Automatic radiography robot and control system

Abstract

The present invention is applicable to the field of medical robots and provides an automatic radiography robot comprising a robot body, a guidewire delivery device, a radiography catheter delivery device, and an external catheter delivery device. The robot body is used to install the guidewire delivery device, the radiography catheter delivery device, and the external catheter delivery device; the guidewire delivery device is used to drive the guidewire to a designated position; the radiography catheter delivery device is used to drive the radiography catheter along the guidewire to radiography position one, adjust the posture of the radiography catheter to form a loop, and drive the looped radiography catheter to a support position; the external catheter delivery device is used to drive the external catheter along the looped radiography catheter and the guidewire to radiography position two. A control system for the automatic radiography robot is also provided. The present invention completes two radiography sessions in stages through the coordination of the radiography catheter and the external catheter. The entire process does not require coaxial instrument replacement, which reduces operational difficulty, reduces the occurrence of complications, and improves surgical safety.

Description

Technical Field

[0001] The present invention belongs to the field of medical robots and is applied to master-slave surgical robots, in particular to an automatic radiography robot and a control system. Background Art

[0002] With the popularization and development of neurointerventional techniques and the advancement and development of medical devices, the clinical application of transradial access for intracranial endovascular diagnosis and treatment continues to increase, and transradial intracranial angiography has gradually become a key clinical focus. Manual intracranial angiography requires first completing aortic arch angiography using a pigtail catheter, then switching to a Simon catheter or single-bend catheter for common carotid artery angiography. This requires coaxial instrument exchange during the procedure, which not only reduces surgical efficiency but also easily leads to complications and poses safety risks. Summary of the Invention

[0003] The purpose of the present invention is to provide an automatic angiography robot and control system, aiming to solve the technical problems of the prior art that intracranial angiography via manual transradial artery approach requires coaxial exchange instruments, has low surgical efficiency and poses safety risks.

[0004] The present invention is achieved in that:

[0005] A first aspect of the present invention provides an automatic angiography robot for the coordinated delivery of a guidewire, an angiography catheter, and an external catheter. In an initial state, the guidewire sequentially passes through the angiography catheter and the external catheter and emerges from the tip of the angiography catheter, and the angiography catheter passes through the external catheter and emerges from the tip of the external catheter. The automatic angiography robot comprises a robot body, a guidewire delivery device, an angiography catheter delivery device, and an external catheter delivery device.

[0006] The robot body is used to install the guidewire delivery device, the angiography catheter delivery device and the external catheter delivery device;

[0007] The guidewire delivery device is used to drive the guidewire to a designated position;

[0008] The angiography catheter delivery device is used to drive the angiography catheter to move along the guide wire to the angiography position 1, adjust the posture of the angiography catheter to form a loop, and drive the looped angiography catheter to move to the support position;

[0009] The outer catheter delivery device is used to drive the outer catheter to move along the looped angiography catheter and guide wire to the second angiography position;

[0010] After the angiography catheter moves along the guide wire to the angiography position one, the automatic angiography robot starts the first angiography; after the outer catheter covers the angiography catheter in the supporting position and moves along the guide wire to the angiography position two, the automatic angiography robot starts the second angiography.

[0011] Furthermore, the angiography catheter includes catheter segment 1, catheter segment 2 and an arc-shaped catheter segment. The arc-shaped catheter segment is arranged between catheter segment 1 and catheter segment 2. The port of catheter segment 1 is an outward-warped structure, and an opening is provided on the arc-shaped catheter segment.

[0012] Furthermore, the openings are evenly distributed along the circumference of the arc-shaped conduit segment.

[0013] Furthermore, the outer catheter includes a soft head section and a main body support section. When the outer catheter moves to the second angiography position, the soft head section covers the first catheter section and the arc-shaped catheter section.

[0014] Furthermore, the angiographic catheter delivery device and the external catheter delivery device are independently installed on the robot body, or the angiographic catheter delivery device and the external catheter delivery device are adjacently arranged and connected via a base plate to form an integrated structure and then installed on the robot body.

[0015] Furthermore, the external catheter delivery device includes an external catheter delivery mechanism and an external catheter rotation mechanism. The tail end of the external catheter is installed on the external catheter rotation mechanism through T-valve 1, and the front end of the external catheter is installed on the external catheter delivery mechanism. The external catheter delivery mechanism and the external catheter rotation mechanism cooperate to drive the external catheter to move to the angiography position 2, and the angiography catheter is inserted into the external catheter through T-valve 1.

