Control systems for driving slender medical devices

Abstract

This application is applicable to the field of interventional surgical robotics and discloses a control system for driving a slender medical device, comprising a drive device, a first clamping mechanism, a second clamping mechanism, a detection mechanism, and a controller. The drive device is connected to the first clamping mechanism, and the controller can control the drive device to drive the first clamping mechanism to clamp the slender medical device according to a set clamping force. The controller can also control the drive device to increase, decrease, or maintain the clamping force. When increasing the clamping force, the controller can obtain the actual clamping force and clamping diameter in real time. The control system of this application can not only effectively prevent the slender medical device from slipping during delivery, but also effectively prevent the slender medical device from being flattened or damaged by the clamping.

Description

Technical Field

[0001] The present application relates to the technical field of interventional surgical robots, and in particular to a control system for driving a slender medical device. Background Art

[0002] Interventional treatments are often performed in radiation-exposed environments. Typically, an interventional surgical robot is used to guide slender medical devices (such as guidewires and catheters) into the affected area of ​​the body. These devices are gripped and driven by the robot's slave device. The slave device, which can grip and release the slender medical device, incorporates a detection mechanism to measure the gripping force.

[0003] At present, during the process of driving the movement of a slender medical device, if the clamping force applied to the slender medical device is too small, although the slender medical device is not easily damaged, the slender medical device is prone to slipping during the delivery process; if the clamping force applied to the slender medical device is too large, although the slender medical device is not easy to slip during the delivery process, the clamping force is too large, which can easily cause the slender medical device to deform, or even be clamped and broken, thereby damaging the slender medical device. Summary of the Invention

[0004] The purpose of the present application is to provide a control system for driving a slender medical device, which aims to solve the technical problem that the slender medical device is prone to slipping, deformation, and damage during movement.

[0005] To achieve the above objectives, the solution provided by this application is:

[0006] A control system for driving an elongated medical device, the control system comprising a driving device, a first clamping mechanism, a second clamping mechanism, a detection mechanism, and a controller, wherein the driving device is connected to the first clamping mechanism, and the controller is configured to perform the following steps:

[0007] S1. Controlling the driving device to drive the first clamping mechanism to move toward the second clamping mechanism according to a preset clamping force to clamp the elongated medical device;

[0008] S2. Acquire the actual clamping force of the first clamping mechanism and the second clamping mechanism on the elongated medical device detected by the detection mechanism;

[0009] S3. Perform any of the following steps according to the actual clamping force:

[0010] When the actual clamping force is greater than or equal to the first preset clamping force and less than or equal to the second preset clamping force, controlling the driving device to stop moving the first clamping mechanism;

[0011] When the actual clamping force is greater than the second preset clamping force, controlling the driving device to drive the first clamping mechanism to move a set distance away from the second clamping mechanism, and executing step S2;

[0012] When the actual clamping force is less than the first preset clamping force, controlling the driving device to drive the first clamping mechanism to move a set distance in a direction close to the second clamping mechanism, and simultaneously executing step S2 and step S4;

[0013] S4. Obtaining a clamping diameter of the elongated medical device;

[0014] S5. Perform any of the following steps according to the clamping diameter:

[0015] When the clamping diameter is smaller than a preset diameter, controlling the driving device to stop moving the first clamping mechanism;

[0016] When the clamping diameter is greater than or equal to the preset diameter, controlling the driving device to drive the first clamping mechanism to move a set distance in a direction close to the second clamping mechanism, and simultaneously executing step S2 and step S4;

[0017] Among them, the first preset clamping force is the minimum force applied to avoid slipping when delivering the slender medical device; the second preset clamping force is the maximum force applied to avoid plastic deformation and irrecoverable deformation when delivering the slender medical device; the preset diameter is the minimum diameter value allowed for deformation of the slender medical device. If the diameter is smaller than the preset diameter, the slender medical device will undergo plastic deformation and cannot be recovered when clamped.

[0018] Furthermore, the controller is further configured to execute: obtaining the set clamping force from a database according to an initial diameter of the elongated medical device.

[0019] Furthermore, the control system further includes a diameter detection device, and the controller is further configured to execute: acquiring the initial diameter and the clamping diameter detected by the diameter detection device.

[0020] Furthermore, the diameter detection device includes one of a visual detection device and a sensor device.

[0021] Furthermore, the controller is further configured to perform the following steps:

[0022] controlling the driving device to drive the first clamping mechanism to move toward the second clamping mechanism when the elongated medical device is not installed, so that the first clamping mechanism and the second clamping mechanism are in contact;

[0023] Acquiring a first clamping force detected by the detection mechanism, the first clamping mechanism and the second clamping mechanism being in contact with each other;

[0024] When the first clamping force is greater than or equal to a third preset clamping force, recording a first displacement distance of the first clamping mechanism;

[0025] Installing the slender medical device, and controlling the driving device to drive the first clamping mechanism to move toward the second clamping mechanism so that the first clamping mechanism contacts the slender medical device;

[0026] acquiring a second clamping force detected by the detection mechanism, the second clamping force of the first clamping mechanism contacting the elongated medical device;

[0027] When the second clamping force is greater than or equal to the third preset clamping force, recording a second displacement distance of the first clamping mechanism;

[0028] The initial diameter of the elongated medical device is equal to an absolute value obtained by subtracting the second displacement distance from the first displacement distance.

