Detection device for interventional surgical robot, sterile box and robot

Abstract

The invention relates to the field of medical instruments, and provides a detection device for an interventional surgical robot and an interventional medical sterile box, the detection device comprises a capacitance detection assembly, a detection circuit connected with the capacitance detection assembly, and a processor connected with the detection circuit; the capacitance detection assembly is installed outside the liquid cavity channel and used for detecting capacitance signals in the liquid cavity channel and sending the capacitance signals to the processor. And the processor is used for receiving the capacitance signal and determining whether the medical instrument exists in the liquid cavity at the installation position of the capacitance detection assembly based on the capacitance signal. By detecting the position of the medical instrument, repeated execution of penetrating operation of the medical instrument is avoided, and therefore the efficiency of an interventional operation is improved.

Description

Technical Field

[0001] The present application relates to the field of medical devices, and in particular to a detection device, a sterile box and a robot for an interventional surgical robot. Background Art

[0002] During vascular interventional surgery, medical devices usually need to be introduced into the vascular system through the cavity. Therefore, inserting medical devices into the cavity is a key operation in interventional surgery. However, when contrast agents and other reagents are injected into the cavity, the medical devices need to be withdrawn from the cavity. During the operation, the medical devices need to be repeatedly inserted and withdrawn, which results in cumbersome operation procedures, prolonged operation time, and low surgical efficiency. Summary of the invention

[0003] The main purpose of the present application is to provide a detection device, a sterile box and a robot for an interventional surgery robot, aiming to detect the position of medical devices, avoid repeated insertion operations of medical devices, and improve the efficiency of interventional surgery.

[0004] In a first aspect, the present application provides a detection device for an interventional surgical robot, the interventional surgical robot comprising a liquid cavity, the liquid cavity being capable of providing movement for a medical device, wherein the detection device comprises: a capacitance detection component, a detection circuit connected to the capacitance detection component, and a processor connected to the detection circuit;

[0005] The capacitance detection component is installed outside the liquid cavity, and is used to detect the capacitance signal in the liquid cavity and send it to the processor;

[0006] The processor is used to receive the capacitance signal and determine whether the medical device exists in the liquid cavity where the capacitance detection component is installed based on the capacitance signal.

[0007] In a second aspect, the present application also provides an interventional medical sterile box, wherein the interventional medical sterile box comprises: a box body, a liquid cavity installed on the box body, the liquid cavity can provide movement for the medical device; the liquid cavity is provided with a detection device according to any one of the embodiments of the present application.

[0008] In a third aspect, the present application further provides an interventional surgical robot, wherein the interventional surgical robot comprises a catheter driving device and a guide wire driving device, wherein the catheter driving device is used to drive the catheter to move in the liquid cavity; and the guide wire driving device is used to drive the guide wire to move in the liquid cavity;

[0009] The catheter driving device includes the interventional medical sterile box and a power component described in the embodiment of the present application.

[0010] The present application provides a detection device, a sterile box and a robot for an interventional surgery robot, wherein the interventional surgery robot includes a liquid cavity, and the liquid cavity can provide movement for medical devices. The detection device includes: a capacitance detection component, a detection circuit connected to the capacitance detection component, and a processor connected to the detection circuit; the capacitance detection component is installed outside the liquid cavity, and is used to detect the capacitance signal in the liquid cavity and send it to the processor; the processor is used to receive the capacitance signal and determine whether the medical device exists in the liquid cavity at the installation position of the capacitance detection component based on the capacitance signal. Since the position of the medical device can be detected, the repeated insertion operation of the medical device is avoided, and the efficiency of the interventional surgery is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0012] Figure 1a , Figure 1b A schematic diagram of the working principle of an interventional surgical robot provided in an embodiment of the present application;

[0013] Figure 2 A schematic diagram of the position of a detection device provided in an interventional medical box of an interventional surgical robot according to an embodiment of the present application;

[0014] Figure 3a , Figure 3b A schematic diagram of the structure of a detection device for an interventional surgical robot provided in an embodiment of the present application;

[0015] Figure 4 A structural side view of a detection device provided in an interventional surgical robot according to an embodiment of the present application;

[0016] Figure 5 A schematic diagram of the structure of a capacitance detection component provided in an embodiment of the present application;

[0017] Figure 6 A schematic diagram of the connection relationship of a detection circuit provided in one embodiment of the present application;

[0018] Figure 7 A circuit diagram of a detection circuit provided in an embodiment of the present application;

[0019] Figure 8 A schematic diagram of the structure of an interventional surgery robot provided in one embodiment of the present application.

