Elongated medical device delivery methods, devices, apparatus and media

Abstract

The invention relates to the technical field of interventional robots, and discloses a slender medical device delivery method, device and equipment and a medium, the method comprises the following steps: based on a trigger signal of a user, identifying the moving direction of a slender medical device, and determining to-be-identified identification points including a far-end identification point and a near-end identification point; controlling the slender medical instrument to move in the corresponding moving direction, and starting an identification point detection sensor to identify the identification point to be identified; wherein the moving direction comprises a delivery direction and a retreating direction; if the current moving direction is a delivery direction, generating first prompt information when the near-end identification point is triggered by an identification point detection sensor; and if the current moving direction is the backward direction, when the far-end identification point is triggered by the mark point, generating second prompt information. The position calculation accuracy in the instrument delivery process can be improved, and the automatic control capability is improved.

Description

Technical Field

[0001] The present application relates to the field of interventional robotics, and more specifically, to a method, device, equipment and medium for delivering a slender medical device. Background Art

[0002] The existing interventional robot's automatic entry of slender medical devices (such as guidewires) is based on the pre-set length of the external slender medical device (such as a catheter), and controls the guidewire delivery roller to deliver the corresponding length in a position mode, that is, the existing technology uses a position closed-loop detection algorithm to calculate the actual moving distance and position during the delivery process. Due to the large differences in materials, processes, etc. of guidewires of different brands and models, and the many factors that affect delivery errors, there are errors in the calculation of the delivery distance. The calculation accuracy of the existing position closed-loop detection algorithm is not enough, so in the existing delivery process of slender medical devices, the degree of automated delivery control cannot be further improved.

[0003] Therefore, the problem of insufficient accuracy in delivery position detection in the existing medical device delivery process, resulting in a low degree of automation, needs to be solved urgently. Summary of the invention

[0004] The main purpose of the present application is to provide a method, device, equipment and medium for delivering a slender medical device, aiming to solve the technical problem of insufficient accuracy in detecting the moving position of the device during use of traditional interventional robots, resulting in a low degree of automation.

[0005] The first aspect of the present application provides a method for delivering an elongated medical device, comprising: Identify a trigger signal from a user and determine the moving direction of the elongated medical device contained in the trigger signal; Based on the moving direction of the slender medical device, determining the identification point to be identified; wherein the slender medical device is provided with identification points, and the identification points include a distal identification point located at the distal end of the slender medical device and a proximal identification point located at the proximal end of the slender medical device; Controlling the elongated medical device to move in a corresponding moving direction, and starting a marking point detection sensor to identify the marking point to be identified; wherein the moving direction includes a delivery direction and a retreat direction; If the current moving direction is the delivery direction, when the proximal marking point on the elongated medical device is triggered by the marking point detection sensor, a first prompt message is generated; If the current moving direction is the backward direction, when the distal identification point on the slender medical device is triggered by the marking point, the second prompt information is generated.

[0006] Furthermore, the step of identifying the trigger signal of the user further includes determining whether the operation instruction contained in the trigger signal is an automatic operation instruction or a manual operation instruction. If the operation instruction is an automatic operation instruction, then if the current moving direction is a delivery direction, when the slender medical device is triggered by the sensor, after the step of generating the first prompt information, the step includes: Controlling the elongated medical device to stop moving in the progressive direction; If the current moving direction is the backward direction, then when the distal marking point on the elongated medical device is triggered, after the step of generating the second prompt information, the method includes: The elongated medical device is controlled to stop moving in a backward direction.

[0007] Furthermore, if the slender medical device is a quick delivery device, then if the current moving direction is the backward direction, when the distal marking point on the slender medical device is triggered, the step of generating the second prompt information includes: If the current moving direction is the backward direction, the fast delivery device is controlled to move in the backward direction by the fast delivery device delivery roller in the delivery module; Detecting a fast-crossing bifurcation point of the elongated medical device based on a bifurcation point detection sensor disposed on a retreat path of the fast-crossing device; If the fast-crossing bifurcation point is detected, controlling the delivery module to move in the backward direction as a whole; When the distal marking point is triggered, the movement of the quick-release device on the retreat path is stopped, and a second prompt message is generated.

[0008] Furthermore, the step of identifying the trigger signal of the user further includes determining whether the operation instruction contained in the trigger signal is an automatic operation instruction or a manual operation instruction. If the operation instruction is a manual operation instruction, then if the current moving direction is a backward direction, when the distal identification point on the slender medical device is triggered, after the step of generating the second prompt information, it includes: When a trigger signal including a manual operation instruction in the backward direction is identified, it is determined to be an invalid trigger signal.

[0009] Furthermore, the step of determining the identification point to be identified based on the moving direction of the elongated medical device includes: If the moving direction of the elongated medical device is the delivery direction, the identification point to be identified is determined to be a proximal identification point, and the identification point feature of the proximal identification point is loaded.

[0010] Furthermore, the step of determining the identification point to be identified based on the moving direction of the elongated medical device further includes: If the movement direction of the slender medical device is the backward direction, the identification point to be identified is determined to be a distal identification point, and the identification point feature of the distal identification point is loaded.

[0011] A second aspect of the present application provides a slender medical device delivery device for performing any of the above methods, comprising a first T-valve and a delivery module, wherein the delivery module is used to deliver the slender medical device into the first T-valve, one side of the first T-valve is connected to a first catheter, and the delivery module delivers the slender medical device through the first T-valve to the interior of the first catheter; and further comprising: A marking point detection sensor is disposed on the moving path of the elongated medical device and is used to identify the marking points on the elongated medical device.