[0029] Furthermore, the controller is further configured to execute:

[0030] When the first clamping force is less than the third preset clamping force, controlling the driving device to drive the first clamping mechanism to move toward the second clamping mechanism, and obtaining the first clamping force of the first clamping mechanism and the second clamping mechanism in contact in real time; and / or,

[0031] When the second clamping force is less than the third preset clamping force, the driving device is controlled to drive the first clamping mechanism to move toward the second clamping mechanism, and the second clamping force of the first clamping mechanism contacting the slender medical device is obtained in real time.

[0032] Furthermore, the controller is further configured to perform the following steps:

[0033] When the actual clamping force is less than the first preset clamping force, controlling the driving device to drive the first clamping mechanism to move in a direction close to the second clamping mechanism, recording a third displacement distance of the first clamping mechanism;

[0034] The clamping diameter of the elongated medical device is equal to an absolute value obtained by subtracting the third displacement distance from the first displacement distance.

[0035] Furthermore, the first displacement distance, the second displacement distance, and the third displacement distance are all displacement distances that the first clamping mechanism moves from a preset origin.

[0036] Furthermore, the driving device includes a clamping motor, and the clamping motor drives and connects to the first clamping mechanism. The controller is further configured to execute: obtaining a displacement distance of the first clamping mechanism according to the number of revolutions of the clamping motor.

[0037] Furthermore, the controller also obtains the set distance according to the number of revolutions of the clamping motor.

[0038] The control system for driving the slender medical device according to the embodiment of the present application has the following beneficial effects:

[0039] This embodiment provides a detection mechanism for real-time detection of the actual clamping force exerted by the first and second clamping mechanisms on the slender medical device, allowing the controller to determine whether to increase or decrease the clamping force, or to maintain the position of the first clamping mechanism. The controller also detects the actual clamping force each time the clamping force is decreased, and simultaneously detects the actual clamping force and clamping diameter each time the clamping force is increased. Furthermore, when the actual clamping force is within a preset clamping force range, the clamping force is deemed appropriate, neither too large nor too small. In this case, the drive device can be controlled to remain stationary, maintaining the position of the first clamping mechanism unchanged. This effectively prevents slipping and damage to the slender medical device.

[0040] In this embodiment, the controller further reduces the clamping force on the slender medical device when the actual clamping force is greater than the second preset clamping force, and then obtains the actual clamping force detected by the detection mechanism in real time until the actual clamping force is within the preset clamping force range, effectively preventing the slender medical device from being flattened or damaged. In this embodiment, the controller further increases the clamping force on the slender medical device when the clamping force is less than the first preset clamping force, and simultaneously detects the actual clamping force and the clamping diameter of the slender medical device to determine whether the actual clamping force is within the preset clamping force range and whether the clamping diameter is less than the preset diameter.

[0041] When the actual clamping force is within the preset clamping force range, the clamping force can be considered appropriate; when the clamping diameter is less than the preset diameter, the clamping can also be considered appropriate; when the clamping diameter is greater than or equal to the preset diameter, the controller will continue to increase the clamping force on the slender medical device and simultaneously detect the actual clamping force and the clamping diameter of the slender medical device until the actual clamping force is within the preset clamping force range, or the clamping diameter is less than the preset diameter, and then stop moving the first clamping mechanism. The two parameters of the actual clamping force and the clamping diameter are detected simultaneously, and dynamic adjustments are made taking into account the changes in the actual clamping force and the clamping diameter. After the slender medical device is deformed to a certain extent by the clamping, the slender medical device will not be further flattened by the first clamping mechanism, thereby effectively avoiding the phenomenon that the slender medical device is deformed by the clamping force when the slender medical device is clamped, and the deformation is too large, resulting in the slender medical device being flattened or damaged.

[0042] When increasing or decreasing the clamping force, the first clamping mechanism moves according to a set distance rather than an arbitrary distance, which can effectively avoid damaging the slender medical device during the process of increasing the clamping force. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without any creative work.

[0044] Figure 1 This is a flow chart of a control system for driving a slender medical device provided in an embodiment of the present application;

[0045] Figure 2 This is a schematic diagram of a process for obtaining an initial diameter in a control system for driving a slender medical device provided in an embodiment of the present application;

[0046] Figure 3 This is another schematic diagram of a flow chart for obtaining an initial diameter in a control system for driving a slender medical device provided in an embodiment of the present application;

[0047] Figure 4 This is another flow chart of a control system for driving a slender medical device provided in an embodiment of the present application;

[0048] Figure 5 This is a schematic diagram of clamping a slender medical device in a control system for driving a slender medical device provided in an embodiment of the present application.

[0049] Description of Figure Numbers:

[0050] 10. Slender medical device; 20. First clamping mechanism; 30. Second clamping mechanism; 40. Sterile box; 50. Power box. DETAILED DESCRIPTION

[0051] The following will be combined with the accompanying drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0052] It should be noted that all directional indications in the embodiments of the present application (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship and movement status between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0053] It should also be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or indirectly connected to the other element through an intervening element.

