic diagram of the hardware operating environment involved in the automatic orientation setting method of the catheter robot of the present invention.

[0155] like Figure 14As shown, the hardware operating environment may include: a processor 1001, such as a CPU; a communication bus 1002; a user interface 1003; a network interface 1004; and a memory 1005. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen or an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 1005 may be high-speed RAM or stable non-volatile memory, such as a disk drive. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0156] Those skilled in the art will understand that Figure 14 The hardware structure of the automatic orientation setting method for the duct robot shown in the figure does not constitute a limitation on the operating device of the automatic orientation setting method for the duct robot. It may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0157] like Figure 14 As shown, the memory 1005, which serves as a readable storage medium, may include an operating system, a network communication module, a user interface module, and an automatic orientation setting program for the duct robot. The operating system is a management and control program that supports the operation of the network communication module, the user interface module, the automatic orientation setting program for the duct robot, and other programs or software. The network communication module manages and controls the network interface 1004, and the user interface module manages and controls the user interface 1003.

[0158] exist Figure 14 In the hardware structure shown, network interface 1004 is mainly used to connect to the backend server and communicate with it; user interface 1003 is mainly used to connect to the client (user end) and communicate with it; processor 1001 can call the duct robot's automatic direction setting program stored in memory 1005 and perform the following operations:

[0159] When the instrument box is detected to be installed on the installation tray, the position and type of the instrument box are automatically identified;

[0160] The working direction of the catheter robot is determined based on the location and type of the instrument box.

[0161] Furthermore, after determining the working direction of the catheter robot,

[0162] Identify the installation orientation of the instrument box;

[0163] When the installation direction is consistent with the working direction, the mapping relationship between the drive mechanism in the robotic arm and the target movement direction at the end of the conduit is configured according to the working direction.

[0164] Furthermore, the mapping relationship between the drive mechanism in the robotic arm and the target motion direction at the end of the guide tube, configured according to the working direction, includes:

[0165] Based on the working direction and the physical connection between the drive disc and the transmission disc, configure the mapping relationship between the drive disc and the target bending motion direction.

[0166] Furthermore, the mapping relationship between the drive mechanism in the robotic arm and the target motion direction at the end of the guide tube, configured according to the working direction, includes:

[0167] Configure the mapping relationship between the drive joint and the target feed motion direction according to the working direction.

[0168] Furthermore, the robotic arm equipped with the outer sheath instrument box is configured as the active robotic arm, and the robotic arm equipped with the inner tube instrument box is configured as the driven robotic arm.

[0169] The driven robotic arm is configured to move synchronously with the active robotic arm.

[0170] Furthermore, when the installation direction is inconsistent with the working direction, the installation plate is rotated to make the installation direction consistent with the working direction.

[0171] Furthermore, after controlling the rotation of the mounting plate, the mapping relationship between the drive mechanism in the robotic arm and the target motion direction at the end of the conduit is configured according to the working direction.

[0172] Furthermore, once the instrument box is detected to have been removed, the control mounting plate automatically rotates back to its initial position.

[0173] Furthermore, determining the working direction of the catheterization robot based on the position and type of the instrument box also includes: if the position of the instrument box is a first position and the type of the first instrument box is an external sheath instrument box, the working direction of the catheterization robot is determined to be a first direction; if the position of the instrument box is a first position and the type of the first instrument box is an internal tube instrument box, the working direction of the catheterization robot is determined to be a second direction; if the position of the instrument box is a second position and the type of the second instrument box is an external sheath instrument box, the working direction of the catheterization robot is determined to be a second direction; if the position of the instrument box is a second position and the type of the second instrument box is an internal tube instrument box, the working direction of the catheterization robot is determined to be a first direction.

[0174] Furthermore, the installation orientation of the instrument box includes:

[0175] If the marking device is recognized by the first identification device, then the installation direction is the first direction;

[0176] If the marking device is recognized by the second identification device, the installation direction is the second direction. Further, based on the established mapping relationship, the rotation direction and control parameters of the drive disc are set; the control parameters include the movement speed.

[0177] Furthermore, the drive mechanism is controlled according to the configured mapping relationship to control the duct robot in the target motion direction. This includes controlling the drive disk to change the target bending motion direction of the duct tip, and controlling the drive joint to change the target feeding motion direction of the duct tip.

[0178] In summary, the present invention has the following beneficial effects: By using the solution of the present invention, the type of instrument box is automatically identified when the instrument box is installed on the installation plate, and the working direction of the catheter robot is determined according to the type of instrument box, so as to realize the automatic setting of the working direction of the catheter robot without the need to manually select the working direction or move the robot to a new position, thereby improving work efficiency, reducing labor costs and further reducing the error rate.

[0179] Furthermore, once the working direction of the catheterization robot is determined, a prompt message is issued to inform the user of the established direction. This allows the user to confirm whether a change in direction is necessary. Thus, the system can alert the user even after installing only one instrument box, saving time by eliminating the need to wait until all boxes are installed. Furthermore, once all instrument boxes are installed, if all boxes are determined to be of the same type, an alarm message is issued to prompt the user to replace the instrument box. This allows the system to alert the user again when installing a second instrument box.

[0180] Furthermore, the mounting plate is equipped with a rotating mechanism that automatically identifies and corrects the instrument box to the correct position if the user installs it incorrectly, eliminating the need for manual operation and further improving efficiency and user experience. Additionally, when the instrument box is detected to have been removed, the mounting plate automatically rotates back to its initial position. This reset operation reduces the likelihood of errors during subsequent installations and also lowers the complexity of the control program when detecting orientation.

