Catheter robot system

Abstract

The application relates to a catheter robot system, characterized in that the system comprises a mechanical arm, the mechanical arm comprising a first mechanical arm and a second mechanical arm; a control device, which is in communication connection with the mechanical arm, and is used for detecting the use state of the mechanical arm and a catheter instrument installed thereon; and a signal indicating device, which is in communication connection with the control device, is arranged at any position of the mechanical arm or the catheter, and is used for outputting identifiable signals, wherein the identifiable signals indicate the use state of the mechanical arm or the catheter instrument, and the use state indicates one of the following conditions: whether the first mechanical arm and the second mechanical arm meet the indication of preoperative preparation; and an alarm of terminal magnetic field distortion of the catheter instrument. The application can timely and accurately find the faults existing in the preoperative positioning process of the robot, quickly help to locate system faults and abnormalities, and improve the safety and reliability of the surgical robot.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a catheter robot system. BACKGROUND

[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 that surgeons only rely on subjective judgment and surgical experience to complete surgical operations, reduces surgical errors caused by human factors, and improves the success rate of surgery. Due to the complexity of the structure of the surgical robot and the uncertainty of the network environment in the working space, abnormal situations of the surgical robot may occur, and the current fault handling of the surgical robot basically adopts a post-maintenance strategy.

[0003] A large amount of data is generated during the operation of the surgical robot, which truly records and reflects the state during the actual operation. Through these data, the use state of the surgical robot can be better understood, and timely maintenance and maintenance can be performed to avoid faults of the surgical robot and ensure the safety of the operation. In order to improve the feasibility of the surgeon's operation and reduce the intraoperative failure probability, the surgical robot needs to be positioned before the operation, and the use state of each device component during the positioning process is detected in real time, and around the problems that may exist in the catheter robot system during the operation process, the positioning system fault is located and the corresponding recovery strategy is given, and a catheter robot system is provided. The present application also provides a catheter robot state monitoring system, which monitors, diagnoses and maintains the state of the hardware devices such as the main controller (handle), touch screen, drive board, slave station board, robot trolley and image trolley of the bronchoscope surgical robot, quickly helps to locate system faults and abnormal alarms, quickly responds to fault information and gives corresponding recovery strategies, and realizes unified management and maintenance of the robot. SUMMARY

[0004] Therefore, it is necessary to provide a catheter robot system that can timely and accurately find faults existing in the preoperative positioning process of the robot, improve the interactivity and safety of the surgical robot control system.

[0005] In order to achieve the above object, according to one aspect of the present application, a catheter robot system is provided, characterized in that it comprises: a mechanical arm, comprising a first mechanical arm and a second mechanical arm; a catheter instrument, coupled with the mechanical arm; a control device, communicatively connected with the mechanical arm, for detecting a use state of the mechanical arm and the catheter instrument mounted thereon; and a signal indicating device, communicatively connected with the control device, arranged at any position of the mechanical arm or the catheter instrument, for outputting an identifiable signal, wherein the identifiable signal indicates the use state of the mechanical arm or the catheter instrument, and the use state indicates one of the following: whether the first mechanical arm and the second mechanical arm meet the indication of preoperative preparation; and an alarm of magnetic field distortion at the end of the catheter instrument.

[0006] Further, the catheter instrument comprises an inner catheter instrument and an outer catheter instrument, the identifiable signal comprises a plurality of identifiable signals, and the detection of the use state of the mechanical arm and the catheter instrument mounted thereon comprises the following steps:

[0007] In response to detecting that the first mechanical arm abuts against a positioning interface of a guide connected with a patient, it is detected whether the end of the first mechanical arm is mounted with the outer catheter instrument; if the outer catheter instrument is not mounted or the inner catheter instrument is mounted, the signal indicating device outputs a first identifiable signal to prompt an operator to confirm the mounting state 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 mounted;

[0008] When the signal indicating device outputs the second identifiable signal, it is detected whether the end of the second mechanical arm is mounted with the inner catheter instrument; if the inner catheter instrument is not mounted or the outer catheter instrument is mounted, the signal indicating device outputs a third identifiable signal to prompt an operator to confirm the mounting state of the end catheter instrument of the second mechanical arm; otherwise, the signal indicating device outputs a fourth identifiable signal to prompt that the end catheter instrument of the second mechanical arm is correctly mounted;

[0009] When the signal indicating device outputs the fourth identifiable signal, it is detected whether the mounting directions of the inner catheter instrument and the outer catheter instrument are target mounting directions; if not, the signal indicating device outputs a fifth identifiable signal to prompt that the mounting directions of the inner catheter instrument and the outer catheter instrument are incorrect; if so, the signal indicating device outputs a sixth identifiable signal to prompt that the mounting directions of the inner catheter instrument and the outer catheter instrument are correct;

[0010] When the signal indicating device outputs the sixth identifiable signal, whether the coaxiality of the inner catheter instrument and the outer catheter instrument is consistent is detected, if the coaxiality is inconsistent, the signal indicating device outputs the seventh identifiable signal to prompt 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 completed and the operation can be started.

[0011] Further, the first, third, fifth and seventh identifiable signals are signals indicating abnormal use state, and the second, fourth, sixth and eighth identifiable signals are signals indicating normal use state.

[0012] Further, the catheter robot system comprises a three-dimensional vision detection component coupled with the control device, and the control device is configured to: acquire an image of the end of the first mechanical arm and the guide collected by the three-dimensional vision detection component; acquire a relative position relationship between the end of the first mechanical arm and the guide in the image; and determine that the end of the first mechanical arm abuts to the guide when the relative position relationship meets a condition, the condition comprising that the end of the first mechanical arm and the guide are in the same plane and the distance therebetween is less than a set distance threshold.

[0013] Further, the end of the mechanical arm is provided with a reading device, and the instrument box is built-in with a storage chip, and the information stored in the storage chip includes the type of catheter instrument, and the method for 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, comprising: in response to the signal that the mechanical arm has installed the catheter instrument, acquiring the information stored in the storage chip through the reading device to determine whether the end of the first mechanical arm is installed with the outer catheter instrument and whether the end of the second mechanical arm is installed with the inner catheter instrument.

[0014] Further, an image sensor is installed on the catheter robot, the target installation direction comprises a direction in which a catheter of the catheter instrument faces 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, comprising: detecting the installation direction of the inner catheter instrument and the outer catheter instrument on the mechanical arm according to the image sensor; comparing whether the installation direction and the target installation direction are consistent to determine whether the installation direction of the inner catheter instrument and the outer catheter instrument is the target installation direction.

[0015] Further, the end of the mechanical arm is rotatable, and when 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: acquire an image of the outer catheter instrument, the inner catheter instrument and the guide acquired by the image sensor; determine a first deflection angle of the outer catheter instrument and the guide and / or a second deflection angle of the inner catheter instrument and the guide according to the image; control the first mechanical arm end to rotate to compensate for the first deflection angle and / or compensate for 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 directions.