[0020] 110. Human body sheath entry port; 120. T-valve; 130. Contrast agent input port; 100. Detection device; 101. Capacitance detection component; 1011. Conductive ring; 102. Detection circuit; 1021. Signal conversion circuit; 1022. Signal filtering circuit; 1023. Signal matching circuit; 103. Signal transmission component; 111. Liquid cavity; 2. Medical device; 21. Guide wire; 22. Catheter; 10. Interventional medical sterile box; 11. Catheter drive device; 11a. Sterile box component; 11b. Power component; 12. Guide wire drive device. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0022] The flowcharts shown in the accompanying drawings are only examples and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may also be decomposed, combined or partially merged, so the actual execution order may change according to actual conditions.

[0023] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0024] Please refer to Figure 1a , Figure 1b , Figure 1a , Figure 1b A schematic diagram of the working principle of an interventional surgical robot provided in an embodiment of the present application.

[0025] like Figure 1aAs shown, in the related art, the vascular interventional surgery robot can drive the catheter 22 and the guide wire 21 to move, so as to inject contrast agent into the blood vessel through the human body sheath point 110 and deliver drugs or embolic materials. Therefore, when performing vascular interventional surgery, the wire threading operation of inserting the guide wire 21 into the T-valve 120 is a key step. In addition to the wire threading operation before the start of the operation, during the operation, it may be necessary to inject contrast agent into the catheter 22 or replace the catheter 22. It is necessary to withdraw the guide wire 21 from the T-valve 120 first, and then insert the guide wire 21 into the T-valve 120 after completing the contrast agent injection or catheter 22 replacement operation. For example, after the guide wire 21 is withdrawn from the T-valve 120, the contrast agent is input into the T-valve 120 through the contrast agent input port 130, resulting in the need to repeatedly withdraw and insert the guide wire 21 into the T-valve 120 during the operation, affecting the efficiency of the operation.

[0026] In order to solve the above problems, the embodiments of the present application provide a detection device for an interventional surgical robot and an interventional medical sterile box.

[0027] Please refer to Figure 2 , 3, Figure 2 A schematic diagram of the position of a detection device provided in an interventional medical box of an interventional surgical robot according to an embodiment of the present application; Figure 3a , Figure 3b A schematic diagram of the structure of a detection device for an interventional surgical robot provided in an embodiment of the present application.

[0028] like Figure 2 , Figure 3a , Figure 3b As shown, the detection device 100 provided in the embodiment of the present application is used for an interventional surgical robot, the interventional surgical robot includes a liquid cavity 111, and the liquid cavity 111 can provide movement for a medical device 2, wherein the detection device 100 includes: a capacitance detection component 101, a detection circuit 102 connected to the capacitance detection component 101, and a processor (not shown) connected to the detection circuit 102;

[0029] The capacitance detection component 101 is installed outside the liquid cavity 111, and is used to detect the capacitance signal in the liquid cavity 111 and send it to the processor;

[0030] The processor is used to receive the capacitance signal and determine whether a medical device 2 exists in the liquid channel 111 at the installation position of the capacitance detection component 101 based on the capacitance signal.

[0031] Exemplarily, the medical device 2 includes at least one of a guide wire 21 and a catheter 22, and the liquid cavity 111 can be a T-valve, or other multi-channel valve bodies that can be used to connect the guide wire 21 and the catheter 22, such as a Y-valve, etc., which is not limited here.

[0032] Exemplarily, the interventional surgical robot is used to drive the movement of medical devices, such as driving Figure 2 Since the detection device 100 can detect whether the catheter 22 and / or the guide wire 21 exist in the liquid cavity 111 at the installation position thereof, the installation position of the detection device 100 can be set according to actual needs, so that in the process of withdrawing the guide wire 21 from the catheter 22, the detection device 100 can detect whether the guide wire 21 is withdrawn from the installation position, so that part of the guide wire 21 remains in the liquid cavity 111. In this way, when the guide wire 21 needs to be introduced again, there is no need to re-thread the wire, thereby improving the efficiency of the interventional surgery.

