Control method for vascular intervention surgical robot

Abstract

The invention provides a control method for a vascular interventional surgical robot, and belongs to the technical field of medical instruments.The control method for the vascular interventional surgical robot comprises the steps that in response to a delivery instruction, a second interventional consumable is controlled to advance under the guiding action of a first interventional consumable, the intervention end of the second intervention consumable penetrates through the third intervention consumable to reach the target focus position; and / or in response to a withdrawing instruction, controlling the second interventional consumable to withdraw under the guiding action of the first interventional consumable until the second interventional consumable withdraws from the third interventional consumable. Interventional consumables can be smoothly delivered and withdrawn, and the operation efficiency is effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a control method for a vascular interventional surgery robot. Background Art

[0002] In the field of vascular interventional surgical robots, achieving precise control and efficient operation of interventional consumables is a key requirement. Existing surgical robots have certain limitations in structure and control methods. For example, the design of consumable boxes, the relative position relationship, and the arrangement of control programs are not optimized enough, resulting in the delivery and withdrawal of interventional consumables not being smooth and precise enough.

[0003] Therefore, a new control method for vascular interventional surgery robots is urgently needed to solve these problems. Summary of the invention

[0004] The object of the present invention is to overcome at least one of the above-mentioned deficiencies of the prior art and to provide a control method for a vascular interventional surgical robot that can smoothly deliver and withdraw interventional consumables and effectively improve surgical efficiency.

[0005] Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

[0006] According to another embodiment of the present invention, a control method for a vascular interventional surgery robot is provided, wherein the vascular interventional surgery robot at least comprises a delivery track and a first consumable box and a second consumable box slidably arranged on the delivery track, wherein the first consumable box is located on a side of the second consumable box close to an intervention end, and the second consumable box comprises a first actuator and a second actuator, wherein the first actuator and the second actuator are respectively used to drive a first interventional consumable and a second interventional consumable to move, wherein a portion of the second interventional consumable is sleeved onto the first interventional consumable to form a quick-delivery combined consumable, wherein the first consumable box is connected to a third interventional consumable, and the second interventional consumable can enter or exit the third interventional consumable under the guidance of the first interventional consumable;

[0007] The control method for the vascular interventional surgery robot comprises:

[0008] In response to the delivery instruction, controlling the second interventional consumable to advance under the guidance of the first interventional consumable until the intervention end of the second interventional consumable passes through the third interventional consumable and reaches the target lesion position;

[0009] and / or

[0010] In response to the withdrawal instruction, the second interventional consumable is controlled to withdraw under the guidance of the first interventional consumable until the second interventional consumable is evacuated from the third interventional consumable.

[0011] In an exemplary embodiment of the present invention, the second consumable box further includes a first clamping component, the first clamping component is arranged close to the first actuator to clamp and fix the first interventional consumable, and the controlling the second interventional consumable to move forward under the guidance of the first interventional consumable includes:

[0012] Opening the first clamping component and controlling the first actuator component to drive the first interventional consumable to move forward a first preset distance;

[0013] closing the first clamping component and controlling the second actuator component to drive the second interventional consumable forward a second preset distance;

[0014] Repeat the above steps until the intervention end of the second intervention consumable passes through the third intervention consumable and reaches the target lesion position.

[0015] In an exemplary embodiment of the present invention, controlling the second interventional consumable to advance under the guidance of the first interventional consumable further includes:

[0016] Close the first clamping assembly and control the second consumable box to move forward along the delivery track.

[0017] In an exemplary embodiment of the present invention, the second consumable box further includes a first clamping component, the first clamping component is arranged close to the first actuator to clamp and fix the first interventional consumable, and the controlling the second interventional consumable to withdraw under the guidance of the first interventional consumable includes:

[0018] closing the first clamping component and controlling the second actuator component to drive the second interventional consumable to withdraw to a third preset distance;

[0019] Opening the first clamping assembly and sliding the second consumable box back to increase the distance between the second consumable box and the first consumable box;

[0020] Repeat the above steps until the second interventional consumable is evacuated from the third interventional consumable.

[0021] In an exemplary embodiment of the present invention, a third consumable box is also slidably arranged on the delivery track, the third consumable box is located on a side of the second consumable box away from the first consumable box, the third consumable box includes a second clamping assembly, and the second clamping assembly is used to clamp and fix the first interventional consumable;

[0022] During the process of sliding the second consumable box back, the second clamping assembly is closed to fix the first interventional consumable.

[0023] In an exemplary embodiment of the present invention, after the step of opening the first clamping assembly and sliding the second consumable box back, the method further includes:

[0024] closing the first clamping assembly and opening the second clamping assembly;

[0025] Control the third consumable box to retract.

[0026] In an exemplary embodiment of the present invention, a multi-channel connection valve is provided on the first consumable box, and the multi-channel connection valve at least includes:

[0027] A main channel, one end of which is connected to the operating end of the third interventional consumable, and the other end of which is for the fast-acting combined consumable to pass through.

