Catheter robot system

Abstract

The invention relates to a catheter robot system which is characterized by comprising mechanical arms, a robot body, a robot body and a control system, and the mechanical arms comprise the first mechanical arm and the second mechanical arm; the control device is in communication connection with the mechanical arm and is used for detecting the use state of the mechanical arm and the use state of the catheter instrument installed on the mechanical arm; the signal indicating device is in communication connection with the control device, is configured at any position of the mechanical arm or the catheter and is used for outputting a recognizable signal, the recognizable signal indicates the use state of the mechanical arm or the catheter instrument, and the signal indicating device is used for indicating the use state of the mechanical arm or the catheter instrument. The use state indicates one of the following conditions: an indication of whether the first mechanical arm and the second mechanical arm meet preoperative preparation or not; and warning distortion of a magnetic field at the tail end of the catheter instrument. According to the method, the fault of the robot in the preoperative positioning process can be timely and accurately found, the system fault and abnormity can be quickly helped to be positioned, and the safety and reliability of the surgical robot are improved.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and in particular to a catheter robot system. Background Art

[0002] Surgical robots use minimally invasive methods to accurately perform complex surgical operations. The high precision, high stability, good flexibility, strong controllability, and resistance to radiation and infection of surgical robots are used to complete surgical operations, which changes the situation where doctors rely solely on subjective judgment and surgical experience to complete surgical operations. It can reduce surgical errors caused by human factors and improve the success rate of surgery. Due to the structural complexity of surgical robots and the uncertainty of the network environment in the workspace, abnormal situations of surgical robots may occur. At present, the basic strategy for troubleshooting surgical robots is post-maintenance.

[0003] A large amount of data will be generated during the operation of the surgical robot. These data truly record and reflect the status of the actual operation process. Through these data, we can better understand the use status of the surgical robot, perform maintenance and care in time, avoid malfunctions of the surgical robot, and ensure the safety of the operation. In order to improve the feasibility of doctors operating the operation and reduce the probability of intraoperative failures, the present application requires preoperative positioning of the surgical robot before the operation, and real-time detection of the use status of each device component during the positioning process. In addition, the present application provides a catheter robot system by locating system failures and providing corresponding recovery strategies based on possible problems during the operation of the catheter robot system. The present application also provides a catheter robot status monitoring system, which monitors, diagnoses and maintains the status of hardware devices such as the main controller (handle), touch screen, driver board, slave board, robot trolley, and image trolley of the bronchoscopic surgical robot, quickly helps locate system failures and abnormal alarms, quickly responds to failure information and provides corresponding recovery strategies, and realizes unified management and maintenance of the robot. Summary of the invention

[0004] Based on this, it is necessary to provide a catheter robot system that can promptly and accurately detect faults in the robot's preoperative positioning process and improve the interactivity and safety of the surgical robot control system.

[0005] In order to achieve the above-mentioned purpose, according to one aspect of the present invention, there is provided a catheter robot system, characterized in that it comprises: a robotic arm, the robotic arm comprising a first robotic arm and a second robotic arm; a catheter instrument, the catheter instrument being engaged with the robotic arm; a control device, the control device being communicatively connected to the robotic arm, and used to detect the use status of the robotic arm and the catheter instrument installed thereon; a signal indicating device, the signal indicating device being communicatively connected to the control device, and being configured at any position of the robotic arm or the catheter instrument, and being used to output a recognizable signal, wherein the recognizable signal indicates the use status of the robotic arm or the catheter instrument, wherein the use status indicates one of the following situations: whether the first robotic arm and the second robotic arm meet the indication of preoperative preparation; an alarm of magnetic field distortion at the end of the catheter instrument.

[0006] Further, the catheter instrument includes an inner catheter instrument and an outer catheter instrument, the identifiable signal includes a plurality of identifiable signals, and the detecting the use status of the mechanical arm and the catheter instrument installed thereon includes the following steps:

[0007] In response to detecting that the first mechanical arm abuts against the positioning interface of the introducer connected to the patient, detecting whether the outer catheter instrument is installed at the end of the first mechanical arm; if the outer catheter instrument is not installed or the inner catheter instrument is installed, the signal indicating device outputs a first identifiable signal to prompt an operator to confirm the installation status of the end catheter instrument of the first mechanical arm; otherwise, the signal indicating device outputs a second identifiable signal to prompt that the end catheter instrument of the first mechanical arm is correctly installed;

[0008] When the signal indicating device outputs the second identifiable signal, it is detected whether the inner catheter instrument is installed at the end of the second robotic arm; if the inner catheter instrument is not installed or the outer catheter instrument is installed, the signal indicating device outputs a third identifiable signal to prompt the operator to confirm the installation status of the catheter instrument at the end of the second robotic arm; otherwise, the signal indicating device outputs a fourth identifiable signal to prompt that the catheter instrument at the end of the second robotic arm is correctly installed;

[0009] When the signal indicating device outputs the fourth identifiable signal, it is detected whether the installation direction of the inner catheter device and the outer catheter device is the target installation direction. If it is not the target installation direction, the signal indicating device outputs a fifth identifiable signal to indicate that the installation direction of the inner catheter device and the outer catheter device is wrong; if it is the target installation direction, the signal indicating device outputs a sixth identifiable signal to indicate that the installation direction of the inner catheter device and the outer catheter device is correct;

[0010] When the signal indicating device outputs the sixth identifiable signal, it detects whether the coaxiality of the inner catheter instrument and the outer catheter instrument is consistent. If the coaxiality is inconsistent, the signal indicating device outputs a seventh identifiable signal to prompt the operator to replace the inner catheter instrument and the outer catheter instrument; if the coaxiality is consistent, the signal indicating device outputs an eighth identifiable signal to prompt the operator that the catheter installation is complete and the surgical operation can begin.

[0011] Furthermore, the first, third, fifth and seventh identifiable signals are signals indicating an abnormal usage status, and the second, fourth, sixth and eighth identifiable signals are signals indicating a normal usage status.

[0012] Furthermore, the catheter robot system includes a three-dimensional visual detection component coupled to the control device, and the control device is configured to: obtain an image captured by the three-dimensional visual detection component including the end of the first robotic arm and the guide; obtain the relative position relationship between the end of the first robotic arm and the guide in the image; and determine that the end of the first robotic arm is abutting against the guide when the relative position relationship meets a condition, and the condition includes that the end of the first robotic arm and the guide are in the same plane, and the distance between the two is less than a set distance threshold.

[0013] Furthermore, a reading device is provided at the end of the robotic arm, and a storage chip is built into the instrument box. The information stored in the storage chip includes the type of catheter instrument. The method for detecting whether the external catheter instrument is installed at the end of the first robotic arm and detecting whether the internal catheter instrument is installed at the end of the second robotic arm comprises: in response to a signal detecting that the robotic arm has installed the catheter instrument, obtaining the information stored in the storage chip through the reading device, determining whether the external catheter instrument is installed at the end of the first robotic arm and detecting whether the internal catheter instrument is installed at the end of the second robotic arm.

[0014] Furthermore, the catheter robot is equipped with an image sensor, the target installation direction includes the direction of the catheter of the catheter instrument toward the guide, and the method for detecting whether the installation direction of the inner catheter instrument and the outer catheter instrument is the target installation direction includes: detecting the installation direction of the inner catheter instrument and the outer catheter instrument on the robotic arm according to the image sensor; comparing whether the installation direction is consistent with the target installation direction, and judging whether the installation direction of the inner catheter instrument and the outer catheter instrument is the target installation direction.

[0015] Furthermore, the end of the robotic arm can rotate by itself. If the installation direction of the inner catheter instrument and the outer catheter instrument is not the target installation direction, the control device is configured to: obtain an image captured by the image sensor including the outer catheter instrument, the inner catheter instrument and the guide; determine a first deflection angle between the outer catheter instrument and the guide, and / or a second deflection angle between the inner catheter instrument and the guide according to the image; control the rotation of the end of the first robotic arm to compensate for the first deflection angle, and / or to compensate for the second deflection angle, so that the installation direction of the outer catheter instrument and the inner catheter instrument is consistent with the target installation direction.

[0016] Furthermore, a force or torque sensor coupled to a control device is provided at the end of the robotic arm, and the method for detecting whether the coaxiality of the inner catheter instrument and the outer catheter instrument is consistent comprises: determining the direction of the forward and backward movement of the catheter instrument as the axial direction of the catheter instrument, and the axial direction perpendicular to the catheter instrument as the radial direction of the catheter; detecting the radial force in the radial direction applied to the inner catheter instrument and the outer catheter instrument by the force or torque sensor, and judging whether the coaxiality of the inner catheter instrument and the outer catheter instrument is consistent; if the radial force is less than a set threshold value, the inner catheter instrument and the outer catheter instrument are at the same coaxiality, and the signal indicating device outputs an eighth identifiable signal to prompt the operator to perform the surgical operation normally; if the radial force exceeds the set threshold value, the inner catheter instrument and the outer catheter instrument are not at the same coaxiality, and the signal indicating device outputs a seventh identifiable signal to prompt the operator to stop the surgical operation.

