Catheter instrument and catheter system

Abstract

An instrument box of the catheter instrument comprises a plurality of driving wheels, one end of a driving wire is fixed to the driving wheels, and the other end of the driving wire extends along a flexible main body and is fixed to the tail end of the flexible main body; the plurality of driving wheels comprise a wire pulling wheel and a wire releasing wheel; the meshing mechanism is at least arranged on the pay-off wheel and can enable the pay-off wheel and the power part to be switched between a meshing state and a non-meshing state; one end of the tensioning mechanism is connected with the bottom frame, and the other end of the tensioning mechanism is fixedly connected with the pay-off wheel, so that a driving wire on the pay-off wheel is kept in a tensioning state, and when the pay-off wheel and the power part are in a non-meshing state, the driving wire on the pay-off wheel is correspondingly paid off under the pulling action of the wire pulling wheel; and the length change of the driving wire on the pay-off wheel is the same as that of the driving wire on the wire drawing wheel. The invention further discloses a catheter system. The situation that the driving wire is loosened or the bending angle of the tail end of the catheter instrument is not in place can be avoided.

Description

Technical Field

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

[0002] Minimally invasive medical technology is mainly aimed at reducing the damage to patient tissues during medical procedures, and has the advantages of less trauma, less pain, and faster recovery. This minimally invasive technology can be performed through natural orifices or surgical incisions in the patient's anatomical structure, so that the catheter instrument can reach the target tissue location under the control of a controller. The catheter instrument is usually a flexible and / or steerable slender device that can be inserted into an anatomical through hole and navigated toward the target area in the patient's anatomical structure. The control of the catheter instrument involves advancement, retraction, and bending and steering, among which bending and steering is mainly achieved by controlling the rotation of the transmission part of the catheter instrument through a power unit (such as a motor), and transmitting the tension to the end of the catheter instrument through a drive wire, thereby achieving steering control of the end of the catheter instrument.

[0003] Among them, the driving wire involves the corresponding pulling side and releasing side in the steering control of the catheter instrument end, but the length changes of the pulling side and the releasing side are not always the same. There is often a situation where the releasing side is released more or less, which leads to the problem of loosening of the driving wire or the bending angle of the catheter instrument end is not in place. Summary of the invention

[0004] The main purpose of the present application is to provide a catheter device and a catheter system, aiming to solve the technical problems of loose drive wires of existing catheter devices or inadequate bending angles of the end of the catheter device.

[0005] To achieve the above object, the present application provides a catheter instrument, which is configured to engage with a power unit of a robotic arm, and includes an instrument box configured to engage with the power unit and a flexible body connected to the instrument box, wherein the instrument box includes:

[0006] A chassis, configured to be connected to a power unit of the mechanical arm so that the instrument box is engaged with the power unit;

[0007] A plurality of driving wheels are arranged to be carried by the base frame, and one end of a driving wire is fixed on the driving wheel, and the other end of the driving wire extends along the flexible body and is fixed to the end of the flexible body; the plurality of driving wheels include a wire pulling wheel and a wire releasing wheel;

[0008] an engagement mechanism, which is at least arranged on the pay-off wheel and is capable of switching the connection state between the pay-off wheel and the power unit under the control of the power unit, wherein the connection state includes an engagement state and a non-engagement state; and

[0009] A tensioning mechanism has one end connected to the base frame and the other end fixedly connected to the pay-off wheel, so that the driving wire on the pay-off wheel remains in a tensioned state, and can make the driving wire on the pay-off wheel pay out accordingly under the pulling action of the wire pulling wheel when the pay-off wheel and the power unit are in a non-meshing state, so that the length change of the driving wire on the pay-off wheel and the driving wire on the wire pulling wheel is the same.

[0010] Optionally, the driving wheel includes a driving shaft rotatably connected to the base frame, and the instrument box also includes an input disk fixedly connected to the driving shaft and engaged with the power unit; the engaging mechanism includes a protrusion fixed on the driving shaft, and a matching portion arranged on the input disk and abutting against the protrusion, and the matching portion is configured to rotate in a first direction to abut against the protrusion under the drive of the power unit so that the pay-off wheel and the power unit are in a meshing state, and is also configured to rotate in a second direction opposite to the first direction under the drive of the power unit to leave the protrusion so that the pay-off wheel and the power unit are in a non-meshing state.

[0011] Optionally, the driving wheel includes a driving shaft rotatably connected to the base frame, and a transmission wheel body connected to the driving shaft and used for winding the driving wire; the engaging mechanism includes a protrusion fixed on the driving shaft, and a matching portion arranged on the transmission wheel body and abutting against the protrusion, the protrusion being arranged to rotate in a first direction to abut against the matching portion when driven by the power unit so that the pay-off wheel and the power unit are in an engaged state, and is also arranged to rotate in a second direction opposite to the first direction when driven by the power unit to leave the matching portion so that the pay-off wheel and the power unit are in a non-engaged state.

[0012] Optionally, the driving wheel includes a driving shaft rotatably connected to the base frame; the base frame is provided with a convex receiving portion, the receiving portion is configured to accommodate the tensioning mechanism, the tensioning mechanism includes a coil spring, one end of the coil spring is connected to the driving shaft, and the other end is fixed to the base frame, so that the driving wire on the pay-off wheel remains in a tensioned state.

[0013] Optionally, the driving wheel further comprises a transmission wheel body connected to the driving shaft and used for winding the driving wire; the diameter of the transmission wheel body is comparable to the diameter of the receiving portion.

[0014] Optionally, the instrument box also includes a shell that is snapped onto the base frame, a water-gas connector fixed to the shell, and a joint fixed to the base frame and connected to the flexible body. The catheter instrument has a symmetrical plane, and the water-gas connector and the joint are both located on the symmetrical plane.

[0015] Optionally, the driving wheel further comprises an input disc fixedly connected to the driving shaft and engaged with the power unit, the input disc being provided with an arcuate groove in a direction away from the power unit, and the arcuate groove being arranged along the circumference of the input disc.

[0016] The present application also provides a catheter system, which includes an imaging vehicle, a trolley and a main controller respectively connected to the imaging vehicle, and a catheter instrument as described above that can be coupled to the trolley, wherein the catheter instrument is configured to advance, retract, or bend and turn under the control command triggered by the main controller through the drive of the trolley.

[0017] The present application also provides a catheter system, the catheter system comprising:

[0018] Robotic arm;

[0019] an outer catheter instrument having a first engagement mechanism, configured to engage with a power portion of one of the robotic arms, the outer catheter instrument comprising an outer catheter;

[0020] an inner catheter instrument having a second engagement mechanism, configured to engage with a power portion of another of the robotic arms, the inner catheter instrument comprising an inner catheter configured to be driven through the lumen of the outer catheter; and

[0021] A processor in communication with the robotic arm, the processor being configured to perform the following steps:

[0022] obtaining a current distance between an end of the inner catheter and an end of the outer catheter;

[0023] Determining a control mode to be entered by the inner catheter and the outer catheter according to the current distance;

[0024] According to the control mode, the first engagement mechanism and / or the second engagement mechanism are correspondingly controlled to enter a non-engagement state, so as to control at least one of the outer catheter and the inner catheter to enter a zero-force mode.

[0025] Optionally, the processor is configured to perform the following specific steps:

[0026] If the current distance reaches a first preset distance, determining that the outer catheter enters an active control mode and the inner catheter enters a zero-force mode;

[0027] In response to determining that the inner catheter enters the zero-force mode, controlling the second engagement mechanism to enter a non-engaged state;

[0028] In response to determining that the outer catheter enters the active control mode, at least one of the first engagement mechanisms is controlled to enter an engagement state so that the distal end of the inner catheter passively follows the rotation of the distal end of the outer catheter.

[0029] Optionally, the processor is configured to perform the following specific steps:

[0030] If the current distance reaches a second preset distance, determining that the outer catheter enters a zero-force mode and the inner catheter enters an active control mode;

[0031] In response to determining that the outer catheter enters the zero-force mode, controlling the first engagement mechanism to enter a non-engaged state;

[0032] In response to determining that the inner catheter enters the active control mode, at least one of the second engagement mechanisms is controlled to enter an engagement state so that the distal end of the outer catheter passively follows the rotation of the distal end of the inner catheter.

[0033] Optionally, the processor is configured to perform the following specific steps:

[0034] If the current distance is maintained at a third preset distance within a predetermined time, determining that the outer catheter and the inner catheter enter a forward or backward control mode;

[0035] In response to determining that the outer catheter and the inner catheter enter the forward or backward control mode, the first engagement mechanism and the second engagement mechanism are both controlled to enter a non-engaged state.

[0036] Optionally, a torque sensor is provided on the power unit to detect the tension value of the drive wire of the outer catheter device or the inner catheter device, and the processor is configured to perform the following specific steps:

[0037] Acquiring the tension value of the driving wire detected by the torque sensor;

[0038] When the tension value of the driving wire is a predetermined value, it is determined that the outer catheter or the inner catheter has entered the zero-force mode.

[0039] Optionally, the processor is further configured to perform the following steps:

[0040] Obtaining a current value of the power unit;

[0041] If the current value reaches a first threshold, it is determined that the outer catheter or the inner catheter has entered the zero-force mode.

[0042] Optionally, the first engagement mechanism and the second engagement mechanism both have a protrusion and a mating portion that can engage with each other, and the processor is further configured to perform the following steps:

[0043] In response to the outer catheter or the inner catheter switching from the zero-force mode to the active control mode, determining whether there is a gap between the protrusion and the mating portion;

[0044] If it exists, the corresponding power unit is controlled to rotate rapidly at a first preset speed.