[0016] Further, the end of the mechanical arm is provided with a force or torque sensor coupled with the control device, and the method for detecting whether the coaxialities of the inner catheter instrument and the outer catheter instrument are consistent comprises: determining that the direction in which the catheter instrument advances or retreats is the axial direction of the catheter instrument, and the radial direction perpendicular to the axial direction of the catheter instrument is the radial direction of the catheter; detecting the radial force of the inner catheter instrument and the outer catheter instrument in the radial direction by the force or torque sensor to determine whether the coaxialities of the inner catheter instrument and the outer catheter instrument are consistent; if the radial force is less than a set threshold, the inner catheter instrument and the outer catheter instrument are on the same coaxiality, and the signal indicating device outputs an eighth identifiable signal to prompt the operator to normally perform the surgical operation; if the radial force exceeds the set threshold, the inner catheter instrument and the outer catheter instrument are not on 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, and the method for detecting the magnetic field distortion of the end of the catheter instrument comprises: acquiring the pose data of the end of the catheter instrument under the magnetic field generator by the EM sensor of the end of the catheter instrument, and if the pose data exceeds the effective data range of the magnetic field generator, the signal indicating device outputs a ninth identifiable signal to prompt the operator to troubleshoot 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 abnormal use state; or, detecting whether there is electromagnetic interference in the working range of the catheter robot according to the magnetic field generator, and if there is electromagnetic interference and the electromagnetic interference signal is greater than a set threshold, the signal indicating device outputs a ninth identifiable signal to prompt the operator to troubleshoot 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 application, a control method of a catheter robot, characterized in that the control method comprises: detecting a use state of the mechanical arm and the catheter instrument mounted thereon; and outputting an identifiable signal based on the use state, the identifiable signal indicating one of the following: whether the first mechanical arm and the second mechanical arm meet the indication of preoperative preparation; and an alarm of a terminal magnetic field distortion of the catheter instrument.

[0019] The catheter robot system provided by the present application can timely and accurately find the faults existing in the preoperative positioning process of the robot, quickly help locate system faults and abnormalities, and improve the safety and reliability of the surgical robot. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 A structural schematic diagram of a catheter robot provided by an embodiment of the present application is provided;

[0021] Figure 2 A structural schematic diagram of a catheter instrument and a power unit provided by an embodiment of the present application is provided;

[0022] Figure 3A A detection flowchart of a motion state of a catheter robot provided by an embodiment of the present application is provided;

[0023] Figure 3B A flowchart of detecting a use state of a mechanical arm and a catheter instrument provided by an embodiment of the present application is provided;

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

[0025] Figure 5 A flowchart of a use state monitoring process of an instrument box provided by an embodiment of the present application is provided;

[0026] Figure 6 A flowchart of detecting an enabling state of a catheter and a mechanical arm provided by an embodiment of the present application is provided;

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

[0028] Figure 8 A flowchart of detecting a key signal state of a main controller provided by an embodiment of the present application is provided;

[0029] Figure 9 A flowchart of a use state detection method of a catheter robot provided by an embodiment of the present application is provided.

[0030] Figure 10A structural schematic diagram of a control device of a catheter robot provided by an embodiment of the present application. DETAILED DESCRIPTION

[0031] For the purpose of understanding the present application, a more complete description of the present application will be made with reference to the accompanying drawings. The preferred embodiments of the present application are illustrated in the drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that the disclosure of the present application can be more thoroughly and completely understood.

[0032] It should be noted that when an element is referred to as being "on" another element, it can be directly on the other element or intervening elements can also be present. When an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements can also be present. The term "comprises" as used herein is intended to include one or more elements, components, steps, or combinations thereof. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items. The term "each" as used herein means one or more. The term "plurality" as used herein means two or more.

[0033] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. As used in the present application, the term "and / or" includes any and all combinations of one or more of the associated listed items. As used in the present application, the term "each" includes one or more. As used in the present application, the term "plurality" means two or more.

[0034] A catheter robot system according to an embodiment of the present application will be described below with reference to the accompanying drawings.

[0035] Figure 1A catheter robot system 1000 is shown. The catheter robot system 1000 includes an image cart 100, a robot cart 200 and a master 300 connected to the image cart 100, a catheter instrument 400 coupled to the robot cart 200, a sensor system 500 connected to the robot cart 200, a control device 600 for controlling the catheter instrument 400, the master 300, the sensor system 500 and the image cart 100, etc. The master 300 can be connected to the robot cart 200 by wire or wirelessly. When an operator performs various procedures on a patient beside the robot cart 200, the operator can trigger a control instruction by operating the master 300, and the catheter instrument 400 can be controlled to advance, retract, bend and turn, etc. by the robot cart 200.

[0036] The robot cart 200 can be moved to beside a surgical bed for coupling the catheter instrument 400, and controlling the catheter instrument 400 to lift in a vertical direction, to translate in a horizontal direction, or to move in a non-vertical and non-horizontal direction under a control instruction, so as to provide a better preoperative preparation angle for the operation of the catheter instrument 400. The control instruction can be triggered by the operator operating the master 300, or by the operator directly clicking or pressing a button provided on the robot cart 200. Of course, in other embodiments, the control instruction can also be a voice control or a force feedback mechanism.

[0037] As shown in FIG. 1, the catheter robot system 1000 includes the image cart 100, the robot cart 200, the master 300, the catheter instrument 400, the sensor system 500 and the control device 600, etc. Figure 1As shown, further, the robotic cart 200 can include a base 210, a sliding body 220 that can move up and down along the base 210, and a mechanical arm fixedly connected with the sliding body 220, the mechanical arm including a first mechanical arm 230 and a second mechanical arm 231. The first mechanical arm 230 and the second mechanical arm 231 can include a plurality of arm segments coupled at joints, the plurality of arm segments providing a plurality of degrees of freedom to the mechanical arm, for example, seven degrees of freedom corresponding to seven arm segments. The mechanical arm is provided with a powered portion (not shown in the figure) at the end thereof, the powered portion of the mechanical arm being used to engage the catheter instrument 400 and control the end of the catheter instrument 400 to bend and turn correspondingly under the driving action of the powered portion. The first mechanical arm 230 and the second mechanical arm 231 can be of the same structure or partially the same structure, and the catheter instrument 400 includes an inner catheter instrument 410 and an outer catheter instrument 420, the second mechanical arm 231 being used to engage the inner catheter instrument 410 and the first mechanical arm 230 being used to engage the outer catheter instrument 420. When installed, the outer catheter instrument 420 can be installed first, and when the outer catheter instrument 420 is installed, the catheter of the inner catheter instrument 410 is inserted into the catheter of the outer catheter instrument 420.

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

[0039] The image cart 100 can 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 subsystems of the sensor system 500. Real-time images of the surgical site and the catheter instrument 400 captured by the visualization system can also be displayed. Image data from imaging techniques such as computed tomography (CT), magnetic resonance imaging (MRI), optical coherence tomography (OCT), and ultrasound, etc. can also be used to present images of the preoperative or intraoperative recorded surgical site. The preoperative or intraoperative image data can be presented as two-dimensional, three-dimensional, or four-dimensional (e.g., time-based or velocity-based information) images and / or as images from models created from preoperative or intraoperative image data sets, and virtual navigation images can also be displayed. In the virtual navigation images, the actual position of the catheter instrument 400 is registered with the preoperative images to present the virtual image of the catheter instrument 400 within the surgical site to the operator from the outside.

[0040] The control device 600 comprises at least one memory and at least one processor. It can be understood that the control device 600 can be integrated into the robot trolley 200 or the image trolley 100, or can be independently arranged. The control device 600 can support wireless communication protocols such as IEEE 802.11, IrDA, Bluetooth, HomeRF, DECT, wireless telemetry, etc. The control device 600 can transmit one or more signals indicating the movement of the catheter instrument 400 moved by the power unit. The catheter instrument 400 can extend to the surgical position in the body through the opening of the natural cavity of the patient or the surgical incision.