[0033] Please refer to Figure 4 , Figure 4 A structural side view of a detection device in an interventional surgical robot provided in an embodiment of the present application.

[0034] In some embodiments, the capacitance detection component 101 includes a conductive member disposed on the outer wall of the liquid cavity 111. When the medical device 2 moves to the installation position, the conductive member and the medical device 2 generate induced capacitance; the detection circuit 102 converts the induced capacitance into the capacitance signal.

[0035] like Figure 4 As shown, the capacitance detection component 101 is a conductive material arranged on the outer wall of the T valve. When the medical device 2 with conductivity moves in the liquid cavity 111, if at least a part of the medical device 2 is located at the installation position of the capacitance detection component 101, the medical device 2 will generate an induced capacitance with the capacitance detection component 101, and convert the induced capacitance into a capacitance signal based on the detection circuit 102, so that the processor can determine whether the medical device exists in the liquid cavity 111 at the installation position of the capacitance detection component 101 according to the capacitance signal.

[0036] In some embodiments, the conductive member includes a conductive ring 1011 disposed around the liquid channel.

[0037] Please refer to Figure 5 , Figure 5 A schematic diagram of the structure of a capacitance detection component provided in an embodiment of the present application.

[0038] like Figure 5As shown, the capacitance detection component 101 is a conductive ring 1011 arranged at the installation position surrounding the outer wall of the liquid cavity 111, and there is liquid (such as water, contrast agent, heparin water, blood, etc.) in the liquid cavity 111. When the medical device 2 is not located in the installation position, the liquid and the conductive ring 1011 generate an induced capacitance with the insulating outer wall of the liquid cavity 111 as the medium; and when the medical device 2 is located in the installation position, the medical device 2 generates an induced capacitance with the conductive ring 1011 with the outer wall of the liquid cavity 111 and the liquid as the medium. Therefore, whether the medical device is located in the installation position will cause the size of the induced capacitance generated by the conductive ring 1011 to change, so that the capacitance signal converted by the detection circuit 102 changes, so that the processor can judge whether there is a medical device 2 in the liquid cavity 111 at the installation position of the conductive ring 1011 according to the change of the capacitance signal.

[0039] For example, for a parallel plate capacitor, there is an inductive capacitance Among them, r is the relative dielectric constant of the medium; 0 is the dielectric constant of vacuum, and the value is usually 8.85*10exp(-12)(F / m), and A is the plate area. In the embodiment of the present application, the conductive ring 1011 and the conductive material surrounding it form a ring capacitor, and the conductive ring 1011 and the liquid or medical device 2 in the liquid cavity 111 are equivalent to the two plates of the capacitor. When there is only liquid in the liquid cavity 111, the cavity wall of the liquid cavity 111 generates a medium of induced capacitance, and the conductive ring 1011 and the liquid in the liquid cavity 111 serve as the two plates of the capacitor. The induced capacitance of the conductive ring 1011 is where c 0 is the capacitance reference value in the initial condition when there is only liquid in the liquid cavity 111, ε 0 is the relative dielectric constant of the wall of the liquid cavity 111, s 0 is the relative area of ​​the liquid in the liquid cavity 111 and the conductive ring 1011, which is a constant value. When the medical device 2 is present in the liquid cavity 111, the cavity wall of the liquid cavity 111 and the liquid together serve as the medium for generating the induced capacitance, and the conductive ring 1011 and the medical device 2 in the liquid cavity 111 serve as the two plates of the capacitor. The induced capacitance of the conductive ring 1011 becomes Among them, d 1 and d 2 is the distance between the medical device 2 and the wall of the liquid cavity 111, d 1 and d 2 The connecting line passes through the central symmetric point of the conductive ring 1011, ε r is the relative dielectric constant of the medical device 2 relative to the liquid in the conductive ring 1011, s ris the relative area between the medical device 2 and the conductive ring 1011, which is a constant value. Therefore, whether the medical device is located in the installation position will cause the magnitude of the induced capacitance generated by the conductive ring 1011 to change, and the change value of the induced capacitance Δc = c 1 -c 0 .