[0028] In an exemplary embodiment of the present invention, before responding to the delivery instruction, the control method for the vascular intervention surgery robot further includes:

[0029] Controlling the third clamping assembly to clamp the first interventional consumable;

[0030] After detecting that a portion of the second interventional consumable is sleeved onto the first interventional consumable to form the quick-release combined consumable, opening the third clamping assembly;

[0031] and / or

[0032] After the second interventional consumable is evacuated from the third interventional consumable, the control method for the vascular interventional surgery robot further includes:

[0033] The third clamping assembly is controlled to clamp the first interventional consumable.

[0034] In an exemplary embodiment of the present invention, the delivery track is further provided with: a front consumable box, which is arranged close to the intervention end and is used to cooperate with the first consumable box to drive the third intervention consumable to move.

[0035] It can be seen from the above technical solution that the present invention has the following advantages and positive effects:

[0036] On the one hand, the present invention can quickly and stably control the second interventional consumable to advance or withdraw under the guidance of the first interventional consumable by responding to delivery instructions and withdrawal instructions, with the help of the guidance of the first interventional consumable, so that the second interventional consumable can accurately reach the target lesion position or evacuate the target lesion position, which can not only improve surgical efficiency and reduce surgical time, but also achieve precise interventional treatment. On the other hand, a part of the second interventional consumable of the present invention can be sleeved onto the first interventional consumable to form a quick-delivery combined consumable, thereby simplifying the surgical operation process, reducing the connection and preparation time between consumables, and effectively improving surgical efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The above and other features and advantages of the present invention will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings.

[0038] Figure 1 It is a structural schematic diagram of a first embodiment of a vascular interventional surgery robot according to the present invention;

[0039] Figure 2 It is a schematic structural diagram of a second embodiment of the vascular interventional surgery robot of the present invention;

[0040] Figure 3 is a schematic structural diagram of a third embodiment of a vascular interventional surgery robot according to the present invention;

[0041] Figure 4 is a schematic structural diagram of a fourth embodiment of a vascular interventional surgery robot according to the present invention;

[0042] Figure 5 is a schematic structural diagram of a fifth embodiment of a vascular interventional surgery robot according to the present invention;

[0043] Figure 6 is a schematic structural diagram of a sixth embodiment of a vascular interventional surgery robot according to the present invention;

[0044] Figure 7 2 is a schematic structural diagram of a seventh embodiment of a vascular interventional surgery robot according to the present invention;

[0045] Figure 8 is a schematic structural diagram of an eighth embodiment of a vascular interventional surgery robot according to the present invention;

[0046] Fig. 9 is a schematic structural diagram of a ninth embodiment of a vascular interventional surgery robot according to the present invention;

[0047] Fig.10 It is a schematic structural diagram of the tenth embodiment of the vascular interventional surgery robot of the present invention.

[0048] The main components in the figure are described as follows:

[0049] 10. Delivery track; 20. First consumable box; 21. Multi-channel connecting valve; 211. Main channel; 22. Third clamping assembly; 30. Second consumable box; 31. First execution assembly; 32. Second execution assembly; 33. First clamping assembly; 40. Third consumable box; 41. Second clamping assembly; 50. Front consumable box; 61. First interventional consumable; 62. Second interventional consumable; 63. Quick delivery combination consumable; 64. Third interventional consumable; 70. Slide. DETAILED DESCRIPTION

[0050] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that the present invention will be comprehensive and complete and fully convey the concepts of the example embodiments to those skilled in the art. The same reference numerals in the figures represent the same or similar structures, and thus their detailed description will be omitted.

[0051] Features, structures or characteristics described in the present invention may be combined in one or more embodiments in any suitable manner, and if possible, the features discussed in each embodiment are interchangeable. In the description of the present invention, many specific details are provided to provide a full understanding of the embodiments of the present invention. However, those skilled in the art will appreciate that the technical solution of the present invention can be practiced without one or more of the specific details, or other methods, components, materials, etc. may be adopted. In other cases, known structures, materials or operations are not shown or described in detail to avoid blurring the various aspects of the present invention.

[0052] Although relative terms such as "upper" and "lower" are used in the present invention to describe the relative relationship of one component of the illustration to another component, these terms are used in the present invention only for convenience, such as the orientation of the examples described in the drawings. It is understood that if the device of the illustration is turned over and turned upside down, the component described as being "upper" will become the component "lower". Other relative terms such as "high", "low", "top", "bottom", "front", "back", "left", "right", etc. are also used to have similar meanings. When a structure is "on" other structures, it may mean that the structure is formed integrally on the other structure, or that the structure is "directly" disposed on the other structure, or that the structure is "indirectly" disposed on the other structure through another structure.

[0053] In the present invention, the terms "a", "an", "the", "said" and "at least one" are used to indicate the existence of one or more elements / components / etc.; the terms "comprising", "including" and "having" are used to express an open-ended inclusion and mean that additional elements / components / etc. may exist in addition to the listed elements / components / etc.; the terms "first", "second" and "third" etc. are used only as labels and are not intended to limit the quantity of their objects.

