Detection device for an interventional surgical robot, sterile cassette and robot

Abstract

The application relates to the field of medical devices, and provides a detection device for an interventional surgery 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 a liquid cavity, is used for detecting a capacitance signal in the liquid cavity, and sends the capacitance signal to the processor. The processor is used for receiving the capacitance signal, and determining whether the medical device exists in the liquid cavity at the installation position of the capacitance detection assembly based on the capacitance signal. Through detection of the position of the medical device, repeated penetration operations of the medical device are avoided, so that the efficiency of the interventional surgery is improved.

Description

Technical Field

[0001] This application relates to the field of medical devices, and more particularly to a detection device, sterile box, and robot for interventional surgical robots. Background Technology

[0002] During vascular interventional procedures, medical devices are typically introduced into the vascular system through cavities. Therefore, inserting medical devices into these cavities is a critical step in interventional surgery. However, when injecting contrast agents or other reagents into the cavity, the medical devices need to be withdrawn. The repeated insertion and withdrawal of medical devices during the procedure complicates the process, prolongs the operation time, and reduces surgical efficiency. Summary of the Invention

[0003] The main objective of this application is to provide a detection device, sterile box, and robot for interventional surgery robots, which aims to detect the position of medical devices, avoid repeated insertion of medical devices, and improve the efficiency of interventional surgery.

[0004] In a first aspect, this application provides a detection device for an interventional surgical robot, the interventional surgical robot including a liquid cavity capable of movement of medical devices, wherein 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 to detect the capacitance signal inside the liquid cavity and send it to the processor. The processor is used to receive the capacitance signal and determine, based on the capacitance signal, whether the medical device exists in the liquid cavity at the installation location of the capacitance detection component. The capacitance detection assembly includes a conductive ring disposed around the outer wall of the liquid cavity. The conductive ring is used to form an induced capacitance with the liquid or medical device located in the liquid cavity and to generate a capacitance signal based on the change of the induced capacitance. The conductive ring forms a ring capacitor, which eliminates the influence of the change in the radial position of the medical device in the liquid cavity on the change in the value of the sensing capacitance. The change value depends only on whether the medical device is located at the installation position corresponding to the conductive ring.

[0005] Furthermore, when the medical device moves to the installation position, the conductive ring generates an induced capacitance with the medical device; The detection circuit converts the sensed capacitance into the capacitance signal.

[0006] Furthermore, the detection circuit includes: 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 with a corresponding frequency according to the size of the sensing capacitor, 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; The signal filtering circuit filters 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 outputs the corresponding capacitor signal to the processor according to the filtered signal.

[0007] Furthermore, the processor is also configured to send the direct detection mode instruction to the detection circuit when it receives 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 conduit or guide wire in the liquid cavity at the installation position of the capacitance detection component.

[0008] Furthermore, the processor is also configured to send the indirect detection mode instruction to the detection circuit when it receives the indirect detection mode instruction, so that the detection circuit determines the output capacitance signal based on the presence of a guide wire in the conduit in the liquid cavity at the installation position of the capacitance detection component according to the indirect detection mode instruction.

[0009] Furthermore, the capacitance signal includes: a first level signal and a second level signal; the detection circuit determines the signal transition threshold for switching the capacitance signal 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.

[0010] Furthermore, after determining the signal transition threshold for the capacitor signal to switch between the first level signal and the second level signal according to the direct detection mode instruction or indirect detection mode instruction sent by the processor, the detection circuit is further configured 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.

[0011] Furthermore, the detection circuit is connected to the processor via a signal transmission component, which includes at least a plurality of conductive pins, and the detection circuit transmits the detected capacitance signal to the processor through the conductive pins.

[0012] Secondly, this application also provides an interventional medical sterile box, wherein the interventional medical sterile box includes: a box body and a liquid cavity installed on the box body, the liquid cavity being capable of allowing movement of a medical device; the liquid cavity is provided with a detection device according to any one of the embodiments of this application.

[0013] Thirdly, this application also provides an interventional surgical robot, wherein the interventional surgical robot includes a catheter driving device and a guidewire driving device, the catheter driving device being used to drive the catheter to move in the liquid cavity; the guidewire driving device being used to drive the guidewire to move in the liquid cavity; The catheter driving device includes the interventional medical sterile box and power component described in the embodiments of this application.