[0040] It is understandable that although the position of the medical device 2 in the liquid cavity 111 may change at any time, that is, 1 and d 2 The size of will change with the movement of the medical device 2, however, 1 +d 2 The size of is constant, so c 1 The size is also constant.

[0041] Please refer to Figure 6 , Figure 6 A schematic diagram of the connection relationship of a detection circuit provided in one embodiment of the present application.

[0042] In some implementations, the detection circuit 102 includes: a signal conversion circuit 1021, a signal filtering circuit 1022, and a signal matching circuit 1023;

[0043] The signal conversion circuit 1021 is connected to the capacitance detection component 101, and outputs an oscillation signal with a corresponding frequency according to the size of the inductive capacitance, and converts the oscillation signal into an analog signal, wherein the signal value corresponding to the analog signal is determined according to the frequency of the oscillation signal;

[0044] The signal filtering circuit 1022 performs filtering processing on the analog signal output by the signal conversion circuit 1021 and outputs a filtered signal;

[0045] The signal matching circuit 1023 is connected to the signal filtering circuit 1022 , receives the filtered signal output by the signal filtering circuit 1022 , and matches the corresponding capacitor signal according to the filtered signal and outputs it to the processor.

[0046] like Figure 6 As shown, it is assumed that the inductive capacitance formed between the capacitance detection component 101 and the medical device 2 is c x The signal conversion circuit 1021 is connected to the capacitance detection component 101, and the induced capacitance c can be obtained. x The size of the inductive capacitance c x Generate an oscillation signal, and the oscillation frequency of the oscillation signal is related to the inductive capacitance c x The oscillation signal is then converted into an analog signal V with a corresponding signal value. out The signal filtering circuit 1022 is connected to the signal conversion circuit 1021 to convert the analog signal Vout Perform filtering to remove the noise in the liquid cavity 111 and obtain a filtered signal V 0 ; The signal matching circuit 1023 is used to filter the signal V 0 The corresponding switch value is matched as the capacitance signal output to the processor, so that the processor can determine whether the medical device 2 exists in the liquid cavity 111 at the installation position of the capacitance detection component 101 according to the capacitance signal.

[0047] Please refer to Figure 7 , Figure 7 A circuit diagram of a detection circuit provided in accordance with an embodiment of the present application.

[0048] like Figure 7 As shown, c x The inductive capacitance c is generated by the capacitance detection component 101, and the inductive capacitance c is converted by the signal conversion circuit 1021. x Converted into an oscillating signal F o , where c x With F o The relationship can be determined by the following formula:

[0049]

[0050] Then the oscillation signal F o Converted to analog signal V out , where V out With F o The relationship can be determined by the following formula:

[0051]

[0052] Combining the above formula, we can get the inductive capacitance c x With analog signal V out The relationship between them is:

[0053]

[0054] That is, the inductive capacitance c x With analog signal V out There is a functional relationship between them: Vout = f(c x ), assuming that the inductive capacitance generated by the capacitance detection component 101 and the liquid is c 0 The inductive capacitance between the liquid and the medical device is c 1 , then the V before and after the medical device enters or withdraws from the installation position of the capacitance detection component 101 out The change can be expressed as: ΔV out =f(c 1 )-f(c 0 ). Therefore, it can be outWhen the change in is greater than the value, it is determined that the medical device 2 has entered or withdrawn from the installation position of the capacitance detection component 101.

[0055] In some embodiments, the processor is also used to send the direct detection mode instruction to the detection circuit 102 when the direct detection mode instruction is obtained, so that the detection circuit 102 determines the output capacitance signal based on the direct detection mode instruction according to whether there is a catheter 22 or a guide wire 21 in the liquid cavity 111 at the installation position of the capacitance detection component 101.

[0056] In some embodiments, the processor is also used to send the indirect detection mode instruction to the detection circuit 102 when the indirect detection mode instruction is obtained, so that the detection circuit 102 determines the output capacitance signal based on the indirect detection mode instruction according to whether there is a guide wire 21 in the catheter 22 in the liquid cavity 111 at the installation position of the capacitance detection component 101.