[0041] Further, the control device 600 can comprise a mechanical control system (not shown in the figure) for controlling the movement of the catheter instrument 400, and thus can be integrated into the robot trolley 200. The image processing system (not shown in the figure) is used for virtual navigation path planning, and thus can be integrated into the image trolley 100. The image processing system can use the above-mentioned imaging technology to image the surgical site based on the images of the surgical site recorded before or during the operation. The recorded images can be converted into two-dimensional or three-dimensional composite images of part or the entire anatomical organ or segment by software that can also be used in combination with manual input. During the virtual navigation program, 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 external tracking images and internal virtual images of the patient's anatomical structure, realize the registration of the actual position of the catheter instrument 400 with the preoperative images, and thus 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 cases listed above, but can also be reasonably arranged according to actual conditions, for example, the control device is in communication connection with the mechanical arm for detecting the use state of the mechanical arm and the catheter instrument mounted thereon. The control device is used to detect the use state of each device component of the catheter robot system 1000, including the use state of the mechanical arm and the catheter instrument mounted thereon.

[0043] The internal catheter instrument 410 and the external catheter instrument 420 have substantially the same structure, each having an instrument box and an elongated flexible internal catheter 41 and an external catheter 42, wherein the diameter of the external catheter 42 is slightly larger than that of the internal catheter 41, so that the internal catheter 41 can pass through the external catheter 42 and provide certain support for the internal catheter 41, so that the internal catheter 41 can reach the target position in the patient's body to facilitate tissue or cell sampling and other operations from the target position.

[0044] Some movements of the master 300 can cause corresponding movements of the catheter instrument 400. For example, when the operator moves the direction dial of the master 300 upward or downward, the movement of the direction dial of the master 300 can be mapped to the corresponding pitching movement of the tip of the catheter instrument 400; when the operator moves the direction dial of the master 300 leftward or rightward, the movement of the direction dial of the master 300 can be mapped to the corresponding yawing movement of the tip of the catheter instrument 400. In the present embodiment, the master 300 can control the tip of the catheter instrument 400 to move within a 360° spatial range.

[0045] Figure 2 The catheter instrument 400 provided by an embodiment of the present application is shown. The catheter instrument 400 is configured to be engaged with the power part 240 of the first mechanical arm 230 and the second mechanical arm 231, and the catheter instrument 400 includes an instrument box 45 configured to be engaged with the power part 240 and a catheter 48 connected with the instrument box 45. The power part 240 has four driving wheels corresponding to four mounting hole positions of the instrument box. The “engagement” refers to a state in which, when the instrument box 45 is mounted to the power part 240, the driving force of the power part 240 can be transmitted to the instrument box 45 and can cause the catheter 48 to normally move. For example, under the action of the driving force of the power part 240, the tip of the catheter 48 can be bent and turned, etc.

[0046] The tip in the present application can also be referred to as the distal end, which refers to an end away from the instrument box 45; the front end can also be referred to as the proximal end, which refers to an 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 in communication connection with the control device, and is configured at any position of the mechanical arm or the catheter, and is used to output identifiable signals.

[0048] The signal indicating device includes a sound alarm system, a signal light, and a display screen. The sound alarm system is configured to output voice information to an operator. The signal light is configured to indicate a use state of a device component associated with the current signal light. The display screen is configured to display fault information and provide a recovery strategy. The display screen includes a display screen or a touch screen in the image trolley 100 and the robot trolley 200. The signal indicating device is configured to output identifiable signals, which include a plurality of identifiable signals. The identifiable signals indicate a use state of the mechanical arm or the catheter instrument. The use state indicates one of the following: whether the first mechanical arm and the second mechanical arm meet the indication of preoperative preparation; and an alarm of a magnetic field distortion at the end of the catheter.

[0049] In the present application, the control device is configured to detect a use state of the catheter robot system. The use state of the catheter robot includes preoperative preparation detection, intraoperative operation detection, and postoperative storage detection. The preoperative preparation of the present application refers to the movement of the robot trolley and the mechanical arm of the catheter robot before the operation, which is achieved by manual dragging or automatic adjustment driven by the system. The mechanical arm reaches a suitable placement position, such as the positioning interface of the guide connected to the patient, and keeps the installation direction of the inner catheter instrument and the outer catheter instrument correct and coaxial, which ensures the normal operation of the surgery.

[0050] As shown in Figure 3A The control device for detecting the use state of the catheter robot system includes the following steps:

[0051] In step S301, the catheter robot is positioned before the operation, and whether the first mechanical arm and the second mechanical arm meet the preoperative preparation is detected. The magnetic field distortion at the end of the catheter instrument is also detected.

[0052] During the preoperative preparation, the catheter robot needs to be moved to a position that meets the requirements of the operation before the catheter robot performs the operation, i.e., the robot is positioned. The robot can be moved to the first direction or the second direction of the operating bed in an automatic or manual manner. For example, the first direction and the second direction are usually opposite. In some embodiments, the first direction is the right direction of the operating bed relative to the catheter robot system, and the second direction is the left direction of the operating bed relative to the catheter robot system.

[0053] In one embodiment, as shown in Figure 4As shown, taking the example that the operating table is located at the right side of the catheter robot system, the operator drags the first mechanical arm 230 to abut to the positioning interface 13 of the guide 6 connected with the patient, that is, the robot end is matched with the pose of the patient guide, so that the positioning interface 11 of the instrument box connected with the mechanical arm is matched with the positioning interface 13 of the guide, and the catheter is ensured to enter the guide in the correct position and direction. After the matching is completed, at this time, the inner and outer catheters are in the same straight line at the entrance of the guide 6, and the working track always moves on the straight line, which is convenient for the development of the operation. In another embodiment, taking the example that the operating table is located at the left side of the catheter robot system, 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 with the mechanical arm is matched with the positioning interface 13 of the guide, and the robot end is matched with the pose of the guide, so as to ensure 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 with the patient, the first mechanical arm and the second mechanical arm have a master-slave motion cooperation relationship, that is, the first mechanical arm and the second mechanical arm satisfy certain constraint relationship. The master mechanical arm can realize the purpose of following the motion of the master mechanical arm by using position-based control mode and sensing the motion trend of the master mechanical arm through the force sensor. For example, when the first mechanical arm is configured as the master mechanical arm and the second mechanical arm is configured as the slave mechanical arm, the slave mechanical arm moves synchronously along the same direction following the master mechanical arm. In another embodiment, the second mechanical arm is configured as the master mechanical arm and the first mechanical arm is configured as the slave mechanical arm, and the slave mechanical arm moves synchronously along the same direction following the master mechanical arm.

[0055] In an embodiment, as shown in the figure, Figure 3B The control device is used to detect the use state of the mechanical arm and the catheter instrument installed thereon, including the following steps:

[0056] In step S3011, in response to detecting that the first mechanical arm abuts to the positioning interface of the guide connected with the patient, it is detected whether the end of the first mechanical arm is installed with the outer catheter instrument. 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 state 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 installed correctly.

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

[0058] Step S3013, when the signal indicating device outputs the fourth identifiable signal, detecting 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 the fifth identifiable signal to prompt that the installation direction of the inner catheter instrument and the outer catheter instrument is incorrect, the driving disc of the power part at the end of the mechanical arm is 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 the sixth identifiable signal to prompt 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, detecting whether the coaxiality of the inner catheter instrument and the outer catheter instrument is consistent, if the coaxiality is not consistent, the signal indicating device outputs the seventh identifiable signal to prompt 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 completed, the preoperative preparation detection is completed, and the surgical operation can be started.