[0014] This application provides a detection device, a sterile container, and a robot for an interventional surgical robot. The interventional surgical robot includes a fluid cavity capable of supporting the movement of a medical device. 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 fluid cavity and is used to detect capacitance signals within the fluid cavity and send them to the processor. The processor receives the capacitance signals and determines, based on the capacitance signals, whether the medical device is present in the fluid cavity at the location where the capacitance detection component is installed. Because the position of the medical device can be detected, repeated insertion operations of the medical device are avoided, improving the efficiency of the interventional surgery. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1a , Figure 1b This is a schematic diagram illustrating the working principle of an interventional surgical robot provided in an embodiment of this application; Figure 2 A schematic diagram illustrating the position of a detection device within the interventional medical housing of an interventional surgical robot, as provided in this application embodiment; Figure 3a , Figure 3b A schematic diagram of a detection device for an interventional surgical robot provided in an embodiment of this application; Figure 4A side view of the structure of a detection device in an interventional surgical robot, as provided in an embodiment of this application; Figure 5 This is a schematic diagram of the structure of a capacitance detection component provided in an embodiment of this application; Figure 6 This is a schematic diagram of the connection relationship of a detection circuit provided in an embodiment of this application; Figure 7 A circuit diagram of a detection circuit provided in one embodiment of this application; Figure 8 This is a schematic diagram of the structure of an interventional surgical robot provided in one embodiment of this application.

[0017] 110. Human body insertion port; 120. T-valve; 130. Contrast agent inlet; 100. Detection device; 101. Capacitive detection assembly; 1011. Conductive ring; 102. Detection circuit; 1021. Signal conversion circuit; 1022. Signal filtering circuit; 1023. Signal matching circuit; 103. Signal transmission assembly; 111. Liquid cavity; 2. Medical device; 21. Guide wire; 22. Catheter; 10. Sterile box for interventional medicine; 11. Catheter drive device; 11a. Sterile box components; 11b. Power components; 12. Guidewire drive device. Detailed Implementation

[0018] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0019] The flowchart shown in the attached diagram is for illustrative purposes only and does not necessarily include all content and operations / steps, nor does it necessarily have to be performed in the order described. For example, some operations / steps can be broken down, combined, or partially merged, so the actual execution order may change depending on the actual situation.

[0020] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0021] Please refer to Figure 1a , Figure 1b , Figure 1a , Figure 1b This is a schematic diagram illustrating the working principle of an interventional surgical robot provided in an embodiment of this application.

[0022] like Figure 1aAs shown, in related technologies, the vascular interventional surgery robot can drive the catheter 22 and guidewire 21 to move, so as to inject contrast agents and deliver drugs or embolization materials into the blood vessels through the human body insertion point 110. Therefore, the threading operation of inserting the guidewire 21 into the T valve 120 is a key step in vascular interventional surgery. In addition to the threading operation before the start of the operation, during the operation, it may be necessary to inject contrast agents into the catheter 22 or replace the catheter 22. It is necessary to first withdraw the guidewire 21 from the T valve 120, complete the contrast agent injection or catheter 22 replacement operation, and then insert the guidewire 21 into the T valve 120. For example, after withdrawing the guidewire 21 from the T valve 120, contrast agents are injected into the T valve 120 through the contrast agent inlet 130. This results in the need to repeatedly withdraw and insert the guidewire 21 into the T valve 120 during the operation, which affects the efficiency of the operation.

[0023] To address the above issues, embodiments of this application provide a detection device for interventional surgical robots and an interventional medical sterile box.

[0024] Please refer to Figure 2 3, Figure 2 A schematic diagram illustrating the position of a detection device within the interventional medical housing of an interventional surgical robot, as provided in this application embodiment; Figure 3a , Figure 3b This is a schematic diagram of a detection device for an interventional surgical robot provided in an embodiment of this application.

[0025] like Figure 2 , Figure 3a , Figure 3b As shown, the detection device 100 provided in this application embodiment is used for an interventional surgical robot. The interventional surgical robot includes a liquid cavity 111, which allows the medical device 2 to move. 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. The capacitance detection component 101 is installed outside the liquid cavity 111 to detect the capacitance signal inside the liquid cavity 111 and send it to the processor; The processor is used to receive the capacitance signal and determine, based on the capacitance signal, whether the medical device 2 exists in the liquid cavity 111 at the installation position of the capacitance detection component 101.

[0026] For example, the medical device 2 includes at least one of guidewire 21 and catheter 22. The liquid cavity 111 can be a T valve or other multi-channel valve body that can be used to connect guidewire 21 and catheter 22, such as a Y valve, etc., which are not limited here.