[0054] During vascular interventional surgery, the operator needs to control the master control device to introduce the guidewires, catheters, stents and other interventional consumables installed on the slave end into the vascular lesions in the body for treatment. The vascular interventional surgery robot generally includes a master end (control end) located outside the operating room and a slave end (execution end) located in the operating room. The master end is equipped with a master control device for remotely controlling the surgical process, and the slave end includes a connected robot body and a robotic arm. The robot body is fixed to the operating table by a robotic arm, and can adjust its own posture through the robotic arm. The robot body is equipped with a delivery device for interventional consumables, which is used to clamp or drive the movement of interventional consumables. In order to provide a safer and sterile surgical environment and prevent doctors from being affected by radiation generated by medical devices, interventional surgery is usually performed in a doctor-patient isolation manner. The operator can use the master control device outside the operating room to perform surgical operations in combination with the delivery device of the interventional consumables guided by medical images.

[0055] The present invention provides a control method for a vascular interventional surgery robot, referring to Figures 1 to 10 As shown, the vascular interventional surgery robot at least includes a delivery track 10 and a first consumable box 20 and a second consumable box 30 slidably arranged on the delivery track 10, the first consumable box 20 is located on a side of the second consumable box 30 close to the intervention end, the second consumable box 30 includes a first actuator 31 and a second actuator 32, the first actuator 31 and the second actuator 32 are respectively used to drive the first interventional consumable 61 and the second interventional consumable 62 to move, a part of the second interventional consumable 62 is sleeved on the first interventional consumable 61 to form a quick-delivery combined consumable 63, the first consumable box 20 is connected to the third interventional consumable 64, and the second interventional consumable 62 can enter or exit the third interventional consumable 64 under the guidance of the first interventional consumable 61;

[0056] The control method for the vascular interventional surgery robot includes:

[0057] In response to the delivery instruction, the second interventional consumable 62 is controlled to move forward under the guidance of the first interventional consumable 61 until the intervention end of the second interventional consumable 62 passes through the third interventional consumable 64 and reaches the target lesion position;

[0058] and / or

[0059] In response to the retraction instruction, the second interventional consumable 62 is controlled to retract under the guidance of the first interventional consumable 61 until the second interventional consumable 62 is evacuated from the third interventional consumable 64 .

[0060] It is understandable that the third interventional consumable 64 is usually a catheter. In the early stage of the operation, the catheter is delivered in place under the guidance of the guidewire, the guidewire is withdrawn, and the catheter forms a temporary channel in situ so that other consumables can reach the lesion position through the channel established by the catheter. The intervention end of the second interventional consumable 62 passes through the third interventional consumable 64, which means that the intervention end of the second interventional consumable 62 passes through the intervention end of the third interventional consumable 64 and reaches the target lesion position, and the second interventional consumable 62 withdraws from the third interventional consumable 64, which means that the intervention end of the second interventional consumable 62 withdraws from the operating end of the third interventional consumable 64, that is, the entire second interventional consumable 62 withdraws from the third interventional consumable 64. Here, by designing the first consumable box 20 and the second consumable box 30 to be slidably arranged on the delivery track 10, it is beneficial to adjust the position of the consumable box and improve the flexibility of the surgical operation. The present invention does not impose any specific restrictions on the sliding mode of the first consumable box 20 and the second consumable box 30 on the delivery track 10. In some embodiments, the first consumable box 20 and the second consumable box 30 can be designed to have pulleys, and the delivery track 10 can be a slide rail; or the first consumable box 20 and the second consumable box 30 can be designed to have a groove structure that matches the delivery track 10 at the bottom, and a raised guide rail is correspondingly arranged on the delivery track 10, and sliding is achieved by the cooperation of the groove and the guide rail; or small rolling bearings are installed on both sides of the first consumable box 20 and the second consumable box 30, and the delivery track 10 is set to a smooth track surface that matches it, and the rolling of the rolling bearing on the track surface is used to complete the sliding action. In the embodiment of the present invention, a slide table is respectively provided for the first consumable box 20 and the second consumable box 30, and the slide table moves linearly with the slide table. The present invention does not impose any restrictions on the specific implementation form of the slide table, which can be the cooperation of gear racks, chain drive, or crankshaft connecting rods, so as to achieve the linear motion of the first consumable box 20 and the second consumable box 30 while driving the interventional consumables forward or backward. As a possible implementation, a motor and a gear rack can be installed on the slide, the motor drives the gear to rotate, and the gear rolls along the rack under the constraint of the guide rail to drive the slide to move.

