Catheter apparatus and catheter systems

Abstract

The application discloses a catheter instrument, and 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, the other end of the driving wire extends along a flexible main body and is fixed to a terminal end of the flexible main body, the plurality of driving wheels comprise a pull wire wheel and a pay-off wheel, an engaging mechanism is arranged on at least the pay-off wheel, the engaging mechanism can switch the pay-off wheel and a power part between an engaged state and a disengaged state, a tensioning mechanism is connected to a chassis at one end and is fixedly connected to the pay-off wheel at the other end, so that the 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 the disengaged state, the driving wire on the pay-off wheel is paid out under the pulling action of the pull wire wheel, so that the length change of the driving wire on the pay-off wheel is the same as that of the driving wire on the pull wire wheel. The application further discloses a catheter system. The application can avoid the situation that the driving wire is slack or the bending angle of the terminal end of the catheter instrument is not in place.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a catheter device and catheter system. Background Technology

[0002] Minimally invasive medical techniques primarily aim to reduce damage to patient tissues during medical procedures, offering advantages such as less trauma, less pain, and faster recovery. These techniques can be performed through natural openings in the patient's anatomical structure or surgical incisions, allowing catheters to reach the target tissue location under the control of a controller. Catheters are typically flexible and / or steerable, slender devices that can be inserted into anatomical openings and navigate towards the target area within the patient's anatomy. Control of the catheter involves advance, retraction, and steer. Steerability is primarily achieved by a power unit (such as a motor) controlling the rotation of the catheter's transmission unit, which transmits tension via a drive wire to the catheter's tip, thus controlling the steer of the catheter's end.

[0003] In the process of controlling the steering of the catheter instrument tip, the drive wire involves a pull side and a release side. However, the length changes of the pull side and the release side are not always the same. There are often cases where the release side releases too much or too little wire, which can lead to problems such as the drive wire becoming loose or the bending angle of the catheter instrument tip not being in place. Summary of the Invention

[0004] The main objective of this application is to provide a catheter device and catheter system that aims to solve the technical problems of loose drive wire or inadequate bending angle at the end of the catheter device in existing catheter devices.

[0005] To achieve the above objectives, this application provides a catheter device configured to engage with a power unit of a robotic arm. The catheter device includes a device housing configured to engage with the power unit and a flexible body connected to the device housing. The device housing includes:

[0006] The base frame is configured to connect to the power unit of the robotic arm so that the instrument box engages with the power unit;

[0007] Multiple drive wheels are configured to be supported by the base frame, and one end of a drive wire is fixed to each drive wheel. The other end of the drive wire extends along the flexible body and is fixed to the end of the flexible body. The multiple drive wheels include pull wheels and feed wheels.

[0008] A meshing mechanism, at least disposed on the feed reel, is capable of switching the connection state between the feed reel and the power unit under the control of the power unit, the connection state including a meshing state and a non-meshing state; and

[0009] The tensioning mechanism has one end connected to the base frame and the other end fixedly connected to the pay-off reel, so that the drive wire on the pay-off reel is kept in a tensioned state. When the pay-off reel and the power unit are not engaged, the drive wire on the pay-off reel is pulled by the pull of the puller to pay off the corresponding wire, so that the length changes of the drive wire on the pay-off reel and the drive wire on the puller reel are the same.

[0010] Optionally, the drive wheel includes a drive shaft rotatably connected to the base frame, and the instrument box includes an input disc fixedly connected to the drive shaft and engaging with the power unit; the engagement mechanism includes a protrusion fixed to the drive shaft and a mating part disposed on the input disc that abuts against the protrusion. The mating part is configured to rotate in a first direction under the drive of the power unit to abut against the protrusion, thereby engaging the wire feeder with the power unit, and is also configured to rotate away from the protrusion in a second direction opposite to the first direction under the drive of the power unit, thereby disengaging the wire feeder with the power unit.