[0017] Further, the control device is used to detect the magnetic field distortion of the end of the catheter instrument. The method for detecting the magnetic field distortion of the end of the catheter instrument includes: obtaining the posture data of the end of the catheter instrument under the magnetic field generator through the EM sensor at the end of the catheter instrument; if the posture data exceeds the valid data range of the magnetic field generator, the signal indication device outputs a ninth identifiable signal to prompt the operator to check the electromagnetic interference substances in the working range and replace the catheter instrument and / or the magnetic field generator, and the ninth identifiable signal is a signal indicating an abnormal usage status; or, detecting whether there is electromagnetic interference in the working range of the catheter robot according to the magnetic field generator; if the electromagnetic interference exists and the electromagnetic interference signal is greater than a set threshold, the signal indication device outputs a ninth identifiable signal to prompt the operator to check the electromagnetic interference substances in the working range and replace the catheter instrument and / or the magnetic field generator.

[0018] According to another aspect of the present invention, a control method for a catheter robot is provided, characterized in that the control method includes: detecting the use status of the robotic arm and the catheter instrument installed thereon; based on the use status, outputting a identifiable signal, wherein the identifiable signal indicates one of the following situations: whether the first robotic arm and the second robotic arm meet the instructions for preoperative preparation; an alarm for distortion of the magnetic field at the end of the catheter instrument.

[0019] A catheter robot system of the present application can timely and accurately detect faults existing in the robot during preoperative positioning, quickly help locate system faults and abnormalities, and improve the safety and reliability of the surgical robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A schematic diagram of the structure of a catheter robot provided in one embodiment of the present application;

[0021] Figure 2 A schematic diagram of the structure of a catheter device and a power unit provided in one embodiment of the present application;

[0022] Figure 3A A schematic diagram of a detection process of a motion state of a catheter robot provided in one embodiment of the present application;

[0023] Figure 3B A schematic diagram of a flow chart of a use status of a detection robot arm and a catheter device provided in an embodiment of the present application;

[0024] Figure 4 A schematic diagram of the structure of a catheter robot provided by an embodiment of the present application in a first direction;

[0025] Figure 5 A schematic diagram of a process flow of monitoring the use status of an instrument box provided in one embodiment of the present application;

[0026] Figure 6 A schematic diagram of a flow chart for detecting the enabling status of a catheter and a robotic arm provided in an embodiment of the present application;

[0027] Figure 7 A structural block diagram of a catheter robot monitoring system provided in one embodiment of the present application;

[0028] Figure 8 A schematic diagram of a process for detecting the key signal status of a main controller provided in an embodiment of the present application;

[0029] Fig. 9 A schematic flow chart of a method for detecting the use status of a catheter robot provided in one embodiment of the present application.

[0030] Fig.10A schematic structural diagram of a control device for a catheter robot provided in one embodiment of the present application. DETAILED DESCRIPTION

[0031] In order to facilitate the understanding of the present application, the present application will be described more comprehensively below with reference to the relevant drawings. The preferred embodiments of the present application are given in the drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described in the present application. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thoroughly and comprehensively understood.

[0032] It should be noted that when an element is referred to as being "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected" to another element, it may be directly connected to the other element or there may be a central element at the same time. When an element is considered to be "coupled" to another element, it may be directly coupled to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method. The terms "distal end" and "proximal end" used in this application are used as directional words, which are commonly used terms in the field of interventional medical devices, where "distal end" refers to the end close to the patient during surgery, and "proximal end" refers to the end away from the patient during surgery. The terms "first / second" and the like used in this application represent a component and a class of more than two components with common characteristics.

[0033] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used in this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used in this application includes any and all combinations of one or more related listed items. The term "each" used in this application includes one or more than two. The term "plurality" used in this application refers to two or more.

[0034] The catheter robot system proposed according to the embodiment of the present application is described below with reference to the accompanying drawings.

[0035] Figure 1The catheter robot system 1000 provided in one embodiment of the present application is shown. The various equipment components of the catheter robot system 1000 include an image trolley 100, a robot trolley 200 and a main controller 300 respectively connected to the image trolley 100, a catheter instrument 400 that can be connected to the robot trolley 200, a sensor system 500 connected to the robot trolley 200, and a control device 600 for realizing control between the catheter instrument 400, the main controller 300, the sensor system 500 and the image trolley 100. Among them, the main controller 300 can be connected to the robot trolley 200 by wire or wirelessly. When the operator performs various procedures on the patient next to the robot trolley 200, the control instruction can be triggered by operating the main controller 300, and the catheter instrument 400 can be controlled to advance, retract, bend and turn, etc. through the drive of the robot trolley 200.

[0036] The robot trolley 200 can usually be moved to the side of the operating table to engage the catheter instrument 400, and control the catheter instrument 400 to move up and down in the vertical direction, or translate in the horizontal direction, or move in non-vertical and non-horizontal directions under the control command, so as to provide a better preoperative preparation angle for the operation of the catheter instrument 400. The control command can be a command triggered by the operator by operating the main controller 300, or a command triggered by the operator directly clicking or pressing a button set on the robot trolley 200. Of course, in other embodiments, the control command can also be a command triggered by voice control or a force feedback mechanism.

[0037] like Figure 1As shown, further, the robot trolley 200 may include a base 210, a sliding seat body 220 that can be lifted and moved along the base 210, and a mechanical arm fixedly connected to the sliding seat body 220, and the mechanical arm includes a first mechanical arm 230 and a second mechanical arm 231. The first mechanical arm 230 and the second mechanical arm 231 may include a plurality of arm segments connected at a joint, and the plurality of arm segments provide the mechanical arm with a plurality of degrees of freedom, for example, seven degrees of freedom corresponding to seven arm segments. A power unit (not shown in the figure) is installed at the end of the mechanical arm, and the power unit of the mechanical arm is used to engage the catheter instrument 400, and under the driving action of the power unit, the end of the catheter instrument 400 is controlled to bend and turn accordingly. Among them, the first mechanical arm 230 and the second mechanical arm 231 can be structures that are completely the same or partially the same in structure, and the catheter instrument 400 includes an inner catheter instrument 410 and an outer catheter instrument 420, and the second mechanical arm 231 is used to engage the inner catheter instrument 410, and the first mechanical arm 230 is used to engage the outer catheter instrument 420. During installation, the outer catheter device 420 may be installed first, and when the outer catheter device 420 is installed, the catheter of the inner catheter device 410 is inserted into the catheter of the outer catheter device 420 .

[0038] The sensor system 500 has one or more subsystems for receiving information about the catheter device 400. The subsystems may include: a position sensor system, a shape sensor system for determining the position, orientation, speed, velocity, pose and / or shape of the tip of the catheter device 400 and / or along one or more segments that may constitute the catheter device 400; and / or a visualization system for capturing images from the tip of the catheter device 400.

[0039] The image trolley 100 may be provided with a display system 110 and a flushing system (not shown in the figure), etc. The display system 110 is used to display images of the surgical site and the catheter instrument 400 generated by the subsystem of the sensor system 500. Real-time images of the surgical site and the catheter instrument 400 captured by the visualization system may also be displayed. The image data from the imaging technology may also be used to present images of the surgical site recorded before or during the operation, such as computed tomography (CT), magnetic resonance imaging (MRI), optical coherence tomography (OCT), and ultrasound, etc. The preoperative or intraoperative image data may be presented as a two-dimensional, three-dimensional, or four-dimensional (such as time-based or rate-based information) image and / or presented as an image from a model created according to the preoperative or intraoperative image data set, and a virtual navigation image may also be displayed. In the virtual navigation image, the actual position of the catheter instrument 400 is registered with the preoperative image to present a virtual image of the catheter instrument 400 in the surgical site to the operator from the outside.

[0040] The control device 600 includes at least one memory and at least one processor. It is understandable that the control device 600 can be integrated into the robot trolley 200 or the imaging trolley 100, or can be independently provided. The control device 600 can support wireless communication protocols such as IEEE 802.11, IrDA, Bluetooth, HomeRF, DECT, and wireless telemetry. The control device 600 can transmit one or more signals indicating the movement of the catheter instrument 400 by the power unit to move the catheter instrument 400. The catheter instrument 400 can extend to a surgical location in the body via an opening of a natural cavity or a surgical incision of the patient.

[0041] Further, the control device 600 may include a mechanical control system (not shown in the figure) and an image processing system (not shown in the figure), wherein the mechanical control system is used to control the movement of the catheter instrument 400, and therefore, can be integrated into the robot trolley 200. The image processing system is used for virtual navigation path planning, and therefore, can be integrated into the image trolley 100. Among them, the image processing system can image the surgical site based on the image of the surgical site recorded before or during the operation, using the above-mentioned imaging technology. The software used in combination with manual input can also convert the recorded image into a two-dimensional or three-dimensional synthetic image of a part or the entire anatomical organ or segment. During the virtual navigation procedure, the sensor system 500 can be used to calculate the position of the catheter instrument 400 relative to the patient's anatomical structure, which can be used to generate an external tracking image and an internal virtual image of the patient's anatomical structure, so as to realize the actual position of the catheter instrument 400 and the preoperative image registration, so that the virtual image of the catheter instrument 400 in the surgical site can be presented to the operator from the outside.