[0027] For example, interventional surgical robots are used to drive the movement of medical devices, such as driving... Figure 2 As the catheter 22 or guidewire 21 moves, the detection device 100 can detect whether the catheter 22 and / or guidewire 21 are present in the liquid cavity 111 at its installation position. The installation position of the detection device 100 can be set according to actual needs, so that during the process of withdrawing the guidewire 21 from the catheter 22, the detection device 100 can detect whether the guidewire 21 has been withdrawn from the installation position, thus leaving part of the guidewire 21 in the liquid cavity 111. In this way, when the guidewire 21 needs to be reinserted, there is no need to repeat the threading operation, improving the efficiency of interventional surgery.

[0028] Please refer to Figure 4 , Figure 4 This is a side view of the structure of a detection device in an interventional surgical robot, as provided in an embodiment of this application.

[0029] In some embodiments, the capacitance detection component 101 includes a conductive element disposed on the outer wall of the liquid cavity 111. When the medical device 2 moves to the installation position, the conductive element generates an induced capacitance with the medical device 2; the detection circuit 102 converts the induced capacitance into the capacitance signal.

[0030] like Figure 4 As shown, the capacitance detection component 101 is a conductive material disposed on the outer wall of the T valve. When a conductive medical device 2 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 the detection circuit 102 will convert the induced capacitance into a capacitance signal so that the processor can determine whether the medical device is present in the liquid cavity 111 at the installation position of the capacitance detection component 101 based on the capacitance signal.

[0031] In some embodiments, the conductive element includes a conductive ring 1011 disposed around the liquid cavity.

[0032] Please refer to Figure 5 , Figure 5 This is a schematic diagram of the structure of a capacitance detection component provided in an embodiment of this application.

[0033] like Figure 5As shown, the capacitance detection component 101 is a conductive ring 1011 installed at a mounting position surrounding the outer wall of the liquid cavity 111, where a liquid (such as water, contrast agent, heparin solution, blood, etc.) exists. When the medical device 2 is not located at this mounting position, an induced capacitance is generated between the liquid and the conductive ring 1011, using the insulating outer wall of the liquid cavity 111 as a medium. When the medical device 2 is located at this mounting position, an induced capacitance is generated between the medical device 2 and the conductive ring 1011, using the outer wall of the liquid cavity 111 and the liquid as a medium. Therefore, whether the medical device is located at this mounting position will cause a change in the magnitude of the induced capacitance generated by the conductive ring 1011, causing a change in the capacitance signal converted by the detection circuit 102. This allows the processor to determine whether the medical device 2 exists in the liquid cavity 111 at the mounting position of the conductive ring 1011 based on the change in the capacitance signal.

[0034] For example, in a parallel-plate capacitor, there is an induced capacitance. ,in, is the relative permittivity of the medium; Let A be the dielectric constant of vacuum, typically taken as 8.85 * 10^-12 (F / m), and let A be the plate area. In this embodiment, the conductive ring 1011 and the surrounding conductive material form a ring capacitor. The conductive ring 1011 and the liquid or medical device 2 within the liquid channel 111 respectively correspond to the two plates of the capacitor. When the liquid channel 111 contains only liquid, the channel wall of the liquid channel 111 acts as the dielectric for induced capacitance. The conductive ring 1011 and the liquid within the liquid channel 111 serve as the two plates of the capacitor, and the induced capacitance of the conductive ring 1011 is... ,in The capacitance reference value is the initial value when the liquid cavity 111 contains only liquid. Let be the relative permittivity of the wall of the liquid cavity 111. The relative area between the liquid within the liquid cavity 111 and the conductive ring 1011 is a constant. When the medical device 2 is present within the liquid cavity 111, the cavity wall and the liquid together serve as the medium for generating the induced capacitance. The conductive ring 1011 and the medical device 2 within the liquid cavity 111 act as the two plates of a capacitor, and the induced capacitance of the conductive ring 1011 becomes... ,in, and The distance between medical device 2 and the wall of liquid cavity 111. and The connecting line passes through the central symmetrical point of conductive ring 1011. It is the relative permittivity of medical device 2 with respect to the liquid inside the conductive ring 1011. The relative area between medical device 2 and conductive ring 1011 is a constant. Therefore, whether the medical device is located within this installation position will cause a change in the magnitude of the induced capacitance generated by conductive ring 1011, and the change in induced capacitance Δc = .