[0011] Optionally, the drive wheel includes a drive shaft rotatably connected to the base frame, and a transmission wheel body connected to the drive shaft and used for winding the drive wire; the engagement mechanism includes a protrusion fixed to the drive shaft, and a mating portion disposed on the transmission wheel body that abuts against the protrusion. The protrusion is configured to rotate in a first direction under the drive of the power unit to abut against the mating portion, thereby engaging the wire feeder with the power unit, and is also configured to rotate away from the mating portion in a second direction opposite to the first direction under the drive of the power unit, thereby disengaging the wire feeder with the power unit.

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

[0013] Optionally, the drive wheel further includes a transmission wheel body connected to the drive shaft and used for winding the drive wire; the diameter of the transmission wheel body is approximately the same as the diameter of the receiving portion.

[0014] Optionally, the instrument box further includes a housing fastened to the base frame, a water / air connector fixed to the housing, and a joint fixed to the base frame and connected to the flexible body. The catheter instrument has a plane of symmetry, and the water / air connector and the joint are both located on the plane of symmetry.

[0015] Optionally, the drive wheel further includes an input disk that is fixedly connected to the drive shaft and engages with the power unit. The input disk is recessed in an arc-shaped groove in a direction away from the power unit, and the arc-shaped groove is arranged along the circumference of the input disk.

[0016] This application also provides a catheter system comprising an imaging cart, a trolley and a main controller respectively connected to the imaging cart, and a catheter device as described above that can be coupled to the trolley, the catheter device being configured to move forward, retract, or bend and turn under the drive of the trolley upon control command triggered by the main controller.

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

[0018] robotic arm;

[0019] An external catheter device having a first engagement mechanism is configured to engage with a power unit of one of the robotic arms, the external catheter device comprising an external catheter;

[0020] An internal catheter device having a second engagement mechanism is configured to engage with the power unit of another said robotic arm, the internal catheter device comprising an internal catheter configured to be driven through the lumen of the external catheter; and

[0021] A processor communicatively connected to the robotic arm is configured to perform the following steps:

[0022] Obtain the current distance between the tip of the inner catheter and the tip of the outer catheter;

[0023] Based on the current distance, determine the control mode for the internal and external catheters to be entered;

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

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

[0026] If the current distance reaches the first preset distance, it is determined that the external catheter enters the active control mode and the internal catheter enters the zero-force mode.

[0027] In response to determining that the inner catheter has entered a zero-force mode, the second engagement mechanism is controlled to enter a non-engaging state;

[0028] In response to determining that the external conduit has entered an active control mode, at least one of the first engagement mechanisms is controlled to enter an engagement state so that the end of the internal conduit passively follows the rotation of the end of the external conduit.

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

[0030] If the current distance reaches the second preset distance, it is determined that the external catheter enters the zero-force mode and the internal catheter enters the active control mode.

[0031] In response to determining that the external conduit has entered a zero-force mode, the first engagement mechanism is controlled to enter a non-engaging state;

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

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

[0034] If the current distance remains at the third preset distance within a predetermined time, then the external catheter and the internal catheter are determined to enter the forward or backward control mode;

[0035] In response to determining that the external conduit and the internal conduit have entered a forward or backward control mode, the first engagement mechanism and the second engagement mechanism are both controlled to enter a non-engaging state.

[0036] Optionally, the power unit is equipped with a torque sensor to detect the tension value of the drive wire of the external or internal catheter instrument, and the processor is configured to perform the following specific steps:

[0037] Obtain the tension value of the drive wire detected by the torque sensor;

[0038] When the tension value of the drive 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] Obtain the current value of the power unit;

[0041] If the current value reaches the first threshold, it is determined that the external conduit or the internal conduit has entered the zero-force mode.