[0061] By designing the first actuator 31 and the second actuator 32 in the second consumable box 30, which are responsible for driving the actions of the first interventional consumable 61 and the second interventional consumable 62 respectively, precise control of different interventional consumables can be achieved to meet various operational requirements during the operation. In some embodiments, the first actuator 31 and the second actuator 32 can be further designed to have the same structure, that is, they have both delivery and rotation functions, so that the first actuator 31 and the second actuator 32 have universality and are convenient for subsequent replacement and maintenance. On this basis, the first actuator 31 and / or the second actuator 32 can be designed to include a micro motor, a transmission gear set is connected through the rotating shaft of the motor, and the transmission gear set is engaged with the connection part of the interventional consumable. When the motor is started, the interventional consumable is driven to move forward, backward or rotate through the precise transmission of the gear set. In other embodiments, when the second interventional consumable 62 is a quick delivery consumable, the second actuator 32 does not need to rotate. At this time, the second actuator 32 can be designed to have only a delivery function but not a rotation function. The specific structure setting can be adjusted according to actual usage requirements, for example Figures 1 to 10 as shown in .

[0062] Since a portion of the second interventional consumable 62 can be sleeved onto the first interventional consumable 61 to form a quick-release combined consumable 63, the surgical operation process can be simplified, and the connection and preparation time between consumables can be reduced, thereby effectively improving surgical efficiency. Quick-release consumables in the medical field refer to interventional consumables or components that can be quickly replaced or exchanged during the medical process and are easy to install and disassemble, such as disposable micro-guidewires, protective umbrella wires, etc. It can be understood that since a portion of the second interventional consumable 62 needs to be able to be sleeved onto the first interventional consumable 61, the diameter of the first interventional consumable 61 needs to be smaller than the second interventional consumable 62, so the first interventional consumable 61 can be a micro-guidewire, protective umbrella wire, etc.

[0063] In addition, the first consumable box 20 is connected to the operating end of the third interventional consumable 64, and the second interventional consumable 62 can enter or exit the third interventional consumable 64 under the guidance of the first interventional consumable 61, which can enable different consumables to work together during the operation, thereby making the interventional operation consistent and stable. Since the second interventional consumable 62 can enter or exit the third interventional consumable 64, the diameter of the third interventional consumable 64 is larger than that of the second interventional consumable 62. Based on the above solution, the third interventional consumable 64 can be a guide catheter, angiography catheter, an intermediate catheter or a main stent.

[0064] In addition, by responding to delivery instructions and retraction instructions, with the help of the guiding effect of the first interventional consumable 61, the second interventional consumable 62 can be quickly and stably controlled to advance or retract under the guidance of the first interventional consumable 61, so that the second interventional consumable 62 can accurately reach the target lesion location or evacuate the target lesion location, which can not only improve the surgical efficiency and reduce the operation time, but also realize precise interventional treatment.

[0065] During the operation, the first interventional consumable 61 plays a guiding role. Therefore, when the second interventional consumable 62 is inserted into or withdrawn from the third interventional consumable 64, the first interventional consumable 61 is basically immobile. This requires the surgical robot to be able to effectively fix the first interventional consumable 61. Therefore, in an exemplary embodiment of the present invention, the second consumable box 30 further includes a first clamping component 33, which is arranged close to the first actuator 31 to clamp and fix the first interventional consumable 61. Controlling the second interventional consumable 62 to move forward under the guidance of the first interventional consumable 61 includes:

[0066] Open the first clamping assembly 33 and control the first actuator 31 to drive the first interventional consumable 61 to move forward a first preset distance;

[0067] Close the first clamping component 33 and control the second actuator 32 to drive the second interventional consumable 62 to move forward a second preset distance;

[0068] The above steps are repeated until the intervention end of the second intervention consumable 62 passes through the third intervention consumable 64 and reaches the target lesion position.

[0069] In this way, due to the presence of the first clamping assembly 33, on the one hand, the position of the first interventional consumable 61 during the operation can be ensured to be relatively stable, so that it can effectively provide an accurate guiding path for the second interventional consumable 62. In the actual vascular interventional surgery operation, the first interventional consumable 61 can always maintain the correct position and direction, and guide a reliable channel for the passage of the second interventional consumable 62.

[0070] On the other hand, in actual operation, the surgical robot can control the opening and closing of the first clamping component 33 to manipulate the orderly and stable advancement of the first interventional consumable 61 and the second interventional consumable 62. When the first clamping component 33 is opened, the first interventional consumable 61 can be driven by the first actuator 31 to smoothly advance the first preset distance. At this time, the second interventional consumable 62 is in a static waiting state, which effectively avoids the misalignment or interference problems that may be caused by the simultaneous advancement of the two. When the first clamping component 33 is closed, the second actuator 32 drives the second interventional consumable 62 to advance the second preset distance. This staged advancement method allows doctors to better control the surgical process and avoid surgical safety hazards that may be caused by a one-time advancement distance that is too long. For example, when approaching sensitive vascular tissue or lesion areas, a long advancement distance may cause unnecessary damage to surrounding tissues. Through this step-by-step advancement method, the advancement speed and distance can be adjusted in time according to real-time surgical feedback information to ensure the safety and success of the operation.