[0057] Exemplarily, the medical devices 2 that can be detected by the capacitance detection component 101 include a guidewire 21, a catheter 22, and a catheter 22 and a guidewire 21 that are sleeved together. Among them, the direct detection mode is used to detect the guidewire 21 or the catheter 22; the indirect detection mode is used to detect the situation where the catheter 22 is sleeved outside the guidewire 21. It can be understood that in the direct detection mode, there is only a single medical device and the capacitance detection component 101 to generate induced capacitance, while in the indirect detection mode, there are more than one medical device and the capacitance detection component 101 to generate induced capacitance. The detection circuit 102 needs to convert the induced capacitance into a capacitance signal based on the detected object. Therefore, before converting the induced capacitance into a capacitance signal, the detection circuit 102 needs to obtain the direct detection mode instruction or the indirect detection mode instruction of the processor so as to convert the induced capacitance into a capacitance signal according to the detection mode.

[0058] In some embodiments, the capacitance signal includes: a first level signal and a second level signal; the detection circuit 102 determines the signal transition threshold of the capacitance signal for switching between the first level signal and the second level signal according to the direct detection mode instruction or the indirect detection mode instruction sent by the processor.

[0059] Exemplarily, the detection circuit 102 characterizes whether the medical device 2 is detected by outputting a capacitance signal with a certain level. For example, when the induced capacitance is greater than or equal to the signal transition threshold, the detection circuit 102 outputs a first level signal; when the induced capacitance is less than the signal transition threshold, the detection circuit 102 outputs a second level signal. It can be understood that the direct detection mode instruction and the indirect detection mode instruction have different signal transition thresholds, and the detection circuit 102 can determine the signal transition thresholds corresponding to different modes according to the instructions. Specifically, the corresponding signal transition thresholds under different modes can be pre-set according to actual conditions, and are not limited here.

[0060] For example, the inductive capacitance reference value between the liquid in the liquid channel 111 and the conductive ring 1011 can be measured multiple times, and the average value of the reference value can be calculated to obtain c 0 , and then measure the induced capacitance value when the medical device 2 is located at the installation position of the conductive ring 1011 for multiple times, and calculate the average value c of the induced capacitance value when the medical device 2 is located at the installation position of the conductive ring 1011 x , according to V out The functional relationship between the sensing capacitance value and f(c x ) and f(c 1 ), and thus calculate ΔV out =f(c 1 )-f(c 0 ) changes in the range a<△V out <b, when △V is detected out When the change interval of is within this range, it can be determined that the medical device 2 is detected.

[0061] For example, in order to avoid the influence of the noise in the liquid cavity on the accuracy of the measurement, when detecting the inductive capacitance, the detected data (x i ,y i ) uses infinite impulse response to filter out high-frequency jitter noise and make the curve smoother. Where k is the amount of data collected.

[0062] In some implementations, after determining the signal transition threshold at which the capacitance signal switches between the first level signal and the second level signal according to the direct detection mode instruction or the indirect detection mode instruction sent by the processor, the detection circuit 102 is further configured to:

[0063] When the capacitance signal is greater than or equal to the signal transition threshold, the capacitance signal is determined as the first level signal, and when the capacitance signal is less than the signal transition threshold, the capacitance signal is determined as the second level signal.

[0064] Exemplarily, the first level signal may be a high level signal, and the second level signal may be a low level signal. When the capacitance signal is greater than or equal to the signal transition threshold in the current mode, the capacitance signal is determined as the high level signal; when the capacitance signal is less than the signal transition threshold in the current mode, the capacitance signal is determined as the low level signal. Of course, this is not limited to this, and is not limited here.

[0065] In some embodiments, the detection circuit 102 is connected to the processor via a signal transmission component 103, and the signal transmission component 103 includes at least a plurality of conductive pins. The detection circuit 102 transmits the detected capacitance signal to the processor via the conductive pins.

[0066] As shown in Figures 3 and 4, the detection device 100 for an interventional surgical robot provided in an embodiment of the present application also includes a signal transmission component 103, which is used to transmit the capacitive signal detected by the detection circuit 102 to the processor for judgment, wherein the number of conductive pins in the signal transmission component 103 is not limited to the number shown in Figure 3 and is not limited here.