[0060] The first, third, fifth, and seventh identifiable signals are signals indicating abnormal use state, and the second, fourth, sixth, and eighth identifiable signals are signals indicating normal use state. 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 by 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 state of the device 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 state, the sound system emits a voice signal prompting a fault, or the signal light indicates red or yellow, or the display screen pops up fault signal information. When the second, fourth, sixth, and eighth identifiable signals are signals indicating normal use state, the sound system emits a voice signal indicating normal use, or the signal light indicates green, or the display screen pops up information indicating normal use.

[0061] In an embodiment, in step S3011, the catheter robot system includes a three-dimensional vision detection assembly coupled with the control device, and the control device is configured to acquire an image including the end of the first mechanical arm and the positioning interface of the guide collected by the three-dimensional vision detection assembly, and acquire a relative position relationship between the end of the first mechanical arm and the positioning interface of the guide according to the image. When the relative position relationship meets a condition, it is determined that the end of the first mechanical arm abuts against the positioning interface of the guide. 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 them 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 an embodiment, when the operating table is located in the right direction of the catheter robot system in steps S3011 and S3012, the end of the mechanical arm is provided with a reading device, the catheter instrument includes an instrument box, the instrument box is provided with a storage chip built-in in the instrument box, and information stored in the storage chip includes the type of the catheter instrument. Wherein, the method for detecting whether the first mechanical arm 230 is installed with the outer catheter instrument 420 and the second mechanical arm 231 is installed with the inner catheter instrument 410 includes: in response to the signal that the mechanical arm has installed the catheter instrument, acquiring the information stored in the storage chip through the reading device, and determining whether the end of the first mechanical arm is installed with the outer catheter instrument and the end of the second mechanical arm is installed with the inner catheter instrument.

[0063] In actual operation, it is not excluded that the first mechanical arm 230 and the second mechanical arm 231 are both installed with the inner catheter instrument 410 or both installed with the outer catheter instrument 420. In order to avoid the occurrence of erroneous operation, when it is detected that the first mechanical arm 230 is not installed with the outer catheter instrument 420 or the second mechanical arm 231 is not installed with the inner catheter instrument 410, the signal indicating device of the catheter robot outputs an identifiable signal to remind the operator to reinstall. If it is detected that the first mechanical arm is installed with the outer catheter and the second mechanical arm is installed with 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 in the left direction of the catheter robot system, the end of the mechanical arm is provided with a reading device, the catheter instrument includes an instrument box, the instrument box is provided with a storage chip built-in in the instrument box, and 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 is installed with the inner catheter instrument and the second mechanical arm 231 is installed with the outer catheter instrument. If it is detected that the first mechanical arm is not installed with the inner catheter instrument or the second mechanical arm is not installed with the outer catheter instrument, the signal indicating device outputs an identifiable signal, and the identifiable signal indicates the operator to install the catheter instrument. If it is detected that the first mechanical arm is installed with the inner catheter instrument and the second mechanical arm is installed with 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 an embodiment, in step S3013, the catheter robot is provided 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 comprises: determining that the direction in which the catheter instrument moves forward towards the guide is the target installation direction, for example, when the operating bed is located on the right side of the catheter robot system, the direction in which the catheter instrument moves forward towards the guide connected to the patient is the target installation direction, and at this time, the target installation direction is the horizontal right direction. When the operating bed is located on the left side of the catheter robot system, the direction in which the catheter instrument moves forward towards the guide connected to the patient is the target installation direction, and at this time, the target installation direction is the horizontal left direction. The installation direction of the inner catheter instrument and the outer catheter instrument on the mechanical arm is detected according to the image sensor, and whether the installation direction is consistent with the target installation direction is compared to determine whether the installation direction of the inner catheter instrument and the outer catheter instrument is the target installation direction.

[0066] In an embodiment, the catheter robot is provided with an installation direction input module, and the installation direction of the catheter instrument on the mechanical arm is obtained by the installation direction input module. The installation direction input module can be a button, a touch screen, a voice module, etc., so that the installation direction can be input to the catheter robot by manual operation to confirm the installation direction.

[0067] In an embodiment, the end of the mechanical arm can rotate, and when 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: acquire an image including the outer catheter instrument, the inner catheter instrument, and the guide collected by the image sensor; 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 end of the first mechanical arm to rotate to compensate for the first deflection angle and / or 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. 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 direction of the outer catheter instrument and the inner catheter instrument is consistent and both are the target installation direction.

[0068] In an embodiment, in step S3014, the end of the mechanical arm is provided with a force or torque sensor coupled with the control device, the method of detecting whether the coaxiality of the inner catheter instrument and the outer catheter instrument is consistent comprises: determining that the direction of the catheter instrument advancing or retreating is the axial direction of the catheter instrument, and the direction perpendicular to the axial direction of the catheter instrument is the radial direction of the catheter instrument; detecting the radial force of the inner catheter instrument and the outer catheter instrument in the radial direction by the force or torque sensor to determine 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, the inner catheter instrument and the outer catheter instrument are in one coaxiality, and the signal indicating device outputs an eighth identifiable signal to prompt the operator to normally perform the intraoperative operation; if the radial force exceeds the set threshold, the inner catheter instrument and the outer catheter instrument are not in one 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] To avoid the inconsistency of the coaxiality of the inner catheter instrument and the outer catheter during the entire operation, which affects the transmission of the surgical instrument and damages the bronchial wall tissue during the transmission of the inner catheter instrument and the outer catheter instrument, it is necessary to keep the first mechanical arm 230 and the second mechanical arm 231 in a flat posture, that is, to keep the posture of the first mechanical arm 230 and the second mechanical arm 231 consistent in the unified world coordinate system, and the positional relationship satisfies that the ends of the inner catheter instrument and the outer catheter instrument are flush, that is, the inner catheter instrument extends out of the outer catheter instrument by a proper distance, for example, the inner catheter instrument just extends out of the outer catheter instrument by 5 mm, and the directions of the inner catheter instrument and the outer catheter instrument are consistent and are both the target installation direction, and the coaxiality of the inner catheter instrument and the outer catheter instrument is consistent. In an embodiment, the consistency of the coaxiality of the inner catheter instrument and the outer catheter instrument comprises 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 perpendicular 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 an embodiment, in the preoperative preparation stage, the identifiable signal output by the signal indication device further includes an alarm indicating magnetic field distortion at the end of the catheter instrument. The control device is used to detect the magnetic field distortion at the end of the catheter instrument, and the method for detecting the magnetic field distortion at the end of the catheter instrument includes: acquiring the pose data of the end of the catheter under the magnetic field generator through the EM sensor at the end of the catheter, and if the pose data exceeds the effective data range of the magnetic field generator, 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 and / or the magnetic field generator, and the ninth identifiable signal is a signal indicating abnormal use state. Alternatively, the method for detecting the magnetic field distortion at the end of the catheter instrument includes: detecting whether there is electromagnetic interference in the working range of the catheter robot according to the magnetic field generator, and if there is electromagnetic interference 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 and / or the magnetic field generator.

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

[0072] Step S302: globally planning a path for the mechanical arm in the working space to determine the path planning space of the mechanical arm.