[0035] Understandably, although the position of medical device 2 within the liquid cavity 111 may change at any time, i.e. and The size changes as the medical device 2 moves; however, + The size is constant, therefore Its size is also constant.

[0036] Please refer to Figure 6 , Figure 6 This is a schematic diagram of the connection relationship of a detection circuit provided in an embodiment of this application.

[0037] In some embodiments, the detection circuit 102 includes: a signal conversion circuit 1021, a signal filtering circuit 1022, and a signal matching circuit 1023; 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 sensing 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; The signal filtering circuit 1022 filters the analog signal output by the signal conversion circuit 1021 and outputs a filtered signal. 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 to output to the processor.

[0038] like Figure 6 As shown, assume that the induced capacitance formed between the capacitance detection component 101 and the medical device 2 is... The signal conversion circuit 1021 is connected to the capacitance detection component 101 and is able to obtain the induced capacitance. The size, and according to the induced capacitance An oscillation signal is generated, and the oscillation frequency of the oscillation signal is related to the sensing capacitance. The magnitudes are proportional, and then the oscillation signal is converted into an analog signal with corresponding signal values. The signal filtering circuit 1022 is connected to the signal conversion circuit 1021 and is used to process the analog signal. The noise within the liquid cavity 111 is filtered out to obtain the filtered signal. The signal matching circuit 1023 is used to match the filtered signal. The corresponding switching quantity is matched as a 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 based on the capacitance signal.

[0039] Please refer to Figure 7 , Figure 7 A circuit diagram of a detection circuit provided in one embodiment of this application.

[0040] like Figure 7 As shown, The induced capacitance generated by the capacitance detection component 101 is converted into signal capacitance by the signal conversion circuit 1021. Convert to oscillation signal ,in, and The relationship can be determined by the following formula: , ; Then oscillation signal Convert to analog signal ,in and The relationship can be determined by the following formula: ; The induced capacitance can be obtained by combining the above formula. With analog signals The relationship between them is:

[0041] In other words, induced capacitance With analog signals There is a functional relationship between them: Assuming the capacitance sensing component 101 and the induced capacitance generated by the liquid are... The induced capacitance generated by the liquid and medical device is So, before and after the medical device enters or exits the installation position of the capacitance detection component 101... The change can be expressed as: Therefore, it is possible to If the change is greater than this value, it is determined that the medical device 2 has entered or exited the installation position of the capacitance detection component 101.

[0042] In some embodiments, the processor is also configured to send a direct detection mode instruction to the detection circuit 102 when a direct detection mode instruction is received, so that the detection circuit 102 determines the output capacitance signal based on the direct detection mode instruction according to whether there is a conduit 22 or a guide wire 21 in the liquid cavity 111 at the installation position of the capacitance detection component 101.

[0043] In some embodiments, the processor is also configured to send an indirect detection mode instruction to the detection circuit 102 when the indirect detection mode instruction is received, so that the detection circuit 102 determines the output capacitance signal based on the presence of a guide wire 21 in the conduit 22 in the liquid cavity 111 at the installation position of the capacitance detection component 101 according to the indirect detection mode instruction.

[0044] For example, the medical device 2 that the capacitance detection component 101 can detect includes a guidewire 21, a catheter 22, and a catheter 22 and guidewire 21 sleeved together. The direct detection mode is used to detect the guidewire 21 or the catheter 22; the indirect detection mode is used to detect cases where the catheter 22 is sleeved outside the guidewire 21. It is understood that in the direct detection mode, only a single medical device generates a sensed capacitance with the capacitance detection component 101, while in the indirect detection mode, more than one medical device generates a sensed capacitance with the capacitance detection component 101. The detection circuit 102 needs to convert the sensed capacitance into a capacitance signal based on the object being detected. Therefore, before converting the sensed capacitance into a capacitance signal, the detection circuit 102 needs to obtain a direct detection mode instruction or an indirect detection mode instruction from the processor to convert the sensed capacitance into a capacitance signal according to the detection mode.

[0045] 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 for switching the capacitance signal 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.