[0042] Of course, the various subsystems of the control device 600 are not limited to the specific situations listed above, and can also be reasonably set according to actual conditions. For example, the control device is connected to the robot arm for communication to detect the use status of the robot arm and the catheter device installed thereon. The control device is used to detect the use status of various equipment components of the catheter robot system 1000, including detecting the use status of the robot arm and the catheter device installed thereon.

[0043] The structural composition of the inner catheter instrument 410 and the outer catheter instrument 420 is substantially the same, and each comprises an instrument box and a slender and flexible inner catheter 41 and outer catheter 42, wherein the diameter of the outer catheter 42 is slightly larger than that of the inner catheter 41, so that the inner catheter 41 can pass through the outer catheter 42 and provide a certain support for the inner catheter 41, so that the inner catheter 41 can reach the target position in the patient's body, so as to facilitate operations such as tissue or cell sampling from the target position.

[0044] Certain movements of the main controller 300 may cause corresponding movements of the catheter device 400. For example, when the operator operates the direction lever of the main controller 300 to move upward or downward, the movement of the direction lever of the main controller 300 may be mapped to the corresponding pitch movement of the end of the catheter device 400; when the operator operates the direction lever of the main controller 300 to move left or right, the movement of the direction lever of the main controller 300 may be mapped to the corresponding yaw movement of the end of the catheter device 400. In this embodiment, the main controller 300 may control the end of the catheter device 400 to move within a 360° spatial range.

[0045] Figure 2 The catheter apparatus 400 provided in one embodiment of the present application is shown. The catheter apparatus 400 is configured to engage with the power unit 240 of the first mechanical arm 230 and the second mechanical arm 231, and the catheter apparatus 400 includes an instrument box 45 configured to engage with the power unit 240 and a catheter 48 connected to the instrument box 45. The power unit 240 has four driving wheels, which correspond to the four mounting holes of the instrument box. The "engagement" refers to the state in which the driving force of the power unit 240 can be transmitted to the instrument box 45 and the catheter 48 can move normally when the instrument box 45 is installed to the power unit 240. For example, under the driving force of the power unit 240, the end of the catheter 48 can be bent and turned.

[0046] The end in the present application may also be referred to as the distal end, which refers to the end away from the instrument box 45 ; the front end may also be referred to as the proximal end, which refers to the end close to the instrument box 45 .

[0047] The catheter robot system provided by the present application further includes a signal indicating device. The signal indicating device is communicatively connected with the control device, is arranged at any position of the robot arm or the catheter, and is used to output a recognizable signal.

[0048] Wherein, the signal indicating device includes a sound alarm system, a signal light and a display screen, the sound alarm system is used to output voice information to the operator, the signal light is used to indicate the use status of the equipment component associated with the current signal light, the display screen is used to display fault information and provide recovery strategies, and the display screen includes a display screen or a touch screen in the imaging trolley 100 and the robot trolley 200. The signal indicating device is used to output a recognizable signal, and the recognizable signal includes a plurality of recognizable signals, wherein the recognizable signal indicates the use status of the manipulator or the catheter device, wherein the use status indicates one of the following situations: whether the first manipulator and the second manipulator meet the preoperative preparation instructions; an alarm of magnetic field distortion at the end of the catheter.

[0049] The control device in this application is used to detect the use status of the catheter robot system, and the use status of the catheter robot is divided into three parts: preoperative preparation detection, intraoperative operation detection, and postoperative storage detection. The preoperative preparation in this application refers to the movement of the robot trolley and the mechanical arm of the catheter robot by manual dragging or automatic adjustment driven by the system before the surgical operation, so that the mechanical arm reaches a suitable placement position, such as moving to the positioning interface of the guide connected to the patient, and keeping the installation direction of the inner catheter instrument and the outer catheter instrument correct and coaxial, to ensure that the operation can proceed normally.

[0050] like Figure 3A As shown, the control device is used to detect the use status of the catheter robot system, including the following steps:

[0051] Step S301, positioning the catheter robot before surgery, detecting whether the first robotic arm and the second robotic arm meet the preoperative preparation, and detecting whether the magnetic field at the end of the catheter instrument is distorted.

[0052] During the preoperative preparation process, before using the catheter robot to perform the operation, the catheter robot needs to be moved to a position that meets the surgical requirements, that is, the robot is positioned. The robot can be moved to a first direction or a second direction of the operating table by automatic or manual guidance. For example, the first direction and the second direction are usually opposite. In some embodiments, the first direction is the direction where the operating table is located on the right side of the catheter robot system, and the second direction is the direction where the operating table is located on the left side of the catheter robot system.

[0053] In one embodiment, if Figure 4As shown, taking the operating bed being located on the right side of the catheter robot system as an example, the operator drags the first mechanical arm 230 to abut against the positioning interface 13 of the guide 6 connected to the patient, that is, the robot end is matched with the patient guide posture, so that the positioning interface 11 of the instrument box connected to the mechanical arm is matched with the positioning interface 13 of the guide, ensuring that the catheter enters the guide in the correct position and direction. After the matching is completed, the inner and outer catheters are on the same straight line with the entrance of the guide 6, and the working trajectory always moves on this straight line, which is convenient for the operation. In another embodiment, taking the operating bed being located on the left side of the catheter robot system as an example, the operator drags the second mechanical arm 231 to the positioning interface 13 of the guide 6, so that the positioning interface 12 of the instrument box connected to the mechanical arm is matched with the positioning interface 13 of the guide, and the robot end is matched with the guide posture, ensuring that the catheter enters the guide in the correct position and direction.

[0054] In the process of dragging the first mechanical arm or the second mechanical arm to the positioning interface of the guide connected to the patient, the first mechanical arm and the second mechanical arm have a master-slave motion coordination relationship, that is, the first mechanical arm and the second mechanical arm satisfy a certain constraint relationship, and the master mechanical arm can adopt a position-based control method, and the slave mechanical arm can sense the movement trend of the master mechanical arm through the force sensor to achieve the purpose of following the movement of the master mechanical arm. For example, when the first mechanical arm is configured as the master mechanical arm, the second mechanical arm is the slave mechanical arm, and the slave mechanical arm follows the master mechanical arm to move synchronously in the same direction; in another embodiment, the second mechanical arm is configured as the master mechanical arm, and the first mechanical arm is the slave mechanical arm, and the slave mechanical arm follows the master mechanical arm to move synchronously in the same direction.

[0055] In one embodiment, if Figure 3B As shown, the control device is used to detect the use status of the mechanical arm and the catheter device installed thereon, including the following steps:

[0056] Step S3011, in response to detecting that the first mechanical arm is abutting against the positioning interface of the guide connected to the patient, detecting whether the outer catheter instrument is installed at the end of the first mechanical arm. If the outer catheter instrument is not installed or the inner catheter instrument is installed, the signal indicating device outputs a first identifiable signal to prompt the operator to confirm the installation status of the end catheter instrument of the first mechanical arm; otherwise, the signal indicating device outputs a second identifiable signal to prompt that the end catheter instrument of the first mechanical arm is correctly installed.

[0057] Step S3012, when the signal indicating device outputs the second identifiable signal, detect whether the inner catheter device is installed at the end of the second robotic arm. If the inner catheter device is not installed or the outer catheter device is installed, the signal indicating device outputs a third identifiable signal to prompt the operator to confirm the installation status of the catheter device at the end of the second robotic arm; otherwise, the signal indicating device outputs a fourth identifiable signal to prompt that the catheter device at the end of the second robotic arm is installed correctly;

[0058] Step S3013, when the signal indicating device outputs the fourth identifiable signal, detect whether the installation direction of the inner catheter instrument and the outer catheter instrument is the target installation direction. If it is detected that the installation direction of the inner catheter instrument and the outer catheter instrument is not the target installation direction, the signal indicating device outputs a fifth identifiable signal, indicating that the installation direction of the inner catheter instrument and the outer catheter instrument is wrong, and the driving disk of the power unit at the end of the mechanical arm is set to be rotatable, and the installation direction of the inner catheter instrument and the outer catheter instrument is adjusted to the target installation direction by rotating the end of the mechanical arm; if it is the target installation direction, the signal indicating device outputs a sixth identifiable signal, indicating that the installation direction of the inner catheter instrument and the outer catheter instrument is correct.

[0059] Step S3014, when the signal indicating device outputs the sixth identifiable signal, it detects whether the coaxiality of the inner catheter instrument and the outer catheter instrument is consistent. If the coaxiality is inconsistent, the signal indicating device outputs the seventh identifiable signal to prompt the operator to replace the inner catheter instrument and the outer catheter instrument; if the coaxiality is consistent, the signal indicating device outputs the eighth identifiable signal to prompt the operator that the catheter installation is complete, the preoperative preparation test is completed, and the surgical operation can be started.