[0045] Optionally, the first engagement mechanism and the second engagement mechanism both have a protrusion and a mating portion that can engage with each other, and the processor is further configured to perform the following steps:

[0046] In response to the outer catheter or the inner catheter switching from the zero-force mode to the active control mode, detecting the current value of the power unit;

[0047] When the current value reaches a second threshold, it indicates that the first meshing mechanism or the second meshing mechanism is currently in a meshing state;

[0048] In response to the received user instruction, a corresponding force is applied to the power unit to rotate the corresponding distal end of the inner catheter or the outer catheter.

[0049] Optionally, the catheter system further comprises a user input device communicatively connected to the mechanical arm, the user input device is provided with a zero force key, and the processor is configured to perform the following specific steps:

[0050] In response to the triggering instruction of the zero-force key, the corresponding power unit is controlled to quickly reverse at a second preset speed.

[0051] Optionally, the outer catheter device and / or the inner catheter device comprises more than two drive wheels, and the processor is further configured to perform the following steps:

[0052] In response to the outer catheter instrument or the inner catheter instrument switching from the active control mode to the zero force mode, all driving wheels corresponding to the first engagement mechanism and / or the second engagement mechanism in the outer catheter instrument or the inner catheter instrument that are in an engaged state are controlled to reverse.

[0053] The catheter device and catheter system provided by the present application can keep the driving wire on the pay-off wheel in a tensioned state through a tensioning mechanism, and combined with the meshing mechanism provided on the pay-off wheel, when the pay-off wheel and the power unit are in a non-meshing state, the driving wire on the pay-off wheel can be correspondingly paid out under the pulling action of the wire pulling wheel, so that the length change of the driving wire on the pay-off wheel and the driving wire on the wire pulling wheel is the same. In this way, it is possible to avoid the situation where the driving wire on the pay-off side is released too much or too little, thereby avoiding the situation where the driving wire is loose or the bending angle of the end of the catheter device is not in place. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 A simplified structural diagram of an embodiment of the catheter system of the present application;

[0055] Figure 2 This is a schematic structural diagram of an embodiment of the present invention when the catheter device cooperates with the power unit of the robotic arm;

[0056] Figure 3 for Figure 2 A schematic structural diagram of an embodiment of the instrument box;

[0057] Figure 4 This is a simplified structural schematic diagram of an embodiment of the catheter device of the present application without the housing;

[0058] Figure 5 for Figure 3 A schematic diagram of the structure from another perspective;

[0059] Figure 6 Another simplified structural schematic diagram of an embodiment of the catheter system of the present application;

[0060] Figure 7 This is a schematic structural diagram of an embodiment of the cooperation among the driving wheel, the tensioning mechanism and the input disk in the catheter device of the present application;

[0061] Figure 8 It is a simplified structural schematic diagram of the engagement mechanism in the catheter device of the present application in an engaged state and a non-engaged state;

[0062] Fig. 9 This is a schematic structural diagram of a first embodiment of the engagement mechanism in the catheter device of the present application;

[0063] Fig.10 This is a schematic structural diagram of a second embodiment of the engagement mechanism in the catheter device of the present application;

[0064] Fig.11 for Figure 5 A schematic structural diagram of a first embodiment of the input disk;

[0065] Fig.12 for Figure 5 A schematic structural diagram of a second embodiment of the input disk;

[0066] Fig.13 for Figure 7 A schematic structural diagram of an embodiment of a tensioning mechanism;

[0067] Fig.14 This is a schematic diagram of an embodiment of the state of the engagement mechanism corresponding to the pay-off wheel during the bending and steering of the catheter device of the present application;

[0068] Fig.15 This is a schematic cross-sectional structure diagram of the driving wheel, the tensioning mechanism and the base frame in the catheter device of the present application;

[0069] Fig.16 for Figure 3 Schematic diagram of part of the structure after removing the shell;

[0070] Fig.17 for Figure 2 A schematic structural diagram of another embodiment of the instrument box;

[0071] Fig.18 for Fig.17 A schematic diagram of a portion of the structure from a viewing angle after the shell is removed;

[0072] Fig.19 for Fig.18 A simplified schematic diagram of the structure of an embodiment from a top view;

[0073] Fig. 20 for Fig.18 A simplified schematic diagram of the structure of another embodiment from a top view;

[0074] Fig.21 This is a schematic structural diagram of an embodiment of a fixing portion in the catheter device of the present application;

[0075] Fig. 22 for Fig.17 A schematic diagram of a portion of the structure from another perspective after removing the shell;

[0076] Fig.23 for Figure 2 A schematic structural diagram of another embodiment of the instrument box;

[0077] Fig.24 A schematic flow chart of a method for driving and controlling a catheter provided in one embodiment of the present application;

[0078] Fig.25 This is a schematic diagram of the structure of the inner catheter device and the outer catheter device in the process of moving forward in one embodiment of the present application;

[0079] Fig.26 A schematic flow chart of a method for driving and controlling a catheter provided in another embodiment of the present application;

[0080] Fig. 27 This is a schematic diagram of an embodiment of the inner and outer catheters of the present application advancing to the 3rd to 4th level branches of the patient's anatomical structure;

[0081] Fig.28 A schematic flow chart of a method for driving and controlling a catheter provided in yet another embodiment of the present application;

[0082] Fig.29 This is a schematic diagram of an embodiment of the inner and outer catheters of the present application advancing to the 6-7 level branches of the patient's anatomical structure;

[0083] Fig.30 A schematic flow chart of a method for driving and controlling a catheter provided in yet another embodiment of the present application;

[0084] Fig.31 A schematic flow chart of a method for driving and controlling a catheter provided in yet another embodiment of the present application;

[0085] Fig.32 A schematic flow chart of a method for driving and controlling a catheter provided in yet another embodiment of the present application;

[0086] Fig.33 A schematic flow chart of a method for driving and controlling a catheter provided in yet another embodiment of the present application;

[0087] Fig.34 A schematic flow chart of a method for driving and controlling a catheter provided in yet another embodiment of the present application;

[0088] Fig.35 It is a structural schematic diagram of an embodiment of a user input device provided with a zero-force key in the present application;

[0089] Fig.36 A schematic diagram of the structure of a control system of a catheter system provided in one embodiment of the present application;

[0090] Fig.37 A schematic diagram of a computer-readable storage medium provided for an embodiment of the present application.

[0091] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0092] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0093] It should be noted that all directional indications in the embodiments of the present application (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0094] In this application, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0095] In addition, in this application, descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0096] Figure 1 A catheter system 1000 according to one embodiment is shown. The catheter system 1000 includes an imaging cart 100, a trolley 200 and a user input device 300 respectively connected to the imaging cart 100, a catheter instrument 400 that can be coupled to the trolley 200, a sensor system 500 connected to the trolley 200, and a control system 600 for realizing control between the catheter instrument 400, the user input device 300, the sensor system 500 and the imaging cart 100. The user input device 300 can be connected to the trolley 200 by wire or wirelessly. When the operator performs various procedures on the patient next to the trolley 200, the control command can be triggered by operating the user input device 300, and the catheter instrument 400 can be controlled to advance, retract, bend and turn, etc. through the drive of the trolley 200.

[0097] The trolley 200 can usually be moved to the side of the operating bed to engage the catheter instrument 400, and control the catheter instrument 400 to move up and down in the vertical direction, or translate in the horizontal direction, or move in non-vertical and non-horizontal directions under the control command, so as to provide a better preoperative preparation angle for the operation of the catheter instrument 400. The control command can be a command triggered by the operator by operating the user input device 300, or a command triggered by the operator directly clicking or pressing a button set on the trolley 200. Of course, in other embodiments, the control command can also be a command triggered by voice control or a force feedback mechanism.

[0098] like Figure 1 As shown, further, the trolley 200 may include a base 210, a sliding seat body 220 that can be lifted and moved along the base 210, and two mechanical arms 230 fixedly connected to the sliding seat body 220. The mechanical arm 230 may include a plurality of arm segments connected at a joint, and the plurality of arm segments provide the mechanical arm 230 with a plurality of degrees of freedom, for example, seven degrees of freedom corresponding to seven arm segments. A power unit (not shown in the figure) is installed at the end of the mechanical arm 230, and the power unit of the mechanical arm 230 is used to engage the catheter instrument 400, and under the driving action of the power unit, the end of the catheter instrument 400 is controlled to bend and turn accordingly. Among them, the two mechanical arms 230 may be structures that are completely the same or partially the same, one mechanical arm 230 is used to engage the inner catheter instrument 410, and the other mechanical arm 230 is used to engage the outer catheter instrument 420. During installation, the outer catheter device 420 may be installed first, and when the outer catheter device 420 is installed, the flexible body of the inner catheter device 410 is inserted into the flexible body of the outer catheter device 420 .

[0099] The sensor system 500 has one or more subsystems for receiving information about the catheter device 400. The subsystems may include: a position sensor system; a shape sensor system for determining the position, orientation, speed, velocity, pose, and / or shape of the tip of the catheter device 400 and / or along one or more segments that may constitute the flexible body of the catheter device 400; and / or a visualization system for capturing images from the tip of the catheter device 400.

[0100] The imaging vehicle 100 may be provided with a display system 110 and a flushing system (not shown in the figure), etc. The display system 110 is used to display images or representations of the surgical site and the catheter instrument 400 generated by the subsystem of the sensor system 500. Real-time images of the surgical site and the catheter instrument 400 captured by the visualization system may also be displayed. Images of the surgical site recorded before or during surgery may also be presented using image data from imaging techniques such as computed tomography (CT), magnetic resonance imaging (MRI), optical coherence tomography (OCT), and ultrasound, etc. The preoperative or intraoperative image data may be presented as a two-dimensional, three-dimensional, or four-dimensional (such as time-based or rate-based information) image and / or presented as an image from a model created based on a preoperative or intraoperative image data set. A virtual navigation image may also be displayed in which the actual position of the catheter instrument 400 is registered with the preoperative image to present a virtual image of the catheter instrument 400 in the surgical site to the operator from the outside.