[0012] Further, the identification point detection sensor is arranged between the first T valve and the delivery module, and is arranged corresponding to the inlet of the first T valve.

[0013] A third aspect of the present application provides a computer device, comprising: processor; Memory for storing computer programs; Wherein, when the processor executes the computer program, any one of the above-mentioned methods for delivering an elongated medical device is implemented.

[0014] A fourth aspect of the present application provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the elongated medical device delivery method described above is implemented.

[0015] Beneficial effects: The present application automatically controls the movement of the slender medical device delivery device by setting distal and proximal identification points on the slender medical device and identifying the operator's control instructions. The identification point detection sensor is used to identify the corresponding identification points, and the moving nodes of the slender medical device in different movement directions can be accurately determined, thereby improving the detection accuracy of the real-time movement position of the slender medical device. Through accurate node judgment, the corresponding execution instructions are triggered to realize the automatic control of the slender medical device within the specified movement range, and at the same time, the operator is given intelligent prompts to improve the convenience and accuracy of manual operation during the delivery process. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the steps of a control method for an elongated medical device according to an embodiment of the present application; Figure 2This is a schematic structural diagram of a slender medical device in an embodiment of the present application when it is a guide wire; Figure 3 This is a structural schematic diagram of the installation position of a second identification point detection sensor of a slender medical device according to an embodiment of the present application; Figure 4 This is a schematic structural diagram of a slender medical device in an embodiment of the present application when it is a second catheter; Figure 5 This is a schematic structural diagram of a slender medical device in an embodiment of the present application when it is a quick delivery device; Figure 6 It is a structural schematic diagram of a control panel of a main end of a slender medical device according to an embodiment of the present application; Figure 7 is a schematic block diagram of the structure of a computer device according to an embodiment of the present application; Among them, 1. first catheter; 2. first identification point detection sensor; 3. first T valve; 31. second T valve; 4. second identification point detection sensor; 51. guide wire; 52. second catheter; 53. quick delivery instrument; 6. guide needle; 71. guide wire delivery roller; 72. second catheter delivery roller; 73. quick delivery instrument delivery roller; 8. rotating roller; 9. storage coil; 10. distal identification point; 11. proximal identification point; 12. connection module; 13. delivery module; 14. quick delivery bifurcation point; 15. bifurcation point detection sensor; 20. automatic advance button; 21. automatic retreat button; 22. first control rod; 23. second control rod; The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0018] It will be appreciated by those skilled in the art that, unless expressly stated, the singular forms "one", "above", and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of the present application refers to the presence of features, integers, steps, operations, elements, modules, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, modules, components, and / or groups thereof. It should be understood that when an element is said to be "connected" or "coupled" to another element, it may be directly connected or coupled to the other element, or there may also be an intermediate element. In addition, the "connection" or "coupling" used herein may include wireless connection or wireless coupling. The term "and / or" used herein includes all or any module and all combinations of one or more associated listed items.

[0019] It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as generally understood by those skilled in the art to which this application belongs. It should also be understood that terms such as those defined in common dictionaries should be understood to have meanings consistent with the meanings in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless specifically defined as here.

[0020] Reference Figure 1 - Figure 6 , the present application embodiment provides a method for delivering an elongated medical device, comprising: S1. Identify a trigger signal from a user and determine a moving direction of the elongated medical device contained in the trigger signal; S2. Determine the identification points to be identified based on the moving direction of the slender medical device; wherein the slender medical device is provided with identification points, and the identification points include a distal identification point 10 located at the distal end of the slender medical device and a proximal identification point 11 located at the proximal end of the slender medical device; S3, controlling the elongated medical device to move in a corresponding moving direction, and starting a marking point detection sensor to identify the marking point to be identified; wherein the moving direction includes a delivery direction and a retreat direction; S4. If the current moving direction is the delivery direction, when the proximal marking point 11 on the slender medical device is triggered by the marking point detection sensor, a first prompt information is generated; S5. If the current moving direction is a backward direction, when the distal marking point 10 on the slender medical device is triggered by the marking point, a second prompt information is generated.