[0060] Among them, the first, third, fifth, and seventh identifiable signals are signals indicating abnormal use status, and the second, fourth, sixth, and eighth identifiable signals are signals indicating normal use status. Among them, the identifiable signals include voice signals emitted by the sound system, changes in different colors indicated by the signal light, and fault signal information popped up on the display screen. The sound alarm system is used to output voice information to the operator, the signal light is used to indicate the use status of the equipment component associated with the current signal light, and the display screen is used to display fault information and provide recovery strategies. The display screen includes the display screen or touch screen in the image trolley 100 and the robot trolley 200. For example, when the first, third, fifth, and seventh identifiable signals are signals indicating abnormal use status, the voice signal of the fault prompt emitted by the sound system, or the signal light indicates red or yellow, or the fault signal information pops up on the display screen. When the second, fourth, sixth, and eighth identifiable signals are signals indicating normal use status, the voice signal of normal use emitted by the sound system, or the signal light indicates green, or the normal use information pops up on the display screen.

[0061] In one embodiment, in step S3011, the catheter robot system includes a three-dimensional visual detection component coupled to the control device, and the control device is configured to obtain an image including the end of the first mechanical arm and the positioning interface of the guide collected by the three-dimensional visual detection component, and obtain the relative position relationship between the end of the first mechanical arm and the positioning interface of the guide according to the image, and when the relative position relationship satisfies a condition, it is determined that the end of the first mechanical arm abuts against the positioning interface of the guide, and the condition includes that the end of the first mechanical arm and the positioning interface of the guide are in the same plane, and the distance between the two is less than a set distance threshold. For example, when the end of the first mechanical arm and the positioning interface of the guide are in the same plane, and it is detected that the distance between the end of the first mechanical arm and the positioning interface of the guide is less than a preset distance, it is determined that the end of the first mechanical arm abuts against the positioning interface of the guide.

[0062] In one embodiment, in step S3011 and step S3012, when the operating table is located on the right side of the catheter robot system. A reading device is provided at the end of the manipulator, and the catheter instrument includes an instrument box, and the instrument box is provided with a storage chip built in the instrument box, and the information stored in the storage chip includes the type of the catheter instrument. Among them, the method for detecting whether the first manipulator 230 is installed with an external catheter instrument 420, and whether the second manipulator 231 is installed with an internal catheter instrument 410, includes: in response to a signal that the manipulator has installed the catheter instrument, the information stored in the storage chip is obtained by the reading device, and the determination module detects whether the end of the first manipulator is installed with the external catheter instrument and whether the end of the second manipulator is installed with the internal catheter instrument.

[0063] In actual operation, the possibility that the first robot arm 230 and the second robot arm 231 are both equipped with the inner catheter instrument 410 or the outer catheter instrument 420 is not excluded. In order to avoid erroneous operation, when it is detected that the first robot arm 230 is not equipped with the outer catheter instrument 420, or the second robot arm 231 is not equipped with the inner catheter instrument 410, the signal indicating device of the control catheter robot outputs a recognizable signal to remind the operator to reinstall it. If it is detected that the first robot arm has installed the outer catheter and the second robot arm has installed the inner catheter, it is further detected whether the installation direction of the inner catheter and the outer catheter is the target installation direction.

[0064] When the operating table is located on the left side of the catheter robot system, a reading device is provided at the end of the mechanical arm, and the catheter instrument includes an instrument box, and the instrument box is provided with a storage chip built in the instrument box, and the information stored in the storage chip includes the type of the catheter instrument. That is, by reading the storage information of the storage chip, it is determined whether the first mechanical arm 230 has installed the inner catheter instrument and whether the second mechanical arm 231 has installed the outer catheter instrument. If it is detected that the first mechanical arm has not installed the inner catheter instrument, or the second mechanical arm has not installed the outer catheter instrument, the signal indication device outputs a recognizable signal, and the recognizable signal instructs the operator to install the catheter instrument. If it is detected that the first mechanical arm has installed the inner catheter instrument and the second mechanical arm has installed the outer catheter instrument, it is further detected whether the installation direction of the inner catheter instrument and the outer catheter instrument is the target installation direction.

[0065] In one embodiment, in step S3013, the catheter robot is equipped with an image sensor, and the method for detecting whether the installation direction of the inner catheter and the outer catheter is the target installation direction includes: determining the direction in which the catheter instrument moves forward toward the guide as the target installation direction, for example, when the operating table is located on the right side of the catheter robot system, the direction in which the catheter instrument moves forward toward the guide connected to the patient is the target installation direction, and the target installation direction is horizontal to the right. When the operating table is located on the left side of the catheter robot system, the direction in which the catheter instrument moves forward toward the guide connected to the patient is the target installation direction, and the target installation direction is horizontal to the left; detecting the installation direction of the inner catheter instrument and the outer catheter instrument on the robot arm according to the image sensor, comparing whether the installation direction is consistent with the target installation direction, and determining whether the installation direction of the inner catheter instrument and the outer catheter instrument is the target installation direction.

[0066] In one embodiment, the catheter robot is provided with an installation direction input module, and the installation direction of the catheter device on the robotic arm is obtained, including: obtaining the installation direction of the catheter device on the robotic arm through the installation direction input module. The installation direction input module can be a button, a touch screen, a voice or other module, so that the installation direction can be manually input to the catheter robot to realize the confirmation of the installation direction.

[0067] In one embodiment, the end of the mechanical arm can rotate by itself. If the installation directions of the inner catheter instrument and the outer catheter instrument are not the target installation directions, the control device is configured to: obtain the image of the outer catheter instrument, the inner catheter instrument and the guide captured by the image sensor; determine the first deflection angle of the outer catheter instrument and the guide, and / or the second deflection angle of the inner catheter instrument and the guide according to the image; control the end of the first mechanical arm to rotate to compensate for the first deflection angle, and / or the second deflection angle, so that the installation directions of the outer catheter instrument and the inner catheter instrument are consistent with the target installation direction. Among them, only when the installation direction of the outer catheter instrument is the same as the target installation direction and the installation direction of the inner catheter instrument is the same as the target installation direction, it is considered that the installation directions of the outer catheter instrument and the inner catheter instrument are consistent and both are the target installation directions.

[0068] In one embodiment, in step S3014, a force or torque sensor coupled to a control device is provided at the end of the robotic arm, and the method for detecting whether the coaxiality of the inner catheter instrument and the outer catheter instrument is consistent includes: determining that the direction in which the catheter instrument moves forward and backward is the axial direction of the catheter instrument, and the axial direction perpendicular to the catheter instrument is the radial direction of the catheter instrument; detecting the radial force in the radial direction applied to the inner catheter instrument and the outer catheter instrument by the force or torque sensor, and judging whether the coaxiality of the inner catheter instrument and the outer catheter instrument is consistent; if the radial force is less than a set threshold value, the inner catheter instrument and the outer catheter instrument are at the same coaxiality, and the signal indicating device outputs an eighth identifiable signal to prompt the operator to perform the intraoperative operation normally; if the radial force exceeds the set threshold value, the inner catheter instrument and the outer catheter instrument are not at the same coaxiality, and the signal indicating device outputs a seventh identifiable signal to prompt the operator to stop the intraoperative operation, replace the inner and outer catheter instruments, recalibrate the robot, and then perform the operation.

[0069] In order to avoid the inconsistent coaxiality of the inner catheter instrument and the outer catheter during the whole operation, which will affect the transmission of the surgical instrument and damage the bronchial lining tissue when the inner catheter instrument and the outer catheter instrument are transported, it is necessary to keep the first mechanical arm 230 and the second mechanical arm 231 in a flush posture, that is, it is necessary to keep the first mechanical arm 230 and the second mechanical arm 231 in a uniform world coordinate system in a consistent posture, and the position relationship satisfies that the end of the inner catheter instrument is flush with the end of the outer catheter instrument, that is, the inner catheter instrument extends out of the outer catheter instrument by an appropriate distance, for example, the inner catheter instrument just extends out of the outer catheter instrument by 5mm, and the direction of the inner catheter instrument and the outer catheter instrument is consistent and both are in the target installation direction, and the coaxiality of the inner catheter instrument and the outer catheter instrument is consistent. In one embodiment, the consistency of the coaxiality of the inner catheter instrument and the outer catheter instrument includes that the axis of the inner catheter instrument and the axis of the outer catheter instrument are kept on the same straight line, or the vertical distance between the axis of the inner catheter instrument and the axis of the outer catheter instrument is within a set tolerance range.