[0101] The control system 600 includes at least one memory and at least one processor that are communicatively connected to the robotic arm. It is understandable that the control system 600 can be integrated into the trolley 200 or the imaging trolley 100, or can be independently provided. The control system 600 can support wireless communication protocols such as IEEE 802.11, IrDA, Bluetooth, HomeRF, DECT, and wireless telemetry. The control system 600 can transmit one or more signals indicating movement of the catheter instrument 400 by the power unit to move the catheter instrument 400. The catheter instrument 400 can extend to a surgical location in the body via an opening of a natural cavity or a surgical incision of the patient.

[0102] Further, the control system 600 may include a mechanical control system (not shown in the figure) and an image processing system (not shown in the figure), wherein the mechanical control system is used to control the movement of the catheter instrument 400, and therefore, can be integrated into the trolley 200. The image processing system is used for virtual navigation path planning, and therefore, can be integrated into the imaging vehicle 100. Of course, the various subsystems of the control system 600 are not limited to the specific situations listed above, and can also be reasonably set according to actual conditions. Among them, the image processing system can image the surgical site based on the image of the surgical site recorded before or during the operation, using the above imaging technology. The software used in combination with manual input can also convert the recorded image into a two-dimensional or three-dimensional synthetic image of a part or the entire anatomical organ or segment. During the virtual navigation procedure, the sensor system 500 can be used to calculate the position of the catheter instrument 400 relative to the patient's anatomical structure, which can be used to generate an external tracking image and an internal virtual image of the patient's anatomical structure, so as to realize the actual position of the catheter instrument 400 and the preoperative image registration, so that the virtual image of the catheter instrument 400 in the surgical site can be presented to the operator from the outside.

[0103] The structural composition of the inner catheter device 410 and the outer catheter device 420 is substantially the same, and each has an elongated inner flexible body 41 and an outer flexible body 42, wherein the diameter of the outer flexible body 42 is slightly larger than the inner flexible body 41, so that the inner flexible body 41 can pass through the outer flexible body 42 and provide a certain support for the inner flexible body 41, so that the inner flexible body 41 can reach the target position in the patient's body, so as to facilitate operations such as tissue or cell sampling from the target position.

[0104] Certain movements of the user input device 300 may cause corresponding movements of the catheter instrument 400. For example, when the operator operates the direction lever of the user input device 300 to move upward or downward, the movement of the direction lever of the user input device 300 may be mapped to the corresponding pitch movement of the end of the catheter instrument 400; when the operator operates the direction lever of the user input device 300 to move left or right, the movement of the direction lever of the user input device 300 may be mapped to the corresponding yaw movement of the end of the catheter instrument 400. In this embodiment, the user input device 300 may control the end of the catheter instrument 400 to move within a 360° spatial range.

[0105] Figure 2 A catheter device 400 according to one embodiment is shown. The catheter device 400 is configured to engage with the power unit 240 of the mechanical arm 230, and the catheter device 400 includes an instrument box 45 configured to engage with the power unit 240 and a flexible body 48 connected to the instrument box 45. Wherein, the "engagement" refers to the state in which the driving force of the power unit 240 can be transmitted to the instrument box 45 when the instrument box 45 is installed to the power unit 240, and the flexible body 48 can move normally. For example, under the driving force of the power unit 240, the end of the flexible body 48 can bend and turn. A part of the flexible body including the end is a controllable section 49, and the end of the controllable section 49 is the end of the catheter 48. The controllable section 49 can be a joint component, which has high rigidity in the telescopic direction and low rigidity in the bending direction, and can bend under the driving force, thereby realizing the turning of the end. In some embodiments, the joint component can be called a snake bone joint.

[0106] like Figure 3 , Figure 4 As shown, the instrument box 45 may further include a base frame 452, a plurality of driving wheels 456 carried by the base frame 452, and a shell 450 buckled on the base frame 452, wherein the base frame 452 and the shell 450 form a receiving space to receive the driving wheels 456 and other structures. Figure 5 As shown, the instrument box 45 also includes an input disk 458 corresponding to the position of the driving wheel 456 provided on one side of the base frame 452 facing the power unit, and one side of the input disk 458 is used to be connected to the output disk 241 ( Figure 2 As shown in the figure, one side is engaged with the other side and is connected with the driving wheel 456 to transmit the driving force of the power unit 240 to the driving wheel 456, thereby driving the distal end of the catheter instrument 400 to make a corresponding bending turn.

[0107] like Figure 4As shown, one end of a drive wire 470 is fixed to each of the drive wheels 456, and the other end of the drive wire 470 extending along the flexible body 48 after being wound around the drive wheel 456 for a number of turns is fixed to the end of the flexible body 48. The number of the drive wheels 456 can be 2, 3, 4, 5 or 6, etc., and correspondingly, the number of the corresponding drive wires 470 can be 2, 3, 4, 5 or 6, etc. The end in this application, which can also be referred to as the distal end or the head, refers to the end away from the instrument box 45. It is understandable that the drive wheel 456 and the corresponding drive wire 470 can constitute at least a partial structure of the transmission part.

[0108] In this embodiment, the number of the driving wheels 456 can be 4, and the 4 driving wheels 456 can be arranged in a square, rectangle or rhombus shape. The 4 driving wheels 456 can be connected by independent driving wires 470, or they can be connected in series to form a closed loop. Among them, two driving wheels 456 constitute a pair of driving wheels, and the other two driving wheels constitute another pair of driving wheels. Between the paired driving wheels, one is responsible for pulling the wire and the other is responsible for releasing the wire, so as to realize the corresponding bending and turning of the end of the catheter device 400. In one embodiment, the driving wires 470 wound on the pair of driving wheels and the other pair of driving wheels are mirror-imaged, and the structure of the device box 45 can be made more compact and neat by setting the mirror-image distribution. In another embodiment, the distribution of the driving wires 470 wound on the pair of driving wheels and the other pair of driving wheels is the same. It should be understood that in other embodiments, for example, in the external catheter instrument 420, based on different material properties, in order to achieve corresponding bending and turning at the end of the external catheter instrument 420, one driving wheel is required to pull the wire and two driving wheels are required to release the wire.

[0109] like Figure 6 As shown, the multiple driving wheels 456 may include a wire pulling wheel 468 located on the wire pulling side and a wire releasing wheel 469 located on the wire releasing side. It should be understood that in one embodiment, the nature of the driving wheel 456 may always be the wire pulling wheel 468 located on the wire pulling side, or always be the wire releasing wheel 469 located on the wire releasing side. In another embodiment, the nature of the driving wheel 456 may follow different bending steering control requirements and be switched accordingly. For example, in one bending steering control, if the current driving wheel 456 is the wire releasing wheel 469 located on the wire releasing side, then in another bending steering control, the current driving wheel 456 is switched to the wire pulling wheel 468 located on the wire pulling side. Similarly, in one bending steering control, if the current driving wheel 456 is the wire pulling wheel 468 located on the wire pulling side, then in another bending steering control, the current driving wheel 456 is switched to the wire releasing wheel 469 located on the wire releasing side.

[0110] Furthermore, if Figure 7As shown, in one embodiment, the driving wheel 456 includes a driving shaft 481 rotatably connected to the base frame 452, and a transmission wheel body 482 connected to the driving shaft 481 and used to wind the driving wire 470. The transmission wheel body 482 can be fixedly connected to the driving shaft 481, or can be movably connected to the driving shaft 481. Figure 5 As shown, the input disc 458 is connected to the drive shaft 481 to engage the power unit, thereby transmitting the driving force of the power unit to the drive wheel 456. Similarly, the input disc 458 can be fixedly connected to the drive shaft 481, and can also be movably connected to the drive shaft 481.

[0111] like Figure 8 As shown, in one embodiment, the instrument box also includes a meshing mechanism 80 disposed on the driving wheel 456. The meshing mechanism 80 can be disposed only on the pay-off wheel 469. In other embodiments, the meshing mechanism 80 can be disposed on both the wire pulling wheel 468 and the pay-off wheel 469. The meshing mechanism 80 can switch the connection state between the driving wheel 456 and the power unit under the control of the power unit, and the connection state includes a meshing state (b) and a non-meshing state (c). It can be understood that when the pay-off wheel 469 and the power unit are in a meshing state, the current pay-off wheel 469 is switched to the wire pulling wheel 468; when the wire pulling wheel 468 and the power unit are in a non-meshing state, the current wire pulling wheel 468 is switched to the pay-off wheel 469. That is, each driving wheel 456 can switch between the wire pulling wheel 468 and the pay-off wheel 469. As shown Figure 8 As shown, taking a single wire pulling wheel 468 as an example, when the power unit drives the relationship between the driving wheel 456 and the power unit to change from the initial meshing state (a) to the meshing state (b), the driving wheel 456 is the wire pulling wheel 468; when the power unit drives the relationship between the driving wheel 456 and the power unit to change from the meshing state (b) to the non-meshing state (c), the current wire pulling wheel 468 is switched to the wire releasing wheel 469.

[0112] In the first embodiment, if Fig. 9As shown, the meshing mechanism 80 includes a protrusion 810 fixed on the driving shaft 481, and a matching portion 820 disposed on the input disk 458 and abutting against the protrusion 810. When the power unit drives the input disk 458 to rotate in a first direction, the matching portion 820 abuts against the protrusion 810 to make the driving wheel 456 and the power unit in a meshing state, at which time the driving wheel 456 is switched to the wire drawing wheel 468. In this way, the driving wheel 456 is rotated accordingly under the driving force of the power unit, so that the end of the flexible body 48 is bent and turned accordingly. When the power unit drives the input disk 458 to rotate in a second direction opposite to the first direction, the matching portion 820 leaves the protrusion 810 to make the driving wheel 456 and the power unit in a non-meshing state, at which time the driving wheel 456 is switched to the wire releasing wheel 469. It can be understood that, in this embodiment, the input disc 458 and the drive shaft 481 can be movably connected, and the transmission wheel body 482 and the drive shaft 481 can be fixedly connected.