[0071] The present invention does not limit the specific values ​​of the first preset distance and the second preset distance, and those skilled in the art may set them according to actual conditions. Furthermore, the first preset distance and the second preset distance may be set equal, so that the first interventional consumable 61 and the second interventional consumable 62 can maintain a relatively stable and regular alternating advancement rhythm during the advancement process. In certain specific scenarios of surgical operations, such as when facing a relatively uniform and relatively simple vascular path, this method of alternating advancement at equal distances can ensure that the coordination between the two interventional consumables is smoother, and will not cause operational incoordination or increase surgical risks due to the difference in the advancement distance between the two. At the same time, equal preset distances also facilitate unified operation planning and parameter settings by doctors or the control system of the surgical robot, thereby reducing the complexity of calculations and adjustments and improving the efficiency and accuracy of the operation.

[0072] The first preset distance and the second preset distance can also be set to be unequal according to the actual surgical needs and the complex conditions inside the blood vessels. For example, when the blood vessel is more curved or the blood vessel structure around the lesion is complex, the second preset distance can be appropriately shortened so that the second interventional consumable 62 can approach the target position more cautiously under the guidance of the first interventional consumable 61, avoiding damage to the surrounding vascular tissue due to excessive advancement. In some cases where it is necessary to quickly pass through relatively safe vascular areas, the first preset distance can be appropriately increased to speed up the advancement of the first interventional consumable 61, opening up a smoother path for the subsequent advancement of the second interventional consumable 62, thereby achieving flexible adjustment of the advancement strategies of the two interventional consumables according to different surgical conditions to achieve the best surgical effect.

[0073] In summary, the specific values ​​of the first preset distance and the second preset distance can be set according to different surgical scenarios to better adapt to different situations and achieve better surgical effects.

[0074] In addition, in some embodiments, only adjusting the advancement distance of the first interventional consumable 61 and the second interventional consumable 62 may not be enough to enable the second interventional consumable 62 to accurately reach the target lesion location. The vascular structure inside the human body is complex and changeable, and there may be too long paths, local vascular bends, stenosis, or other obstacles that affect the direct travel path of the interventional consumable. Therefore, in an exemplary embodiment of the present invention, controlling the second interventional consumable 62 to advance under the guidance of the first interventional consumable 61 also includes: closing the first clamping assembly 33 and controlling the second consumable box 30 to advance along the delivery track 10.

[0075] In this way, during the operation, when encountering obstacles that are difficult to break through directly by adjusting the advancement distance of the internal consumables, the relative position of the entire interventional system can be changed by moving the second consumable box 30, so as to find a more suitable angle and path, and ensure that the second interventional consumable 62 can smoothly and accurately reach the target lesion position under the guidance of the first interventional consumable 61, thereby achieving precise surgical operations and improving the success rate and safety of the operation.

[0076] In some embodiments, the entire process of controlling the second interventional consumable 62 to advance under the guidance of the first interventional consumable 61 can be referred to in Figures 1 to 10 In this embodiment, Figure 1 Each structure in the figure can be regarded as an initial state, that is, the first clamping assembly 33 and the second clamping assembly 41 are in an open state, and the third clamping assembly 22 is in a closed state. When the second interventional consumable 62 is close to the third clamping assembly 22, Figures 2 to 10 As shown, the third clamping assembly 22 is controlled to open, the second actuator assembly 32 drives the second interventional consumable 62 forward, and slides the second consumable box 30 and the third consumable box 40 to reduce the distance between the second consumable box 30 and the third consumable box 40 and the first consumable box 20. In order to stabilize the first interventional consumable 61, when sliding the second consumable box 30, the second clamping assembly 41 is closed, and when sliding the third consumable box 40, the first clamping assembly 33 is closed.

[0077] Similar to the forward process, the entire process of controlling the second interventional consumable 62 to withdraw under the guidance of the first interventional consumable 61 can be referred to Figure 10 to Figure 1 Controlling the second interventional consumable 62 to withdraw under the guidance of the first interventional consumable 61 includes:

[0078] Close the first clamping component 33 and control the second actuator 32 to drive the second interventional consumable 62 to withdraw to a third preset distance;

[0079] Open the first clamping assembly 33 and slide the second consumable box 30 back to increase the distance between the second consumable box 30 and the first consumable box 20;

[0080] The above steps are repeated until the second interventional consumable 62 is evacuated from the third interventional consumable 64 .

[0081] It can be seen that during the withdrawal process, the first clamping assembly 33 is closed to release the fixation of the first interventional consumable 61 so that it will not be disturbed by subsequent operations. Then, in order to increase the distance between the first consumable box 20 and the second consumable box 30 and provide sufficient withdrawal space for the second interventional consumable 62, the first clamping assembly 33 is opened and the second consumable box 30 is slid back.