[0021] In this embodiment, the current operation mode is determined by the operation instructions contained in the identified trigger instructions. The operation instructions include automatic operation instructions (automatic control button) and manual operation instructions (manual operation lever). The corresponding operation modes include manual operation mode and automatic operation mode. Different operation modes provide operators with more choices and increase flexibility. In the manual operation mode, precise operations can be performed based on the operator's experience and judgment, combined with the information provided by the sensor. In the automatic operation mode, the system can automatically generate operation instructions based on preset programs and algorithms to improve the efficiency and accuracy of interventional operations. The operating end (master end) issues a trigger instruction through the operation interface. Refer to Figure 6 Specifically, the trigger instruction can be a manual operation instruction or an automatic operation instruction. The manual operation instruction is usually initiated by an operator manually operating a control lever, wherein the control lever includes a first control lever 22 and a second control lever 23, and the first control lever 22 and the second control lever 23 are used by the operator to manually control different slender medical devices for delivery operations. The automatic operation instruction is implemented by a similar automatic button or other means. If the trigger instruction is an automatic operation instruction, the system will start the automatic operation mode. In this mode, you only need to press the automatic advance button 20 or the automatic retreat button 21 on the main end, and the system will automatically control the entry or exit of the slender medical device. Refer to Figure 2 - Figure 6For example, when the automatic entry button 20 is pressed, the master end will send the control instruction to the slave end (the slender medical device control device) through the CAN (Controller Area Network) bus communication, and the slave end will start the automatic entry program of the slender medical device. The master end will display the distance information of the slender medical device relative to the first catheter 1 in real time. When the slender medical device is delivered to the identification point detection sensor and is triggered by the proximal identification point 11, the delivery roller stops rotating. If the user controls the first control rod 22 or the second control rod 23 to generate a trigger instruction, the trigger instruction is a manual operation instruction, and the system will start the manual operation mode. In this mode, the entry or exit of the slender medical device can be controlled by manually operating the control rod. For example, when the second control rod 23 is manually controlled to push to the left, the master end will send the control instruction to the slave end through the CAN bus communication, and the slave end will control the guide wire delivery roller 71 to rotate forward to deliver the guide wire 51 into the first catheter 1. The head end of the slender medical device is provided with a distal identification point 10, and the proximal identification point 11 is provided between the head end and the tail end of the device. First, the corresponding identification point to be identified is determined based on the movement direction of the current device, wherein the identification point includes a distal identification point 10 and a proximal identification point 11, wherein the distal identification point 10 can be located at any position of the head end of the slender medical device, and the setting of the proximal identification point 11 should satisfy that when the proximal identification point 11 is detected by the identification point detection sensor, the head end of the slender medical device should be kept within a preset distance from the head end of the first catheter 1 or be at the same position as the port of the head end of the first catheter 1. If the current device is moving in the progressive direction, the identification point to be identified is determined to be the proximal identification point 11. If the current device is moving in the backward direction, the identification point to be identified is determined to be the distal identification point 10. This is because the distal identification point 10 is identified in the exit direction, which means that the current slender medical device has completely exited the first catheter 1. In the progressive process, since the setting position of the proximal identification point 11 is determined according to the length of the first catheter 1, once the proximal identification point 11 is identified in the progressive process, it means that the head end of the slender medical device is already or will be in the same position as the head end of the first catheter. After the identification point to be identified is determined, the identification point detection sensor is controlled to start data collection or detection of the slender medical device. Through the real-time returned detection data, it can be judged whether the corresponding identification point is currently detected (the corresponding judgment can be made through the characteristics of the identification point). If it is judged that the corresponding identification point is identified, the position information of the current slender medical device is confirmed. At this time, according to the identified identification point, a corresponding execution instruction is generated, thereby controlling the display screen of the slave end or the master end to perform corresponding operations, including information prompts, etc. There are obvious differences in the characteristics of the distal marking point 10 and the proximal marking point 11, including color, pattern shape, etc., which are easier for the sensor to identify and improve the accuracy of identification. Figure 2 or Figure 4 If the elongated medical device is a guidewire 51 or a second catheter 52, and the length of the first catheter 1 is 125 cm, the proximal marking point 11 may be set at a position 120 cm away from the head end of the elongated medical device. The proximal marking point 11 is used to indicate that the medical device is about to reach the head end of the first catheter 1 during the entry process, ensuring that the speed can be adjusted or the operation can be stopped in time during the operation to prevent the guidewire 51 or the catheter 52 from excessively extending out of the first catheter 1. The distal marking point 10 is used to indicate that the medical device has completely exited the first catheter 1, ensuring that the exit operation can be stopped in time to prevent the guidewire 51 or the second catheter 52 from excessively moving outside the first catheter 1.

[0022] In one embodiment, the step of identifying the trigger signal of the user further includes determining whether the operation instruction contained in the trigger signal is an automatic operation instruction or a manual operation instruction. If the operation instruction is an automatic operation instruction, then if the current moving direction is the delivery direction, when the slender medical device is triggered by the sensor, after the step of generating the first prompt information, the step includes: S10, controlling the elongated medical device to stop moving in the progressive direction; If the current moving direction is the backward direction, then when the distal marking point 10 on the slender medical device is triggered, after the step of generating the second prompt information, the method includes: S11, controlling the elongated medical device to stop moving in the backward direction.

[0023] Reference Figure 2 - Figure 6In this embodiment, when the system is in the automatic operation mode, if the identification point detection sensor recognizes the corresponding identification point, the system will immediately send an execution instruction to stop the automatic movement, and control the delivery roller of the slender medical device to stop rotating. This can prevent the medical device from excessively entering or exiting the first catheter 1, ensuring the safety of the operation. At the same time, the system will generate corresponding position prompt information on the main end to inform the current position status of the slender medical device. If the current movement direction is the delivery direction: when the proximal identification point 11 is recognized, the main end will prompt "the guide wire 51 is about to exit the head end of the first catheter 1" and control the slender medical device to stop moving in the progressive direction. If the current movement direction is the exit direction: when the distal identification point 10 is recognized, the main end will prompt "the guide wire 51 has exited the first catheter 1" and control the slender medical device to stop moving in the retreat direction. This embodiment can generate corresponding operation instructions and operation prompts according to the current operation mode. This not only improves the accuracy and safety of interventional operations and the degree of automation, but also provides more operational flexibility and control accuracy. It can provide timely feedback on the location information of medical devices according to different operation modes to help better operate.