[0073] The control device is used to perform working space verification detection on the mechanical arm, which includes globally planning a path for the mechanical arm to determine the path planning space of the mechanical arm and determining the total travel of the mechanical arm. The global path planning is motion path pre-planning, which can also be called offline planning. After the preoperative positioning is completed, the first mechanical arm 230 and the second mechanical arm 231 during the operation need to be pre-planned for the motion path to keep the total travel of the mechanical arm able to meet the requirement that the internal and external catheter instruments can reach any position in the bronchus of a normal adult, for example, the total travel of the mechanical arm can reach 500 mm.

[0074] Step S303: performing working space verification detection according to the path planning space.

[0075] After the first mechanical arm 230 and the second mechanical arm 231 complete the motion path pre-planning, the path planning space of the mechanical arm needs to be checked and detected in the intraoperative operation process. In this application, the starting point of the motion path pre-planning of the first mechanical arm 230 and the second mechanical arm 231 is defined as the alignment position, and the end point of the motion path pre-planning is the retreat position. According to the alignment position and the retreat position output by the motion path pre-planning, the path planning space passed by the first mechanical arm 230 and the second mechanical arm 231 is checked and detected in space to determine whether it meets the requirements of the catheter robot motion. The space checking and detection includes joint space limiting, joint space speed limiting, Cartesian space limiting, Cartesian space speed limiting, singularity point, collision detection, etc.

[0076] In this application, the singularity point refers to the position where the mechanical arm loses one or more degrees of freedom. Due to the structural characteristics of the mechanical arm, there is a singularity point problem in the running process. When the mechanical arm is at the singularity point, the mechanical arm will lose one or more degrees of freedom and cannot realize some movements. If you want to continue to move, the required joint speed will be very large or even tend to infinity, resulting in loss of control.

[0077] Further, according to the degrees of freedom of the catheter robot motion, the working space is divided into free space, reachable space and unreachable space.

[0078] When the first mechanical arm 230 and the second mechanical arm 231 move in the free space, no signal indicating device output recognizable signal will be triggered due to space limiting and unreachable planning path point. If the first mechanical arm 230 and the second mechanical arm 231 exist interference and collision, the signal indicating device will output the signal of abnormal use state and provide recovery strategy. For example, display the fault information in the display screen and provide the recovery strategy: “1. The mechanical arm is about to collide, all robot functions have been disabled. 2. To solve this problem, please unload the bronchoscope first, and move the mechanical arm to a reasonable working range; 3. Click

Confirm

[0079] When the first mechanical arm 230 and the second mechanical arm 231 move in the reachable space, if there is a singularity point triggering unreachable planning path point, or because the first mechanical arm 230 and the second mechanical arm 231 exist interference and collision, the signal indicating device will output the signal of abnormal use state. When the first mechanical arm 230 and the second mechanical arm 231 exceed the set motion range of the joint space and the Cartesian space, that is, the first mechanical arm 230 and the second mechanical arm 231 are in the unreachable space, the signal indicating device related to the space limiting will output the recognizable signal.

[0080] Further, the catheter robot has a motion speed constraint in the workspace during motion, and the motion constraint in the joint space is angular velocity, angular acceleration or angle limit. When the angular velocity, angular acceleration or angle of the shaft joint of the catheter robot exceeds the limit value, the signal indicating device outputs a signal indicating that the related overspeed use state is abnormal. The motion constraint in the Cartesian space is linear speed limit. When the linear speed of the catheter robot in the Cartesian space exceeds the limit value, the signal indicating device outputs a signal indicating that the related use state is abnormal.

[0081] In step S304, local path planning is performed according to the overlapping region of the workspace of the robot arm, and whether the robot arm has a collision is detected.

[0082] During the intraoperative operation, the motion path of the robot needs to be planned in advance. Local path planning, also referred to as online planning, is performed according to the overlapping region of the workspace of the first robot arm 230 and the second robot arm 231. According to whether the first robot arm and the second robot arm enter the overlapping region of the workspace during motion, it is determined whether the first robot arm and the second robot arm have a collision trend. If the first robot arm 230 and the second robot arm 231 have a collision trend, the control device triggers the collision detection module, and the catheter robot adjusts 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 robot arm exceeds a second threshold value, it is determined whether the first robot arm and the second robot arm have an interference collision. The second external force is the interaction force between the first robot arm and the second robot arm, and the second threshold value is the minimum force value at which the first robot arm and the second robot arm collide. If there is an interference collision, the surgical robot is triggered to stop moving urgently, and the signal indicating device outputs a signal indicating that the use state is abnormal. The force sensor includes a six-dimensional force sensor arranged at the end of the instrument box. When the force sensor detects that the external force load is too large, the surgical robot is triggered to stop moving urgently, and the signal indicating device outputs a signal indicating that the use state is abnormal. Alternatively, according to whether the current change of the driving mechanism of the first robot arm and the second robot arm exceeds a set threshold value, it is determined whether the first robot arm and the second robot arm have an interference collision. If there is an interference collision, the robot is triggered to stop moving urgently, and the signal indicating device outputs a signal indicating that the use state is abnormal.

[0084] In step S305, after the operation, the catheter robot system is detected by a one-key shutdown button, and a storage path planning detection is performed.

[0085] During the postoperative operation, the control device is also used for one-key shutdown button detection, robot arm storage detection, storage path planning detection, etc.

[0086] In some other embodiments, the control device is further configured to detect the usage state of the catheter instrument before the surgical operation, including: instrument box positioning state, one-key pre-tightening, instrument self-checking, catheter movement force feedback detection, catheter movement space limiting alarm, catheter steel wire detection, etc.

[0087] In the positioning state detection process of the instrument box, the positioning state in the present application refers to whether the installation hole position of the instrument box and the driving wheel at the end of the power part can be matched. Please refer to Figure 2 As shown in the figure, the catheter instrument 400 includes an instrument box 45 configured to engage with the power part 240 and a catheter 48 connected with the instrument box 45. The catheter instrument 400 includes an inner catheter instrument 410 including an instrument box 45 and an inner catheter 41, and an outer catheter instrument 420 including an instrument box 45 and an outer catheter 42. The motor end of the power part 240 has four driving wheels, and the instrument box is provided with four installation hole positions corresponding to the four driving wheels. When the motor end driving wheel and the instrument box hole position are completely matched, the catheter steel wire can be driven to be tensioned and relaxed by the motor in the power part 240, so as to control the bending and turning of the end of the catheter 48.

[0088] Referring to Figure 5 , Figure 5 The figure is a process flow diagram of the usage state monitoring process of the instrument box in the present application, which includes the following steps:

[0089] Step S501, the motor in-place detection sensor configured on the instrument box starts to detect the positioning state of the instrument box.

[0090] Step S502, when the motor end driving wheel of the power part rotates to the four installation hole positions of the instrument box, it is detected whether all the motors are popped up, 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-place detection sensor outputs a high-level signal to the controller through DO.

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

[0093] Step S504, stop the motor rotation, and the signal indicating device outputs a recognizable signal to prompt the instrument box positioning success.

[0094] Step S505, the guide wire is pre-tightened.