[0067] Exemplarily, a sealing component is also provided in the liquid cavity 111 , and the sealing component is configured to be in a closed state when the medical device 2 leaves the installation position of the capacitance detection component 101 of the liquid cavity 111 , so that a contrast agent delivery channel is formed in the liquid cavity 111 .

[0068] Exemplarily, after the guide wire 21 is withdrawn from the installation position of the capacitance detection component 101, the sealing component in the liquid cavity 111 is in a closed state, thereby preventing the guide wire 21 partially located in the liquid cavity from being immersed in the contrast agent when the contrast agent is delivered through the liquid cavity 111, thereby achieving the goal of not requiring the guide wire 21 to be completely withdrawn from the liquid cavity 111 when delivering the contrast agent, thereby avoiding repeated wire threading operations during the interventional surgery, and improving the surgical efficiency of the interventional surgery.

[0069] The embodiment of the present application also provides an interventional medical sterile box 10, which includes: a box body 11, a liquid cavity 111 installed on the box body 11, and the liquid cavity 111 can provide movement for the medical device 2; the liquid cavity 111 is provided with a detection device 100 according to any one of the embodiments of the present application.

[0070] like Figure 2 As shown, the medical device 2 includes at least one of a guide wire 21 and a catheter 22 , and the detection device 100 can detect the guide wire 21 or the catheter 22 in the liquid cavity 111 , or detect the guide wire 21 and the catheter 22 in the liquid cavity 111 .

[0071] Exemplarily, the interventional medical sterile box 10 is installed on a power box for driving the catheter 22, thereby driving the catheter 22 to move in the liquid cavity 111, and determining whether the medical device 2 is located in the position where the capacitance detection component 101 is installed in the liquid cavity 111 through the capacitance signal of the capacitance detection component 101, so that there is no need to completely withdraw the medical device 2 from the liquid cavity 111 to perform operations such as contrast agent injection or catheter replacement, thereby avoiding the need to repeatedly insert the medical device 2 into the liquid cavity 111 during the interventional surgery, thereby improving the efficiency of the access surgery.

[0072] Exemplarily, the interventional medical sterile box is mounted on a power box via conductive pins, and the capacitive signal is transmitted to a processor mounted on the power box via the conductive pins.

[0073] like Figure 4 As shown, the catheter drive device 11 includes a sterile box component 11a and a power component 11b. The sterile box component 11a is a consumable in interventional surgery. The sterile box component 11a and the power component 11b are detachably connected via conductive pins. The user can replace the sterile box component 11a and install the new sterile box component 11a on the power component 11b via the conductive pins, so that the non-sterile power component 11b is independent of the sterile box component 11a, thereby reducing the risk of cross infection.

[0074] Exemplarily, the processor is installed in the power component 11b, and when the sterile box component 11a is replaced, the processor does not need to be replaced, thereby avoiding cross infection and reducing implementation costs.

[0075] Please refer to Figure 8 , Figure 8 A schematic diagram of the structure of an interventional surgery robot provided in one embodiment of the present application.

[0076] The embodiment of the present application further provides a surgical robot, the interventional surgical robot comprising a catheter driving device 11 and a guide wire driving device 12, wherein the catheter driving device 11 is used to drive the catheter 22 to move in the liquid cavity 111; the guide wire driving device 12 is used to drive the guide wire 21 to move in the liquid cavity 111;

[0077] The catheter driving device 11 includes the interventional medical sterile box 10 and a power component described in the embodiment of the present application.

[0078] like Figure 8 As shown, the interventional surgical robot includes a catheter driving device 11 and a guide wire driving device 12 that are used together, and the liquid cavity 111 and the detection device 100 are both arranged on the catheter driving device 11.

[0079] It should be understood that the terms used in this application specification are only for the purpose of describing specific embodiments and are not intended to limit the application. As used in this application specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0080] It should also be understood that the term "and / or" used in the specification of this application and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, including these combinations. It should be noted that, in this article, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "including a..." does not exclude the presence of other identical elements in the process, method, article or system including the element.