[0042] Optionally, both the first and second engagement mechanisms have mutually engaging protrusions and mating portions, and the processor is further configured to perform the following steps:

[0043] In response to the external catheter or the internal catheter switching from the zero-force mode to the active control mode, it is determined whether there is a gap between the protrusion and the mating part;

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

[0045] Optionally, both the first and second engagement mechanisms have mutually engaging protrusions and mating portions, and the processor is further configured to perform the following steps:

[0046] In response to the external conduit or the internal conduit switching from the zero-force mode to the active control mode, the current value of the power unit is detected;

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

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

[0049] Optionally, the conduit system further includes a user input device communicatively connected to the robotic arm, the user input device being equipped with a zero-force key, and the processor being configured to perform the following specific steps:

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

[0051] Optionally, the external catheter device and / or the internal catheter device includes two or more drive wheels, and the processor is further configured to perform the following steps:

[0052] In response to the external catheter device or the internal catheter device switching from the active control mode to the zero-force mode, all drive wheels corresponding to the first engagement mechanism and / or the second engagement mechanism in the external catheter device or the internal catheter device that are in engagement are controlled to reverse.

[0053] The catheter instrument and catheter system provided in this application, through a tensioning mechanism, can keep the drive wire on the feed reel taut. Combined with an engagement mechanism on the feed reel, even when the feed reel and power unit are not engaged, the pull of the pull reel causes the drive wire on the feed reel to be released accordingly, ensuring that the length changes of the drive wire on the feed reel and the drive wire on the pull reel are the same. This avoids situations where too much or too little drive wire is released on the feed side, thus preventing drive wire slack or inadequate bending angle at the catheter instrument tip. Attached Figure Description

[0054] Figure 1 This is a simplified structural diagram of an embodiment of the catheter system of this application;

[0055] Figure 2 This is a schematic diagram of an embodiment of the catheter device of this application in conjunction with the power unit of the robotic arm;

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

[0057] Figure 4 This is a simplified structural diagram of an embodiment of the catheter device of this application with the housing removed;

[0058] Figure 5 for Figure 3 A structural diagram from another perspective;

[0059] Figure 6 This is another simplified structural schematic diagram of an embodiment of the catheter system of this application;

[0060] Figure 7 This is a schematic diagram of an embodiment of the drive wheel, tensioning mechanism, and input disc in the catheter device of this application.

[0061] Figure 8 This is a simplified structural diagram of the engagement mechanism in the catheter device of this application, in both engaged and non-engaged states.

[0062] Figure 9 This is a schematic diagram of the first embodiment of the engagement mechanism in the catheter device of this application;

[0063] Figure 10 This is a schematic diagram of the second embodiment of the engagement mechanism in the catheter device of this application;

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

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

[0066] Figure 13 for Figure 7 A schematic diagram of an embodiment of the tensioning mechanism;

[0067] Figure 14 This is a schematic diagram of an embodiment of the engagement mechanism corresponding to the wire feeding wheel during the bending and turning of the catheter device in this application;

[0068] Figure 15 This is a schematic diagram of the cross-sectional structure of the drive wheel, tensioning mechanism, and base frame in the catheter device of this application;

[0069] Figure 16 for Figure 3 A schematic diagram of the partial structure after the shell has been removed;

[0070] Figure 17 for Figure 2 Another embodiment of the instrument box is shown in the structural diagram;

[0071] Figure 18 for Figure 17 A partial structural diagram from one perspective after the shell has been removed;

[0072] Figure 19 for Figure 18 A simplified structural diagram from a top view of one embodiment;

[0073] Figure 20 for Figure 18 A simplified structural diagram from a top view of another embodiment;

[0074] Figure 21 This is a schematic diagram of an embodiment of the fixation part in the catheter device of this application;

[0075] Figure 22 for Figure 17 A partial structural diagram from another perspective after the shell has been removed;

[0076] Figure 23 for Figure 2 Another embodiment of the instrument box is shown in the structural diagram;

[0077] Figure 24 A schematic flowchart of a catheter driving control method provided in an embodiment of this application;