[0095] After the instrument box is searched for multiple times, the guide wire may be loose. To ensure the accuracy of the subsequent bending and steering control of the guide wire end, the guide wire needs to be pre-tightened before the bending and steering control. In an embodiment, the success of the pre-tightening of the guide wire of the guide wire is determined according to the speed threshold or the rotation angle threshold of the motor of the power unit in the motor torque mode. When the system detects that the speed of the motor remains in the speed threshold range or remains at the minimum value of the set speed within a set time, the pre-tightening of the guide wire of the guide wire is successful. If the speed of the motor does not remain in the speed threshold range within the set time, that is, the speed of the motor is always changing but does not reach the set threshold range within the set time, the pre-tightening of the guide wire of the guide wire fails, and the reason for the failure is that the guide wire of the guide wire is broken. In addition, the rotation angle threshold of the motor can also be set, and the encoder is used to measure the rotation angle value of the motor. If the rotation angle value of the motor exceeds the set angle threshold of the guide wire of the guide wire, the pre-tightening fails.

[0096] Step S506, the high level signal of the motor springing up is not detected, and the signal indication device outputs a recognizable signal to prompt that the instrument box fails to search.

[0097] Further, if the high level signal of the motor springing up cannot be detected after the motor searches for multiple times, that is, the in-place signal of the motor cannot be detected, it indicates that the driving wheel at the end of the motor and the mounting hole of the instrument box are not completely matched. At this time, the system signal indication device outputs an alarm information to prompt that the instrument box fails to search, and displays the fault information in the display screen, for example, “check whether the installation hole angle of the installation of the instrument box is within the searching range” or provides a recovery strategy, such as “please follow the following steps to troubleshoot: 1. remove the instrument box; 2. reinstall the instrument box; 3. if the problem is not solved after multiple operations, please contact the manufacturer for support”. After the problem is solved, the pop-up box disappears.

[0098] During the searching process of the instrument box, if the driving wheel at the end of the motor and the mounting hole of the instrument box are not completely matched, and the high level signal of the motor in place is not set up, the motor continues to rotate to search. To prevent the guide wire from being broken due to excessive torque of the motor during the multiple searching process, a force or torque sensor coupled with the control device is arranged at the end of the mechanical arm. 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 that the torque is too large during the searching process and the searching fails.

[0099] In some embodiments, the recognizable signal output by the signal indicating device further comprises a state indicating that the temperature of the instrument box is too high, and the end of the mechanical arm is provided with a temperature sensor coupled to the control device, and 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 the preoperative detection of the catheter instrument is completed, the use state of the catheter instrument and the mechanical arm needs to be detected before starting the intraoperative operation.

[0101] Please refer to Figure 6 , Figure 6 For the flowchart of the detection process of the control device on the enable state of the catheter instrument and the mechanical arm, the following steps are included:

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

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

[0104] When the enable state of the catheter and the 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. For example, when the driver is abnormal, the driver of the mechanical arm shaft outputs a recognizable signal or the driver of the catheter shaft outputs a recognizable signal.

[0105] Step S603, the system performs fault recovery, automatically resets and re-enables.

[0106] If the state of the driver is abnormal, it is determined that the driver of the mechanical arm or the catheter instrument has a fault, and the system automatically resets and re-enables, and displays the fault information in the display screen: "Please follow the following steps to troubleshoot, click

Reset

[0107] Step S604, the system performs four-way bending operation on the catheter instrument and reciprocating forward and backward movement on the mechanical arm.

[0108] When the enable states of all shafts of the mechanical arm and the catheter instrument are normal, that is, the motor drivers of the mechanical arm and the catheter instrument can normally drive, the system further performs a four-way bending operation on the catheter instrument, detects whether the bending direction and the bending angle of the catheter meet the operation requirements, and performs a reciprocating forward and backward movement on the mechanical arm to detect whether the movement speed and the movement stroke of the mechanical arm meet the operation requirements.

[0109] In an embodiment, during the intraoperative navigation process, the control device of the catheter robot is further configured to detect the feedback of the catheter movement force. The catheter movement force feedback detection includes catheter forward and backward force feedback detection and catheter bending and turning force feedback detection. A force sensor is arranged at the end of the instrument box, which is a six-dimensional force sensor and can detect the force change of the catheter end. When the force sensor detects that the first external force of the catheter end exceeds a first threshold value, the catheter is prompted to perform a backward movement and automatically performs a backward strategy to avoid the catheter scratching inside the bronchus and causing tissue damage. The first external force of the catheter end includes the interaction force between the catheter end or the surgical instrument and the organ tissue, and the first threshold value is the external force value set to avoid the catheter scratching the tissue inside the bronchus.

[0110] In an embodiment, during the operation process, the control device of the catheter robot system is further configured to detect the use state of the catheter steel wire. The use state detection of the catheter steel wire includes catheter steel wire loosening detection and steel wire breaking detection. When the catheter bends and turns, the use state of the catheter steel wire is detected according to the current change of the motor. If a sharp current is generated, it indicates that the steel wire of the catheter is broken. If a slow current change is generated, it indicates that the steel wire of the catheter is loosened. When the catheter steel wire is loosened or broken, the system prompts an alarm. For example, when the steel wire of the catheter is broken, the system displays fault information in the display screen, such as: “Please follow the steps below to troubleshoot: 1. All robot functions are disabled; 2. The catheter steel wire is broken. Please uninstall and replace the equipment.” The prompt information disappears until the problem is solved.

[0111] As Figure 7As shown, the present application also provides a catheter robot state monitoring system, which comprises 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 in communication connection with the data monitoring module 702 through a communication interface. The data acquisition module 701 is used to acquire the running data of each device component and transmit the running data to the data monitoring module 702. The data monitoring module 702 processes the running data, determines the state information of each device component, and updates the state of each device component. The data diagnosis module 703 is in communication connection with the data monitoring module 702 through a communication interface. The data diagnosis module 703 comprises a fault diagnosis module. The fault diagnosis module extracts abnormal data from the running data, judges the fault type according to the abnormal data, and provides a recovery strategy. 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, etc.

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

[0113] When the device component is a main controller, the running data can include the communication connection state, the key signal state, the rocker signal state and other data of the main controller. When the device component is a catheter instrument, the running data can include the motor in-place state of the instrument box, the catheter wire rope state, the catheter position state, the motor torque obtained by the torque sensor, the rotation angle obtained by the absolute value encoder, the inclination angle and acceleration obtained by the inertia 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 device component is a mechanical arm, the running data can include the motion space, the motion speed, the motion trajectory and other data of the mechanical arm. The above-mentioned surgical robot device components are only exemplary, and the present specification is not limited thereto.

[0114] The data monitoring module 702 comprises device component monitoring sub-modules, which perform multi-level data processing on the operation data of each device component while performing real-time operation data exchange, process the data into state information corresponding to each module, and monitor the state of each module. Due to the large number of device component monitoring sub-modules and device monitoring points, in some embodiments, when monitoring data in the management background, a system software of a database deployed locally or remotely can be used, and the monitoring data of each device component sub-module can be freely selected when operating the software to understand the state information of each device component.

[0115] In some embodiments, before performing the surgical operation, the catheter robot monitoring system further comprises a device for detecting the usage state of each device component of the catheter robot system 1000, such as the main controller, the touch screen, the lifting table, and the image trolley. The usage state detection of the lifting table includes the EtherCAT network connection state of the lifting table, the positive and negative soft limit of the lifting table, and the equipment state of the lifting table motor shaft fault. The usage state detection of the image trolley includes the TCP / IP network communication connection state of the image trolley, the image trolley key signal detection, and the image trolley command detection.