[0113] In the second embodiment, if Fig.10 As shown, the meshing mechanism 80 includes a protrusion 810 fixed on the driving shaft 481, and a matching portion 820 disposed on the transmission wheel body 482 and abutting against the protrusion 810. When the power unit drives the input disk 458 to rotate in a first direction, the protrusion 810 abuts against the matching portion 820, so that the driving wheel 456 and the power unit are in a meshing state, and at this time, the driving wheel 456 is switched to the wire pulling wheel 468. In this way, the driving wheel 456 is rotated accordingly under the driving force of the power unit, so that the end of the flexible body 48 is bent and turned accordingly. When the power unit drives the input disk 458 to rotate in a second direction opposite to the first direction, the protrusion 810 leaves the matching portion 820, so that the driving wheel 456 and the power unit are in a non-meshing state, and at this time, the driving wheel 456 is switched to the wire releasing wheel 469. It can be understood that, in this embodiment, the input disc 458 and the drive shaft 481 can be fixedly connected, and the transmission wheel body 482 and the drive shaft 481 can be movably connected.

[0114] It can be understood that when the protruding portion 810 abuts against the matching portion 820, the engagement mechanism 80 is in an engagement state; when the protruding portion 810 leaves the matching portion 820, the engagement mechanism 80 is in a non-engagement state.

[0115] Furthermore, if Fig.11As shown, in the first embodiment, the input disk 458 is provided with two oppositely arranged receiving grooves 488 in a direction away from the power unit. The shapes of the two receiving grooves 488 can be different, for example, one receiving groove 488 has an opening compared to the other receiving groove 488, so as to facilitate the positioning of the instrument box. Fig.12 As shown, in the second embodiment, the input disk 458 is provided with an arc groove 489 in the direction away from the power unit, and the arc groove 489 is arranged along the circumference of the input disk 458. It is understandable that the arc groove 489 can be arranged along the circumference of the input disk 458 for easy positioning.

[0116] like Fig.13 As shown, in one embodiment, the instrument box also includes a tensioning mechanism 460 connected to the chassis 452 at one end and fixedly connected to the driving wheel 456 at the other end. The tensioning mechanism can be arranged only on the pay-off wheel 469, or can be arranged on both the wire pulling wheel 468 and the pay-off wheel 469. The tensioning mechanism can pull the driving wheel 456 so that the driving wire 470 on the driving wheel 456 is kept in a tensioned state when the driving wheel 456 is in a stationary state or a moving state, so as to avoid the driving wire 470 wound on the driving wheel 456 from being loosened. It is understandable that the tensioning mechanism can also be arranged outside the driving wheel 456 and remain connected to the driving wheel 456. Wherein, the direction in which the tensioning mechanism pulls the driving wheel 456 to rotate is opposite to the winding direction of the driving wire 470 on the driving wheel 456.

[0117] Furthermore, if Fig.13 As shown, the tensioning mechanism 460 includes a coil spring 461, a protrusion 462 protruding outward from one end of the coil spring 461, and a buckle portion 463 detachably connected to the protrusion 462. Further, the coil spring 461 has two ends, one end 464 is the end of the outer ring, and the other end 465 is the end of the inner ring. The protrusion 462 can be an independent structure fixed to one end 464 of the coil spring 461 by welding or the like, or can be a structure integrated with the coil spring 461, for example, a thickened bending structure is formed at one end 464 of the coil spring 461. It can be understood that the tensioning mechanism can also be a tension spring or other elastic structure that can tension the drive wire 470. The coil spring 461 can be any one of a hairspring, a constant torque spring, or a constant force spring.

[0118] For example, Fig.14As shown, in a bending steering control, a pay-off wheel 469 located on the pay-off side and a wire pulling wheel 468 located on the wire pulling side are involved. At this time, the power unit can drive the wire pulling wheel 468 to rotate in the clockwise direction, or drive the pay-off wheel 469 to rotate in the counterclockwise direction. When the power unit drives the pay-off wheel 469 to rotate in the clockwise direction opposite to the current counterclockwise direction, the pay-off wheel 469 and the power unit are in a non-engaged state. At this time, due to the action of the tensioning mechanism, the drive wire 470 wound on the pay-off wheel 469 can be kept in a tensioned state; at the same time, since the pay-off wheel 469 and the power unit are in a non-engaged state, under the pulling action of the wire pulling wheel 468, the drive wire 470 on the pay-off wheel 469 on the pay-off side can be paid out accordingly, so that the length change of the drive wire 470 on the pay-off wheel 469 and the drive wire 470 on the wire pulling wheel 468 is the same. In this way, it is possible to avoid the situation where the driving wire 470 on the release side is released too much or too little, thereby avoiding the situation where the driving wire 470 is loose or the bending angle of the end of the catheter instrument is not in place.

[0119] like Fig.15 As shown, the bottom frame 452 is provided with a receiving portion 466, and the receiving portion 466 is configured to accommodate the tensioning mechanism 460 and the driving wheel 456. The receiving portion 466 is provided with a mounting hole 480 ( Figure 4As shown in the figure), the mounting hole 480 may be specifically provided on the side wall of the receiving portion 466. The shape of the mounting hole 480 may be adapted to the protrusion 462 of the coil spring 461. In one embodiment, the mounting hole 480 may be simply a circular hole into which the protrusion 462 may be inserted; in another embodiment, the mounting hole 480 may include the circular hole mentioned above at the bottom of the receiving portion 466, and may also include a long strip-shaped window hole (not shown in the figure) extending from the circular hole in a direction away from the base frame 452. The window hole may facilitate the observation of the specific position of the coil spring 461 during the process of installing the coil spring 461 into the receiving portion 466, and facilitate and quickly insert the protrusion 462 into the mounting hole 480. Of course, in order to adapt the shape of the mounting hole 480, a plane may be provided on the side wall of the receiving groove so that the mounting hole 480 is a complete planar hole structure. In order to improve the connection strength between the protrusion 462 and the receiving portion 466, after the protrusion 462 is inserted into the mounting hole 480, the protrusion 462 is fixed at the position of the mounting hole 480 by the buckle portion 463, thereby preventing the movement of the protrusion 462. It can be understood that in order to improve the fixing strength between the buckle portion 463 and the protrusion 462, a groove can be provided on the protrusion 462 for the buckle portion 463 to be inserted into and achieve cooperation with the protrusion 462, thereby preventing the buckle portion 463 from falling off the protrusion 462.

[0120] Correspondingly, if Fig.15As shown, the drive shaft 481 is provided with a fixing hole 487 at a position corresponding to the coil spring 461. Specifically, when the coil spring 461 is installed in place, the coil spring 461 is provided with the fixing hole 487 at a height position relative to the drive shaft 481. By inserting one end 464 of the coil spring 461, i.e., the protrusion 462, into the installation hole 480, and fixing the other end 465 into the fixing hole 487, the two ends of the coil spring 461 are fixed. In some embodiments, since the other end 465 of the coil spring 461 is a bent structure, the fixation between the two ends can be achieved by simply inserting the bent structure into the fixing hole 487; in other embodiments, the fixing hole 487 may not be provided, and the other end 465 of the coil spring 461 may be directly welded to the drive shaft 481. This embodiment does not limit the fixing method and fixing position of the two ends of the coil spring 461. For example, one end 464 of the coil spring 461 is not limited to being fixed on the receiving portion 466, and other structures may be added to the base frame 452 to fix one end 464 of the coil spring 461 on other structures of the base frame 452. The other end 465 of the coil spring 461 is not limited to being fixed on the drive shaft 481, and may be indirectly connected to the drive shaft 481, such as fixing the other end 465 of the coil spring 461 on other structures connected to the drive shaft 481. The specific scheme will not be described in detail, that is, the coil spring 461 can drive the drive wheel 456 to rotate and tighten the drive wire 470 when it is elastically restored. When both ends of the coil spring 461 are fixed, the coil spring 461 can be made to store or release force by driving any end of the coil spring 461 to rotate in different directions.

[0121] Furthermore, if Fig.15 As shown, in one embodiment, the diameter of the transmission wheel body 482 is comparable to the diameter of the receiving portion 466. Compared with the existing solution in which the diameter of the transmission wheel body 482 is smaller than the diameter of the receiving portion 466, this embodiment can increase the torque (force multiplied by the lever arm) of the driving wheel 456, thereby making the end of the flexible body more flexible.

[0122] In addition, if Fig.15 As shown, the driving wheel 456 further includes a C-shaped ring 483 for fixing the driving wheel body 482 to the driving shaft 481. In this embodiment, the fixing between the driving wheel body 482 and the driving shaft 481 can be achieved only by the buckle of the C-shaped ring 483, which makes assembly simpler.

[0123] like Fig.15As shown, in one embodiment, the driving wheel 456 further includes a first bearing 492 connected to the driving shaft 481, a second bearing 493 connected to the driving shaft 481 and disposed adjacent to the coil spring 461, and the second bearing 493 is fixedly connected to the input disk 458. Specifically, the first bearing 492, the coil spring 461 and the second bearing 493 are sequentially received in the receiving portion 466. The receiving portion 466 can be further divided into a plurality of receiving grooves to respectively receive the first bearing 492, the coil spring 461 and the second bearing 493, which will not be described in detail here. It can be understood that the diameters of the respective receiving grooves can be different, for example, they can be increased or decreased in sequence, and each receiving groove in the receiving portion 466 is provided with a protruding top wall or each structure is provided with a corresponding limiting portion to limit the corresponding structure from moving in the receiving groove in a direction away from or close to the power unit 240.

[0124] By setting two bearings, not only can the driving wheel 456 be restricted from moving in a direction perpendicular to the driving shaft 481, but also the pulling force of the driving wire 470 on the transmission wheel body 482 can be prevented from being concentrated at the position of the transmission wheel body 482, thereby causing the driving wheel 456 to shake. In this way, the control accuracy of the catheter instrument can be ensured. Of course, in other embodiments, only one or three or more bearings can be set according to actual conditions, and the number of bearings is not limited in this embodiment.