[0054] In addition, the descriptions of "first", "second", etc. in this application are for descriptive purposes only and should not be understood as indicating or implying their relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but this must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0055] In some related technologies, slender medical devices, such as catheters, can be driven by a drive device to perform movements such as delivery, rotation, and retraction. It is understood that the cross-section of the clamped portion of the slender medical device can be non-circular, such as an elliptical cross-section. Therefore, when the slender medical device performs movements such as delivery, rotation, and retraction, the diameter of the clamped portion of the slender medical device may change, and the clamping force applied to the slender medical device may be too large or too small. However, if the clamping force is too small, the friction between the clamping mechanism and the slender medical device is small, and the slender medical device is prone to slipping during delivery. If the clamping force is too large, the slender medical device is easily deformed by the clamping, or even flattened or damaged by the clamping, thereby damaging the slender medical device.

[0056] In order to solve the above technical problems, Figures 1 to 5 As shown, the embodiment of the present application provides a control system for driving a slender medical device, which is applied to an interventional surgical robot. Figure 1 and Figure 5 The control system for driving an elongated medical device provided in an embodiment of the present application includes a driving device, a first clamping mechanism 20, a second clamping mechanism 30, a detection mechanism, and a controller. The driving device is connected to the first clamping mechanism 20, wherein the controller is configured to perform the following steps:

[0057] S1. According to a preset clamping force, the driving device is controlled to drive the first clamping mechanism 20 to move toward the second clamping mechanism 30 to clamp the elongated medical device 10;

[0058] S2. Acquiring the actual clamping force of the first clamping mechanism 20 and the second clamping mechanism 30 on the slender medical device 10 detected by the detection mechanism;

[0059] S3. Execute any one of steps S31, S32, and S33 according to the actual clamping force:

[0060] S31, when the actual clamping force is greater than or equal to the first preset clamping force and less than or equal to the second preset clamping force, controlling the driving device to stop moving the first clamping mechanism 20;

[0061] S32, when the actual clamping force is greater than the second preset clamping force, the driving device is controlled to drive the first clamping mechanism 20 to move away from the second clamping mechanism 30 by a set distance, and step S2 is executed;

[0062] S33, when the actual clamping force is less than the first preset clamping force, controlling the driving device to drive the first clamping mechanism 20 to move a set distance toward the second clamping mechanism 30, and simultaneously executing steps S2 and S4;

[0063] S4. Obtaining the clamping diameter of the slender medical device 10;

[0064] S5. Execute any one of step S51 and step S52 according to the clamping diameter:

[0065] S51, when the clamping diameter is smaller than the preset diameter, controlling the driving device to stop moving the first clamping mechanism 20;

[0066] S52: When the clamping diameter is greater than or equal to the preset diameter, the driving device is controlled to drive the first clamping mechanism 20 to move a set distance toward the second clamping mechanism 30, and steps S2 and S4 are executed simultaneously.

[0067] As shown in the flowchart, the above steps have a return process. After returning to step S2 from steps S32, S33, and S52, the next step is to continue executing step S3 and subsequent steps. After returning to step S4 from step S52, the next step is to continue executing step S5 and subsequent steps.

[0068] In this embodiment, in the initial state, the controller controls the driving device to drive the first clamping mechanism 20 toward the second clamping mechanism 30 according to the set clamping force, thereby clamping the elongated medical device 10. During this process, the second clamping mechanism 30 can remain stationary, and the driving device can only drive the first clamping mechanism 20 toward the second clamping mechanism 30 to shorten the distance between the first clamping mechanism 20 and the second clamping mechanism 30. Alternatively, the driving device can simultaneously drive the first clamping mechanism 20 and the second clamping mechanism 30 toward each other to shorten the distance between the first clamping mechanism 20 and the second clamping mechanism 30.

[0069] The set clamping force is the optimal clamping force that meets the requirements obtained through measurement. Applying this clamping force can not only ensure that the slender medical device 10 has a larger delivery force and does not slip during delivery, but also prevent the slender medical device 10 from being clamped flat or damaged. The set clamping force corresponding to slender medical devices 10 with different diameters is different.

[0070] During operation, because the cross-section of the slender medical device 10 is similar to an ellipse, when the slender medical device 10 rotates between the first clamping mechanism 20 and the second clamping mechanism 30, the diameter of the clamped portion of the slender medical device 10 will change, causing the actual clamping force of the first clamping mechanism 20 and the second clamping mechanism 30 on the slender medical device 10 to change. For example, when the diameter increases, the actual clamping force of the first clamping mechanism 20 and the second clamping mechanism 30 on the slender medical device 10 will increase; when the diameter decreases, the actual clamping force of the first clamping mechanism 20 and the second clamping mechanism 30 on the slender medical device 10 will decrease. Therefore, in this embodiment, a detection mechanism is provided to detect in real time the actual clamping force of the first clamping mechanism 20 and the second clamping mechanism 30 on the slender medical device 10, so that the controller can determine whether to increase or decrease the clamping force, or to maintain the position of the first clamping mechanism 20 unchanged. Furthermore, the actual clamping force is detected each time the clamping force is reduced, and the actual clamping force and the clamping diameter are detected each time the clamping force is increased. Furthermore, when the actual clamping force is within a preset clamping force range (the actual clamping force is greater than or equal to the first preset clamping force and less than or equal to the second preset clamping force), the clamping force can be considered appropriate, neither too large nor too small. At this time, the driving device can be controlled to remain stationary, maintaining the position of the first clamping mechanism 20 unchanged, thereby effectively preventing the slender medical device 10 from slipping or damaging the slender medical device 10.