[0070] In one embodiment, in the preoperative preparation stage, in some embodiments, the identifiable signal output by the signal indicating device also includes an alarm indicating magnetic field distortion at the end of the catheter instrument. The control device is used to detect magnetic field distortion at the end of the catheter instrument, and the method for detecting magnetic field distortion at the end of the catheter includes: obtaining the position data of the end of the catheter under the magnetic field generator through the EM sensor at the end of the catheter, if the position data exceeds the valid data range of the magnetic field generator, then the signal indicating device outputs a ninth identifiable signal, prompting the operator to check the electromagnetic interference material in the working range, and replace the catheter and / or the magnetic field generator, the ninth identifiable signal is a signal indicating abnormal use status. Alternatively, the method for detecting magnetic field distortion at the end of the catheter includes: detecting whether there is electromagnetic interference in the working range of the catheter robot according to the magnetic field generator, if there is electromagnetic interference and the electromagnetic interference signal is greater than a set threshold, then the signal indicating device outputs a ninth identifiable signal, prompting the operator to check the electromagnetic interference material in the working range, and replace the catheter and / or the magnetic field generator.

[0071] The present application also provides a control method for a catheter robot, characterized in that the control method includes: detecting the use status of the robotic arm and the catheter instrument installed thereon; based on the use status, outputting a identifiable signal, the identifiable signal indicating one of the following situations: whether the first robotic arm and the second robotic arm meet the instructions for preoperative preparation; an alarm for distortion of the magnetic field at the end of the catheter instrument.

[0072] Step S302: Perform global path planning on the robot arm in the workspace to determine the path planning space of the robot arm.

[0073] The control device is used to perform a workspace calibration test on the robot arm, and the workspace calibration test includes global path planning for the robot arm, determining the path planning space of the robot arm, and determining the total movement range of the robot arm. Among them, global path planning is motion path pre-planning, which can also be called offline planning. After completing the preoperative positioning, it is necessary to pre-plan the motion path of the first robot arm 230 and the second robot arm 231 during the operation to keep the total movement range of the entire robot arm able to meet the needs of internal and external catheter instruments to reach any position in the bronchus of the lungs of ordinary adults. For example, the total movement range of the robot arm can reach 500mm.

[0074] Step S303: Perform workspace verification and detection according to the path planning space.

[0075] After the first robotic arm 230 and the second robotic arm 231 complete the pre-planning of the motion path, it is necessary to perform a spatial verification test on the path planning space of the robotic arm during the intraoperative operation. In this application, the starting point of the pre-planning of the motion path of the first robotic arm 230 and the second robotic arm 231 is defined as the alignment position, and the end point of the pre-planning of the motion path is defined as the retraction position. According to the alignment position and retraction position output by the pre-planning of the motion path, the path planning space passed by the first robotic arm 230 and the second robotic arm 231 is spatially verified and tested to determine whether it meets the motion requirements of the catheter robot. Spatial verification detection includes joint space limit, joint space speed limit, Cartesian space limit, Cartesian space speed limit, singularity, collision detection, etc.

[0076] The singularity point in this application refers to the position where the robot arm loses one or more degrees of freedom. Due to the structural characteristics of the robot arm, there is a singularity problem during operation. When the robot arm is at a singularity point, the robot arm will lose one or more degrees of freedom and cannot achieve certain movements. If it wants to continue to move, the required joint speed is very large or even tends to infinity, resulting in loss of control.

[0077] Furthermore, according to the degrees of freedom of the catheter robot's movement, the working space is divided into free space, reachable space and unreachable space.

[0078] When the first robot arm 230 and the second robot arm 231 move in free space, the signal indicating device will not be triggered to output a recognizable signal due to space limitations and unreachable planned path points. If there is interference and collision between the first robot arm 230 and the second robot arm 231, the signal indicating device will be triggered to output a signal indicating abnormal use status and provide a recovery strategy. For example, the fault information is displayed on the display screen and a recovery strategy is provided: "1. The robot arm is about to collide and all robot functions are disabled. 2. To resolve this issue, please uninstall the bronchoscope first and move the robot arm to a reasonable working range; 3. Click [Confirm], and after the fault is resolved, re-align at the main carina."

[0079] When the first robot 230 and the second robot 231 move in the accessible space, if there is a singular point that triggers the planned path point to be unreachable, or because there is interference and collision between the first robot 230 and the second robot 231, the signal indicating device is triggered to output a signal of abnormal use status. When the first robot 230 and the second robot 231 exceed the range of motion set in the joint space and the Cartesian space, that is, when the first robot 230 and the second robot 231 are in the unreachable space, the signal indicating device related to the space limit is triggered to output a recognizable signal.

[0080] Furthermore, the catheter robot has a motion speed constraint in the workspace during its motion. The motion constraint in the joint space is an angular velocity, angular acceleration or angle limit. When the angular velocity, angular acceleration or angle of the catheter robot's axis joint exceeds the limit value, the signal indication device outputs a signal indicating a related abnormal overspeed status. The motion constraint in the Cartesian space is a linear velocity limit. When the linear velocity of the catheter robot in the Cartesian space exceeds the limit value, the signal indication device outputs a signal indicating a related abnormal overspeed status.

[0081] Step S304, performing local path planning according to the overlapping area of ​​the working space of the robot arm to detect whether there is a collision between the robot arm and the robot arm.

[0082] During the intraoperative operation, it is necessary to perform forward planning on the robot's motion path, and perform local path planning based on the overlapping area of ​​the workspace of the first robot arm 230 and the second robot arm 231, where local path planning can also be called online planning. It is determined whether there is a tendency for the first robot arm and the second robot arm to collide based on whether the first robot arm and the second robot arm enter the overlapping area of ​​the workspace during the movement. If there is a tendency for the first robot arm 230 and the second robot arm 231 to collide, the control device will trigger the collision detection module, and the catheter robot will adjust the path online to avoid collision.

[0083] According to whether the second external force detected by the force sensor arranged at the end of the manipulator exceeds the second threshold, it is judged whether there is interference collision between the first manipulator and the second manipulator; wherein the second external force is the interaction force between the first manipulator and the second manipulator, and the second threshold is the minimum force value of the collision between the first manipulator and the second manipulator. If there is interference collision, the emergency movement stop of the surgical robot is triggered, and the signal indication device outputs a signal of abnormal use status. Among them, the force sensor includes a six-dimensional force sensor configured at the end of the instrument box. When the force sensor detects that the external force load is too large, the emergency movement stop of the surgical robot is triggered, and the signal indication device outputs a signal of abnormal use status. Or according to whether the current change of the driving mechanism of the first manipulator and the second manipulator exceeds the set threshold, it is judged whether there is interference collision between the first manipulator and the second manipulator; if there is interference collision, the emergency movement stop of the robot is triggered, and the signal indication device outputs a signal of abnormal use status.

[0084] Step S305: After the operation, the catheter robot system is tested for a one-key shutdown button and a storage path planning.

[0085] During the postoperative operation, the control device is also used to perform one-touch shutdown button detection, robotic arm storage detection, storage path planning detection, etc. on the catheter robot system.

[0086] In other embodiments, before performing a surgical operation, the control device is also used to detect the usage status of the catheter instrument, including: instrument box positioning status, one-button pre-tightening, instrument self-inspection, catheter movement force feedback detection, catheter movement space limit alarm, catheter wire rope detection, etc.

[0087] Among them, during the process of detecting the positioning state of the instrument box, the positioning state in this application refers to whether the installation hole position of the instrument box and the driving wheel at the end of the power unit can match. Figure 2 As shown, the catheter instrument 400 includes an instrument box 45 configured to engage with the power unit 240 and a catheter 48 connected to the instrument box 45. The catheter instrument 400 includes an inner catheter instrument 410 and an outer catheter instrument 420. The inner catheter instrument 410 includes an instrument box 45 and an inner catheter 41, and the outer catheter instrument 420 includes an instrument box 45 and an outer catheter 42. The motor end of the power unit 240 has four driving wheels, and the instrument box is provided with four mounting holes corresponding to the four driving wheels. When the driving wheels at the motor end and the holes of the instrument box are fully matched, the motor in the power unit 240 can be used to drive the catheter wire rope to tighten and relax, thereby controlling the bending and steering of the end of the catheter 48.

[0088] Reference Figure 5 , Figure 5 The following is a flow chart of the process of monitoring the status of the instrument box in this application, which includes the following steps:

[0089] Step S501, starting to detect the position-finding state of the instrument box through the motor position detection sensor configured on the instrument box.

[0090] Step S502, when the driving wheel at the end of the motor of the power unit rotates to the four mounting holes of the instrument box, detect whether the motors are all popped up and whether there is a motor in place signal. If there is a motor in place signal, go to step S503, otherwise go to step S506.

[0091] Step S503: the motor in-position detection sensor outputs a high level signal to the controller via DO.

[0092] In step S503, when the instrument box 45 is installed in the power unit 240, the motor of the power unit 240 can transmit the driving force to the instrument box 45. When the driving wheel at the end of the motor rotates to the installation hole of the instrument box, the motor pops up. At this time, the motor in-position sensor outputs the motor in-position signal through DO, that is, outputs a high-level signal to the controller. When the system detects the motor in-position signal, that is, when all four motors pop up, the driving wheel at the end of the motor and the instrument box hole are fully matched.

[0093] Step S504, the motor is stopped, and the signal indicating device outputs a recognizable signal to indicate that the instrument box has been successfully located.

[0094] Step S505, performing a one-key pre-tightening operation on the catheter wire rope.