[0082] Different degrees of retraction may be required for different surgical scenarios and patient conditions. The setting of the third preset distance can be adjusted according to actual conditions, so that the retraction method has strong adaptability. At the same time, by sliding the second consumable box 30 to expand the distance between the first consumable box 20, the need for adjusting the spatial relationship between different interventional consumables during surgery can be met. For example, when it is necessary to replace interventional consumables or adjust the layout of surgical instruments, this operation method can provide a larger operating space.

[0083] During the withdrawal process, the fixation of the first interventional consumable 61 is very important. Therefore, optionally, in an exemplary embodiment of the present invention, a third consumable box 40 is also slidably arranged on the delivery track 10. The third consumable box 40 is located on a side of the second consumable box 30 away from the first consumable box 20. The third consumable box 40 includes a second clamping assembly 41. The second clamping assembly 41 is used to clamp and fix the first interventional consumable 61.

[0084] During the process of sliding the second consumable box 30 back, the second clamping assembly 41 is closed to fix the first interventional consumable 61 .

[0085] The addition of the third consumable box 40 and its second clamping assembly 41 provides an additional fixing point for the first interventional consumable 61, so that the position of the first interventional consumable 61 can be better controlled during various movements and adjustments in the surgical operation. This helps to improve the stability and accuracy of the entire surgical system, especially in vascular interventional surgery that requires delicate operations, it can ensure that the interventional consumable moves along a predetermined path, thereby improving the success rate of the surgery.

[0086] During the process of sliding the second consumable box 30 back, closing the second clamping assembly 41 to fix the first interventional consumable 61 can ensure that when the second consumable box 30 is retracted, the first interventional consumable 61 will not be unnecessarily affected and will not be displaced or shaken. For example, during the retraction process, if the first interventional consumable 61 is not stably fixed, its guiding function may fail, affecting the retraction path of the second interventional consumable 62, and may even cause damage to the tissue or blood vessels in the surgical area. By fixing the first interventional consumable 61 through the second clamping assembly 41 of the third consumable box 40, its stability during the retraction process can be maintained, ensuring the safety and accuracy of the surgical operation.

[0087] In some embodiments, after the step of opening the first clamping assembly 33 and sliding the second consumable box 30 back, the method further includes:

[0088] Close the first clamping assembly 33 and open the second clamping assembly 41;

[0089] The third consumables box 40 is controlled to retract.

[0090] Since the second consumable box 30 is located between the first consumable box 20 and the third consumable box 40, and the procedure is not ended after the second consumable box 30 is withdrawn, in order to ensure that the second consumable box 30 has sufficient withdrawal space, it can also be designed to control the withdrawal of the third consumable box 40 after the second consumable box 30 is withdrawn. In this way, on the one hand, it can avoid the third consumable box 40 from hindering the withdrawal process of the second consumable box 30, so that the second consumable box 30 can be smoothly withdrawn according to the preset path and distance, so that in complex surgical scenarios, a relatively spacious and barrier-free withdrawal space can be quickly created for the next withdrawal of the second consumable box 30, ensuring the continuity and flexibility of the surgical operation.

[0091] It can be understood that when controlling the retraction of the third consumable box 40, in order to prevent the retraction of the third consumable box 40 from affecting the portion of the first interventional consumable 61 located in front of the third consumable box 40, it is necessary to fix the portion of the first interventional consumable 61 located in front of the third consumable box 40, so the first clamping assembly 33 needs to be closed, and in order to prevent the third consumable box 40 from affecting the first interventional consumable 61 when moving, the second clamping assembly 41 needs to be opened.

[0092] refer to Figure 10 to Figure 1 , it is understandable that Fig.10The first clamping assembly 33 is closed when the first consumable box 20 and the second consumable box 30 have no space for withdrawal. The second clamping assembly 41 is closed and the first clamping assembly 33 is opened to control the second consumable box 30 to slide away from the first consumable box 20. This process can be referred to in detail. Figure 3 to Figure 4 When the second consumable box 30 slides to the point where there is no sliding space between the second consumable box 30 and the third consumable box 40, in order to increase the space between the second consumable box 30 and the first consumable box 20 to provide sufficient withdrawal space for the second interventional consumable 62, the first clamping assembly 33 is closed and the second clamping assembly 41 is opened to control the third consumable box 40 to withdraw away from the second consumable box 30. This process can be referred to Figures 4 to 6 Repeat this process and refer to Figures 6 to 9 When the second interventional consumable 62 is evacuated from the third interventional consumable 64 , the third clamping assembly 22 is closed, and the first clamping assembly 33 and the second clamping assembly 41 are opened to evacuate the second interventional consumable 62 from the first interventional consumable 61 .

[0093] In order to achieve the connection between the third interventional consumable 64 and the quick-delivery combination consumable 63, in some embodiments, a connection transition structure can be provided between the third interventional consumable 64 and the quick-delivery combination consumable 63, and this structure can be a connection catheter or a connection device, and the present invention does not make specific restrictions. Considering that surgical fluids or drugs are also required during the operation, the present invention provides a multi-channel connection valve 21 on the first consumable box 20, and the multi-channel connection valve 21 includes at least a main channel 211, one end of which is connected to the operating end of the third interventional consumable 64, and the other end is for the quick-delivery combination consumable 63 to penetrate.