[0071] In this embodiment, when the actual clamping force is greater than the second preset clamping force, the controller controls the driving device to drive the first clamping mechanism 20 to move a set distance away from the second clamping mechanism 30 to reduce the clamping force on the slender medical device 10, and then obtains the actual clamping force detected by the detection mechanism in real time until the actual clamping force is within the preset clamping force range, which can effectively prevent the slender medical device 10 from being clamped flat or damaged.

[0072] In this embodiment, when the clamping force is less than the first preset clamping force, the controller controls the driving device to drive the first clamping mechanism 20 to move a set distance toward the second clamping mechanism 30 to increase the clamping force on the slender medical device 10, and simultaneously detects the actual clamping force and the clamping diameter of the slender medical device 10 to determine whether the actual clamping force is within the preset clamping force range, and whether the clamping diameter is less than the preset diameter. When the actual clamping force is within the preset clamping force range, the clamping force can be considered appropriate; when the clamping diameter is smaller than the preset diameter, the clamping can also be considered appropriate; when the clamping diameter is greater than or equal to the preset diameter, the controller will continue to increase the clamping force on the slender medical device 10, and simultaneously detect the actual clamping force and the clamping diameter of the slender medical device 10, until the actual clamping force is within the preset clamping force range, or the clamping diameter is smaller than the preset diameter, then stop moving the first clamping mechanism 20, so that after the slender medical device 10 is deformed to a certain extent, the slender medical device 10 will not continue to be flattened by the first clamping mechanism 20, thereby effectively avoiding the phenomenon that when the slender medical device 10 is clamped, the clamping force is increased to cause the slender medical device 10 to be deformed, and the deformation is too large, resulting in the slender medical device 10 being clamped or damaged. When increasing or decreasing the clamping force, the first clamping mechanism 20 moves according to a set distance rather than an arbitrary distance, which can effectively avoid damaging the slender medical device 10 during the process of increasing the clamping force.

[0073] The first preset clamping force can be understood as the lowest value in the set clamping force range. That is, the first preset clamping force is the minimum force applied when delivering the slender medical device 10. If the clamping force is less than the first preset clamping force, the delivery force is insufficient, and the slender medical device 10 may slip. The second preset clamping force can be understood as the highest value in the set clamping force range. That is, the second preset clamping force is the maximum force applied when delivering the slender medical device 10. If the clamping force is greater than the second preset clamping force, the slender medical device 10 may be crushed or damaged. The first and second preset clamping forces can be set based on experimental data.

[0074] During the clamping process, the slender medical device 10 will be flattened, so the clamping diameter is less than or equal to the initial diameter of the slender medical device 10 when it is not clamped or in use. The preset diameter can be understood as the diameter at which the slender medical device 10 is deformed to a certain extent under force without being damaged by the clamping. In other words, the preset diameter is the minimum diameter allowed for the slender medical device 10 to deform. If the preset diameter is less than the preset diameter, the slender medical device 10 will undergo plastic deformation during clamping and will not be able to recover, and the slender medical device 10 will be determined to be flattened or damaged by the clamping. The preset diameter can be set based on experimental data.

[0075] The set distance can be understood as the fixed displacement set each time the first clamping mechanism 20 is driven. The fixed displacement can be the distance traveled by one step angle of the clamping motor, or it can be multiplied by a multiple. Furthermore, a smaller set distance for each movement of the first clamping mechanism 20 is more effective in preventing damage to the slender medical device 10 and improving the accuracy of adjusting the actual clamping force.

[0076] Reference Figure 1 、 Figure 4 and Figure 5 The controller is further configured to: obtain a set clamping force from a database based on the initial diameter of the slender medical device 10, so that the controller controls the driving device to drive the first clamping mechanism 20 to move toward the second clamping mechanism 30 based on the set clamping force, thereby clamping the slender medical device 10. It is understood that the control system also includes a database that establishes communication with the controller, and the database stores the initial diameters of different slender medical devices 10 and the set clamping forces corresponding to the initial diameters. In this way, the controller can call the set clamping force based on the initial diameter of the slender medical device 10. Moreover, the set clamping forces corresponding to the initial diameters of different slender medical devices 10 are different, so that the controller can apply different set clamping forces based on the initial diameters of different slender medical devices 10.

[0077] In other embodiments, the set clamping force is manually input into the control system. Specifically, the control system further includes an input device and a database, the input device being electrically connected to the controller. The database stores initial diameters of different elongated medical devices 10 and set clamping forces corresponding to the initial diameters. The database may be a data table. The operator searches the database for the corresponding set clamping force based on the initial diameter of the elongated medical device 10 in the database, and then inputs the set clamping force into the input device. In this way, the controller can control the drive device based on the input set clamping force.

[0078] Reference Figure 1 and Figure 5The control system further includes a diameter detection device that establishes communication with the controller. The controller is further configured to: obtain the initial diameter and clamping diameter detected by the diameter detection device. In this embodiment, the diameter detection device is used to respectively detect the initial diameter and clamping diameter of the slender medical device 10, which facilitates the controller to accurately identify the initial diameter and clamping diameter of the slender medical device 10, thereby improving the control accuracy of the controller.

[0079] Reference Figure 1 and Figure 5 , the diameter detection device includes one of a visual detection device and a sensor device. In this embodiment, the diameter of the slender medical device 10 is detected by a visual detection device or a sensor device, which can improve the detection accuracy. In some embodiments, the visual detection (CCD) device includes a visual imaging device, which is used to capture the image of the slender medical device 10 in real time, and then perform corresponding algorithm processing on the image and output a signal to obtain the initial diameter and clamping diameter of the slender medical device 10. In some embodiments, the sensor device includes one of a laser displacement sensor, a Hall sensor, and a through-beam sensor to realize the diameter detection of the slender medical device 10.