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

[0117] When detecting the EherCAT communication connection state, if the system software of the database deployed locally or remotely detects EtherCAT communication abnormalities, it is determined that the main controller has failed, the signal indicating device outputs a recognizable signal, and provides a prompt for recovery strategy in the display screen. For example, when the EherCAT communication connection state of the main controller is abnormal, the signal indicating device outputs a recognizable signal, and a fault prompt is performed in the display screen: "Please check whether the software configuration and physical connection are normal" or "communication failure, please restart the system", and the duration of the fault prompt automatically disappears until the fault information is solved. The display screen is the display screen or touch screen in the image trolley 100 or the robot trolley 200.

[0118] The detection method of the key signal of the main controller 300 is, for example, Figure 8As shown. Among them, the main controller board is connected with the slave station board 700 through the CAN bus communication interface of the main controller 300, the main controller 300 serves as an input reporting device component, and the change of the key will trigger the reporting. The main controller 300 transmits running data to the slave station board 700, which has six types of CAN message data, including four remote sensing ADCs, fourteen matrix keys, and remote sensing independent keys. Among them, the four remote sensing ADCs are the joystick ADC1 / ADC2 / ADC3 / ADC4 of the main controller, which represent the voltage sampled by the ADC corresponding to the stroke of the X-axis and Y-axis of the joystick; the fourteen matrix keys represent that the keys of the main controller can be scanned through the matrix, supporting fourteen key detection; the remote sensing independent key represents that the main controller 300 supports the pressing operation, and the key is set as an independent IO, which is normally high and low when pressed. After receiving the running data through the Socket CAN communication interface, the slave station board 700 saves the key value into the Beckhoff register 800 through the EtherCAT communication interface, and reports the running data to the Beckhoff controller 800 through the EtherCAT communication interface, wherein sUINT is an unsigned integer, which is a data type defined by EtherCAT communication. The touch screen 900 accesses the Beckhoff controller through TCP / IP, and obtains the key value through request key, and displays the reported key value state information in real time, that is, responds to the data through response key, and judges whether the key function is valid through the state change of the key color. Among them, the key color is not limited here, as long as the color of the key is inconsistent when pressed and released, for example, the key color is green when pressed and gray when released.

[0119] In an embodiment, the control device is used to detect the use state of the touch screen, including detecting the communication connection state between the touch screen and the Beckhoff controller. The touch screen is the main entrance of the operation control system, and the touch screen as the main console maintains the commands, states and parameters required for the operation of the surgical robot system. The control device is used to detect the key signal, light display, temperature, TCP / IP network communication connection state of the touch screen, command check, system use state, system parameter verification, etc. of the touch screen. For example, if the system software deployed in the local or remote database detects that the TCP communication connection between Beckhoff and the touch screen is abnormal, the signal light output of the signal indicating device can identify the signal, and a fault prompt is given in the display screen, such as "TCP communication is abnormal, please check whether the software configuration and physical connection are normal" or "communication failure, please restart the system", and the display time lasts until the fault information disappears automatically.

[0120] As shown in Figure 9 According to the state monitoring system of the catheter robot, the application provides a use state detection method of the catheter robot, which comprises the following steps:

[0121] Step S901, obtaining the running data of the device component, determining the state information of the device component, and monitoring the use state of the device component.

[0122] Step S902, extracting abnormal data from the running data, and classifying the faults based on the fault diagnosis module.

[0123] The data diagnosis module is configured with a fault diagnosis module and a fault emergency mechanism module, and is composed of an internal database and analysis software, and is used for processing and analyzing the device running data, and diagnosing the faults. When the device runs abnormally, the fault diagnosis module extracts abnormal data from the running data, i.e. the abnormal data is a signal indicating an abnormal use state 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 application classifies the faults as: recoverable faults and non-recoverable faults.

[0125] Among them, the recoverable faults include general prompts, low-priority faults, and medium-priority faults. Further, the general prompts represent guiding information in the operation process and prompt information after the operation is completed. The general prompts will not affect the normal operation of the operation and will not endanger the safety of the patient.

[0126] Further, the low-priority fault represents that the occurrence of the device component problem needs to attract the attention of the operator, but the hazard level is low, which will not affect the normal operation of the operation and will not endanger the safety of the patient, and does not need to remove the catheter instrument.

[0127] Further, the medium-priority fault represents that the occurrence of the device component problem needs to attract the attention of the operator, but the hazard level is low, which will not affect the normal operation of the operation and will not endanger the safety of the patient, and needs to remove all catheter instruments.

[0128] Among them, the non-recoverable fault includes high-priority fault, which represents that the occurrence of the device component problem has potential danger, which will endanger the safety of the patient, and needs to restart the surgical robot system.

[0129] Step S903, based on the emergency mechanism module inside the system, responding quickly to different types of faults, executing the emergency mechanism associated with the fault type and throwing the abnormal data. Among them, the fault emergency mechanism module is used to respond quickly to system faults and throw abnormal data to avoid damage to equipment and personnel due to running abnormally.

[0130] In an 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 a fault code of the device component associated with the abnormal data according to the abnormal data, and uploads the fault code to the alarm management module. The device component corresponding to the fault code can be determined by the fault code.

[0132] S905, the alarm management module transmits the fault code to an internal solution module, and data in the solution module match the fault code to output a solution associated with the fault code.

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

[0134] S907, it is judged whether the fault is cleared. If the fault is cleared, the recovery operation can continue. If the fault is not cleared, the step S902 is returned to continue the fault processing operation.

[0135] The application can realize unified management and maintenance of peripheral device hardware, quickly help locate system faults and abnormalities, and manage faults through logs and alarm information, and give response and solution.

[0136] The application can monitor the state and fault information of the surgical robot in real time, improve the safety and reliability of the surgical robot.

[0137] Please refer to Figure 10 The application embodiment further provides a control device of the catheter robot, which shows a structural schematic diagram of the control device of the catheter system provided by an embodiment of the application. As Figure 10 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 through the bus 62. The memory 61 stores computer program instructions executable by the processor 60, and the processor 60 executes the computer program instructions to specifically execute the related steps in the above method embodiments.

[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 interface 63 (which can be wired or wireless) realizes the communication connection between the device network element and at least one other network element, and the Internet, a wide area network, a local network, a metropolitan area network, etc. can be used.

[0139] The bus 62 can be an ISA bus, a PCI bus, an EISA bus, or the like. The bus can be divided into an address bus, a data bus, a control bus, and the like. The memory 61 is configured to store a program, and the processor 60 executes the program after receiving an execution instruction. The registration method of the catheter robot disclosed in any of the embodiments of the present application can be applied to or implemented by the processor 60.

[0140] The processor 60 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), or the like. The processor 60 can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component. The processor 60 can implement or execute the disclosed methods, steps, and logic block diagrams in the embodiments of the present application. The general-purpose processor can be a microprocessor or any conventional processor. The one or more processors of the control device can be the same type of processor, such as one or more CPUs, or different types of processors, such as one or more CPUs and one or more GPUs.

[0141] The embodiments of the present application also provide a computer-readable storage medium having computer program instructions stored thereon, wherein the computer program instructions, when executed by a processor, implement the detection of the use state of the catheter robot provided by any of the preceding embodiments, including the implementation of the use state diagnosis of the mechanical arm and the catheter instrument mounted thereon. It should be noted that examples of the computer-readable storage medium can include, but are not limited to, optical discs, phase change memories (PRAM), static random access memories (SRAM), dynamic random access memories (DRAM), other types of random access memories (RAM), read-only memories (ROM), electrically erasable programmable read-only memories (EEPROM), flash memories, or other optical or magnetic storage media, which will not be described one by one here.