[0125] like Fig.16 As shown, in one embodiment, the housing 450 and the chassis 452 can be connected by a fixing method such as snap, adhesive, thread, and welding. When the catheter device is sterilized, in order to prevent water vapor from entering the device box, a sealing ring 454 is provided between the housing 450 and the chassis 452. A groove for accommodating the sealing ring 454 can be provided along the circumferential edge of the housing 450 or the chassis 452, and the sealing ring 454 can be made of a waterproof material such as silica gel. It is understandable that the shape of the sealing ring 454 should be adapted to the shape of the circumferential edge of the housing 450 or the chassis 452.

[0126] like Fig.16 and Fig.17 As shown, in one embodiment, the instrument box further includes a water-gas joint 455 fixed to the housing 450, and a joint 457 fixed to the base frame 452 and connected to the flexible body. Fig.18As shown, in one embodiment, the instrument box further includes a channel tube 459 connected to the water-gas connector 455, one end of the channel tube 459 is fixedly connected to the water-gas connector 455, and the other end extends into the flexible body and extends to the end of the flexible body. The channel tube 459 can not only provide a working channel for surgical tools such as sampling needles, but also realize the injection and extraction of fluids such as flushing fluids.

[0127] Furthermore, if Fig.18 As shown, the catheter device has a symmetry plane Y, and the water-gas joint 455 and the joint 457 are both located on the symmetry plane Y. In this way, it can be ensured that the channel tube 459 enters the flexible body in a straight line, thereby avoiding affecting the flexible body and ensuring the control accuracy of the catheter device.

[0128] like Fig.19 As shown, in one embodiment, the instrument box also includes a reversing wheel 490 located between the joint 457 and the driving wheel 456, and the reversing wheel 490 is configured to guide the driving wire 470 wound from the driving wheel 456 to enter the flexible body along the length direction of the flexible body. For ease of description and understanding, in this embodiment, the length direction of the flexible body is based on the flexible body being in a naturally straight state, rather than a bent state, as a reference. In this embodiment, the reversing wheel 490 includes four wheel bodies, each wheel body corresponds to a driving wheel 456. It can be understood that the two wheel bodies corresponding to the two driving wheels 456 located on the same side of the symmetry plane Y are coaxially arranged, and the heights of the two coaxially arranged wheel bodies are different. Correspondingly, the heights between the transmission wheel bodies 482 of the two driving wheels 456 located on the same side of the symmetry plane Y are also different. Optionally, the corresponding transmission wheel body 482 and the wheel body on the same side of the symmetry plane Y are at the same height on the base frame 452, so that the drive wire 470 wound on the transmission wheel body 482 can enter the flexible body in a direction parallel to the base frame 452. In addition, combined with the reversing effect of the wheel body, the drive wire 470 entering the flexible body can be extended along the length direction of the flexible body, thereby avoiding affecting the flexible body and ensuring the control accuracy of the catheter instrument. In an optional embodiment, based on the shape and material characteristics of the drive wire 470 used by the external catheter instrument, for example, the drive wire 470 used by the external catheter instrument is a flat wire, which can be applied to the reversing wheel 490, so this embodiment can be applied to the external catheter instrument.

[0129] In another embodiment, Fig. 20The fixing part 44 and the spring tube 46 according to one embodiment are shown, and the fixing part 44 is fixed on the base frame 452, and its shape is fan-shaped or arc-shaped, so that each of the driving wires 470 can pass through in a straight state and enter the spring tube 46. The spring tube 46 is arranged in the flexible body 48, and one end of the spring tube 46 is fixed to the end of the flexible body 48 away from the instrument box 45 (specifically, it can be fixed on the snake joint at the end of the flexible body 48), and the other end of the spring tube 46 is connected to the fixing part 44. It can be understood that there is no fixed connection between the other end of the spring tube 46 and the fixed end, and the spring tube 46 can be restricted from moving along the direction of the flexible body 48 through the resistance or blocking effect of the fixing part 44. Therefore, the driving wire 470 passes through the arc fixing part 44 in a straight line and enters the spring tube 46, which can avoid the loss of the driving wire 470 during the stretching or contraction process, thereby improving the service life of the driving wire 470.

[0130] Furthermore, if Fig.21 As shown, the fixing portion 44 includes a main body 441 fixed on the base frame 452, and a guide member 442 fixed on the main body 441. The guide member 442 is configured to allow the driving wire 470 to pass through and enter the spring tube 46, and to limit the movement of the spring tube 46 along the direction of the flexible body 48 by resisting the spring tube 46.

[0131] In an optional embodiment, since the above-mentioned flat wire is not suitable for the serpentine joint structure at the end of the flexible body, the shape and material properties of the driving wire 470 used by the inner catheter device are different from those of the driving wire 470 used by the outer catheter device. For example, the driving wire 470 used by the inner catheter device is a multi-strand round wire, so this embodiment can be applied to the inner catheter device.

[0132] like Fig. 22 As shown, in one embodiment, the instrument box further includes a PCB board 700 fixed on the base frame 452, and the catheter instrument further includes at least one of a position sensor, a camera, and an LED located at the end of the flexible body, and the PCB board 700 is configured to connect a cable of at least one of the position sensor, the camera, and the LED. Each of the cables starts from the PCB board 700, enters the flexible body through the joint 457, and extends to the end of the flexible body.

[0133] like Fig.23As shown, in one embodiment, the instrument box also includes an electronic plug connector 710 plugged into the PCB board 700, and a sealing portion 720 detachably fixed to the housing 450. The housing 450 is also provided with a through hole 730 corresponding to the position of the electronic plug connector 710, so that the external cable can be electrically connected to the electronic plug connector 710 through the through hole 730, and a fixed position is provided for the sealing portion 720. Specifically, the shape of the sealing portion 720 can be a cap, and its partial structure can be inserted into the through hole 730, and the two can be detachably fixedly connected by means of snap or interference fit. The sealing portion 720 can be provided with a waterproof ring at the contact position with the housing 450 along the circumferential direction to isolate external water vapor. In this way, when the catheter instrument is used and needs to be sterilized, the sealing portion 720 can be fixed at the position of the through hole 730, so as to prevent water vapor from entering the instrument box.

[0134] The processor of the control system 600 is configured to execute the following steps to implement the catheter driving control method provided in the first embodiment of the present application. Fig.24 As shown, the method includes:

[0135] Step S10, obtaining a current distance between the inner catheter end and the outer catheter end;

[0136] In this embodiment, the outer catheter instrument has at least one first engagement mechanism, the outer catheter instrument is configured to engage with the power unit of one of the mechanical arms, and the outer catheter instrument includes an outer catheter. The inner catheter instrument has at least one second engagement mechanism, the inner catheter instrument is configured to engage with the power unit of another of the mechanical arms, the inner catheter instrument includes an inner catheter, and the inner catheter is configured to be driven through the cavity of the outer catheter. It should be understood that the outer catheter can correspond to the outer flexible body mentioned above, and the inner catheter can correspond to the inner flexible body mentioned above. For the convenience of simple description, the outer flexible body and the inner flexible body are referred to as the outer catheter and the inner catheter, respectively. It can be understood that the first engagement mechanism corresponds to the drive wheel in the outer catheter instrument, and each drive wheel can be provided with a corresponding first engagement mechanism; similarly, the second engagement mechanism corresponds to the drive wheel in the inner catheter instrument, and each drive wheel can be provided with a corresponding second engagement mechanism.

[0137] like Fig.25 As shown, in one embodiment, the length L of the inner catheter can be obtained. 1 and the length L of the outer conduit 2 , the L 1 and L 2The length information of is known and can be retrieved from the factory information of the inner catheter and the outer catheter. Based on the kinematics of the robot arm, the position information of the two power units can be calculated according to the joint angles of the robot arm, thereby obtaining the distance d between the two power units. The current distance between the end of the inner catheter and the end of the outer catheter can be calculated using the formula: D c =L 1 -L 2 -d. In other embodiments, the spatial position coordinates of the inner catheter can be obtained by using a position sensor disposed at the end of the inner catheter, and the spatial position coordinates of the outer catheter can be obtained by using a position sensor located at the end of the outer catheter, and the current distance between the inner catheter end and the outer catheter end can be calculated based on these two spatial position coordinates. Of course, the present application is not limited to obtaining the current distance between the inner catheter end and the outer catheter end through the above embodiment, and other reasonable solutions can also be used, and the present application does not make specific limitations on this.

[0138] Step S20, determining the control mode to be entered by the inner catheter and the outer catheter according to the current distance;

[0139] In this embodiment, the control modes to be entered by the inner catheter and the outer catheter include: the outer catheter is in an active control mode and the inner catheter is in a zero-force mode; or the inner catheter is in an active control mode and the outer catheter is in a zero-force mode; or both the outer catheter and the inner catheter are in a zero-force mode. Further, specific scenarios may include bending reversing control, or straight forward and backward control, etc.

[0140] Step S30: According to the control mode, correspondingly control the first engagement mechanism and / or the second engagement mechanism to enter a non-engagement state, so as to control at least one of the outer catheter and the inner catheter to enter a zero-force mode.

[0141] In this embodiment, according to the control mode, when only the outer catheter needs to enter the zero-force mode, the first engaging mechanism can be controlled to enter a non-engaging state, thereby causing the outer catheter to enter the zero-force mode; when only the inner catheter needs to enter the zero-force mode, the second engaging mechanism can be controlled to enter a non-engaging state, thereby causing the inner catheter to enter the zero-force mode; when both the outer catheter and the inner catheter need to enter the zero-force mode, both the first engaging mechanism and the second engaging mechanism can be controlled to enter a non-engaging state, thereby causing the outer catheter and the inner catheter to enter the zero-force mode.