[0024] Specifically, in this embodiment, when the automatic advance button 20 or the automatic retreat button 21 is pressed at the operating end (master end), the system will receive an automatic operation instruction. After the system parses the instruction, it will start the automatic operation mode. In this mode, the system will automatically control the entry or exit of the slender medical device without operating the manual operation control lever. After receiving the automatic operation instruction, the system will further parse the movement direction contained in the instruction. The movement direction can be delivery or retreat, depending on the operation. For example: Delivery direction: If the automatic advance button 20 is pressed, the system will parse the movement direction as delivery. Exit direction: If the automatic retreat button 21 is pressed, the system will parse the movement direction as retreat. According to the parsed movement direction, the system will start the corresponding automatic control program to control the slender medical device to move in the specified direction.

[0025] Reference Figure 2If the elongated medical device is a guidewire 51, the automatic advance button 20 is pressed at the operating end (master end), and the master end will send the control instruction to the slave end through CAN bus communication. The slave end will start the automatic entry program of the guidewire 51, and the master end will display the distance information of the guidewire 51 relative to the first catheter 1 in real time. When the guidewire 51 is delivered to the first identification point detection sensor 2 or the second identification point detection sensor 4, and the sensor is triggered by the pre-set designated identification point (proximal identification point 11), the guidewire delivery roller 71 stops rotating. At this time, the guidewire 51 has been delivered to the first catheter 1, and the specific position of the guidewire 51 in the second catheter 52 can be confirmed again through the DSA (Digital Subtraction Angiography) image, and then the manual control mode is switched to continue the intervention operation. After the guidewire 51 exits the first catheter 1, when you want to continue the intervention operation, you can achieve the operation of repeated intervention operation through automatic entry without human intervention.

[0026] When the guidewire 51 needs to be withdrawn (exited), the DSA image can be used to determine whether it is safe for the guidewire 51 to automatically withdraw. If it is safe, the automatic withdrawal button 21 is pressed at the operating end (master end), and the slave end will start the guidewire 51 automatic withdrawal program. The master end will display the distance information of the guidewire 51 relative to the first catheter 1 in real time. When the guidewire 51 is withdrawn to the first identification point detection sensor 2 or the second identification point detection sensor 4, the corresponding identification point detection sensor is triggered by the pre-set designated identification point (distal identification point 10), and the guidewire delivery roller 71 stops rotating. If it is identified by the first identification point detection sensor 2 at this time, the guidewire 51 has withdrawn from the first catheter 1 and remains in the first T valve 3; if it is identified by the second identification point detection sensor 4, the guidewire 51 has withdrawn from the first catheter 1 and remains inside the guide needle 6. After the guidewire 51 is withdrawn, angiography can be performed according to actual needs, or the guidewire 51 can automatically enter the head end of the first catheter 1 with one key, so as to achieve repeated intervention operations.

[0027] Reference Figure 4If the elongated medical device is a second catheter 52, the second catheter 52 is selected at the operating end (master end), and the automatic entry button 20 is pressed. The master end will send the control command to the slave end through CAN bus communication, and the slave end will start the automatic entry program. The master end will display the distance information of the second catheter 52 relative to the first catheter 1 in real time. When the second catheter 52 is delivered to the first identification point detection sensor 2 or the second identification point detection sensor 4, when the corresponding identification point detection sensor is triggered by the pre-set designated identification point (proximal identification point 11), the second catheter delivery roller 72 stops rotating, and the delivery module 13 stops delivering as a whole. At this time, the second catheter 52 has been delivered into the first catheter 1, and the specific position of the second catheter 52 in the first catheter 1 can be confirmed again through the DSA image, and then the manual control mode is switched to continue the intervention operation.

[0028] When the second catheter 52 needs to be withdrawn (exited), the DSA image can be used to determine whether it is safe for the second catheter 52 to automatically withdraw. If it is safe, the second catheter 52 is selected at the operating end (master end), and the automatic withdrawal button 21 is pressed. The slave end will start the automatic withdrawal program, and the master end will display the distance information of the second catheter 52 relative to the first catheter 1 in real time. When the second catheter 52 is withdrawn to the first identification point detection sensor 2 or the second identification point detection sensor 4 and is triggered by the pre-set designated identification point (distal identification point 10), the second catheter delivery roller 72 stops rotating and the delivery module 13 stops withdrawing as a whole. At this time, the master end will prompt that the second catheter 52 has been completely withdrawn. After the second catheter 52 is withdrawn, it can be operated according to actual needs, or the second catheter 52 can be controlled by one key to automatically enter the head end of the first catheter 1, so as to achieve repeated intervention operations.

[0029] Reference Figure 5 If the elongated medical device is a quick delivery device 53, the quick delivery device 53 is selected at the operating end (master end), and the automatic entry button 20 is pressed. The master end will send the control command to the slave end through CAN bus communication, and the slave end will start the automatic entry program. The master end will display the distance information of the quick delivery device 53 relative to the first catheter 1 in real time. When the quick delivery device 53 is delivered to the first identification point detection sensor 2 or the second identification point detection sensor 4, and the corresponding identification point detection sensor is triggered by the pre-set designated identification point (proximal identification point 11), the quick delivery device delivery roller 73 stops rotating. At this time, the quick delivery device 53 has been delivered to the first catheter 1, and the specific position of the quick delivery device 53 in the first catheter 1 can be confirmed again through the DSA image, and then the manual control mode is switched to continue the intervention operation.