[0080] Reference Figure 2 and Figure 5 , the controller is further configured to perform the following steps:

[0081] S001. When the slender medical device 10 is not installed, the driving device drives the first clamping mechanism 20 to move toward the second clamping mechanism 30 so that the first clamping mechanism 20 and the second clamping mechanism 30 are in contact with each other.

[0082] S002, obtaining a first clamping force detected by a detection mechanism, whereby the first clamping mechanism 20 and the second clamping mechanism 30 contact each other;

[0083] S0031. When the first clamping force is greater than or equal to the third preset clamping force, record a first displacement distance of the first clamping mechanism 20;

[0084] S004, installing the slender medical device 10, and controlling the driving device to drive the first clamping mechanism 20 to move toward the second clamping mechanism 30, so that the first clamping mechanism 20 and the slender medical device 10 are in contact;

[0085] S005, obtaining a second clamping force detected by the detection mechanism when the first clamping mechanism 20 contacts the elongated medical device 10;

[0086] S0061. When the second clamping force is greater than or equal to the third preset clamping force, record a second displacement distance of the first clamping mechanism 20.

[0087] S007. The initial diameter of the slender medical device 10 is equal to the absolute value obtained by subtracting the second displacement distance from the first displacement distance.

[0088] In this embodiment, a third preset clamping force is set so that when the first clamping force is greater than or equal to the third preset clamping force, the controller can determine that the actual contact clamping force between the first clamping mechanism 20 and the second clamping mechanism 30 is appropriate. In this case, the first clamping mechanism 20 and the second clamping mechanism 30 can be considered to have just made contact, and the first displacement distance of the first clamping mechanism 20 can be recorded. Subsequently, when the slender medical device 10 is installed, the controller can also determine that the actual contact clamping force between the first clamping mechanism 20 and the slender medical device 10 is appropriate when the second clamping force is greater than or equal to the third preset clamping force. In this case, the first clamping mechanism 20 and the slender medical device 10 can be considered to have just made contact, and the second displacement distance of the first clamping mechanism 20 can be recorded. Finally, the controller or a human can calculate the initial diameter of the slender medical device 10, so that the controller can set different clamping forces to clamp the slender medical device 10 according to the initial diameter of the slender medical device 10.

[0089] The third preset clamping force is the force generated at the moment of contact between the first clamping mechanism 20 and the second clamping mechanism 30 during movement in the clamping direction, when the slender medical device 10 is not installed. The value of the third preset clamping force must be determined based on comprehensive considerations such as overall system friction and safety factors to ensure contact between the first clamping mechanism 20 and the second clamping mechanism 30. The third preset clamping force can be set based on experimental data.

[0090] Reference Figure 1 and Figure 5 In some embodiments, the control system includes a sterile box 40 and a power box 50. The sterile box 40 is magnetically connected to the power box 50 and is located above the power box 50. The first clamping mechanism 20 and the second clamping mechanism 30 are both located in the sterile box 40, which can create a sterile surgical environment. The driving device is located in the power box 50 and partially extends into the sterile box 40 to drive the connection with the first clamping mechanism 20, thereby driving the first clamping mechanism 20 to move closer to or away from the second clamping mechanism 30 to clamp or release the slender medical device 10. In some embodiments, the first clamping mechanism 20 can be a clamping wheel mechanism, and the second clamping mechanism 30 can also be a clamping wheel mechanism. Using the outer peripheral surface of the roller to clamp the slender medical device 10 can increase the contact area with the surface of the slender medical device 10 and avoid damaging the slender medical device 10.

[0091] Reference Figure 1 and Figure 5In some embodiments, the detection mechanism includes a pressure sensor, which is connected to the first clamping mechanism 20 and is used to detect the pressure applied to the first clamping mechanism 20 in real time, thereby detecting the first clamping force between the first clamping mechanism 20 and the second clamping mechanism 30, the second clamping force when the first clamping mechanism 20 and the slender medical device 10 just come into contact, and the actual clamping force of the first clamping mechanism 20 and the second clamping mechanism 30 clamping the slender medical device 10.

[0092] Reference Figure 2 and Figure 5 , the controller is further configured to perform the following steps:

[0093] S0032. When the first clamping force is less than the third preset clamping force, the driving device is controlled to drive the first clamping mechanism 20 to move toward the second clamping mechanism 30, and the first clamping force of the contact between the first clamping mechanism 20 and the second clamping mechanism 30 detected by the detection mechanism is obtained in real time.

[0094] In this embodiment, before installing the slender medical device 10, during the process of the driving device driving the first clamping mechanism 20 to contact the second clamping mechanism 30, if the first clamping force is less than the third predetermined clamping force, the controller controls the driving device to increase the clamping force until the first clamping force is greater than or equal to the third predetermined clamping force, thereby ensuring contact between the first clamping mechanism 20 and the second clamping mechanism 30 and improving the accuracy of obtaining the first displacement distance. It should be understood that the controller is capable of determining whether the first clamping force is greater than or equal to the third predetermined clamping force.