[0095] Since the catheter wire rope may be loose after the instrument box has been reciprocated for multiple turns, in order to ensure the accuracy of the subsequent bending and steering control at the end of the catheter, it is necessary to perform a one-key pre-tightening operation on the wire rope before the bending and steering control. In one embodiment, the basis for judging whether the pre-tightening of the wire rope of the catheter is successful is to set the speed threshold or rotation angle threshold of the motor of the power unit in the motor torque mode. The motor is wound in the direction of the wire rope tensioning. When the system detects that the motor speed has been kept in the speed threshold range within the set time, or has been kept at the minimum value of the set speed, the pre-tightening of the wire rope of the catheter is successful. If the motor speed does not remain in the speed threshold range within the set time, that is, the motor speed has been changing within the set time but has not reached the set threshold range, the pre-tightening of the wire rope of the output catheter fails. At this time, the reason for the failure of the pre-tightening of the wire rope of the catheter is that the wire rope of the catheter is broken. In addition, the rotation angle threshold of the motor can also be set, and the motor rotation angle value is measured using an encoder. If the motor rotation angle value exceeds the angle threshold set for the pre-tightening of the wire rope of the catheter, the output pre-tightening fails.

[0096] Step S506: No high-level signal of the motor popping up is detected, and the signal indication device outputs a recognizable signal to indicate that the instrument box fails to locate.

[0097] Furthermore, if the high-level signal of the motor popping up cannot be detected after the motor has searched for position for multiple turns, that is, the motor in-position signal cannot be detected, it indicates that the motor end drive wheel and the instrument box hole are not fully matched. At this time, the system signal indication device outputs an alarm message to prompt that the instrument box has failed to locate, and displays a fault message on the display screen, for example: "Check whether the installation hole angle of the instrument box is within the positioning range" or provide a recovery strategy, such as "Please follow the steps below to troubleshoot: 1. Remove the instrument box; 2. Reinstall the instrument box; 3. If multiple operations are not resolved, please contact manufacturer support". After the problem is solved, the pop-up box disappears.

[0098] During the process of finding the position of the instrument box, if the driving wheel at the end of the motor and the installation hole of the instrument box are not fully matched, and the high-level signal of the motor in position is not set, the motor continues to rotate to find the position. In order to prevent the catheter wire rope from breaking due to excessive motor torque during the multi-turn positioning process, a force or torque sensor coupled to the control device is provided at the end of the robot arm during the positioning of the instrument box. The force or torque sensor monitors the feedback torque of the motor in real time. When the torque is too large, the system outputs an alarm of excessive torque and positioning failure during the positioning process.

[0099] In some embodiments, the identifiable signal output by the signal indicating device also includes a state indicating that the temperature of the instrument box is too high. A temperature sensor coupled to the control device is provided at the end of the robotic arm. If the temperature sensor detects that the temperature of the instrument box is too high, the use of the catheter instrument is stopped.

[0100] After completing the inspection of the catheter instrument before the operation, it is necessary to inspect the usage status of the catheter instrument and the robotic arm before starting the intraoperative operation.

[0101] See also Figure 6 , Figure 6 A flow chart of a control device detecting the enabling status of a catheter device and a robotic arm includes the following steps:

[0102] Step S601, the state of the catheter instrument and the robot arm is detected, and the control device is used to detect whether the driver of the catheter instrument and the robot arm is in normal use. If the driver is abnormal, go to step S602, if the driver is normal, go to step S604.

[0103] Step S602: When the driver is abnormal, the driver of the robot arm shaft or the catheter shaft outputs a recognizable signal.

[0104] When the enabling status of the catheter and robot is abnormal, it is detected whether the driver is abnormal. If the driver is abnormal, the system will automatically reset the driver alarm and try to re-enable it. For example, when the driver is abnormal, the driver of the robot axis outputs a recognizable signal or the driver of the catheter axis outputs a recognizable signal.

[0105] Step S603: The system recovers from the fault, automatically resets and re-enables.

[0106] If the driver status is abnormal, it is determined that the driver of the robot arm or the catheter device is faulty, and the system automatically resets and re-enables it, and displays a fault message on the display screen: "Please follow the steps below to troubleshoot, click [Reset] and try to re-enable it to solve the problem." If the driver is abnormal and cannot be reset, the system outputs the abnormal fault code of the driver, checks whether the driver board is abnormal or restarts to solve the problem. If the problem cannot be solved, the operator is prompted to contact the manufacturer for corresponding processing.

[0107] In step S604, the system performs a four-way bending operation on the catheter instrument and performs a reciprocating forward and backward movement on the robotic arm.

[0108] When the enabling status of all axes of the robotic arm and catheter instrument is normal, which can also be understood as the motor drivers of the robotic arm and catheter instrument being able to be driven normally, the system further performs four-way bending operations on the catheter instrument to detect whether the bending direction and bending angle of the catheter meet the surgical requirements, and performs reciprocating forward and backward movements on the robotic arm to detect whether the movement speed and movement range of the robotic arm meet the surgical requirements.

[0109] In one embodiment, during the intraoperative navigation process, the control device of the catheter robot is also used to detect the feedback of the catheter movement force. The catheter movement force feedback detection includes the catheter forward and backward force feedback detection and the catheter bending and turning force feedback detection. The force sensor set at the end of the instrument box is a six-dimensional force sensor, which can detect the force change at the end of the catheter. When the force sensor detects that the first external force at the end of the catheter exceeds the set first threshold, the catheter is prompted to retract and autonomously implement a retraction strategy to avoid the catheter scraping inside the bronchus and causing tissue damage. Among them, the first external force at the end of the catheter includes the interaction force between the end of the catheter or the surgical instrument and the organ tissue, and the first threshold is the external force value set to prevent the catheter from scraping and damaging the tissue inside the bronchus.

[0110] In one embodiment, during the operation, the control device of the catheter robot system is also used to detect the use status of the catheter wire rope. The use status detection of the catheter wire rope includes the loose wire detection of the catheter wire rope and the broken wire detection of the wire rope. When the catheter bends and turns, the use status of the catheter wire rope is detected according to the current change of the motor. If the motor generates a peak current, it indicates that the wire rope of the catheter is broken. If a slow current change is generated, it indicates that the wire rope of the catheter is loose. When the catheter wire rope is loose or broken, the system will issue a prompt alarm. For example, when the wire rope of the catheter is broken, the system will display a fault message on the display screen, such as: "Please follow the steps below to troubleshoot: 1. All robot functions are disabled; 2. The wire rope of the catheter is detected to be broken, please uninstall and replace the device." The prompt message disappears until the problem is solved.

[0111] like Figure 7As shown, the present application also provides a catheter robot state monitoring system, including: a data acquisition module 701, a data monitoring module 702 and a data diagnosis module 703, and each data module is completely independent and decoupled. The data acquisition module 701 is connected to the data monitoring module 702 through a communication interface, and the data acquisition module 701 is used to obtain the operating data of each device component and transmit the operating data to the data monitoring module 702. The data monitoring module 702 processes the operating data, determines the status information of each device component, and updates the status of each device component. The data diagnosis module 703 is connected to the data monitoring module 702 through a communication interface, and the data diagnosis module 703 includes a fault diagnosis module, which extracts abnormal data from the operating data, determines the fault type according to the abnormal data, and provides a recovery strategy. Among them, the communication interface is used to complete the data communication of each device component, and the communication includes CAN communication, EtherCAT communication, IO communication and TCP / IP communication.

[0112] In some embodiments, taking the device component as a catheter instrument as an example, the catheter transmits the collected operating data to the data monitoring module 702 based on the EtherCAT communication interface in the data acquisition module 701. The data monitoring module 702 includes a catheter instrument monitoring submodule. The catheter instrument monitoring submodule is used to monitor the usage status information of the catheter instrument in real time and update the status in real time. If there is an abnormal status, the abnormality is fed back to the catheter instrument monitoring submodule. The catheter instrument monitoring submodule directly transfers the abnormal data to the data diagnosis module 703 deployed locally or in the cloud for processing.

[0113] When the equipment component is a main controller, the operation data may include the communication connection status, button signal status, rocker signal status and other data of the main controller. When the equipment component is a catheter instrument, the operation data may include the motor in-position status of the instrument box, the catheter wire rope status, the catheter position status, the motor torque obtained by the torque sensor, the rotation angle obtained by the absolute encoder, the tilt angle and acceleration obtained by the inertial sensor, the rotation angle limit signal obtained by the limit sensor, the motor temperature obtained by the temperature sensor, and the battery power obtained by the power sensor. When the equipment component is a robotic arm, the operation data may include the motion space, motion speed, motion trajectory and other data of the robotic arm. The above-mentioned surgical robot equipment components are only exemplary, and this specification is not limited to this.

[0114] The data monitoring module 702 includes each equipment component monitoring submodule. Each equipment component monitoring submodule performs multi-level data processing on the operation data of each equipment component while performing real-time operation data exchange, processes the data into status information corresponding to each module, and performs status monitoring on each module. Since there are many equipment component monitoring submodules and equipment monitoring points, in some embodiments, when managing the background monitoring data, the system software deployed in the local or remote database can be used. When operating the software, the monitoring data of each equipment component submodule can be freely selected to understand and monitor the status information of each equipment component.