[0046] For example, the detection circuit 102 characterizes whether the medical device 2 is detected by outputting a capacitance signal with a certain level. Specifically, when the sensed capacitance is greater than or equal to the signal transition threshold, the detection circuit 102 outputs a first-level signal; when the sensed capacitance is less than the signal transition threshold, the detection circuit 102 outputs a second-level signal. It is understood that the direct detection mode command and the indirect detection mode command have different signal transition thresholds, and the detection circuit 102 can determine the signal transition threshold corresponding to different modes according to the command instructions. Specifically, the signal transition thresholds corresponding to different modes can be preset according to actual conditions, and are not limited here.

[0047] For example, the reference value of the induced capacitance 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. Then, the induced capacitance value of medical device 2 when it is located in the installation position of conductive ring 1011 is measured multiple times, and the average value of the induced capacitance value of medical device 2 when it is located in the installation position of conductive ring 1011 is calculated. ,according to The functional relationship between the induced capacitance value and the capacitance value is determined. and Thus, calculate The range of change a < △ <b, when △ is detected When the range of change is within this range, it can be determined that medical device 2 has been detected.

[0048] For example, to avoid noise within the liquid cavity affecting the accuracy of the measurement, when detecting the sensing capacitance, the detected data... Infinite impulse response is used to filter out high-frequency jitter noise, making the curve smoother. , where k is the amount of data collected.

[0049] In some embodiments, after determining the signal transition threshold for the capacitor signal to switch between the first level signal and the second level signal according to the direct detection mode instruction or indirect detection mode instruction sent by the processor, the detection circuit 102 is further configured 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.

[0050] For example, the first level signal can be a high level signal, and the second level signal can be a low level signal. When the capacitor signal is greater than or equal to the signal transition threshold in the current mode, the capacitor signal is determined to be the high level signal; when the capacitor signal is less than the signal transition threshold in the current mode, the capacitor signal is determined to be the low level signal. However, this is not a limitation and is not specified herein.

[0051] In some embodiments, the detection circuit 102 is connected to the processor via a signal transmission component 103, which includes at least a plurality of conductive pins, through which the detection circuit 102 transmits the detected capacitance signal to the processor.

[0052] like Figure 3a , 3bAs shown in Figure 4, the detection device 100 for interventional surgical robots provided in this application embodiment further includes a signal transmission component 103, used to transmit the capacitance signal detected by the detection circuit 102 to the processor for judgment. The number of conductive pins in the signal transmission component 103 is not limited to... Figure 3a , 3b The quantities shown are not limited here.

[0053] For example, a sealing assembly is also provided in the liquid cavity 111, which is configured to be closed when the medical device 2 leaves the installation position of the capacitance detection assembly 101 in the liquid cavity 111, so as to form a contrast agent delivery channel in the liquid cavity 111.

[0054] For example, after the guidewire 21 is withdrawn from the installation position of the capacitance detection assembly 101, the sealing assembly in the liquid cavity 111 is in a closed state, which prevents the guidewire 21 located in the liquid cavity from being immersed in the contrast agent when the contrast agent is delivered through the liquid cavity 111, thereby avoiding the influence of the contrast agent. This allows the guidewire 21 to be completely withdrawn from the liquid cavity 111 when delivering the contrast agent, avoiding repeated wire threading operations during the interventional procedure and improving the efficiency of the interventional procedure.

[0055] This application embodiment also provides an interventional medical sterile box 10, the interventional medical sterile box 10 includes: a box body 11, a liquid cavity 111 installed on the box body 11, the liquid cavity 111 is capable of allowing the medical device 2 to move; the liquid cavity 111 is provided with a detection device 100 according to any one of the embodiments of this application.

[0056] like Figure 2 As shown, the medical device 2 includes at least one of a guidewire 21 and a catheter 22, and the detection device 100 is capable of detecting the guidewire 21 or the catheter 22 in the liquid cavity 111, or detecting both the guidewire 21 and the catheter 22 in the liquid cavity 111.

[0057] For example, the interventional medical sterile box 10 is installed on the power box for driving the catheter 22, thereby driving the catheter 22 to move within the liquid cavity 111. The capacitance signal of the capacitance detection component 101 determines whether the medical device 2 is located within the liquid cavity 111 where the capacitance detection component 101 is installed. This allows contrast agent injection or catheter replacement to be performed without completely removing the medical device 2 from the liquid cavity 111, avoiding the need to repeatedly insert the medical device 2 into the liquid cavity 111 during interventional surgery and improving the efficiency of interventional surgery.

[0058] For example, the interventional medical sterile box is mounted on the power box via conductive pins, and transmits capacitive signals to the processor mounted on the power box via the conductive pins.