[0142] The computer program includes computer program code, which can be in the form of source code, object code, executable code, or some intermediate form. The computer readable medium can include any entity or apparatus, record medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium, etc. capable of carrying the computer program code. It should be noted that the contents included in the computer readable medium can 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, the computer readable medium does not include electrical carrier signals and telecommunication signals.

[0143] The embodiments of the present application provide a computer program product, when the computer program product runs on the mobile terminal, causes the mobile terminal to execute the steps of the methods in the above embodiments.

[0144] It should be noted that:

[0145] In the specification provided herein, a large number of specific details are described. However, it can be understood that the embodiments of the present application can be practiced without these specific details. In some examples, well-known structures and techniques are not shown in detail in order not to obscure the understanding of the present specification.

[0146] Similarly, it should be understood that, in order to simplify 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, various features of the present application are sometimes grouped together in a single embodiment, figure, or description thereof. However, this method of disclosure should not be interpreted as reflecting an intention that the claimed application requires more features than those explicitly claimed in each claim. Rather, the inventive aspects are directed to less than all of the features of the single embodiment disclosed above. Therefore, the claims following the detailed description are hereby expressly incorporated into this detailed description, wherein each claim is a separate embodiment of the present application.

[0147] The above-described embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements for some technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A catheter robot system, characterized by It includes: A mechanical arm, the mechanical arm includes a first mechanical arm and a second mechanical arm; A catheter instrument, the catheter instrument is connected with the mechanical arm; A control device, the control device is connected with the mechanical arm, and is used for detecting the use state of the mechanical arm and the catheter instrument installed thereon; A signal indicating device, the signal indicating device is connected with the control device, and is arranged at any position of the mechanical arm or the catheter instrument, and is used for outputting identifiable signals, wherein the identifiable signals indicate the use state of the mechanical arm or the catheter instrument, and the use state indicates one of the following conditions: Whether the first mechanical arm and the second mechanical arm meet the indication of preoperative preparation; The end magnetic field distortion of the catheter instrument; The catheter instrument includes an inner catheter instrument and an outer catheter instrument, the identifiable signals include a plurality of identifiable signals, and the detection of the use state of the mechanical arm and the catheter instrument installed thereon includes the following steps: In response to detecting that the first mechanical arm abuts to the positioning interface of the guide connected with the patient, it is detected whether the end of the first mechanical arm is installed with the outer catheter instrument; 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 state 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 end of the second mechanical arm is installed with the inner catheter instrument; 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 state of the end catheter instrument of the second mechanical arm; otherwise, the signal indicating device outputs a fourth identifiable signal to prompt that the end catheter instrument of the second mechanical 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 instrument and the outer catheter instrument is the target installation direction; if it is not the target installation direction, the signal indicating device outputs a fifth identifiable signal to prompt that the installation direction of the inner catheter instrument and the outer catheter instrument is incorrect; if it is the target installation direction, the signal indicating device outputs a sixth identifiable signal to prompt that the installation direction of the inner catheter instrument and the outer catheter instrument is correct; When the signal indicating device outputs the sixth identifiable signal, it is detected 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 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 completed, and the surgical operation can be started; The control device is used for detecting the magnetic field distortion of the end of the catheter instrument, and the method for detecting the magnetic field distortion of the end of the catheter instrument includes: The electromagnetic sensor at the end of the catheter instrument acquires pose data of the end of the catheter instrument under the magnetic field generator, and if the pose data exceeds the effective data range of the magnetic field generator, the signal indicating device outputs a ninth identifiable signal to prompt the operator to troubleshoot electromagnetic interference substances in the working interval, and replace the catheter instrument and / or the magnetic field generator, and the ninth identifiable signal is a signal indicating abnormal use state; or, The magnetic field generator detects whether there is electromagnetic interference in the working interval of the catheter robot, and if there is electromagnetic interference and the electromagnetic interference signal is greater than a set threshold, the signal indicating device outputs a ninth identifiable signal to prompt the operator to troubleshoot electromagnetic interference substances in the working interval, and replace the catheter instrument and / or the magnetic field generator.

2. The catheter robot system of claim 1, wherein, The first, third, fifth, and seventh identifiable signals are signals indicating abnormal use state, and the second, fourth, sixth, and eighth identifiable signals are signals indicating normal use state.

3. The catheter robot system of claim 1, wherein, The catheter robot system comprises a three-dimensional visual detection assembly coupled to the control device, and the control device is configured to: acquire an image of the end of the first mechanical arm and the guide collected by the three-dimensional visual detection assembly; acquire a relative positional relationship between the end of the first mechanical arm and the guide in the image; when the relative positional relationship meets a condition, determine that the end of the first mechanical arm abuts against the guide, and the condition includes that the end of the first mechanical arm and the guide are in the same plane and the distance therebetween is less than a set distance threshold.

4. The catheter robot system of claim 1, wherein, The catheter instrument comprises an instrument box engaged with the power part of the mechanical arm; the end of the mechanical arm is provided with a reading device, and the instrument box is internally provided with a storage chip, and the information stored in the storage chip includes the type of the catheter instrument; the method for 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 the signal that the mechanical arm has installed the catheter instrument, acquiring the information stored in the storage chip through the reading device to determine whether the end of the first mechanical arm is installed with the outer catheter instrument and whether the end of the second mechanical arm is installed with the inner catheter instrument.

5. The catheter robot system of claim 1, wherein, The catheter robot is provided with an image sensor, the target installation direction includes the direction of the catheter of the catheter instrument towards 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, comprises: detecting the installation direction of the inner catheter instrument and the outer catheter instrument on the mechanical arm according to the image sensor; comparing whether the installation direction and the target installation direction are consistent to determine whether the installation direction of the inner catheter instrument and the outer catheter instrument is the target installation direction.

6. The catheter robot system of claim 5, wherein, The end of the mechanical arm can rotate, and 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: acquiring an image of the outer catheter instrument, the inner catheter instrument and the guide acquired by the image sensor; determining a first deflection angle of the outer catheter instrument and the guide and / or a second deflection angle of the inner catheter instrument and the guide according to the image; controlling the first mechanical arm to rotate to compensate for the first deflection angle and / or compensating 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.

7. The catheter robot system of claim 1, wherein, The end of the mechanical arm is provided with a force sensor or torque sensor coupled with the control device, and the method for detecting whether the coaxiality of the inner catheter instrument and the outer catheter instrument is consistent comprises: determining that the direction of the catheter instrument advancing and retreating is the axial direction of the catheter instrument, and the radial direction of the catheter is perpendicular to the axial direction of the catheter instrument; detecting the radial force of the inner catheter instrument and the outer catheter instrument in the radial direction by the force sensor or torque sensor, and determining 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, the inner catheter instrument and the outer catheter instrument are in one coaxiality, and the signal indicating device outputs an eighth identifiable signal to prompt the operator to normally perform the surgical operation; if the radial force exceeds the set threshold, the inner catheter instrument and the outer catheter instrument are not in one coaxiality, and the signal indicating device outputs a seventh identifiable signal to prompt the operator to stop the surgical operation.

8. A control method of a catheter robot according to any one of claims 1 to 7, characterized by, The control method comprises: detecting the use state of the mechanical arm and the catheter instrument installed thereon; based on the use state, outputting an identifiable signal, the identifiable signal indicating one of the following conditions: whether the first mechanical arm and the second mechanical arm meet the indication of preoperative preparation; warning of the end magnetic field distortion of the catheter instrument.

Images