[0095] Reference Figure 2 and Figure 5 , the controller is further configured to perform the following steps:

[0096] S0062. When the second clamping force is less than the third preset clamping force, the control driving device drives the first clamping mechanism 20 to move toward the second clamping mechanism 30, and obtains in real time the second clamping force of the first clamping mechanism 20 contacting the slender medical device 10 detected by the detection mechanism.

[0097] In this embodiment, when the slender medical device 10 is installed, while the driving device drives the first clamping mechanism 20 to contact the slender medical device 10, if the second clamping force is less than the third predetermined clamping force, the controller controls the driving device to increase the clamping force until the second clamping force is greater than or equal to the third predetermined clamping force, thereby ensuring contact between the first clamping mechanism 20 and the slender medical device 10 and improving the accuracy of obtaining the second displacement distance. It should be understood that the controller is capable of determining whether the second clamping force is greater than or equal to the third predetermined clamping force.

[0098] Reference Figure 1 、 Figure 4 and Figure 5 , the controller is further configured to perform the following steps:

[0099] When the actual clamping force is less than the first preset clamping force, the driving device is controlled to drive the first clamping mechanism 20 to move in a direction close to the second clamping mechanism 30, and a third displacement distance of the first clamping mechanism 20 is recorded;

[0100] The clamping diameter of the elongated medical device 10 is equal to the absolute value obtained by subtracting the third displacement distance from the first displacement distance.

[0101] In this embodiment, after clamping the slender medical device 10 according to the set clamping force, the actual clamping force applied to the slender medical device 10 is detected. When the actual clamping force is less than the first preset clamping force, the driving device drives the first clamping mechanism 20 to continue moving toward the second clamping mechanism 30 to increase the actual clamping force applied to the slender medical device 10. The third displacement distance of the first clamping mechanism 20 is simultaneously recorded. The controller or a manual method then calculates the clamping diameter of the slender medical device 10, simplifying the method for obtaining the clamping diameter. It should be understood that after each increase in the clamping force, the actual clamping force applied to the slender medical device 10 is detected and the third displacement distance of the first clamping mechanism 20 is recorded, thereby obtaining the clamping diameter of the slender medical device 10 after each increase in the clamping force. Furthermore, each time the clamping force is increased, the controller determines whether the actual clamping force is within the preset clamping force range, and whether the clamping diameter is smaller than the preset diameter, so as to stop moving the first clamping mechanism 20 when the actual clamping force is within the preset clamping force range or the clamping diameter is smaller than the preset diameter, thereby effectively preventing the slender medical device 10 from slipping or being damaged during delivery.

[0102] Reference Figure 3 、 Figure 4 and Figure 5 The first displacement distance, the second displacement distance and the third displacement distance are all displacement distances that the first clamping mechanism 20 moves from a preset origin.

[0103] In this embodiment, the setting of the preset origin can calibrate the position of the first clamping mechanism 20, so that the first clamping mechanism 20 can move from the same preset origin to obtain the first displacement distance, the second displacement distance and the third displacement distance, thereby improving the accuracy of the obtained initial diameter and the clamping diameter.

[0104] Reference Figure 4 and Figure 5 The driving device includes a clamping motor, which drives the first clamping mechanism 20. The controller is further configured to execute: obtaining the displacement distance of the first clamping mechanism 20 according to the number of revolutions of the clamping motor.

[0105] In this embodiment, each rotation of the clamping motor can drive the first clamping mechanism 20 to move a certain displacement distance closer to the second clamping mechanism 30, so that the first displacement distance, the second displacement distance and the third displacement distance can be calculated respectively according to the number of rotations of the clamping motor.

[0106] like Figure 3 and Figure 5 As shown, in combination with the above, in some embodiments, the controller can perform the following steps:

[0107] S01, controlling the clamping motor to drive the first clamping mechanism 20 back to a preset origin;

[0108] S02, when the slender medical device 10 is not installed, controlling the clamping motor to drive the first clamping mechanism 20 to move from a preset origin toward a direction close to the second clamping mechanism 30, so that the first clamping mechanism 20 touches the second clamping mechanism 30;

[0109] S03, obtaining a first clamping force between the first clamping mechanism 20 and the second clamping mechanism 30 detected by a pressure sensor;

[0110] S04, determining whether the first clamping force is greater than or equal to a third preset clamping force;

[0111] S05a. When the first clamping force is greater than or equal to the third predetermined clamping force, record the first position of the first clamping mechanism 20 to calculate a first displacement distance of the first clamping mechanism 20 from the predetermined origin to the first position, wherein the first position is the current position of the first clamping mechanism 20;

[0112] S05b, when the first clamping force is less than the third preset clamping force, controlling the clamping motor to drive the first clamping mechanism 20 to move toward the second clamping mechanism 30 to increase the first clamping force, and then executing step S03;

[0113] S06, controlling the clamping motor to drive the first clamping mechanism back to a preset origin, and installing the slender medical device 10;

[0114] S07, controlling the clamping motor to drive the first clamping mechanism 20 to move from a preset origin toward the direction close to the second clamping mechanism 30 to clamp the slender medical device 10;

[0115] S08, obtaining a second clamping force between the first clamping mechanism 20 and the elongated medical device 10 detected by a pressure sensor;

[0116] S09: Determine whether the second clamping force is greater than or equal to the third preset clamping force:

[0117] S10a, when the second clamping force is greater than or equal to the third preset clamping force, recording a second position of the first clamping mechanism 20 to calculate a second displacement distance of the first clamping mechanism 20 from the preset origin to the second position, wherein the second position is the current position of the first clamping mechanism 20;

[0118] S10b, when the second clamping force is less than the third preset clamping force, controlling the clamping motor to drive the first clamping mechanism 20 to move toward the second clamping mechanism 30 to increase the second clamping force, and then executing step S08;

[0119] S11 . Calculate the initial diameter of the slender medical device 10 : The initial diameter of the slender medical device 10 is equal to the absolute value obtained by subtracting the second displacement distance from the first displacement distance.