[0059] like Figure 4 As shown, the catheter driving 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 through conductive pins. The user can replace the sterile box component 11a and install the new sterile box component 11a onto the power component 11b through 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.

[0060] For example, the processor is installed inside the power unit 11b, so that the processor does not need to be replaced when the sterile box component 11a is replaced, thereby reducing implementation costs while avoiding cross-infection.

[0061] Please refer to Figure 8 , Figure 8 This is a schematic diagram of the structure of an interventional surgical robot provided in one embodiment of this application.

[0062] This application embodiment also provides a surgical robot, the interventional surgical robot includes a catheter driving device 11 and a guidewire driving device 12. The catheter driving device 11 is used to drive the catheter 22 to move in the liquid cavity 111; the guidewire driving device 12 is used to drive the guidewire 21 to move in the liquid cavity 111. The catheter driving device 11 includes the interventional medical sterile box 10 and the power component described in the embodiments of this application.

[0063] like Figure 8 As shown, the interventional surgical robot includes a catheter driving device 11 and a guidewire driving device 12 used in conjunction with it. The fluid cavity 111 and the detection device 100 are both located on the catheter driving device 11.

[0064] It should be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0065] It should also be understood that the term "and / or" as used in this specification and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes such combinations. It should be noted that, herein, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0066] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments. The above descriptions are merely specific implementations of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A detection device for an interventional surgical robot, the interventional surgical robot including a fluid cavity capable of allowing movement of medical instruments, characterized in that, 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 to detect the capacitance signal inside the liquid cavity and send it to the processor. The processor is used to receive the capacitance signal and determine, based on the capacitance signal, whether the medical device exists in the liquid cavity at the installation location of the capacitance detection component. The capacitance detection assembly includes a conductive ring disposed around the outer wall of the liquid cavity. The conductive ring is used to form an induced capacitance with the liquid or medical device located in the liquid cavity and to generate a capacitance signal based on the change of the induced capacitance. The conductive ring forms a ring capacitor, which eliminates the influence of the change in the radial position of the medical device in the liquid cavity on the change in the value of the sensing capacitance. The change value depends only on whether the medical device is located at the installation position corresponding to the conductive ring.

2. The detection device for interventional surgical robots according to claim 1, characterized in that, When the medical device moves to the installation position, the conductive ring generates an induced capacitance with the medical device; The detection circuit converts the sensed capacitance into the capacitance signal.

3. The detection device for interventional surgical robots according to claim 2, characterized in that, The detection circuit includes: 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 with a corresponding frequency according to the size of the sensing capacitor, 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; The signal filtering circuit filters 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 outputs the corresponding capacitor signal to the processor according to the filtered signal.

4. The detection device for interventional surgical robots according to claim 1, characterized in that, The processor is further configured to send the direct detection mode instruction to the detection circuit when it receives 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 conduit or guide wire in the liquid cavity at the installation position of the capacitance detection component.

5. The detection device for interventional surgical robots according to claim 1, characterized in that, The processor is further configured to send the indirect detection mode instruction to the detection circuit when it receives the indirect detection mode instruction, so that the detection circuit determines the output capacitance signal based on the presence of a guide wire in the conduit in the liquid cavity at the installation position of the capacitance detection component according to the indirect detection mode instruction.

6. The detection device for interventional surgical robots according to claim 4 or 5, characterized in that, The capacitance signal includes a first level signal and a second level signal; the detection circuit determines the signal transition threshold for switching the capacitance signal 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 interventional surgical robots according to claim 6, characterized in that, After determining the signal transition threshold for switching the capacitor signal between the first level signal and the second level signal based on the direct detection mode instruction or indirect detection mode instruction sent by the processor, the detection circuit is further configured 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 interventional surgical robots according to claim 1, characterized in that, The detection circuit is connected to the processor via a signal transmission component, which includes at least a plurality of conductive pins. The detection circuit transmits the detected capacitance signal to the processor through the conductive pins.

9. An interventional medical sterile box, the interventional medical sterile box comprising: A housing and a liquid cavity mounted on the housing, the liquid cavity being capable of allowing movement of a 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 surgical robot, characterized in that, The interventional surgical robot includes a catheter driving device and a guidewire driving device. The catheter driving device is used to drive the catheter to move in the liquid cavity; the guidewire driving device is used to drive the guidewire to move in the liquid cavity. The catheter driving device includes the interventional medical sterile box and power component as described in claim 9.

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