[0016] Furthermore, the angiography catheter delivery device includes an angiography catheter delivery mechanism and an angiography catheter rotation mechanism. The tail end of the angiography catheter is installed on the angiography catheter rotation mechanism through T-valve 2, and the front end of the angiography catheter is installed on the angiography catheter delivery mechanism. The angiography catheter delivery mechanism and the angiography catheter rotation mechanism cooperate to drive the angiography catheter to move to the angiography position 1 and the support position. The angiography catheter delivery mechanism and the angiography catheter rotation mechanism cooperate to adjust the posture of the angiography catheter so that the angiography catheter forms a loop, and the guide wire is passed through the angiography catheter through T-valve 2.

[0017] Furthermore, the guidewire delivery device includes a guidewire rotation delivery mechanism, a T-valve opening control mechanism and a guidewire tail end detection mechanism. The guidewire rotation delivery mechanism is used to install and drive the guidewire to a specified position. The T-valve opening control mechanism is used to open the sealing opening of T-valve 2 when the guidewire penetrates T-valve 2. The guidewire tail end detection mechanism is used to detect the tail end position of the guidewire. When the guidewire tail end detection mechanism does not detect the guidewire, the guidewire rotation delivery mechanism stops driving the guidewire.

[0018] Furthermore, the guidewire delivery device also includes a guidewire head end position detection mechanism. When the guidewire head end position detection mechanism detects that the guidewire head end is withdrawn to the outside of the T valve, the guidewire rotation delivery mechanism stops withdrawing the guidewire.

[0019] A second aspect of the present invention provides a control system for an automatic imaging robot, which is used for the above-mentioned automatic imaging robot and performs the following steps:

[0020] S1. Installing the guidewire, angiographic catheter, and outer catheter on the guidewire delivery device, angiographic catheter delivery device, and outer catheter delivery device, respectively;

[0021] S2, the guidewire delivery device drives the guidewire to move, and the angiography catheter delivery device and the external catheter delivery device drive the angiography catheter and the external catheter to follow respectively, until the angiography catheter moves to angiography position 1;

[0022] S3, the guidewire delivery device withdraws the guidewire and initiates the first angiography;

[0023] S4, the guidewire delivery device drives the guidewire to a designated position in the angiography catheter;

[0024] S5. The angiographic catheter delivery device adjusts the posture of the angiographic catheter so that the angiographic catheter forms a loop, and the angiographic catheter delivery device drives the looped angiographic catheter to move to the supporting position;

[0025] S6. The guidewire delivery device drives the guidewire to move and expose the guidewire to the tip of the angiography catheter in the supporting position;

[0026] S7, the outer catheter delivery device drives the outer catheter to cover the angiography catheter in the supporting position and move along the guidewire to the second angiography position;

[0027] S8, the guidewire delivery device withdraws the guidewire and initiates the second angiography;

[0028] S9. Withdraw the guidewire, angiographic catheter, and external catheter in order from inside to outside.

[0029] The present invention offers the following advantages: Compared to manual procedures, this method utilizes the coordination of angiographic and external catheters to perform two angiographic procedures in stages. This eliminates the need for coaxial instrument replacement, reducing operational difficulty, minimizing complications, and improving surgical safety. Furthermore, the entire procedure utilizes a guidewire delivery device, angiographic catheter delivery device, and external catheter delivery device to automatically deliver the guidewire, angiographic catheter, and external catheter, improving surgical efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a schematic diagram of the assembly of the automatic radiography robot provided in the first embodiment of the present invention;

[0031] Figure 2 This is a schematic diagram of the assembly of the automatic radiography robot provided in the second embodiment of the present invention;

[0032] Figure 3 Schematic diagram of the structure of an angiography catheter provided by an embodiment of the present invention;

[0033] Figure 4 is a schematic structural diagram of an outer catheter provided by an embodiment of the present invention;

[0034] Figure 5 is a flow chart of a control system provided by an embodiment of the present invention;

[0035] Figure 6 This is a schematic diagram of the delivery of the guide wire, angiography catheter, and outer catheter provided in the embodiment of the present invention. Figure 1 ;

[0036] Figure 7 This is a schematic diagram of the delivery of the guidewire, angiography catheter, and outer catheter provided in the embodiment of the present invention. Figure 2 ;

[0037] Figure 8 This is a schematic diagram of the delivery of the guidewire, angiography catheter, and outer catheter provided in the embodiment of the present invention. Figure 3 ;

[0038] Figure 9 This is a schematic diagram of the delivery of the guidewire, angiography catheter, and outer catheter provided in the embodiment of the present invention. Figure 4 ;

[0039] Figure 10 This is a schematic diagram of the delivery of the guide wire, angiography catheter, and outer catheter provided in the embodiment of the present invention. Figure 5 ;

[0040] Figure 11 This is a schematic diagram of the delivery of the guidewire, angiography catheter, and outer catheter provided in the embodiment of the present invention. Figure 6 .