[0120] In this embodiment, the first clamping force is the clamping force at the moment the first clamping mechanism 20 and the second clamping mechanism 30 just make contact. When the pressure sensor detects that the first clamping force is greater than or equal to the third preset clamping force, the first position of the first clamping mechanism 20 is recorded, thereby obtaining the first displacement distance of the first clamping mechanism 20 from the preset origin to the first position. The second clamping force is the clamping force at the moment the first clamping mechanism 20 and the slender medical device 10 just make contact. When the pressure sensor detects that the second clamping force is greater than or equal to the third preset clamping force, the second position of the first clamping mechanism 20 is recorded, thereby obtaining the second displacement distance of the first clamping mechanism 20 from the preset origin to the second position. In this embodiment, in combination with relevant technologies, a control system can be provided that includes a photoelectric sensor for detecting whether the first clamping mechanism 20 has returned to the preset origin.

[0121] Furthermore, if Figure 4 and Figure 5 As shown, the controller can also perform the following steps:

[0122] S12, according to the initial diameter of the slender medical device 10, retrieve the corresponding set clamping force from the database;

[0123] S13, controlling the clamping motor to drive the first clamping mechanism 20 to move from a preset origin toward the second clamping mechanism 30 according to a set clamping force, so as to clamp the elongated medical device 10;

[0124] S14, obtaining the actual clamping force of the first clamping mechanism 20 and the second clamping mechanism 30 on the slender medical device 10 detected by the pressure sensor;

[0125] S15, determining whether the actual clamping force is greater than or equal to the first preset clamping force and less than or equal to the second preset clamping force;

[0126] S16a, when the actual clamping force is greater than or equal to the first preset clamping force and less than or equal to the second preset clamping force, controlling the clamping motor to stop moving the first clamping mechanism 20;

[0127] S16b, when the actual clamping force is greater than the second preset clamping force, controlling the clamping motor to drive the first clamping mechanism 20 to move away from the second clamping mechanism 30 by a set distance, and then executing step S14;

[0128] S16c, when the actual clamping force is less than the first preset clamping force, controlling the clamping motor to drive the first clamping mechanism 20 to move a set distance toward the second clamping mechanism 30, and then simultaneously executing steps S14 and S17;

[0129] S17, recording the third position of the first clamping mechanism 20, and calculating a third displacement distance of the first clamping mechanism 20 from the preset origin to the third position, wherein the third position is the current position of the first clamping mechanism 20;

[0130] S18. Obtaining a clamping diameter of the slender medical device 10: the clamping diameter of the slender medical device 10 is equal to an absolute value obtained by subtracting the third displacement distance from the first displacement distance;

[0131] S19, determining whether the clamping diameter is smaller than a preset diameter;

[0132] S20a, when the clamping diameter is smaller than the preset diameter, controlling the driving device to stop moving the first clamping mechanism 20;

[0133] S20b, when the clamping diameter is greater than or equal to the preset diameter, the driving device is controlled to drive the first clamping mechanism 20 to move a set distance toward the second clamping mechanism 30, and then steps S14 and S17 are executed simultaneously.

[0134] As shown in the flowchart, the above steps have a return process. After returning to step S14 from steps S16b, S16c, and S20b, the next step is to continue executing step S15 and subsequent steps. After returning to step S17 from step S520b, the next step is to continue executing step S18 and subsequent steps.

[0135] In this embodiment, after the slender medical device 10 is clamped at a set clamping force, the pressure sensor detects the actual clamping force applied to the slender medical device 10. When the actual clamping force is less than the first preset clamping force, the first clamping mechanism 20 continues to move a set distance toward the second clamping mechanism 30 to increase the clamping force, and the third position of the first clamping mechanism 20 is recorded, thereby obtaining a third displacement distance of the first clamping mechanism 20 from the preset origin to the third position. It should be understood that after each increase in the clamping force, the pressure sensor detects the actual clamping force applied to the slender medical device 10, and the controller records the third position of the first clamping mechanism 20 after movement. Each third position corresponds to a third displacement distance and a clamping diameter.

[0136] In this embodiment, each time the clamping motor rotates one circle, it can drive the first clamping mechanism 20 to move a certain displacement distance closer to the second clamping mechanism 30, so that when the first clamping mechanism 20 moves to the first position, the second position and the third position respectively, the controller can calculate the first displacement distance, the second displacement distance and the third displacement distance respectively according to the number of circles rotated by the clamping motor.

[0137] Reference Figure 1 、 Figure 4 and Figure 5 The controller also determines the set distance based on the number of revolutions of the clamping motor. In this embodiment, each revolution of the clamping motor drives the first clamping mechanism 20 to move a certain distance toward or away from the second clamping mechanism 30. Thus, each time the clamping force is increased or decreased, the controller controls the number of revolutions of the clamping motor to move the first clamping mechanism 20 the set distance.