[0115] In some embodiments, before performing a surgical operation, the catheter robot monitoring system also includes a device for detecting the use status of each device component of the catheter robot system 1000, such as the main controller, touch screen, lifting platform, and imaging trolley. Among them, the use status detection of the lifting platform includes: the EtherCAT network connection status of the lifting platform, the positive and negative soft limits of the lifting platform, the motor shaft failure of the lifting platform, and other equipment status. The use status detection of the imaging trolley includes: the TCP / IP network communication connection status of the imaging trolley, the key signal detection of the imaging trolley, and the command detection of the imaging trolley.

[0116] The control device is used to detect the use status of the main controller, and the use status detection of the main controller includes: EherCAT communication connection status, key signal detection, and joystick signal detection.

[0117] When detecting the EherCAT communication connection status, if the system software deployed in the local or remote database detects that the EtherCAT communication is abnormal, it is determined that the main controller has a fault, and the signal indication device outputs a recognizable signal and provides a prompt for the recovery strategy on the display screen. For example, when the EherCAT communication connection status of the main controller is abnormal, the signal indication device outputs a recognizable signal and a fault prompt is given on the display screen: "Please check whether the software configuration and physical connection are normal" or "Communication failure, please restart the system", and the fault prompt is displayed for a long time until the fault is resolved and the information disappears automatically. Among them, the display screen is a display screen or touch screen in the image trolley 100 or the robot trolley 200.

[0118] A detection method for detecting a key signal of the main controller 300, such as Figure 8As shown. Among them, the main controller board is connected to the slave board 700 through the CAN bus communication interface of the main controller 300. The main controller 300 is used as an input reporting device component, and changes in the buttons will trigger reporting. The main controller 300 transmits operation data to the slave board 700 in a total of six types of CAN message data, including 4 remote sensing ADCs, 14 matrix buttons, and remote sensing independent buttons. Among them, the 4 remote sensing ADCs are the joystick ADC1 / ADC2 / ADC3 / ADC4 of the main controller, representing that the voltage sampled by the ADC corresponds to the travel of the X-axis and Y-axis of the joystick respectively; the 14 matrix buttons represent that the buttons of the main controller can be scanned through the matrix and support 14 button detection; the remote sensing independent button represents that the main controller 300 supports pressing operations, and the buttons are set to independent IO. Under normal circumstances, the buttons are high level, and pressing the buttons is low level. After the slave board 700 receives the operation data through, for example, the Socket CAN communication interface, the slave board 700 saves the key value to the Beckhoff register 800 through the EtherCAT communication interface, and the EtherCAT communication interface reports the operation data to the Beckhoff controller 800, where sUINT is an unsigned integer, which is the data type defined by the EtherCAT communication. The touch screen 900 accesses the Beckhoff controller through TCP / IP, obtains the key value through the request key, and displays the reported key value status information in real time, that is, responds to the data through the response key, and determines whether the key function is valid by changing the state of the key color. Among them, the key color is not limited here, as long as the color of the key is inconsistent when it is pressed and released, for example, the key color is green when pressed and gray when released.

[0119] In one embodiment, the control device is used to detect the use status of the touch screen, including detecting the communication connection status between the touch screen and the Beckhoff controller. The touch screen is the main entrance to the operation control system. The touch screen serves as a main console to maintain the commands, status and parameters required for the operation of the surgical robot system. The control device is used to detect the touch screen's key signals, light display, temperature, touch screen TCP / IP network communication connection status, command check, system use status, system parameter verification, etc. For example, if the system software deployed in a local or remote database detects that the TCP communication connection between Beckhoff and the touch screen is abnormal, the signal light of the signal indicator device outputs a recognizable signal and gives a fault prompt on the display screen, such as "TCP communication abnormality, please check whether the software configuration and physical connection are normal" or "Communication failure, please restart the system", and the display time is until the fault information is resolved and disappears automatically.

[0120] like Fig. 9 As shown, the present application provides a method for detecting the use status of a catheter robot according to a state monitoring system of the catheter robot, the method comprising:

[0121] Step S901, obtaining the operation data of the equipment components, determining the status information of the equipment components, and monitoring the usage status of the equipment components.

[0122] Step S902: extract abnormal data from the operating data, and classify the faults based on the fault diagnosis module.

[0123] The data diagnosis module is equipped with a fault diagnosis module and a fault emergency mechanism module. The data diagnosis module is composed of an internal database and analysis software, which is used to process and analyze the equipment operation data and diagnose faults. When the equipment is operating abnormally, the fault diagnosis module extracts abnormal data from the operating data, that is, the abnormal data is a signal indicating abnormal use status in the identifiable signal, obtains the fault category corresponding to the abnormal data, classifies the fault category, and alarms the urgent abnormal data.

[0124] In some embodiments, the present application classifies faults into recoverable faults and unrecoverable faults.

[0125] Among them, recoverable faults include general prompts, low priority faults, and medium priority faults. Furthermore, general prompts represent guidance information during the surgical operation and prompt information after the surgical operation is completed. General prompts will not affect the normal progress of the operation and will not endanger the safety of the patient.

[0126] Furthermore, low-priority faults represent the occurrence of equipment component problems that require the operator's attention, but the hazard level is low and will not affect the normal progress of the operation or endanger the patient's safety, and there is no need to remove the catheter device.

[0127] Furthermore, medium priority faults represent the occurrence of equipment component problems that require the operator's attention, but the hazard level is low and will not affect the normal progress of the operation or endanger the patient's safety, and all catheter instruments need to be removed.

[0128] Among them, irrecoverable faults include high-priority faults, which indicate that problems with equipment components are potentially dangerous and may endanger the safety of patients, requiring the surgical robot system to be restarted.

[0129] Step S903: Based on the emergency mechanism module inside the system, respond quickly to different types of faults, execute the emergency mechanism associated with the fault type and throw out abnormal data. The fault emergency mechanism module is used to respond quickly to system faults and throw out abnormal data to avoid damage to equipment and personnel due to abnormal operation.

[0130] In one embodiment, the data diagnosis module further includes: a solution module, an alarm management module and a log file module.

[0131] S904, the fault diagnosis module obtains the fault code of the equipment component associated with the abnormal data according to the abnormal data, and uploads it to the alarm management module. The equipment component corresponding to the fault code can be determined by the fault code.

[0132] S905, the alarm management module transmits the fault code to the internal solution module, the internal data of the solution module matches the fault code, and outputs the solution associated with the fault code.

[0133] S906, at the same time, the alarm management module archives the fault code to the log file module for tracing and sorting out the fault problem.

[0134] S907, determine whether the fault is cleared. If the fault is cleared, the recovery operation can be continued. If the fault is not cleared, return to step S902 to continue the fault handling operation.

[0135] This application can achieve unified management and maintenance of peripheral equipment hardware by monitoring, diagnosing and maintaining the hardware information of peripheral equipment such as the catheter robot main controller, slave board, instrument box, driver board, robot trolley, and imaging cart, quickly help locate system faults and abnormalities, and manage faults through logs and alarm information, and respond and provide solutions.

[0136] The present application can monitor the status and fault information of the surgical robot during operation in real time, thereby improving the safety and reliability of the surgical robot.

[0137] Please refer to Fig.10 The present application also provides a control device for a catheter robot, which shows a schematic diagram of the structure of a control device for a catheter system provided in an embodiment of the present application. Fig.10 As shown, the control device 600 includes: a processor 60, a memory 61, a bus 62 and a communication interface 63, and the processor 60, the communication interface 63 and the memory 61 are connected via the bus 62; the memory 61 stores computer program instructions that can be executed by the processor 60, and when the processor 60 executes the computer program instructions, it can specifically execute the relevant steps in the above method embodiment.

[0138] The memory 61 may include a high-speed random access memory (RAM), and may also include a non-volatile memory, such as at least one disk memory. The communication connection between the device network element and at least one other network element is realized through at least one communication interface 63 (which may be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. may be used.

[0139] The bus 62 may be an ISA bus, a PCI bus, or an EISA bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. The memory 61 is used to store programs, and the processor 60 executes the programs after receiving the execution instructions. The alignment method of the catheter robot disclosed in any of the embodiments of the present application may be applied to the processor 60, or implemented by the processor 60.

[0140] The processor 60 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The various methods, steps and logic block diagrams disclosed in the embodiments of the present application may be implemented or executed. A general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The one or more processors included in the control device may be processors of the same type, such as one or more CPUs, or one or more GPUs; or they may be processors of different types, such as one or more CPUs and one or more GPUs.

[0141] The present application also provides a computer-readable storage medium having computer program instructions stored thereon, and when the computer program instructions are executed by a processor, the detection of the use status of a catheter robot provided in any of the aforementioned embodiments is implemented, including the use status diagnosis of the robotic arm and the catheter device installed thereon. It should be noted that examples of the computer-readable storage medium may include, but are not limited to, optical disks, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other optical or magnetic storage media, which are not described one by one here.