[0041] 100-Automatic radiography robot,

[0042] 1-Robot body, 11-Baseboard,

[0043] 2-guidewire delivery device, 21-guidewire rotation delivery mechanism, 22-T valve opening control mechanism, 23-guidewire tail end detection mechanism, 24-guidewire head end position detection mechanism,

[0044] 3- angiographic catheter delivery device, 31- angiographic catheter delivery mechanism, 32- angiographic catheter rotation mechanism,

[0045] 4-external catheter delivery device, 41-external catheter delivery mechanism, 42-external catheter rotation mechanism,

[0046] 5-Guide wire,

[0047] 6- angiography catheter, 61- catheter segment 1, 62- catheter segment 2, 63- curved catheter segment, 64- opening,

[0048] 7-external catheter, 71-head end soft section, 72-main body support section,

[0049] 81-T valve one, 82-T valve two. DETAILED DESCRIPTION

[0050] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0051] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed connections, detachable connections, integrated connections, or even connections that allow relative movement; they may refer to mechanical connections or electrical connections; they may refer to direct connections or indirect connections through an intermediate medium; they may refer to internal communication between two components or the interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0052] In the description of the present invention, the terms "length", "diameter", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like to indicate orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as limiting the present invention.

[0053] As used in the present invention, the direction "far" is the direction toward the patient, and the direction "near" is the direction away from the patient. The terms "up" and "upper part" refer to the general direction away from the direction of gravity, and the terms "bottom", "lower" and "lower part" refer to the general direction of gravity. The term "front" refers to the side of the interventional surgical robot facing the user from the end device, and "forward" refers to the direction in which the guide wire or catheter is displaced into the body of the surgical patient. The term "backward" refers to the side of the interventional surgical robot facing away from the user from the end device, and "backward" refers to the direction in which the guide wire or catheter is displaced out of the body of the surgical patient. The term "inwardly" refers to the internal part of a feature. The term "outwardly" refers to the external part of a feature. The term "rotation" includes "forward rotation" and "reverse rotation", wherein "forward rotation" refers to the direction in which the guide wire or catheter is rotated into the body of the surgical patient, and "reverse rotation" refers to the direction in which the guide wire or catheter is rotated out of the body of the surgical patient.

[0054] Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature identified with "first," "second," etc., may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" or "multiple" means two or more.

[0055] Finally, it should be noted that, unless there is a conflict, the embodiments of the present invention and the features thereof may be combined with each other and are all within the scope of protection of the present invention. Furthermore, all or part of the steps in the above method may be executed in a computer system, such as a set of computer-executable instructions, and although the steps are listed in the order 1, 2, 3, etc., in some cases, the steps may be executed in a different order than that shown or described herein.

[0056] The guidewires here include but are not limited to guide wires, microguidewires, stents and other guiding and supporting interventional medical devices, and catheters include but are not limited to guide catheters, microcatheters, angiography catheters, multifunctional tubes (also known as external catheters), thrombolytic catheters, balloon dilatation catheters and balloon-expandable stent catheters and other therapeutic interventional medical devices.

[0057] As attached Figure 1 FIG. 1 shows an automated angiography robot 100 according to a first embodiment of the present invention, configured for the coordinated delivery of a guidewire 5, an angiography catheter 6, and an outer catheter 7. In the initial state, the guidewire 5 sequentially passes through the angiography catheter 6 and the outer catheter 7, emerging from the tip of the angiography catheter 6. The angiography catheter 6 also passes through the outer catheter 7, emerging from the tip of the outer catheter 7. In other words, the guidewire 5, the angiography catheter 6, and the outer catheter 7 are sequentially assembled to form a device assembly.

[0058] In order to automatically complete the angiography of two positions during the delivery process without the need for coaxial exchange equipment, this embodiment improves the structure of the angiography catheter 6 and the outer catheter 7. The angiography catheter 6 is used to inject contrast agents and support the outer catheter 7 at an appropriate position. Figure 3As shown, the preferred angiographic catheter 6 of this embodiment is generally in a "U"-shaped structure, including catheter segment 1 61, catheter segment 2 62 and an arcuate catheter segment 63. Catheter segment 1 61 and arcuate catheter segment 63 are located at the distal end, and catheter segment 2 62 is located at the proximal end. The arcuate catheter segment 63 is arranged between catheter segment 1 61 and catheter segment 2 62, and is a transition section between catheter segment 1 61 and catheter segment 2 62. In order to facilitate the entry of the angiographic catheter 6 into a pipeline with a complex structure, the port of the preferred catheter segment 1 61 of this embodiment is an outward-warped structure. The arcuate catheter segment 63 is provided with openings 64, and the openings 64 are preferably evenly distributed along the circumference of the arcuate catheter segment 63, which is conducive to the uniform diffusion of the contrast agent. When the angiographic catheter 6 moves to the angiographic position 1, for example, when the angiographic catheter 6 enters the aortic arch, the contrast agent is injected into the angiographic catheter 6, and the openings 64 on the arcuate catheter segment 63 allow the contrast agent to be evenly distributed to the aortic arch position for imaging.