[0030] Reference Figure 5In one embodiment, if the slender medical device is a quick delivery device 53, then if the current moving direction is the backward direction, when the distal marking point 10 on the slender medical device is triggered, the step of generating the second prompt information includes: S20, if the current moving direction is the backward direction, the fast delivery device 53 is controlled to move in the backward direction by the fast delivery device delivery roller 73 in the delivery module; S21, detecting the fast-crossing bifurcation point 14 of the elongated medical device based on the bifurcation point detection sensor 15 disposed on the retreat path of the fast-crossing device 53; S22, if the fast-crossing bifurcation point 14 is detected, controlling the delivery module 13 to move in the backward direction as a whole; S23. When the far-end identification point 10 is triggered, the movement of the quick-handling device 53 on the retreat path is stopped, and a second prompt message is generated.

[0031] In this embodiment, when the quick delivery instrument 53 is to be withdrawn (exited), the DSA image can be used to determine whether the quick delivery automatic exit is safe. If it is safe, the quick delivery instrument 53 is selected at the operating end (master end), and the operator presses the automatic withdrawal button 21. The slave end will start the quick delivery automatic exit program and the quick delivery bifurcation point 14 detection program. If the quick delivery bifurcation point 14 is not detected, the quick delivery instrument delivery roller 73 will continue to rotate and withdraw; if the quick delivery bifurcation point 14 is detected, the quick delivery instrument delivery roller 73 will stop rotating, and the delivery module 13 will withdraw as a whole. The master end will display the distance information of the quick delivery instrument 53 relative to the first catheter 1 in real time. When the quick delivery instrument 53 is withdrawn to the first identification point detection sensor 2 or the second identification point detection sensor 4, and the corresponding identification point detection sensor is triggered by the pre-set designated identification point (distal identification point 10), the delivery module 13 stops withdrawing. After the quick delivery instrument 53 is withdrawn, it can be operated according to actual needs, or it can be automatically entered into the head end of the first catheter 1 by one-key quick delivery, so as to realize repeated continuation of the operation.

[0032] In one embodiment, the step of identifying the trigger signal of the user further includes determining whether the operation instruction contained in the trigger signal is an automatic operation instruction or a manual operation instruction. If the operation instruction is a manual operation instruction, then if the current moving direction is the backward direction, when the distal identification point 10 on the slender medical device is triggered, after the step of generating the second prompt information, it includes: S30: When a trigger signal including a manual operation instruction in the backward direction is identified, it is determined to be an invalid trigger signal.

[0033] In this embodiment, when the system is in manual operation mode, if the identification point detection sensor recognizes the corresponding identification point, the system will generate an execution instruction for displaying corresponding prompt information, including position prompt information, etc., but will not automatically prohibit the control of the medical device. For example: if the elongated medical device is a guide wire 51, when the guide wire 51 is delivered to the identification point detection sensor and is triggered by the proximal identification point 11, the system recognizes the proximal identification point 11. The main end prompts "the guide wire 51 is about to leave the head end of the first catheter 1". At this time, the delivery speed of the guide wire 51 can be reduced, and the further movement of the guide wire 51 can be manually controlled. When the guide wire 51 is withdrawn to the identification point detection sensor and is triggered by the distal identification point 10, the system recognizes the distal identification point 10. The main end prompts "the guide wire 51 has exited the first catheter 1". It can be confirmed through DSA (Digital Subtraction Angiography) images that the guide wire 51 has completely exited the first catheter 1, and the further movement control of the guide wire 51 is manually stopped, and then the next step is performed according to actual needs. If at this time, the operator manually controls the withdrawal of the slender medical device through the operating rod again, the operation of the control rod will fail, and the corresponding instruction will be judged as an invalid instruction and will no longer be executed. Through these prompt information, the position state of the guide wire 51 in the first catheter 1 can be understood in real time to ensure the accuracy and safety of the interventional operation. The prompt information of the proximal identification point 11 helps to prevent the guide wire 51 from excessively entering the first catheter 1, and the prompt information of the distal identification point 10 helps to confirm that the guide wire 51 has completely withdrawn from the first catheter 1, and intelligently stops the recognition of the trigger instruction corresponding to the operating rod, which can avoid the operational risks caused by the operator's misoperation. This embodiment can generate corresponding operating instructions or operating prompts according to the current operating mode. This not only improves the accuracy, safety and automation of the interventional operation, but also provides more operational flexibility and control accuracy. According to different operating modes, the position information of the medical device can be fed back in time to help better operate.

[0034] In one embodiment, the step of determining the identification point to be identified based on the moving direction of the elongated medical device comprises: S40 . If the moving direction of the elongated medical device is the delivery direction, determine that the identification point to be identified is the proximal identification point 11 , and load the identification point feature of the proximal identification point 11 .

[0035] In this embodiment, the movement direction of the slender medical device includes a delivery direction and a backward direction, the delivery direction is the direction toward entering the first T valve 3, and the backward direction is the direction toward exiting the first T valve 3. If the slender medical device moves along the delivery direction, it is judged whether it has entered the designated position by identifying the designated identification point, for example, by identifying the identification point feature on the slender medical device through the identification point detection sensor, and by the corresponding feature on the slender medical device The fixed position of the fixed position determines that the head end of the current slender medical device is in the relative position of its first catheter 1 or its own moving position during the operation. Alternatively, the moving distance of the slender medical device can be determined by identifying the identification point and its identification number in the same direction. The same applies to the backward direction.