[0142] The computer program includes computer program code, which may be in source code form, object code form, executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer readable medium may be appropriately increased or decreased based on the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, based on legislation and patent practice, computer readable media do not include electric carrier signals and telecommunication signals.

[0143] An embodiment of the present application provides a computer program product. When the computer program product runs on a mobile terminal, the mobile terminal implements the steps of each method in the above embodiment when executing the computer program product.

[0144] It should be noted that:

[0145] In the description provided herein, a large number of specific details are described. However, it is understood that the embodiments of the present application can be practiced without these specific details. In some instances, well-known structures and technologies are not shown in detail so as not to obscure the understanding of this description.

[0146] Similarly, it should be understood that in order to streamline the present application and help understand one or more of the various inventive aspects, in the above description of the exemplary embodiments of the present application, the various features of the present application are sometimes grouped together into a single embodiment, figure, or description thereof. However, the disclosed method should not be interpreted as reflecting the following schematic diagram: the claimed application requires more features than the features clearly stated in each claim. More specifically, as reflected in the claims below, the inventive aspects are less than all the features of the single embodiment disclosed above. Therefore, the claims following the specific embodiment are hereby expressly incorporated into the specific embodiment, wherein each claim itself serves as a separate embodiment of the present application.

[0147] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A catheter robot system, characterized in that: It includes: A mechanical arm, wherein the mechanical arm comprises a first mechanical arm and a second mechanical arm; a catheter instrument engaged with the robotic arm; A control device, the control device is communicatively connected to the mechanical arm and is used to detect the use status of the mechanical arm and the catheter device installed thereon; A signal indicating device, the signal indicating device is communicatively connected to the control device, and is configured at any position of the manipulator or the catheter device, and is used to output a recognizable signal, wherein the recognizable signal indicates the use status of the manipulator or the catheter device, wherein the use status indicates one of the following situations: whether the first robotic arm and the second robotic arm meet the instructions of preoperative preparation; An alarm for magnetic field distortion at the tip of the catheter device.

2. The catheter robot system according to claim 1, characterized in that: The catheter device includes an inner catheter device and an outer catheter device, the identifiable signal includes a plurality of identifiable signals, and the detecting of the use status of the mechanical arm and the catheter device installed thereon includes the following steps: In response to detecting that the first mechanical arm abuts against the positioning interface of the introducer connected to the patient, detecting whether the outer catheter instrument is installed at the end of the first mechanical arm; if the outer catheter instrument is not installed or the inner catheter instrument is installed, the signal indicating device outputs a first identifiable signal to prompt an operator to confirm the installation status of the end catheter instrument of the first mechanical arm; otherwise, the signal indicating device outputs a second identifiable signal to prompt that the end catheter instrument of the first mechanical arm is correctly installed; When the signal indicating device outputs the second identifiable signal, it is detected whether the inner catheter instrument is installed at the end of the second robotic arm; if the inner catheter instrument is not installed or the outer catheter instrument is installed, the signal indicating device outputs a third identifiable signal to prompt the operator to confirm the installation status of the catheter instrument at the end of the second robotic arm; otherwise, the signal indicating device outputs a fourth identifiable signal to prompt that the catheter instrument at the end of the second robotic arm is correctly installed; When the signal indicating device outputs the fourth identifiable signal, it is detected whether the installation direction of the inner catheter device and the outer catheter device is the target installation direction. If it is not the target installation direction, the signal indicating device outputs a fifth identifiable signal to indicate that the installation direction of the inner catheter device and the outer catheter device is wrong; if it is the target installation direction, the signal indicating device outputs a sixth identifiable signal to indicate that the installation direction of the inner catheter device and the outer catheter device is correct; When the signal indicating device outputs the sixth identifiable signal, it detects whether the coaxiality of the inner catheter instrument and the outer catheter instrument is consistent. If the coaxiality is inconsistent, the signal indicating device outputs a seventh identifiable signal to prompt the operator to replace the inner catheter instrument and the outer catheter instrument; if the coaxiality is consistent, the signal indicating device outputs an eighth identifiable signal to prompt the operator that the catheter installation is complete and the surgical operation can begin.

3. The catheter robot system according to claim 2, characterized in that: The first, third, fifth and seventh identifiable signals are signals indicating abnormal usage status, and the second, fourth, sixth and eighth identifiable signals are signals indicating normal usage status.

4. The catheter robot system according to claim 2, characterized in that: The catheter robotic system includes a three-dimensional visual detection assembly coupled to the control device, the control device being configured to: Acquire an image including the end of the first mechanical arm and the guide collected by a three-dimensional visual detection component; Acquire a relative positional relationship between the end of the first mechanical arm and the guide in the image; When the relative position relationship satisfies a condition, it is determined that the end of the first robotic arm abuts against the guide, and the condition includes that the end of the first robotic arm and the guide are in the same plane and the distance between the two is less than a set distance threshold.

5. The catheter robot system according to claim 2, characterized in that: The end of the mechanical arm is provided with a reading device, the instrument box is built with a storage chip, the information stored in the storage chip includes the type of the catheter instrument, and the method of detecting whether the end of the first mechanical arm is installed with the outer catheter instrument and detecting whether the end of the second mechanical arm is installed with the inner catheter instrument comprises: In response to a signal that the robotic arm has been detected to have installed the catheter instrument, the information stored in the storage chip is acquired by the reading device to determine whether the outer catheter instrument is installed at the end of the first robotic arm and to detect whether the inner catheter instrument is installed at the end of the second robotic arm.

6. The catheter robot system according to claim 2, characterized in that: The catheter robot is equipped with an image sensor, the target installation direction includes the direction of the catheter of the catheter instrument toward the guide, and the method for detecting whether the installation direction of the inner catheter instrument and the outer catheter instrument is the target installation direction includes: Detecting the installation directions of the inner catheter instrument and the outer catheter instrument on the robotic arm according to the image sensor; The installation direction is compared with the target installation direction to determine whether they are consistent, and whether the installation directions of the inner catheter device and the outer catheter device are the target installation directions.

7. The catheter robot system according to claim 6, characterized in that: The end of the mechanical arm can rotate by itself. If the installation direction of the inner catheter device and the outer catheter device is not the target installation direction, the control device is configured to: Acquire an image including the outer catheter device, the inner catheter device, and the introducer acquired by the image sensor; Determine a first deflection angle between the outer catheter device and the guide, and / or a second deflection angle between the inner catheter device and the guide according to the image; The first mechanical arm end is controlled to rotate to compensate for a first deflection angle, and / or to compensate for a second deflection angle, so that the installation directions of the outer catheter device and the inner catheter device are consistent with the target installation direction.

8. The catheter robot system according to claim 2, characterized in that: The end of the mechanical arm is provided with a force or torque sensor coupled to the control device, and the method for detecting whether the coaxiality of the inner catheter instrument and the outer catheter instrument is consistent includes: Determine that the direction in which the catheter device moves forward and backward is the axial direction of the catheter device, and the direction perpendicular to the axial direction of the catheter device is the radial direction of the catheter; Detecting the radial force in the radial direction applied to the inner catheter device and the outer catheter device by the force or torque sensor, and determining whether the coaxiality of the inner catheter device and the outer catheter device is consistent; If the radial force is less than the set threshold, the inner catheter instrument and the outer catheter instrument are at a coaxial degree, and the signal indicating device outputs an eighth identifiable signal to prompt the operator to perform the surgical operation normally; If the radial force exceeds the set threshold, the inner catheter instrument and the outer catheter instrument are not coaxial, and the signal indication device outputs a seventh identifiable signal to prompt the operator to stop the surgical operation.

9. The catheter robot system according to claim 1, characterized in that: The control device is used to detect the magnetic field distortion at the end of the catheter instrument. The method for detecting the magnetic field distortion at the end of the catheter instrument comprises: The position data of the end of the catheter instrument under the magnetic field generator is obtained by the EM sensor at the end of the catheter instrument. If the position data exceeds the valid data range of the magnetic field generator, the signal indication device outputs a ninth identifiable signal to prompt the operator to check the electromagnetic interference material in the working range and replace the catheter instrument and / or the magnetic field generator, and the ninth identifiable signal is a signal indicating an abnormal use status; or The magnetic field generator is used to detect whether electromagnetic interference exists in the working range of the catheter robot. If electromagnetic interference exists and the electromagnetic interference signal is greater than a set threshold, the signal indication device outputs a ninth identifiable signal to prompt the operator to check for electromagnetic interference substances in the working range and replace the catheter instrument and / or the magnetic field generator.

10. A control method for a catheter robot, characterized in that: The control method comprises: Detecting the use status of the robotic arm and the catheter device installed thereon; Based on the usage status, a recognizable signal is output, the recognizable signal indicating one of the following situations: whether the first robotic arm and the second robotic arm meet the instructions of preoperative preparation; An alarm for magnetic field distortion at the tip of the catheter device.

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