[0059] The external catheter 7 is used to establish a transradial whole-brain angiography pathway, as shown in the attached Figure 4 As shown, the preferred outer catheter 7 of this embodiment includes a soft head section 71 and a main body support section 72. The soft head section 71 adopts a metal woven mesh structure and has soft characteristics. The main body support section 72 has a multi-layer structure, the inner layer is a polymer layer, the middle layer is a support skeleton layer, generally made of metal material, the outer layer is a polyester fiber layer, and the surface is covered with a hydrophilic coating, so that the product has good support and less resistance. The soft head section 71 should be of sufficient length to avoid the main body support section 72 of the outer catheter 7 overlapping with the shaping part of the angiographic catheter 6 during the delivery process of the outer catheter 7, thereby interfering with the shaping of the angiographic catheter 6. That is, when the outer catheter 7 moves to the angiographic position two, the soft head section 71 covers the catheter section 1 61 and the arc-shaped catheter section 63 of the angiographic catheter 6. For example, as shown in the attached Figure 10 As shown, after looping, the angiographic catheter 6 enters the common carotid artery. The flexible tip section 71 overlaps the looped area of ​​the catheter 6 and deforms accordingly. By combining the external catheter 7 and the angiographic catheter 6, the catheter 6 establishes a pathway at the front, providing support for the external catheter 7 to reach the distal end of the lesion. The external catheter 7, with its flexible tip and the ability to follow the catheter 6, reaches the distal intracranial location and establishes a transradial whole-brain angiography pathway. This procedure effectively avoids the risks and complications associated with coaxial exchange instruments, reducing complexity and shortening surgical time.

[0060] As attached Figure 1 As shown, the automatic angiography robot 100 includes a robot body 1 , a guidewire delivery device 2 , an angiography catheter delivery device 3 and an external catheter delivery device 4 .

[0061] The robot body 1 is used to mount a guidewire delivery device 2, an angiographic catheter delivery device 3, and an external catheter delivery device 4. The guidewire delivery device 2, the angiographic catheter delivery device 3, and the external catheter delivery device 4 are movably mounted on the robot body 1. Part or all of the mechanisms of the guidewire delivery device 2, the angiographic catheter delivery device 3, and the external catheter delivery device 4 can slide relative to the robot body 1 to adjust their positions along the device delivery direction.

[0062] The angiography catheter delivery device 3 is used to drive the angiography catheter 6 to move along the guide wire 5 to the angiography position 1, adjust the posture of the angiography catheter 6 to make the angiography catheter 6 form a loop, and drive the angiography catheter 6 after forming a loop to move to the support position.

[0063] The preferred angiographic catheter delivery device 3 in this embodiment includes an angiographic catheter delivery mechanism 31 and an angiographic catheter rotation mechanism 32, which are positioned at a predetermined distance from each other. The tail end of the angiographic catheter 6 is attached to the angiographic catheter rotation mechanism 32 via a second T-valve 82. The rotation mechanism 32 controls the rotation of the angiographic catheter 6 by driving the second T-valve 82. The front end of the angiographic catheter 6 is attached to the angiographic catheter delivery mechanism 31. The preferred angiographic catheter delivery mechanism 31 in this embodiment utilizes multiple rollers to clamp and drive the angiographic catheter 6 forward and backward. Initially, the guidewire 5 is passed through the second T-valve 82 and inserted into the angiography catheter 6. The angiography catheter delivery mechanism 31 drives the angiography catheter 6 forward along the guidewire 5. The angiography catheter rotation mechanism 32 moves forward as a whole in accordance with the delivery speed of the angiography catheter 6. The angiography catheter delivery mechanism 31 and the angiography catheter rotation mechanism 32 cooperate to drive the angiography catheter 6 to angiography position 1 and a support position. Angiography position 1 is where the angiography catheter 6 is located within the aortic arch, facilitating injection of contrast agent. The support position is where the angiography catheter 6 is located within the common carotid artery, providing internal support for the external catheter 7. After the angiography catheter 6 moves along the guidewire 5 to angiography position 1, the automated angiography robot 100 initiates the first angiography procedure, for example, injecting contrast agent into the angiography catheter 6 to perform angiography of the aortic arch. After completing aortic arch angiography, the angiography catheter delivery mechanism 31 and the angiography catheter rotation mechanism 32 drive the angiography catheter 6 to rotate, advance and retreat, and cooperate to adjust the posture of the angiography catheter 6 to form a loop, and deliver the looped angiography catheter 6 into the common carotid artery.