[0181] Furthermore, using the solution of this invention, when the installation direction and working direction are consistent, the mapping relationship between the drive mechanism in the robotic arm and the target movement direction of the catheter tip is configured according to the working direction. This allows for adaptation to multiple working directions and angles of the catheter robot, expanding more application scenarios and eliminating the need for manual settings, thus improving efficiency. Furthermore, the method of this invention can also reset the mapping relationship after detecting and correcting an installation error on the mounting plate, thereby adapting to multiple rotation angles of the mounting plate and instrument box, expanding more application scenarios, eliminating the need for manual settings, and improving work efficiency.

Claims

1. A method for automatically setting the direction of a catheter robot, characterized in that, The catheterization robot has mounting plates at the ends of its two robotic arms. These mounting plates are used to mount instrument boxes, which can be either internal tube instrument boxes or external sheath instrument boxes. The automatic direction setting method includes: When the instrument box is detected to be installed on the mounting plate, the position and type of the instrument box are automatically identified; The working direction of the catheter robot is determined based on the position and type of the instrument box; The mounting plate includes a first mounting plate and a second mounting plate; the instrument box includes a first instrument box and a second instrument box; the first mounting plate is used to mount the first instrument box; the second mounting plate is used to mount the second instrument box; the working direction includes a first direction and a second direction, which are opposite to each other; the position of the instrument box includes a first position and a second position, where the first position corresponds to the first instrument box and the second position corresponds to the second instrument box; determining the working direction of the catheter robot based on the position and type of the instrument box further includes: If the instrument box is located at the first position, and the type of the first instrument box is an external sheath instrument box, then the working direction of the catheter robot is determined to be the first direction; If the instrument box is located at the first position and the type of the first instrument box is an internal tube instrument box, then the working direction of the catheter robot is determined to be the second direction. If the instrument box is located at the second position, and the type of the second instrument box is an external sheath instrument box, then the working direction of the catheter robot is determined to be the second direction; If the instrument box is located in the second position and the type of the second instrument box is an internal tube instrument box, the working direction of the catheter robot is determined to be the first direction.

2. The method for automatically setting the direction of a catheter robot according to claim 1, characterized in that, The instrument box is connected to a catheter, and after determining the working direction of the catheter robot, the automatic direction setting method further includes: Identify the installation orientation of the instrument box; When the installation direction is consistent with the working direction, the mapping relationship between the drive mechanism in the robotic arm and the target movement direction of the end of the conduit is configured according to the working direction.

3. The method for automatically setting the direction of a catheter robot according to claim 2, characterized in that, The mounting plate includes multiple drive plates, the instrument box includes multiple transmission plates, the drive plates are removably connected to the transmission plates, and the transmission plates drive the movement of the catheter tip. The drive mechanism includes the multiple drive plates, the target movement direction includes the target bending movement direction of the catheter tip, and configuring the mapping relationship between the drive mechanism in the robotic arm and the target movement direction of the catheter tip according to the working direction includes: Based on the working direction and the physical connection between the drive disk and the transmission disk, configure the mapping relationship between the drive disk and the target bending motion direction.

4. The method for automatically setting the direction of a catheter robot according to claim 2, characterized in that, The robotic arm includes multiple drive joints, the drive mechanism includes the drive joints, the target motion direction includes the target feed motion direction of the conduit end, and configuring the mapping relationship between the drive mechanism in the robotic arm and the target motion direction of the conduit end according to the working direction includes: Configure the mapping relationship between the drive joint and the target feed motion direction according to the working direction.

5. The method for automatically setting the direction of a catheter robot according to claim 4, characterized in that, The automatic direction setting method further includes: The robotic arm equipped with an outer sheath instrument box is configured as an active robotic arm, and the robotic arm equipped with an inner tube instrument box is configured as a driven robotic arm. The driven robotic arm is configured to move synchronously with the active robotic arm.

6. The method for automatically setting the direction of a catheter robot according to claim 2, characterized in that, The automatic direction setting method further includes: When the installation direction is inconsistent with the working direction, the mounting plate is controlled to rotate so that the installation direction is consistent with the working direction.

7. The method for automatically setting the direction of a catheter robot according to claim 6, characterized in that, The automatic direction setting method further includes: After controlling the rotation of the mounting plate, the mapping relationship between the drive mechanism in the robotic arm and the target movement direction of the conduit end is configured according to the working direction.

8. The method for automatically setting the direction of a catheter robot according to claim 7, characterized in that, The automatic direction setting method further includes: Once the instrument box is detected to have been removed, the mounting plate is controlled to automatically rotate back to its initial position.

9. The method for automatically setting the direction of a catheter robot according to claim 2, characterized in that, The installation tray includes a first identification device and a second identification device, and the instrument box includes an identification device; The installation orientation of the instrument box is identified as follows: If the marking device is identified by the first identification device, then the installation direction is the first direction; If the marking device is identified by the second identification device, then the installation direction is the second direction.

10. The method for automatically setting the direction of a catheter robot according to claim 3, characterized in that, The automatic direction setting method further includes: Based on the configured mapping relationship, the rotation direction and control parameters of the drive disk are set; the control parameters include the motion speed.

11. A catheter robot, characterized in that, The device includes two robotic arms and a processor. The ends of the two robotic arms are respectively provided with mounting plates. The mounting plates are used to install instrument boxes. The types of instrument boxes include internal tube instrument boxes and external sheath instrument boxes. The processor is used to execute the automatic orientation setting method of the catheter robot as described in any one of claims 1 to 10.

12. A readable storage medium, characterized in that, The readable storage medium stores a computer program that, when executed by a processor, implements the steps of the automatic orientation setting method for the catheter robot as described in any one of claims 1-10.

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