[0036] Specifically, if the movement direction of the slender medical device is the delivery direction, that is, the direction toward entering the first T valve 3, the system will focus on the identification point feature of the proximal identification point 11. The feature of the proximal identification point 11 can be color, pattern, shape, etc., depending on the design of the identification point, for example, the color is red and the pattern is circular, and the identification point detection sensor starts to detect the identification point on the slender medical device. When the proximal identification point 11 (red circle) is detected, it proves that the head end of the slender medical device currently entering has overlapped with the head end of its first catheter 1 or has been kept within a specified distance.

[0037] In one embodiment, the step of determining the identification point to be identified based on the moving direction of the elongated medical device further includes: S50 . If the movement direction of the slender medical device is a backward direction, determine that the identification point to be identified is a distal identification point 10 , and load the identification point feature of the distal identification point 10 .

[0038] In this embodiment, if the system determines that the current movement direction of the slender medical device is the direction of exiting the first T valve 3, the system determines that the feature of the distal mark point 10 needs to be identified, such as the color is blue and the pattern is square. The mark point detection sensor starts to detect the mark point on the slender medical device. When the distal mark point 10 (blue square) is detected, it proves that the current slender medical device has completely exited the first catheter 1.

[0039] Reference Figure 2 - Figure 6An embodiment of the present application provides a slender medical device delivery device, including a first T-valve 3 and a delivery module 13, wherein the delivery module 13 is used to deliver the slender medical device into the first T-valve 3, wherein a first catheter 1 is connected to one side of the first T-valve 3, and the delivery module 13 is used to deliver the slender medical device through the first T-valve 3 to the inside of the first catheter 1; the device also includes a marking point detection sensor, which is arranged on the moving path of the slender medical device and is used to identify the marking point on the slender medical device.

[0040] In this embodiment, the device includes a connection module 12 and a delivery module 13. The connection module 12 includes a first T valve 3 and a first catheter 1 connected to one side of the first T valve 3. The slender medical device is used to pass through the first T valve 3 and be delivered to the inside of the first catheter 1; the first T valve 3 is fixedly connected to the first catheter 1 to ensure that the slender medical device (such as a guide wire 51, a second catheter 52 or a quick delivery device 53) can accurately and smoothly pass through the first T valve 3 to enter the inside of the first catheter 1. The first T valve 3 plays a key role in controlling the entry path of the slender medical device and ensuring the accuracy of delivery.

[0041] The device also includes a marking point detection sensor, which is arranged on the moving path of the slender medical device and is used to identify the marking point on the slender medical device. The marking point detection sensor is fixed at a specific position on the moving path of the slender medical device, and can be arranged at any position between the connection module 12 and the delivery module 13. The specific setting position is based on the ability to identify the moving slender medical device. Then, by detecting the marking point set on the slender medical device, the position change of the medical device during the movement can be accurately sensed. Among them, the distal marking point 10 can be located at any position of the head end of the slender medical device, and the setting of the proximal marking point 11 should meet the requirement that when the proximal marking point 11 is detected by the marking point detection sensor, the head end of the slender medical device should be kept within a preset distance from the head end of the first catheter 1 or be at the same position as the port of the head end of the first catheter 1. That is, when the distal marking point 10 coincides with the head end position of the first catheter 1 or is separated by a preset distance, the marking point detection sensor is triggered by the proximal marking point 11.

[0042] The delivery module 13 also includes a delivery roller, which is composed of a plurality of symmetrically arranged rollers, and a delivery channel is formed between the symmetrically arranged rollers for the slender medical device to pass through. The delivery roller is controlled by a motor with an encoder, and is used to receive control instructions from the master end to rotate in clockwise and counterclockwise directions, so as to use its own rotation to deliver the slender medical device into or out of the first catheter 1 according to the movement direction in the instruction.

[0043] Reference Figure 2 If the elongated medical device to be delivered is a guidewire 51, the delivery roller is a guidewire delivery roller 71, and the delivery module 13 further includes a matching rotating roller 8 and a receiving coil 9. First, the guidewire 51 wound on the receiving coil 9 passes through the rotating roller 8, and then passes through the delivery path formed by the symmetrical arrangement of multiple guidewire delivery rollers 71, aligns with the entrance of the first T valve 3, and passes through the first T valve 3 into the first catheter 1. Adjusting the rotating roller 8 clockwise or counterclockwise can change the rotation direction of the guidewire 51, and adjusting the guidewire delivery roller 71 clockwise or counterclockwise can change the forward and backward movement direction of the guidewire 51. The receiving coil 9 is used to neatly wind the guidewire 51 to ensure the orderliness of the medical device during the delivery process.

[0044] Reference Figure 4 If the elongated medical device is a second catheter 52, the delivery roller is a second catheter delivery roller 72, and the delivery module 13 is also provided with a second T-valve 31, the tail end of the second catheter 52 is fixed to one side of the second T-valve 31, and the head end of the second catheter 52 is used to enter the interior of the first T-valve 3 under the drive of the second catheter delivery roller 72, and then enter the interior of the first catheter 1 connected to one side of the first T-valve 3. At the same time, during the operation, the second T-valve 31 can be used as the entrance for the guide wire 51 to enter the second catheter 52, and the guide wire 51 can enter the interior of the second catheter 52 through the second T-valve 31 under the drive of the guide wire delivery roller 71.