[0064] External catheter delivery device 4 is used to drive external catheter 7 along the looped angiography catheter 6 and guidewire 5 to angiography position 2. Initially, external catheter delivery device 4 cooperates with angiography catheter delivery device 3 to synchronously drive external catheter 7 and angiography catheter 6 forward over guidewire 5. Once the looped angiography catheter 6 enters the common carotid artery, external catheter delivery device 4 independently controls external catheter 7 over guidewire 5 into the internal carotid artery, establishing a transradial whole-brain cerebral angiography pathway.

[0065] In this preferred embodiment, the external catheter delivery device 4 includes an external catheter delivery mechanism 41 and an external catheter rotation mechanism 42, which are positioned at a predetermined distance from each other. The tail end of the external catheter 7 is attached to the external catheter rotation mechanism 42 via a T-valve 81. The external catheter rotation mechanism 42 controls the rotation of the external catheter 7 by driving the T-valve 81 to rotate. The front end of the external catheter 7 is attached to the external catheter delivery mechanism 41. In this preferred embodiment, the external catheter delivery mechanism 41 clamps and drives the external catheter 7 forward and backward using multiple rollers. In the initial state, the angiographic catheter 6 is inserted into the external catheter 7 via the T-valve 81. The external catheter delivery mechanism 41 drives the external catheter 7 forward along the angiographic catheter 6. The external catheter rotation mechanism 42 moves forward as a whole in accordance with the delivery speed of the external catheter 7. The external catheter delivery mechanism 41 and the external catheter rotation mechanism 42 cooperate to drive the external catheter 7 to the second imaging position, which is the distal position of the external catheter 7 within the skull, facilitating the injection of contrast agent. After the outer catheter 7 covers the angiography catheter 6 in the support position and moves along the guidewire 5 to the second angiography position, the automatic angiography robot 100 starts the second angiography. To make the structure of the automatic angiography robot 100 more compact, the outer catheter rotation mechanism 42 and the angiography catheter delivery mechanism 31 can be arranged together.

[0066] The guidewire delivery device 2 is used to drive the guidewire 5 to a designated position. This embodiment of the guidewire delivery device 2 drives the guidewire 5 into the angiography catheter 6 and controls the guidewire 5's forward, backward, and rotational motion, thereby improving surgical efficiency and enhancing the degree of automation. The preferred guidewire delivery device 2 in this embodiment includes a guidewire rotation delivery mechanism 21, a T-valve opening control mechanism 22, and a guidewire tail end detection mechanism 23.

[0067] The guidewire rotation delivery mechanism 21 is used to install and drive the guidewire 5 to a designated position, which is the desired position that the surgeon at the main end desires to control the guidewire 5 to. The preferred guidewire rotation delivery mechanism 21 in this embodiment clamps and drives the guidewire 5 forward and backward using multiple rollers, which rotate as a whole to control the rotation of the guidewire 5.

[0068] Because the tip of the guidewire 5 is soft and cannot be directly inserted into the T-valve, the T-valve opening control mechanism 22 is used to open the seal opening of the second T-valve 82 when the guidewire 5 passes through the second T-valve 82, automatically completing the guidewire 5's passage through the T-valve. The preferred T-valve opening control mechanism 22 in this embodiment opens the internal passage of the second T-valve 82 by expanding the seal opening of the second T-valve 82. The T-valve opening control mechanism 22 includes a hollow guide needle. Initially, the tip of the guidewire 5 is inserted into the guide needle. When the guidewire rotation delivery mechanism 21 moves toward the second T-valve 82, the guide needle is inserted into the second T-valve 82, opening the seal opening of the second T-valve 82. The guidewire rotation delivery mechanism 21 drives the guidewire 5 along the hollow portion of the guide needle into the internal passage of the second T-valve 82, and then passes through the second T-valve 82 and the angiographic catheter in sequence. After the guidewire 5 enters the internal passage of the second T-valve 82, the guide needle is withdrawn, closing the seal opening of the second T-valve 82.