[0094] The main channel 211 connects the third interventional consumable 64 and the quick-release combination consumable 63, so that after the third interventional consumable 64 and the quick-release combination consumable 63 are installed, subsequent operations can be continued or interactions with other components can be carried out through the main channel 211, thereby playing a role of integration and transition.

[0095] Of course, reference Figures 1 to 10 As shown, the multi-channel connecting valve 21 may also be designed to include an auxiliary channel, one end of which is connected to the main channel 211, and the other end of which can be used for the input of surgical fluids or drugs.

[0096] In addition, the first consumable box 20 can also be designed to cooperate with the multi-channel connection valve 21 to ensure the stability of driving the third interventional consumable 64 and the quick-delivery combination consumable 63. In some embodiments, the first consumable box 20 can be designed to include a third actuator and a third clamping assembly 22. The third actuator is used to drive the quick-delivery combination consumable 63 to move, which means that it can control the position state of the quick-delivery combination consumable 63 to better match the insertion path of the third interventional consumable 64. Ensuring that the quick-delivery combination consumable 63 is in a suitable position can improve the accuracy and efficiency of the interventional consumable set.

[0097] The third clamping assembly 22 is disposed between the third actuator assembly and the main channel 211, and is used to clamp and fix the quick-delivery combination consumable 63. It can be seen that the third clamping assembly 22 can prevent the quick-delivery combination consumable 63 from moving or deforming to affect subsequent operations.

[0098] On this basis, in an exemplary embodiment of the present invention, before responding to the delivery instruction, the control method for the vascular intervention surgery robot further includes:

[0099] Controlling the third clamping assembly 22 to clamp the first interventional consumable 61;

[0100] After detecting that a portion of the second interventional consumable 62 is sleeved onto the first interventional consumable 61 to form a quick-release combined consumable 63, the third clamping assembly 22 is opened;

[0101] and / or

[0102] After the second interventional consumable 62 is evacuated from the third interventional consumable 64, the control method for the vascular interventional surgery robot further includes:

[0103] The third clamping assembly 22 is controlled to clamp the first interventional consumable 61 .

[0104] Before starting the interventional operation in response to the delivery instruction, the third clamping assembly 22 is first controlled to clamp the first interventional consumable 61. The main purpose of this step is to ensure the position stability of the first interventional consumable 61 in the initial stage, laying the foundation for the subsequent combination with the second interventional consumable 62 and the entire delivery process. By fixing the third clamping assembly 22, the first interventional consumable 61 can be prevented from unnecessary movement or position deviation during the surgical preparation stage, ensuring that it is in the correct position to wait for cooperation with the second interventional consumable 62.

[0105] After detecting that a portion of the second interventional consumable 62 is sleeved onto the first interventional consumable 61 to form the quick-delivery combination consumable 63, the third clamping assembly 22 is opened. Here, in the process of forming the quick-delivery combination consumable 63, it is necessary to ensure that the connection between the first interventional consumable 61 and the second interventional consumable 62 is stable and accurate. The opening of the third clamping assembly 22 at this stage is, on the one hand, to release the clamping of the first interventional consumable 61 so that it can move smoothly under the control of the delivery instruction during the subsequent delivery process; on the other hand, it is also to confirm that the quick-delivery combination consumable 63 has been successfully formed so that the system can smoothly enter the next delivery operation.

[0106] After the second interventional consumable 62 is evacuated from the third interventional consumable 64, the third clamping assembly 22 is controlled to clamp the first interventional consumable 61. This step is mainly to fix the position of the first interventional consumable 61 before the surgical operation is completed or the next adjustment is required to prevent it from accidentally moving in an unstable state after withdrawal or affecting subsequent operations. For example, after an interventional operation is completed, the first interventional consumable 61 needs to be kept in a safe and fixed position to clean and replace surgical instruments or prepare for the next possible operation.

[0107] At the same time, re-clamping the first interventional consumable 61 also helps maintain the overall stability of the surgical robot system and avoids potential risks to other components or the surgical area due to shaking or position changes of the first interventional consumable 61. For example, in some high-precision vascular intervention surgeries, even a slight position change may cause damage to the surrounding vascular tissue, so it is necessary to re-clamp the third clamping assembly 22 to ensure that the position of the first interventional consumable 61 is safe and reliable.

[0108] In addition, the delivery track 10 provided by the present invention is also provided with a front consumable box 50, which is arranged near the intervention end and is used to cooperate with the first consumable box 20 to drive the third intervention consumable 64 to move. Due to the presence of the front consumable box 50, the operation of the third intervention consumable 64 can be better controlled to ensure that the fast delivery combination consumable 63 can accurately reach the target position.