[0045] Reference Figure 5 If the elongated medical device is a quick delivery device 53, the delivery module 13 further includes a bifurcation point detection sensor 15; the bifurcation point detection sensor 15 is arranged on the moving path of the quick delivery device 53, and is used to detect the quick delivery bifurcation point 14 during the withdrawal of the quick delivery device 53, so as to judge its withdrawal degree and determine whether to switch the control mode of withdrawal. Specifically, the bifurcation point detection sensor 15 is used to detect whether the quick delivery bifurcation point 14 (the bifurcation point of the quick delivery device 53) has abutted against the specified position during the withdrawal of the quick delivery device 53. If it abuts against the specified position, the quick delivery device delivery roller 73 in the delivery module 13 can stop the rotational drive in the withdrawal direction, and the delivery module 13 moves in the withdrawal direction as a whole. The distance between the marking point detection sensor and the direction of the delivery module 13 is set by a preset distance, and the preset distance is set by the distance between the head end of the quick delivery device 53 and the bifurcation.

[0046] Meanwhile, during the operation, the guide wire 51 can enter the interior of the quick-delivery device 53 through the quick-delivery bifurcation point 14 driven by the guide wire delivery roller 71 and the rotating roller 8, enter the first T valve 3 via the quick-delivery device 53, and then enter the first catheter 1.

[0047] In one embodiment, the identification point detection sensor is disposed in the first T valve 3 .

[0048] Reference Figure 3 In this embodiment, the identification point detection sensor includes a first identification point detection sensor 2. The first identification point detection sensor 2 can be set in the first T valve 3 or outside the first T valve 3. The main purpose is to detect the identification point on the slender medical device on the moving path. It can also be fixed on the moving path alone, rather than only fixed on the first T valve 3 or in the first T valve 3. The specific setting position can be set according to the actual use requirements. In this embodiment, for example, the first identification point detection sensor 2 can be installed on the inner wall of the first T valve 3. When the slender medical device passes through the first T valve 3, the first identification point detection sensor 2 can sense the existence and position change of the identification point in real time, thereby accurately obtaining the position information of the medical device.

[0049] In one embodiment, the identification point detection sensor is disposed between the first T valve 3 and the delivery module 13 , and is disposed corresponding to the inlet of the first T valve 3 .

[0050] Reference Figure 2 The identification point detection sensor also includes a second identification point detection sensor 4, which is arranged outside the first T valve 3, that is, between the first T valve 3 and the delivery module 13. At this time, the second identification point detection sensor 4 is at the entrance of the first T valve 3, forming a detection line to detect the delivery node when the slender medical device is delivered or withdrawn.

[0051] If the elongated medical device is a guide wire 51, when the marking point detection sensor is arranged between the connection module 12 and the delivery module 13 (corresponding to the second marking point detection sensor 4), the end of the guide wire 51 close to the first T valve 3 needs to be sleeved with a guide needle 6. When the marking point detection sensor is placed inside the first T valve 3, it can directly detect the marking point on the guide wire 51, and can accurately sense the position change of the guide wire 51 without the assistance of the guide needle 6, so as to realize the repeated automatic entry and exit of the guide wire 51. When the marking point detection sensor is placed outside the first T valve 3, since the material of the guide wire 51 is relatively soft, when the marking point detection sensor is arranged outside the first T valve 3, if the automatic advance and retreat is started, the withdrawn guide wire 51 is not easy to automatically penetrate into the first T valve 3 in the next operation, and needs to be supported by the guide needle 6 to maintain a straight line, so as to guide the guide through the first T valve 3, and at the same time, it can also facilitate the marking point detection sensor to identify the accurate marking point position information of the guide wire 51, so as to realize the repeated automatic entry and exit of the guide wire 51.

[0052] Reference Figure 4 - Figure 5 When the slender medical device is the second catheter 52 or the quick delivery device 53, when the marking point detection sensor is set in the first T valve 3, that is, when the first marking point detection sensor 2 is used, the quick delivery device 53 can be repeatedly automatically entered and exited without manual intervention. Figure 3 When it is set between the connection module 12 and the delivery module 13, that is, when the second identification point detection sensor 4 is used, its head end needs to be manually inserted into the first T valve 3 to realize the repeated automatic entry and exit of the quick delivery device 53. If it is necessary to realize the visualization of the advance and retreat distance of the quick delivery device 53, it is preferred to set the identification point detection sensor on the first T valve 3.

[0053] Reference Figure 7 In an embodiment of the present application, a computer device is also provided. The computer device may be a server, and its internal structure may be as follows: Figure 3As shown. The computer device includes a processor, a memory, a network interface and a database connected by a bus. Among them, the processor designed by the computer is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores operations, computer programs and databases. The memory provides an environment for the operation of the operations and computer programs in the non-volatile storage medium. The database of the computer device is used to store data such as a cleaning robot control method. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by a processor, a cleaning robot control method is implemented, comprising the steps of: identifying a user's trigger signal, and determining the moving direction of the slender medical device contained in the trigger signal; determining a mark point to be identified based on the moving direction of the slender medical device; wherein the slender medical device is provided with a mark point, and the mark point includes a distal mark point located at the distal end of the slender medical device and a proximal mark point located at the proximal end of the slender medical device; controlling the slender medical device to move in a corresponding moving direction, and starting a mark point detection sensor to identify the mark point to be identified; wherein the moving direction includes a delivery direction and a backward direction; if the current moving direction is the delivery direction, then when the proximal mark point on the slender medical device is triggered by the mark point detection sensor, a first prompt message is generated; if the current moving direction is the backward direction, when the distal mark point on the slender medical device is triggered by the marking point, a second prompt message is generated.