[0069] The guidewire tail end detection mechanism 23 is used to detect the tail end position of the guidewire 5. The guidewire tail end detection mechanism 23 is arranged on the side of the guidewire rotation delivery mechanism 21 away from the T valve 82. When the guidewire tail end detection mechanism 23 fails to detect the guidewire 5, it means that the guidewire 5 is about to escape from the control of the guidewire rotation delivery mechanism 21, and the guidewire rotation delivery mechanism 21 stops driving the guidewire 5.

[0070] To facilitate the automatic injection of contrast agent into the second T-valve 82, the guidewire delivery device 2 also includes a guidewire tip position detection mechanism 24, which is located near the entrance of the second T-valve 82. To make the structure of the automatic angiography robot 100 more compact, the guidewire tip position detection mechanism 24 and the angiography catheter rotation mechanism 32 are preferably arranged together in this embodiment. The guidewire rotation delivery mechanism 21 drives the guidewire 5 to retract. When the guidewire tip position detection mechanism 24 detects that the tip of the guidewire 5 has retracted outside the second T-valve 82, the guidewire rotation delivery mechanism 21 stops retracting the guidewire 5. Specifically, when the guidewire tip position detection mechanism 24 does not detect the guidewire 5, it indicates that the guidewire 5 has exited the second T-valve 82. The guidewire rotation delivery mechanism 21 stops retracting the guidewire 5 and prepares for the angiography procedure.

[0071] As attached Figure 1 As shown, an automated angiography robot 100 according to a first embodiment of the present invention comprises an angiography catheter delivery device 3 and an external catheter delivery device 4, each independently mounted on the robot body 1. The angiography catheter delivery device 3 and the external catheter delivery device 4 are independently controlled by two lead screw motors. Before the angiography catheter delivery device 3 controls the angiography catheter 6 to enter the common carotid artery, the angiography catheter 6 and the external catheter 7 move synchronously. After the angiography catheter 6 enters the common carotid artery, the external catheter delivery device 4 independently controls the external catheter 7 to enter the internal carotid artery, thereby establishing a transradial whole-brain angiography pathway. The independent control of the angiography catheter delivery device 3 and the external catheter delivery device 4 allows for a wider range of surgical procedures and compatibility.

[0072] As attached Figure 2 As shown, the automatic angiography robot 100 provided in the second embodiment of the present invention is shown. The structure of the second embodiment is similar to that of the first embodiment, with the main difference being that the control method of the angiography catheter delivery device 3 and the external catheter delivery device 4 is adjusted. The angiography catheter delivery device 3 and the external catheter delivery device 4 of the second embodiment are arranged adjacent to each other and connected by a substrate 11 to form an integrated structure, which is then installed on the robot body 1. In this embodiment, the angiography catheter delivery device 3 and the external catheter rotation mechanism 41 are integrated together through the substrate 11. Before the angiography catheter delivery device 3 controls the angiography catheter 6 to enter the common carotid artery, a screw motor drives the angiography catheter delivery device 3 and the external catheter rotation mechanism 41 to move as a whole, achieving synchronous movement of the angiography catheter 6 and the external catheter 7. After the angiography catheter 6 enters the common carotid artery, the angiography catheter delivery mechanism 31 and the external catheter delivery mechanism 41 cooperate to move the external catheter 7 relative to the angiography catheter 6, independently controlling the external catheter 7 to enter the internal carotid artery, thereby achieving the establishment of a transradial whole-brain angiography pathway. Integrating the angiographic catheter delivery device 3 and the outer catheter rotation mechanism 41 together not only facilitates controlling the synchronous movement of the angiographic catheter 6 and the outer catheter 7, but also reduces the number of lead screw motors used, shrinks the occupied space, and facilitates the installation of the device.

[0073] As attached Figure 5 As shown, a control system of an automatic radiography robot provided by an embodiment of the present invention is used for the above-mentioned automatic radiography robot 100, performing the following steps:

[0074] S1. Install the guidewire 5, the angiographic catheter 6 and the outer catheter 7 on the guidewire delivery device 2, the angiographic catheter delivery device 3 and the outer catheter delivery device 4 respectively.

[0075] S2. The operator inserts the vascular sheath through the radial artery, and inserts the guidewire 5, the angiographic catheter 6 and the outer catheter 7 into the vascular sheath. The guidewire delivery device 2 drives the guidewire 5 to move, and the angiographic catheter delivery device 3 and the outer catheter delivery device 4 drive the angiographic catheter 6 and the outer catheter 7 to follow, until the angiographic catheter 6 moves to the angiographic position 1, as shown in the attached figure. Figure 6 As shown, the guide wire 5, the angiography catheter 6 and the outer catheter 7 reach the aortic arch.