[0109] It is understood that the present invention does not limit its application to the detailed structure and arrangement of the components proposed by the present invention. The present invention can have other embodiments and can be implemented and executed in a variety of ways. The aforementioned variations and modifications fall within the scope of the present invention. It should be understood that the present invention disclosed and defined by the present invention extends to all alternative combinations of two or more individual features mentioned or evident in the text and / or the accompanying drawings. All these different combinations constitute multiple alternative aspects of the present invention. The embodiments described in the present invention illustrate the best mode known for implementing the present invention and will enable those skilled in the art to utilize the present invention.

Claims

1. A control method for a vascular interventional surgery robot, characterized in that: The vascular interventional surgical robot at least comprises a delivery track and a first consumable box and a second consumable box slidably arranged on the delivery track; the first consumable box is located on a side of the second consumable box close to the intervention end, the second consumable box comprises a first actuator and a second actuator, the first actuator and the second actuator are respectively used to drive the first interventional consumable and the second interventional consumable to move, a part of the second interventional consumable is sleeved on the first interventional consumable to form a quick-delivery combined consumable, the first consumable box is connected to a third interventional consumable, and the second interventional consumable can enter or exit the third interventional consumable under the guidance of the first interventional consumable; The control method for the vascular interventional surgery robot comprises: In response to the delivery instruction, controlling the second interventional consumable to advance under the guidance of the first interventional consumable until the intervention end of the second interventional consumable passes through the third interventional consumable and reaches the target lesion position; and / or In response to the withdrawal instruction, the second interventional consumable is controlled to withdraw under the guidance of the first interventional consumable until the second interventional consumable is evacuated from the third interventional consumable.

2. The control method for a vascular interventional surgery robot according to claim 1, characterized in that: The second consumable box further includes a first clamping component, which is disposed close to the first actuator component to clamp and fix the first interventional consumable, and the controlling the second interventional consumable to move forward under the guidance of the first interventional consumable includes: Opening the first clamping component and controlling the first actuator component to drive the first interventional consumable to move forward a first preset distance; closing the first clamping component and controlling the second actuator component to drive the second interventional consumable forward a second preset distance; Repeat the above steps until the intervention end of the second intervention consumable passes through the third intervention consumable and reaches the target lesion position.

3. The control method for a vascular interventional surgery robot according to claim 2, characterized in that: The controlling the second interventional consumable to move forward under the guidance of the first interventional consumable further includes: Close the first clamping assembly and control the second consumable box to move forward along the delivery track.

4. The control method for a vascular interventional surgery robot according to claim 1, characterized in that: The second consumable box further includes a first clamping component, which is disposed close to the first actuator component to clamp and fix the first interventional consumable, and the controlling the second interventional consumable to withdraw under the guidance of the first interventional consumable includes: closing the first clamping component and controlling the second actuator component to drive the second interventional consumable to withdraw a third preset distance; Opening the first clamping assembly and sliding the second consumable box back to increase the distance between the second consumable box and the first consumable box; Repeat the above steps until the second interventional consumable is evacuated from the third interventional consumable.

5. The control method for a vascular interventional surgery robot according to claim 4, characterized in that: A third consumable box is also slidably arranged on the delivery track, the third consumable box is located on a side of the second consumable box away from the first consumable box, the third consumable box includes a second clamping assembly, and the second clamping assembly is used to clamp and fix the first interventional consumable; During the process of sliding the second consumable box back, the second clamping assembly is closed to fix the first interventional consumable.

6. The control method for a vascular interventional surgery robot according to claim 5, characterized in that: After the step of opening the first clamping assembly and sliding the second consumable box back, the method further includes: closing the first clamping assembly and opening the second clamping assembly; Control the third consumable box to retract.

7. The control method for a vascular interventional surgery robot according to claim 1, characterized in that: The first consumable box is provided with a multi-channel connection valve, and the multi-channel connection valve at least includes: A main channel, one end of which is connected to the operating end of the third interventional consumable, and the other end of which is for the fast-acting combined consumable to pass through.

8. The control method for a vascular interventional surgery robot according to any one of claims 1 to 7, characterized in that: The first consumable box includes a third clamping component, and the third clamping component is used to clamp and fix the first interventional consumable.

9. The control method for a vascular interventional surgery robot according to claim 8, characterized in that: Before responding to the delivery instruction, the control method for the vascular intervention surgery robot further includes: Controlling the third clamping assembly to clamp the first interventional consumable; After detecting that a portion of the second interventional consumable is sleeved onto the first interventional consumable to form the quick-release combined consumable, opening the third clamping assembly; and / or After the second interventional consumable is evacuated from the third interventional consumable, the control method for the vascular interventional surgery robot further includes: The third clamping assembly is controlled to clamp the first interventional consumable.

10. The control method for a vascular interventional surgery robot according to any one of claims 1 to 7, characterized in that: The delivery track is also provided with: The front consumable box is arranged near the intervention end, and is used to cooperate with the first consumable box to drive the third intervention consumable to move.

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