[0054] An embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, a cleaning robot control method is implemented, including the steps of: identifying a user's trigger signal, and determining the moving direction of the slender medical device contained in the trigger signal; determining a mark point to be identified based on the moving direction of the slender medical device; wherein the slender medical device is provided with a mark point, and the mark point includes a distal mark point located at the distal end of the slender medical device and a proximal mark point located at the proximal end of the slender medical device; controlling the slender medical device to move in a corresponding moving direction, and starting a mark point detection sensor to identify the mark point to be identified; wherein the moving direction includes a delivery direction and a backward direction; if the current moving direction is the delivery direction, when the proximal mark point on the slender medical device is triggered by the mark point detection sensor, a first prompt information is generated; if the current moving direction is the backward direction, when the distal mark point on the slender medical device is triggered by the marking point, a second prompt information is generated.

[0055] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media provided in this application and used in the embodiments may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double-speed data rate SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0056] The above description is only a preferred embodiment of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for delivering an elongated medical device, characterized in that: include: Identify a trigger signal from a user and determine the moving direction of the elongated medical device contained in the trigger signal; Based on the moving direction of the slender medical device, determining the identification point to be identified; wherein the slender medical device is provided with identification points, and the identification points include a distal identification point located at the distal end of the slender medical device and a proximal identification point located at the proximal end of the slender medical device; Controlling the elongated medical device to move in a corresponding moving direction, and starting a marking point detection sensor to identify the marking point to be identified; wherein the moving direction includes a delivery direction and a retreat direction; If the current moving direction is the delivery direction, when the proximal marking point on the elongated medical device is triggered by the marking point detection sensor, a first prompt message is generated; If the current moving direction is the backward direction, when the distal identification point on the slender medical device is triggered by the marking point, the second prompt information is generated.

2. The method for delivering an elongated medical device according to claim 1, wherein: The step of identifying the trigger signal of the user further includes determining whether the operation instruction contained in the trigger signal is an automatic operation instruction or a manual operation instruction. If the operation instruction is an automatic operation instruction, then if the current moving direction is the delivery direction, when the slender medical device is triggered by the sensor, after the step of generating the first prompt information, the step includes: Controlling the elongated medical device to stop moving in the progressive direction; If the current moving direction is the backward direction, then when the distal marking point on the elongated medical device is triggered, after the step of generating the second prompt information, the method includes: The elongated medical device is controlled to stop moving in a backward direction.

3. The method for delivering an elongated medical device according to claim 1, wherein: If the slender medical device is a quick delivery device, then if the current moving direction is the backward direction, when the distal marking point on the slender medical device is triggered, the step of generating the second prompt information includes: If the current moving direction is the backward direction, the fast delivery device is controlled to move in the backward direction by the fast delivery device delivery roller in the delivery module; Detecting a fast-crossing bifurcation point of the elongated medical device based on a bifurcation point detection sensor disposed on a retreat path of the fast-crossing device; If the fast-crossing bifurcation point is detected, controlling the delivery module to move in the backward direction as a whole; When the distal marking point is triggered, the movement of the quick-release device on the retreat path is stopped, and a second prompt message is generated.

4. The method for delivering an elongated medical device according to claim 1, wherein: The step of identifying the trigger signal of the user further includes determining whether the operation instruction contained in the trigger signal is an automatic operation instruction or a manual operation instruction. If the operation instruction is a manual operation instruction, if the current moving direction is a backward direction, when the distal identification point on the slender medical device is triggered, after the step of generating the second prompt information, it includes: When a trigger signal including a manual operation instruction in the backward direction is identified, it is determined to be an invalid trigger signal.

5. The method for delivering an elongated medical device according to claim 1, wherein: The step of determining the identification point to be identified based on the moving direction of the elongated medical device comprises: If the moving direction of the elongated medical device is the delivery direction, the identification point to be identified is determined to be a proximal identification point, and the identification point feature of the proximal identification point is loaded.

6. The method for delivering an elongated medical device according to claim 1, wherein: The step of determining the identification point to be identified based on the moving direction of the elongated medical device further includes: If the movement direction of the slender medical device is the backward direction, the identification point to be identified is determined to be a distal identification point, and the identification point feature of the distal identification point is loaded.

7. A slender medical device delivery device, used to perform the method described in any one of claims 1 to 6, comprising a first T-valve and a delivery module, wherein the delivery module is used to deliver the slender medical device into the first T-valve, a first catheter is connected to one side of the first T-valve, and the delivery module delivers the slender medical device through the first T-valve to the interior of the first catheter; characterized in that: Also includes: A marking point detection sensor is disposed on the moving path of the elongated medical device and is used to identify the marking points on the elongated medical device.

8. The elongated medical device delivery device according to claim 7, characterized in that: The identification point detection sensor is arranged between the first T valve and the delivery module, and is arranged corresponding to the inlet of the first T valve.

9. A computer device, characterized in that: include: processor; Memory for storing computer programs; Wherein, when the processor executes the computer program, the elongated medical device delivery method according to any one of claims 1 to 6 is implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the elongated medical device delivery method according to any one of claims 1 to 6 is implemented.

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