[0142] It is understandable that in order to make the outer catheter or the inner catheter enter the zero force mode, the corresponding power unit can be reversed accordingly, that is, all the corresponding first meshing mechanisms or all the second meshing mechanisms can be made to enter a non-meshing state. At this time, the connection state between each driving wheel of the outer catheter device and the corresponding power unit is a non-meshing state, or the connection state between each driving wheel of the inner catheter device and the corresponding power unit is a non-meshing state. The position or angle of the power unit reversal can be reasonably set according to actual needs, so that the corresponding meshing mechanism can enter a non-meshing state, and the connection state between each driving wheel of the catheter device and the corresponding power unit is a non-meshing state.

[0143] According to the control mode to be entered, the embodiment can control the first meshing mechanism and / or the second meshing mechanism to enter the non-meshing state, thereby controlling at least one of the outer catheter and the inner catheter to enter the zero-force mode. In this way, the catheter can be switched to a flexible state in a timely manner in the bending switching control or straight forward and backward control scenarios to avoid damage to the anatomical structure, thereby improving safety.

[0144] Furthermore, if Fig.26 As shown, in the first embodiment, step S20 and step S30 may include:

[0145] Step S201: if the current distance reaches a first preset distance, determining that the outer catheter enters an active control mode and the inner catheter enters a zero force mode;

[0146] In this embodiment, the first preset distance can be 3-4 mm or other reasonable values, and the present application does not limit the specific values. When the current distance between the end of the inner catheter and the end of the outer catheter reaches the first preset distance, specifically, the current distance of the inner catheter extending out of the end of the outer catheter reaches the first preset distance, it is determined that the outer catheter is about to enter or will enter the active control mode, and the inner catheter is about to enter or will enter the zero force mode.

[0147] Step S202, in response to determining that the inner catheter enters the zero-force mode, controlling the second engagement mechanism to enter a non-engagement state;

[0148] In this embodiment, when it is determined that the inner catheter will enter the zero force mode, the power unit corresponding to the inner catheter will be reversed, so that the second meshing mechanism enters a non-meshing state. The position or angle of the power unit reversal can be reasonably set according to actual needs, so that the second meshing mechanism can enter a non-meshing state, and the connection state between each driving wheel of the inner catheter device and the corresponding power unit is a non-meshing state.

[0149] Step S301: in response to determining that the outer catheter enters the active control mode, controlling at least one of the first engagement mechanisms to enter an engagement state, so that the end of the inner catheter passively follows the rotation of the end of the outer catheter.

[0150] In this embodiment, when it is determined that the outer catheter will enter the active control mode, the power unit corresponding to the outer catheter will drive the first meshing mechanism to enter the meshing state, so that the connection state between at least one drive wheel of the outer catheter instrument and the corresponding power unit is the meshing state. Specifically, the power unit can drive each drive wheel of the outer catheter instrument to rotate clockwise or counterclockwise. For example, when the power unit drives the drive wheel to rotate clockwise, the first meshing mechanism corresponding to the drive wheel enters the meshing state, so that the drive wheel and the power unit are in the meshing state. At this time, the drive wheel is a wire pulling wheel; when the power unit drives the drive wheel to rotate counterclockwise, the first meshing mechanism corresponding to the drive wheel enters the non-meshing state, and the drive wheel and the power unit are in the non-meshing state. At this time, the drive wheel is a wire releasing wheel.

[0151] It is understandable that when the outer catheter enters the active control mode, the power unit corresponding to the outer catheter will drive at least one of the first meshing mechanisms to enter the meshing state, and the other first meshing mechanisms will enter the non-meshing state. In this way, in the bending steering control, under the pulling action of the wire pulling wheel, the driving wire on the wire paying-off wheel on the wire paying-off side can be paid out accordingly, thereby realizing the bending of the end of the outer catheter. Furthermore, combined with the tensioning action of the tensioning mechanism, the driving wire wound on the wire paying-off wheel can be kept in a tensioned state, so that the length change of the driving wire on the wire paying-off side is the same as that of the driving wire on the wire pulling side. In this way, it is possible to avoid the situation where the driving wire on the wire paying-off side is released too much or too little, thereby avoiding the situation where the driving wire is loose or the bending angle of the end of the catheter instrument is not in place.

[0152] like Fig. 27As shown, when the ends of the inner and outer catheters travel to the 3rd to 4th level branches or 1st to 2nd level branches of the patient's anatomical structure, since the outer catheter can pass smoothly during this process, if it is necessary to change direction, the inner catheter can be controlled to enter the zero force mode, and the outer catheter can enter the active control mode. At this time, the angle of the inner catheter and the outer catheter in the direction change bending is small. In the active control mode of the outer catheter, the end of the inner catheter will follow the rotation of the end of the outer catheter and passively follow the rotation. In this way, when it is necessary to change direction, by timely switching the inner catheter to a flexible state and making the end of the inner catheter follow the rotation of the end of the outer catheter and passively follow the rotation, the inner catheter can be prevented from interfering with the bending of the outer catheter, thereby improving the control accuracy of the catheter instrument. In addition, since the end of the inner catheter extends beyond the end of the outer catheter, by timely switching the inner catheter to a flexible state, it can also avoid damage to the patient when the end of the inner catheter accidentally contacts the patient's anatomical structure.

[0153] Furthermore, if Fig.28 As shown, in the second embodiment, step S20 and step S30 may include:

[0154] Step S203: if the current distance reaches a second preset distance, determining that the outer catheter enters a zero-force mode and the inner catheter enters an active control mode;

[0155] In this embodiment, the second preset distance may be 5 mm or other reasonable values, and the present application does not limit the specific values. When the current distance between the inner catheter end and the outer catheter end reaches the second preset distance, specifically, the current distance that the inner catheter extends out of the outer catheter end reaches the second preset distance, it is determined that the outer catheter is about to enter or will enter the zero force mode, and the inner catheter is about to enter or will enter the active control mode.

[0156] Step S204: in response to determining that the outer catheter enters the zero-force mode, controlling the first engagement mechanism to enter a non-engagement state;

[0157] In this embodiment, when it is determined that the outer catheter will enter the zero force mode, the power unit corresponding to the outer catheter will be reversed, so that the first meshing mechanism enters a non-meshing state. The position or angle of the power unit reversal can be reasonably set according to actual needs, so that the first meshing mechanism can enter a non-meshing state, and the connection state between each driving wheel of the outer catheter device and the corresponding power unit is a non-meshing state.

[0158] Step S302: in response to determining that the inner catheter enters the active control mode, controlling at least one of the second engagement mechanisms to enter an engagement state, so that the end of the outer catheter passively follows the rotation of the end of the inner catheter.

[0159] In this embodiment, when it is determined that the inner catheter will enter the active control mode, the power unit corresponding to the inner catheter will drive the second meshing mechanism to enter the meshing state, so that the connection state between at least one driving wheel of the inner catheter instrument and the corresponding power unit is the meshing state. Specifically, the power unit can drive each driving wheel of the inner catheter instrument to rotate clockwise or counterclockwise. For example, when the power unit drives the driving wheel to rotate clockwise, the second meshing mechanism corresponding to the driving wheel enters the meshing state, so that the driving wheel and the power unit are in the meshing state. At this time, the driving wheel is a wire pulling wheel; when the power unit drives the driving wheel to rotate counterclockwise, the second meshing mechanism corresponding to the driving wheel enters the non-meshing state, and the driving wheel and the power unit are in the non-meshing state. At this time, the driving wheel is a wire releasing wheel.

[0160] It is understandable that when the inner catheter enters the active control mode, the power unit corresponding to the inner catheter will drive at least one of the second meshing mechanisms to enter the meshing state, and the other second meshing mechanisms will enter the non-meshing state. In this way, in the bending steering control, under the pulling action of the wire pulling wheel, the driving wire on the wire paying-off wheel on the wire paying-off side can be paid out accordingly, thereby realizing the bending of the end of the inner catheter. Furthermore, combined with the tensioning action of the tensioning mechanism, the driving wire wound on the wire paying-off wheel can be kept in a tensioned state, so that the length change of the driving wire on the wire paying-off side is the same as that of the driving wire on the wire pulling side. In this way, it is possible to avoid the situation where the driving wire on the wire paying-off side is released too much or too little, thereby avoiding the situation where the driving wire is loose or the bending angle of the end of the catheter instrument is not in place.

[0161] like Fig.29 As shown, when the end of the catheter needs to move to the 6th to 7th level branches of the patient's anatomical structure, at this time, since the outer catheter cannot pass through, if it is necessary to change direction, the outer catheter can be controlled to enter the zero force mode, and the inner catheter can enter the active control mode. At this time, the angle of the inner catheter's reversal bending is larger. In the active control mode of the inner catheter, the end of the outer catheter will passively follow the rotation of the end of the inner catheter. In this way, when reversal is required, by timely switching the outer catheter to a flexible state and making the end of the outer catheter passively follow the rotation of the end of the inner catheter, it is possible to avoid interference of the outer catheter with the bending of the inner catheter and improve the control accuracy of the catheter instrument.

[0162] In another embodiment, in certain scenarios where large-angle bending is required, the outer catheter and the inner catheter can be controlled to enter an active control mode. At this time, the outer catheter enters the active control mode in a rigid state, which can provide support for the bending reversal of the inner catheter so that the inner catheter can achieve large-angle bending.

[0163] Furthermore, if Fig.30 As shown, in the third embodiment, the step S20 and the step S30 may include:

[0164] Step S205: if the current distance is maintained at a third preset distance within a predetermined time, determining that the outer catheter and the inner catheter enter a forward or backward control mode;

[0165] In this embodiment, the third preset distance can be 4 mm or other reasonable values, and the present application does not limit the specific values. The predetermined time can be a reasonable value such as 10 s or 20 s, and the present application does not limit the specific values. For example, when the inner catheter extends 4 mm outside the outer catheter for 20 seconds, it indicates that the outer catheter and the inner catheter are currently in a paired driving mode, that is, the outer catheter and the inner catheter will enter a forward control mode or a backward control mode.