[0081] The serial numbers of the embodiments of the present application are for description only and do not represent the advantages and disadvantages of the embodiments. The above description is only a specific implementation mode of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A detection device for an interventional surgical robot, the interventional surgical robot comprising a liquid cavity, the liquid cavity being capable of providing movement for a medical device, It is characterized in that The detection device comprises: a capacitance detection component, a detection circuit connected to the capacitance detection component, and a processor connected to the detection circuit; The capacitance detection component is installed outside the liquid cavity, and is used to detect the capacitance signal in the liquid cavity and send it to the processor; The processor is used to receive the capacitance signal and determine whether the medical device exists in the liquid cavity where the capacitance detection component is installed based on the capacitance signal.

2. The detection device for an interventional surgery robot according to claim 1, It is characterized in that The capacitance detection assembly includes a conductive member disposed on the outer wall of the liquid cavity, and when the medical device moves to the installation position, the conductive member and the medical device generate an inductive capacitance; The detection circuit converts the sensed capacitance into the capacitance signal.

3. The detection device for an interventional surgery robot according to claim 2, It is characterized in that The conductive member comprises a conductive ring arranged around the liquid cavity, and the detection circuit comprises: a signal conversion circuit, a signal filtering circuit, and a signal matching circuit; The signal conversion circuit is connected to the conductive ring, and outputs an oscillation signal having a corresponding frequency according to the size of the inductive capacitor, and converts the oscillation signal into an analog signal, wherein a signal value corresponding to the analog signal is determined according to the frequency of the oscillation signal; The signal filtering circuit performs filtering processing on the analog signal output by the signal conversion circuit and outputs a filtered signal; The signal matching circuit is connected to the signal filtering circuit, receives the filtered signal output by the signal filtering circuit, and matches the corresponding capacitor signal according to the filtered signal and outputs it to the processor.

4. The detection device for an interventional surgery robot according to claim 1, It is characterized in that The processor is also used to send the direct detection mode instruction to the detection circuit when obtaining the direct detection mode instruction, so that the detection circuit determines the output capacitance signal based on the direct detection mode instruction according to whether there is a catheter or guidewire in the liquid cavity at the installation position of the capacitance detection component.

5. The detection device for an interventional surgery robot according to claim 1, It is characterized in that The processor is also used to send the indirect detection mode instruction to the detection circuit when obtaining the indirect detection mode instruction, so that the detection circuit determines the output capacitance signal based on the indirect detection mode instruction according to whether there is a guide wire in the catheter in the liquid cavity at the installation position of the capacitance detection component.

6. The detection device for an interventional surgery robot according to claim 4 or 5, It is characterized in that The capacitance signal includes: a first level signal and a second level signal; the detection circuit determines a signal transition threshold for the capacitance signal to switch between the first level signal and the second level signal according to the direct detection mode instruction or the indirect detection mode instruction sent by the processor.

7. The detection device for an interventional surgery robot according to claim 6, It is characterized in that After determining the signal transition threshold for the capacitance signal to switch between the first level signal and the second level signal according to the direct detection mode instruction or the indirect detection mode instruction sent by the processor, the detection circuit is further used to: When the capacitance signal is greater than or equal to the signal transition threshold, the capacitance signal is determined as the first level signal, and when the capacitance signal is less than the signal transition threshold, the capacitance signal is determined as the second level signal.

8. The detection device for an interventional surgery robot according to claim 1, It is characterized in that The detection circuit is connected to the processor via a signal transmission component, and the signal transmission component includes at least a plurality of conductive pins. The detection circuit transmits the detected capacitance signal to the processor via the conductive pins.

9. An interventional medical sterile box, the interventional medical sterile box include: A box body, and a liquid cavity installed on the box body, wherein the liquid cavity can provide movement for the medical device; characterized in that the liquid cavity is provided with a detection device according to any one of claims 1-8.

10. An interventional surgery robot, It is characterized in that The interventional surgical robot comprises a catheter driving device and a guide wire driving device, wherein the catheter driving device is used to drive the catheter to move in the liquid cavity; and the guide wire driving device is used to drive the guide wire to move in the liquid cavity; The catheter driving device comprises the interventional medical sterile box according to claim 9 and a power component.

Images