[0076] S3, as attached Figure 7 As shown, the guidewire delivery device 2 retracts the guidewire 5, and the guidewire rotation delivery mechanism 21 drives the guidewire 5 to retract. When the guidewire tip position detection mechanism 24 detects that the tip of the guidewire 5 is retracted to the outside of the T-valve 82, the guidewire rotation delivery mechanism 21 stops retracting the guidewire 5, starts the first angiography, injects contrast agent into the angiography catheter 6, and evenly distributes the contrast agent to the aortic arch position for visualization through the opening 64 of the arc-shaped catheter segment 63.

[0077] S4. The guidewire delivery device 2 drives the guidewire 5 to a designated position within the angiographic catheter 6. To prevent the guidewire 5 from interfering with the subsequent looping of the angiographic catheter 6, the designated position is such that the guidewire 5 is retracted to the rear of the curved catheter section 63 of the angiographic catheter 6, without affecting the proper position of the looping of the angiographic catheter 6. To more accurately determine the position of the guidewire 5 within the angiographic catheter 6, the guidewire 5 can be first delivered from the tip of the angiographic catheter 6 and then retracted a certain distance to drive the guidewire 5 to the designated position.

[0078] S5, as attached Figure 8 As shown, the angiographic catheter delivery device 3 drives the angiographic catheter 6 to rotate, advance and retreat, and adjusts the posture of the angiographic catheter 6 so that the angiographic catheter 6 forms a loop. At this time, the guide wire 5 is located in the angiographic catheter 6 without protruding.

[0079] As attached Figure 9 As shown, the angiographic catheter delivery device 3 drives the looped angiographic catheter 6 to move to the support position, which is a position where the head end of the angiographic catheter 6 is driven into the common carotid artery to provide internal support to the external catheter 7.

[0080] S6, as attached Figure 10 As shown, the guidewire delivery device 2 drives the guidewire 5 to move and expose the tip of the angiography catheter 6 in the supporting position to enter the internal carotid artery.

[0081] S7, the outer catheter delivery device 4 drives the outer catheter 7 to follow the angiography catheter 6 and the guide wire 4 until the outer catheter 7 covers the angiography catheter 6 in the support position and moves along the guide wire 5 to the second angiography position, as shown in the attached figure. Figure 11 As shown, the outer catheter 7 reaches the distal end of the skull.

[0082] S8, the guidewire delivery device 2 retracts the guidewire 5. The method of this step is the same as S3. The second angiography is started and high-pressure contrast agent is injected into the angiography catheter 6. The high-pressure contrast agent enters the distal end of the skull through the angiography catheter 6 and the external catheter 7. Injecting a small amount of contrast agent can also achieve clear visualization of the neck.

[0083] S9. The guide wire 5, the angiography catheter 6 and the outer catheter 7 are withdrawn in order from the inside to the outside. After all the instruments are withdrawn from the sheath, the fully automatic whole-brain angiography operation is completed.

[0084] Those skilled in the art will appreciate that all or part of the steps in the above-described system can be performed by a program instructing the relevant hardware, and the program can be stored in a computer-readable storage medium, such as a read-only memory, a magnetic disk, or an optical disk. Alternatively, all or part of the steps in the above-described embodiment can also be implemented using one or more integrated circuits. Accordingly, each module / unit in the above-described embodiment can be implemented in the form of hardware or in the form of software functional modules. The present invention is not limited to any particular combination of hardware and software.

[0085] Of course, the present invention may have many other embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art may make various corresponding changes and modifications based on the present invention, but these corresponding changes and modifications should all fall within the scope of protection of the claims of the present invention.

[0086] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An automated angiography robot for the coordinated delivery of a guidewire, an angiography catheter, and an external catheter. In an initial state, the guidewire sequentially passes through the angiography catheter and the external catheter and emerges from the tip of the angiography catheter, and the angiography catheter passes through the external catheter and emerges from the tip of the external catheter. The robot is characterized by: The automatic angiography robot includes a robot body, a guide wire delivery device, an angiography catheter delivery device and an external catheter delivery device. The robot body is used to install the guidewire delivery device, the angiography catheter delivery device and the external catheter delivery device; The guidewire delivery device is used to drive the guidewire to move to a designated position; The angiography catheter delivery device is used to drive the angiography catheter to move along the guide wire to the angiography position 1, adjust the posture of the angiography catheter to form a loop, and drive the looped angiography catheter to move to the support position; The outer catheter delivery device is used to drive the outer catheter to move along the angiography catheter and the guide wire after loop formation to the second angiography position; After the angiography catheter moves along the guide wire to the angiography position one, the automatic angiography robot starts the first angiography; after the outer catheter covers the angiography catheter in the supporting position and moves along the guide wire to the angiography position two, the automatic angiography robot starts the second angiography.