[0166] Step S303: in response to determining that the outer catheter and the inner catheter enter the forward or backward control mode, control the first meshing mechanism and the second meshing mechanism to enter a non-meshing state.

[0167] In this embodiment, when it is determined that the outer catheter and the inner catheter enter the forward or backward control mode, the power parts corresponding to the outer catheter and the inner catheter will be reversed, so that all the first meshing mechanisms of the outer catheter instrument and all the second meshing mechanisms of the inner catheter instrument enter a non-meshing state. The position or angle of the power part reversal can be reasonably set according to actual needs, so that the first meshing mechanism and the second meshing mechanism can enter a non-meshing state, and the connection state between each driving wheel of the outer catheter instrument and the inner catheter instrument and the corresponding power part is a non-meshing state.

[0168] When the inner and outer catheters are advanced close to the patient's target tissue at the beginning of the operation or withdrawn from the patient's anatomical structure after the operation, by timely switching both the inner and outer catheters to a flexible state, it is possible to avoid injury to the patient when the ends of the inner and outer catheters accidentally touch the patient's anatomical structure.

[0169] Furthermore, if Fig.31 As shown, in the first embodiment, the power unit is provided with a torque sensor to detect the tension value of the drive wire of the outer catheter instrument or the inner catheter instrument, and the processor is configured to perform the following specific steps:

[0170] Step S40, obtaining the tension value of the driving wire detected by the torque sensor;

[0171] Step S41: When the tension value of the driving wire is a predetermined value, it is determined that the outer catheter or the inner catheter has entered the zero-force mode.

[0172] In this embodiment, a torque sensor is provided on the power unit, which can detect the tension value of the corresponding drive wire. By detecting the tension value, it can be determined whether the outer catheter or the inner catheter is currently in the zero-force mode. For example, it can be preset that when the tension value is 0, it indicates that the outer catheter or the inner catheter is currently in the zero-force mode; or considering that the drive wire also has a certain tension in the tensioned state, therefore, it can be preset that when the tension value is greater than 0 and less than a preset value, it indicates that the outer catheter or the inner catheter is currently in the zero-force mode.

[0173] This embodiment can further determine whether the outer catheter or the inner catheter has entered the zero-force mode by detecting the tension value of the drive wire, thereby avoiding the safety risks that may arise when the outer catheter or the inner catheter performs the next operation before entering the zero-force mode.

[0174] Furthermore, if Fig.32 As shown, in the second embodiment, the processor is further configured to perform the following steps:

[0175] Step S42, obtaining the current value of the power unit;

[0176] Step S43: If the current value reaches a first threshold, it is determined that the outer catheter or the inner catheter has entered the zero-force mode.

[0177] In this embodiment, the current value of the power unit can be obtained, and by detecting the current value, it can be determined whether the outer catheter or the inner catheter is currently in the zero-force mode. For example, when the current value reaches or is less than 0.3 mA, it indicates that the outer catheter or the inner catheter is currently in the zero-force mode; when the current value reaches 0.5 mA, it indicates that the corresponding meshing mechanism is still in the meshing state, and the corresponding driving wheel and the power unit are in the meshing state, that is, the outer catheter or the inner catheter is not currently in the zero-force mode.

[0178] This embodiment can further determine whether the outer catheter or the inner catheter has entered the zero-force mode by acquiring the current value of the power unit, thereby avoiding the safety risks that may arise when the outer catheter or the inner catheter performs the next operation before entering the zero-force mode.

[0179] Furthermore, if Fig.33As shown, in one embodiment, the first engagement mechanism and the second engagement mechanism both have a protrusion and a mating portion that can engage with each other, and the processor is further configured to perform the following steps:

[0180] Step 50, in response to the outer catheter or the inner catheter switching from the zero-force mode to the active control mode, determining whether there is a gap between the protruding portion and the matching portion;

[0181] In this embodiment, the protrusion and the matching portion can be meshed with each other. When the protrusion and the matching portion are meshed, the corresponding meshing mechanism is in a meshing state, and at this time, there is no gap between the protrusion and the matching portion; when the protrusion and the matching portion are far apart, the corresponding meshing mechanism is in a non-meshing state, and at this time, there is no gap between the protrusion and the matching portion. The method for judging whether there is a gap between the protrusion and the matching portion can be: by using the torque sensor provided by the power unit to detect the tension value of the corresponding drive wire, if it is determined that the outer catheter or the inner catheter is currently in the zero force mode, it can be determined that there is a gap between the protrusion and the matching portion. Or by obtaining the current value of the power unit, it can be judged whether the outer catheter or the inner catheter is currently in the zero force mode. If it is determined that the outer catheter or the inner catheter is currently in the zero force mode, it can be determined that there is a gap between the protrusion and the matching portion.

[0182] Step 51: If yes, control the corresponding power unit to rotate rapidly at a first preset speed.

[0183] In this embodiment, when the outer catheter or the inner catheter is in the zero-force mode, the corresponding meshing mechanism is in a non-meshing state, that is, the protrusion and the matching portion are far apart and have a certain gap. Therefore, if it is necessary to switch from the current zero-force mode to the active control mode, at this time, the power unit is reversed, so that the protrusion or the matching portion is reversed accordingly and re-engaged. In this process, the hysteresis caused by the gap can be eliminated by controlling the corresponding power unit to rotate rapidly at a first preset speed. Among them, the first preset speed can be reasonably set according to actual needs, and this application does not limit its specific value.

[0184] Furthermore, if Fig.34 As shown, in another embodiment, the first engagement mechanism and the second engagement mechanism both have a protrusion and a matching portion that can engage with each other, and the processor is further configured to perform the following steps:

[0185] Step 60, in response to the outer catheter or the inner catheter switching from the zero-force mode to the active control mode, detecting the current value of the power unit;

[0186] Step 61: When the current value reaches a second threshold, it indicates that the first meshing mechanism or the second meshing mechanism is currently in a meshing state;

[0187] In this embodiment, when it is necessary to switch the outer catheter or the inner catheter from the zero-force mode to the active control mode, it is possible to determine whether the outer catheter or the inner catheter is currently in the zero-force mode by acquiring the current value of the power unit; if it is determined that the outer catheter or the inner catheter is currently in the zero-force mode, it can be determined that there is a gap between the protruding portion and the mating portion.

[0188] When the current value reaches the second threshold value, such as 0.5 mA, it indicates that the corresponding meshing mechanism is still in meshing state, and the corresponding driving wheel and the power unit are in meshing state, that is, the outer catheter or the inner catheter is not in zero force mode.

[0189] Step 62: In response to the received user instruction, a corresponding force is applied to the power unit to rotate the corresponding end of the inner catheter or the outer catheter.

[0190] In this embodiment, when receiving a user instruction, a corresponding force can be applied to the power unit according to the user instruction, so that the end of the corresponding inner catheter or outer catheter rotates. It can be understood that by obtaining the current value of the power unit, there is usually no gap between the protrusion and the matching part, but in this embodiment, by detecting the current value, it can be further determined whether there is a gap between the protrusion and the matching part, which can avoid the safety risks that may be caused by the next operation.

[0191] Furthermore, if Fig.35 As shown, in one embodiment, the user input device is connected to the mechanical arm for communication, and a zero force key 900 may be provided on the user input device. The zero force key 900 may be a common zero force key 900 for controlling the inner catheter instrument and the outer catheter instrument at the same time; or may be an inner catheter zero force key 900 for controlling the inner catheter instrument separately, and an outer catheter zero force key 900 for controlling the outer catheter instrument separately. When the user triggers the zero force key 900 on the user input device, the processor will respond to the trigger instruction of the zero force key 900 and control the power unit corresponding to the inner catheter instrument and the outer catheter instrument to reverse rapidly at a second preset speed. The second preset speed may be reasonably set according to actual needs, and the present application does not limit its specific value.

[0192] Further, in one embodiment, when it is determined that the outer catheter and the inner catheter are switched from the active control mode to the zero force mode, all the driving wheels corresponding to the first meshing mechanism and / or the second meshing mechanism in the outer catheter device or the inner catheter device that are in meshing state are reversed, so that all the first meshing mechanisms of the outer catheter device and all the second meshing mechanisms of the inner catheter device enter a non-meshing state. Wherein, the position or angle of the reverse rotation of the power unit and the driving wheel can be reasonably set according to actual needs, so that the first meshing mechanism and the second meshing mechanism can enter a non-meshing state, and the connection state between each driving wheel of the outer catheter device and the inner catheter device and the corresponding power unit is a non-meshing state.

[0193] It should be understood that the "reach" mentioned in the present application, such as the "reach" in the above-mentioned distance between the end of the inner catheter and the end of the outer catheter reaching the first preset distance, means that the two distances are equal; or close, such as having a certain distance range, which can also be considered to be reached.

[0194] The present application also provides a control system for a catheter system. Fig.36 , which shows a schematic diagram of the structure of a control system of a catheter system provided by an embodiment of the present application. Fig.36 As shown, the control system 600 includes: a processor 60, a memory 61, a bus 62 and a communication interface 63, wherein the processor 60, the communication interface 63 and the memory 61 are connected via the bus 62; the memory 61 stores computer program instructions that can be executed by the processor 60, and when the processor 60 executes the computer program instructions, the driving control method of the catheter provided in any of the aforementioned embodiments of the present application is executed.

[0195] The memory 61 may include a high-speed random access memory (RAM), and may also include a non-volatile memory, such as at least one disk memory. The communication connection between the device network element and at least one other network element is realized through at least one communication interface 63 (which may be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. may be used.