[0138] The above description is only a preferred embodiment of the present application and does not limit the patent scope of the present application. All equivalent structural transformations made based on the contents of the present application specification and drawings, or direct / indirect application in other related technical fields, are included in the patent protection scope of the present application.

Claims

1. A control system for driving an elongated medical device, the control system comprising a driving device, a first clamping mechanism, a second clamping mechanism, a detection mechanism, and a controller, wherein the driving device is connected to the first clamping mechanism, and is characterized in that: The controller is configured to perform the following steps: S1. Controlling the driving device to drive the first clamping mechanism to move toward the second clamping mechanism according to a preset clamping force to clamp the elongated medical device; S2. Acquire the actual clamping force of the first clamping mechanism and the second clamping mechanism on the elongated medical device detected by the detection mechanism; S3. Perform any of the following steps according to the actual clamping force: When the actual clamping force is greater than or equal to the first preset clamping force and less than or equal to the second preset clamping force, controlling the driving device to stop moving the first clamping mechanism; When the actual clamping force is greater than the second preset clamping force, controlling the driving device to drive the first clamping mechanism to move a set distance away from the second clamping mechanism, and executing step S2; When the actual clamping force is less than the first preset clamping force, controlling the driving device to drive the first clamping mechanism to move a set distance in a direction close to the second clamping mechanism, and simultaneously executing step S2 and step S4; S4. Obtaining a clamping diameter of the elongated medical device; S5. Perform any of the following steps according to the clamping diameter: When the clamping diameter is smaller than a preset diameter, controlling the driving device to stop moving the first clamping mechanism; When the clamping diameter is greater than or equal to the preset diameter, controlling the driving device to drive the first clamping mechanism to move a set distance in a direction close to the second clamping mechanism, and simultaneously executing step S2 and step S4; Among them, the first preset clamping force is the minimum force applied to avoid slipping when delivering the slender medical device; the second preset clamping force is the maximum force applied to avoid plastic deformation and irrecoverable deformation when delivering the slender medical device; the preset diameter is the minimum diameter value allowed for deformation of the slender medical device. If the diameter is smaller than the preset diameter, the slender medical device will undergo plastic deformation and cannot be recovered when clamped.

2. The control system for driving an elongated medical device according to claim 1, wherein: The controller is further configured to perform: obtaining the set clamping force from a database according to an initial diameter of the elongated medical device.

3. The control system for driving an elongated medical device according to claim 2, wherein: The control system further includes a diameter detection device, and the controller is further configured to execute: acquiring the initial diameter and the clamping diameter detected by the diameter detection device.

4. The control system for driving an elongated medical device according to claim 3, wherein: The diameter detection device includes one of a visual detection device and a sensor device.

5. The control system for driving an elongated medical device according to claim 2, wherein: The controller is further configured to perform the following steps: controlling the driving device to drive the first clamping mechanism to move toward the second clamping mechanism when the elongated medical device is not installed, so that the first clamping mechanism and the second clamping mechanism are in contact; Acquiring a first clamping force detected by the detection mechanism, the first clamping mechanism and the second clamping mechanism being in contact with each other; When the first clamping force is greater than or equal to a third preset clamping force, recording a first displacement distance of the first clamping mechanism; Installing the slender medical device, and controlling the driving device to drive the first clamping mechanism to move toward the second clamping mechanism so that the first clamping mechanism contacts the slender medical device; acquiring a second clamping force detected by the detection mechanism, the second clamping force of the first clamping mechanism contacting the elongated medical device; When the second clamping force is greater than or equal to the third preset clamping force, recording a second displacement distance of the first clamping mechanism; The initial diameter of the elongated medical device is equal to an absolute value obtained by subtracting the second displacement distance from the first displacement distance.

6. The control system for driving an elongated medical device according to claim 5, wherein: The controller is further configured to perform: When the first clamping force is less than the third preset clamping force, controlling the driving device to drive the first clamping mechanism to move toward the second clamping mechanism, and obtaining the first clamping force of the first clamping mechanism and the second clamping mechanism in contact in real time; and / or, When the second clamping force is less than the third preset clamping force, the driving device is controlled to drive the first clamping mechanism to move toward the second clamping mechanism, and the second clamping force of the first clamping mechanism contacting the slender medical device is obtained in real time.

7. The control system for driving an elongated medical device according to claim 5, wherein: The controller is further configured to perform the following steps: When the actual clamping force is less than the first preset clamping force, controlling the driving device to drive the first clamping mechanism to move in a direction close to the second clamping mechanism, recording a third displacement distance of the first clamping mechanism; The clamping diameter of the elongated medical device is equal to an absolute value obtained by subtracting the third displacement distance from the first displacement distance.

8. The control system for driving an elongated medical device according to claim 7, wherein: The first displacement distance, the second displacement distance, and the third displacement distance are all displacement distances that the first clamping mechanism moves from a preset origin.

9. The control system for driving an elongated medical device according to any one of claims 5 to 8, wherein: The driving device includes a clamping motor, and the clamping motor drives and connects to the first clamping mechanism. The controller is further configured to execute: obtaining a displacement distance of the first clamping mechanism according to the number of revolutions of the clamping motor.

10. The control system for driving an elongated medical device according to claim 9, wherein: The controller also obtains the set distance according to the number of revolutions of the clamping motor.

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