2. The automatic imaging robot according to claim 1, wherein: The angiography catheter includes a catheter segment 1, a catheter segment 2 and an arc-shaped catheter segment. The arc-shaped catheter segment is arranged between the catheter segment 1 and the catheter segment 2. The port of the catheter segment 1 is an outward-warped structure, and the arc-shaped catheter segment is provided with an opening.

3. The automatic imaging robot according to claim 2, wherein: The openings are evenly distributed along the circumference of the arc-shaped conduit segment.

4. The automatic imaging robot according to claim 2, wherein: The outer catheter comprises a soft head section and a main body support section. When the outer catheter moves to the second angiography position, the soft head section covers the first catheter section and the arc-shaped catheter section.

5. The automatic imaging robot according to claim 1, wherein: The angiographic catheter delivery device and the external catheter delivery device are independently installed on the robot body, or the angiographic catheter delivery device and the external catheter delivery device are adjacently arranged and connected via a base plate to form an integrated structure and then installed on the robot body.

6. The automatic imaging robot according to claim 1, wherein: The outer catheter delivery device includes an outer catheter delivery mechanism and an outer catheter rotation mechanism. The tail end of the outer catheter is installed on the outer catheter rotation mechanism through T-valve 1, and the front end of the outer catheter is installed on the outer catheter delivery mechanism. The outer catheter delivery mechanism and the outer catheter rotation mechanism cooperate to drive the outer catheter to the angiography position 2. The angiography catheter is inserted into the outer catheter through T-valve 1.

7. The automatic imaging robot according to claim 1, wherein: The angiography catheter delivery device includes an angiography catheter delivery mechanism and an angiography catheter rotation mechanism. The tail end of the angiography catheter is installed on the angiography catheter rotation mechanism through T-valve 2, and the front end of the angiography catheter is installed on the angiography catheter delivery mechanism. The angiography catheter delivery mechanism and the angiography catheter rotation mechanism cooperate to drive the angiography catheter to move to the angiography position 1 and the support position. The angiography catheter delivery mechanism and the angiography catheter rotation mechanism cooperate to adjust the posture of the angiography catheter so that the angiography catheter forms a loop, and the guide wire is passed through the T-valve 2 and is arranged in the angiography catheter.

8. The automatic imaging robot according to claim 7, wherein: The guidewire delivery device includes a guidewire rotation delivery mechanism, a T-valve opening control mechanism and a guidewire tail end detection mechanism. The guidewire rotation delivery mechanism is used to install and drive the guidewire to the specified position. The T-valve opening control mechanism is used to open the sealing opening of the T-valve 2 when the guidewire penetrates the T-valve 2. The guidewire tail end detection mechanism is used to detect the tail end position of the guidewire. When the guidewire tail end detection mechanism does not detect the guidewire, the guidewire rotation delivery mechanism stops driving the guidewire.

9. The automatic imaging robot according to claim 8, wherein: The guidewire delivery device further comprises a guidewire head end position detection mechanism. When the guidewire head end position detection mechanism detects that the guidewire head end has been withdrawn to the outside of the T-valve 2, the guidewire rotation delivery mechanism stops withdrawing the guidewire.

10. A control system for an automatic radiography robot, used for the automatic radiography robot according to any one of claims 1 to 9, characterized in that: Perform the following steps: S1, installing the guidewire, the angiographic catheter, and the outer catheter on the guidewire delivery device, the angiographic catheter delivery device, and the outer catheter delivery device, respectively; S2, the guidewire delivery device drives the guidewire to move, and the angiography catheter delivery device and the outer catheter delivery device respectively drive the angiography catheter and the outer catheter to follow, until the angiography catheter moves to the angiography position 1; S3, the guidewire delivery device withdraws the guidewire and starts the first angiography; S4, the guidewire delivery device drives the guidewire to move to the designated position in the angiography catheter; S5, the angiographic catheter delivery device adjusts the posture of the angiographic catheter so that the angiographic catheter forms a loop, and the angiographic catheter delivery device drives the looped angiographic catheter to move to the supporting position; S6, the guidewire delivery device drives the guidewire to move and expose the guidewire to the tip of the angiography catheter in the supporting position; S7, the outer catheter delivery device drives the outer catheter to cover the angiography catheter in the supporting position and move along the guide wire to the second angiography position; S8, the guidewire delivery device withdraws the guidewire and initiates the second angiography; S9. Retract the guide wire, the angiography catheter, and the outer catheter in order from inside to outside.

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