[0196] The bus 62 may be an ISA bus, a PCI bus, or an EISA bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. The memory 61 is used to store programs, and the processor 60 executes the programs after receiving execution instructions. The driving control method of the catheter disclosed in any implementation of the embodiment of the present application may be applied to the processor 60, or implemented by the processor 60.

[0197] The processor 60 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit or software instructions in the processor 60. The above processor 60 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor. The steps of the method disclosed in the embodiments of the present application can be directly embodied as a hardware decoding processor to be executed, or the hardware and software modules in the decoding processor can be executed. The software module can be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 61, and the processor 60 reads the information in the memory 61 and completes the steps of the above method in combination with its hardware.

[0198] The catheter system provided in the embodiment of the present application and the driving control method of the catheter provided in the embodiment of the present application are based on the same application concept and have the same beneficial effects as the methods adopted, operated or implemented therein.

[0199] The present application also provides a computer-readable storage medium corresponding to the catheter drive control method provided in the above embodiment. Fig.37 , which shows a computer-readable storage medium 6 on which computer program instructions are stored. When the computer program instructions are executed by a processor, the driving control method of the catheter provided in any of the aforementioned embodiments will be implemented.

[0200] It should be noted that examples of the computer-readable storage medium may include, but are not limited to, optical disks, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other optical or magnetic storage media, which are not listed here one by one.

[0201] The above description is only an optional embodiment of the present application, and does not limit the patent scope of the present application. All equivalent structural changes made by using the contents of the present application specification and drawings under the application concept of the present application, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A catheter device, characterized in that: The catheter instrument is configured to engage with a power unit of a robotic arm, and the catheter instrument comprises an instrument box configured to engage with the power unit and a flexible body connected to the instrument box, wherein the instrument box comprises: A chassis, configured to be connected to a power unit of the mechanical arm so that the instrument box is engaged with the power unit; A plurality of driving wheels are arranged to be carried by the base frame, and one end of a driving wire is fixed on the driving wheel, and the other end of the driving wire extends along the flexible body and is fixed to the end of the flexible body; the plurality of driving wheels include a wire pulling wheel and a wire releasing wheel; an engagement mechanism, which is at least arranged on the pay-off wheel and is capable of switching the connection state between the pay-off wheel and the power unit under the control of the power unit, wherein the connection state includes an engagement state and a non-engagement state; and A tensioning mechanism has one end connected to the base frame and the other end fixedly connected to the pay-off wheel, so that the driving wire on the pay-off wheel remains in a tensioned state, and can make the driving wire on the pay-off wheel pay out accordingly under the pulling action of the wire pulling wheel when the pay-off wheel and the power unit are in a non-meshing state, so that the length change of the driving wire on the pay-off wheel and the driving wire on the wire pulling wheel is the same.

2. The catheter device according to claim 1, characterized in that The driving wheel includes a driving shaft rotatably connected to the base frame, and the instrument box also includes an input disk fixedly connected to the driving shaft and engaged with the power unit; the engaging mechanism includes a protrusion fixed on the driving shaft, and a matching portion arranged on the input disk and abutting against the protrusion, and the matching portion is configured to rotate in a first direction to abut against the protrusion under the drive of the power unit so that the pay-off wheel and the power unit are in a meshing state, and is also configured to rotate in a second direction opposite to the first direction under the drive of the power unit to leave the protrusion so that the pay-off wheel and the power unit are in a non-meshing state.

3. The catheter device according to claim 1, characterized in that The driving wheel includes a driving shaft rotatably connected to the base frame, and a transmission wheel body connected to the driving shaft and used for winding the driving wire; the engaging mechanism includes a protrusion fixed on the driving shaft, and a matching portion arranged on the transmission wheel body and abutting against the protrusion, the protrusion being arranged to rotate in a first direction to abut against the matching portion when driven by the power unit so that the pay-off wheel and the power unit are in an engaged state, and is also arranged to rotate in a second direction opposite to the first direction when driven by the power unit to leave the matching portion so that the pay-off wheel and the power unit are in a non-engaged state.

4. The catheter device according to claim 1, characterized in that The driving wheel includes a driving shaft rotatably connected to the base frame; the base frame is provided with a receiving portion, and the receiving portion is configured to accommodate the tensioning mechanism. The tensioning mechanism includes a coil spring, one end of the coil spring is connected to the driving shaft and the other end is fixed to the base frame, so that the driving wire on the pay-off wheel remains in a tensioned state.

5. The catheter device according to claim 4, characterized in that The driving wheel also includes a transmission wheel body connected to the driving shaft and used for winding the driving wire; the diameter of the transmission wheel body is comparable to the diameter of the receiving portion.

6. The catheter device according to claim 1, characterized in that The instrument box also includes a shell that is snapped onto the base frame, a water-gas connector fixed to the shell, and a joint fixed to the base frame and connected to the flexible body. The catheter instrument has a symmetrical plane, and the water-gas connector and the joint are both located on the symmetrical plane.

7. The catheter device according to claim 1, characterized in that The driving wheel also includes an input disc fixedly connected to the driving shaft and engaged with the power unit. The input disc is provided with an arc groove in a direction away from the power unit, and the arc groove is arranged along the circumference of the input disc.

8. A catheter system, characterized in that: The catheter system includes an imaging vehicle, a trolley and a main controller respectively connected to the imaging vehicle, and a catheter instrument as described in any one of claims 1 to 7 that can be coupled to the trolley, wherein the catheter instrument is configured to advance, retract or bend and turn by being driven by the trolley under control instructions triggered by the main controller.

9. A catheter system, characterized in that: The catheter system comprises: Robotic arm; an outer catheter instrument having a first engagement mechanism, configured to engage with a power portion of one of the robotic arms, the outer catheter instrument comprising an outer catheter; an inner catheter instrument having a second engagement mechanism, configured to engage with a power portion of another of the robotic arms, the inner catheter instrument comprising an inner catheter configured to be driven through the lumen of the outer catheter; and A processor in communication with the robotic arm, the processor being configured to perform the following steps: obtaining a current distance between an end of the inner catheter and an end of the outer catheter; Determining a control mode to be entered by the inner catheter and the outer catheter according to the current distance; According to the control mode, the first engagement mechanism and / or the second engagement mechanism are correspondingly controlled to enter a non-engagement state, so as to control at least one of the outer catheter and the inner catheter to enter a zero-force mode.

10. The catheter system of claim 9, wherein: The processor is configured to perform the following specific steps: If the current distance reaches a first preset distance, determining that the outer catheter enters an active control mode and the inner catheter enters a zero-force mode; In response to determining that the inner catheter enters the zero-force mode, controlling the second engagement mechanism to enter a non-engaged state; In response to determining that the outer catheter enters the active control mode, at least one of the first engagement mechanisms is controlled to enter an engagement state so that the distal end of the inner catheter passively follows the rotation of the distal end of the outer catheter.

11. The catheter system of claim 10, wherein: The processor is configured to perform the following specific steps: If the current distance reaches a second preset distance, determining that the outer catheter enters a zero-force mode and the inner catheter enters an active control mode; In response to determining that the outer catheter enters the zero-force mode, controlling the first engagement mechanism to enter a non-engaged state; In response to determining that the inner catheter enters the active control mode, at least one of the second engagement mechanisms is controlled to enter an engagement state so that the distal end of the outer catheter passively follows the rotation of the distal end of the inner catheter.

12. The catheter system of claim 10, wherein: The processor is configured to perform the following specific steps: If the current distance is maintained at a third preset distance within a predetermined time, determining that the outer catheter and the inner catheter enter a forward or backward control mode; In response to determining that the outer catheter and the inner catheter enter the forward or backward control mode, the first engagement mechanism and the second engagement mechanism are both controlled to enter a non-engaged state.

13. The catheter system of claim 9, wherein: The power unit is provided with a torque sensor to detect the tension value of the drive wire of the outer catheter device or the inner catheter device. The processor is configured to perform the following specific steps: Acquiring the tension value of the driving wire detected by the torque sensor; When the tension value of the driving wire is a predetermined value, it is determined that the outer catheter or the inner catheter has entered the zero-force mode.

14. The catheter system of claim 9, wherein: The processor is further configured to perform the following steps: Obtaining a current value of the power unit; If the current value reaches a first threshold, it is determined that the outer catheter or the inner catheter has entered the zero-force mode.

15. The catheter system of claim 9, wherein: The first engagement mechanism and the second engagement mechanism both have a protrusion and a mating portion that can engage with each other, and the processor is further configured to perform the following steps: In response to the outer catheter or the inner catheter switching from the zero-force mode to the active control mode, determining whether there is a gap between the protrusion and the mating portion; If it exists, the corresponding power unit is controlled to rotate rapidly at a first preset speed.

16. The catheter system of claim 9, wherein: The first engagement mechanism and the second engagement mechanism both have a protrusion and a mating portion that can engage with each other, and the processor is further configured to perform the following steps: In response to the outer catheter or the inner catheter switching from the zero-force mode to the active control mode, detecting the current value of the power unit; When the current value reaches a second threshold, it indicates that the first meshing mechanism or the second meshing mechanism is currently in a meshing state; In response to the received user instruction, a corresponding force is applied to the power unit to rotate the corresponding distal end of the inner catheter or the outer catheter.

17. The catheter system of claim 9, wherein: The catheter system further includes a user input device communicatively connected to the robotic arm, the user input device being provided with a zero force key, and the processor being configured to perform the following specific steps: In response to the triggering instruction of the zero-force key, the corresponding power unit is controlled to quickly reverse at a second preset speed.

18. The catheter system of claim 9, wherein: The outer catheter device and / or the inner catheter device comprises more than two drive wheels, and the processor is further configured to perform the following steps: In response to the outer catheter instrument or the inner catheter instrument switching from the active control mode to the zero force mode, all driving wheels corresponding to the first engagement mechanism and / or the second engagement mechanism in the outer catheter instrument or the inner catheter instrument that are in an engaged state are controlled to reverse.

Images