[0078] Figure 25 This is a schematic diagram of the internal and external catheter devices during their forward movement in one embodiment of this application;

[0079] Figure 26 A schematic flowchart of a catheter driving control method provided in another embodiment of this application;

[0080] Figure 27 This is a schematic diagram of an embodiment in which the distal ends of the internal and external catheters of this application travel to the third or fourth level branches of the patient's anatomical structure;

[0081] Figure 28 A schematic flowchart of a catheter driving control method provided in another embodiment of this application;

[0082] Figure 29 This is a schematic diagram of an embodiment in which the distal ends of the internal and external catheters of this application travel to the 6th to 7th level branches of the patient's anatomical structure;

[0083] Figure 30 A schematic flowchart of a catheter driving control method provided in another embodiment of this application;

[0084] Figure 31 A schematic flowchart of a catheter driving control method provided in another embodiment of this application;

[0085] Figure 32 A schematic flowchart of a catheter driving control method provided in another embodiment of this application;

[0086] Figure 33 A schematic flowchart of a catheter driving control method provided in another embodiment of this application;

[0087] Figure 34 A schematic flowchart of a catheter driving control method provided in another embodiment of this application;

[0088] Figure 35 This is a schematic diagram of an embodiment of the user input device in this application that is equipped with a zero-force key;

[0089] Figure 36 This is a schematic diagram of the control system of a catheter system provided in an embodiment of this application;

[0090] Figure 37 This is a schematic diagram of a computer-readable storage medium provided in an embodiment of this application.

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

[0092] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0093] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in the embodiments of this application are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0094] In this application, unless otherwise expressly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0095] Furthermore, the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. If the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed in 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 connected to the imaging cart 100, a user input device 300, 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 controlling 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 wired or wirelessly connected to the trolley 200. When an operator performs various procedures on a patient next to the trolley 200, they can trigger control commands by operating the user input device 300, which, driven by the trolley 200, controls the catheter instrument 400 to move forward, retract, and bend / turn.

[0097] The trolley 200 can typically be moved to the side of the operating table to engage the catheter instrument 400. Under control commands, it controls the catheter instrument 400 to move vertically, horizontally, or in non-vertical and non-horizontal directions, thus providing a better preoperative preparation angle for the operation of the catheter instrument 400. The control commands can be triggered by the operator through the user input device 300, or by the operator directly clicking or pressing buttons on the trolley 200. In other embodiments, the control commands can also be voice control or commands triggered through a force feedback mechanism.

[0098] like Figure 1 As shown, the trolley 200 may further include a base 210, a sliding seat 220 that can move up and down along the base 210, and two robotic arms 230 fixedly connected to the sliding seat 220. Each robotic arm 230 may include multiple arm segments connected at joints, providing multiple degrees of freedom, for example, seven degrees of freedom corresponding to seven arm segments. A power unit (not shown) is installed at the end of each robotic arm 230. The power unit engages the catheter instrument 400 and, under the driving action of the power unit, controls the end of the catheter instrument 400 to bend and turn accordingly. The two robotic arms 230 may have identical or partially identical structures; one robotic arm 230 engages the internal catheter instrument 410, and the other robotic arm 230 engages the external catheter instrument 420. During installation, the external catheter device 420 can be installed first. After the external catheter device 420 is installed, the flexible body of the internal catheter device 410 is inserted into the flexible body of the external 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, velocity, rate, pose, and / or shape of the distal end of the catheter device 400 and / or along one or more segments that may constitute a flexible body of the catheter device 400; and / or a visualization system for capturing images from the distal end of the catheter device 400.

[0100] The imaging vehicle 100 may be equipped 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 catheter instruments 400 generated by the subsystems of the sensor system 500. It may also display real-time images of the surgical site and catheter instruments 400 captured by a visualization system. Image data from imaging technologies such as computed tomography (CT), magnetic resonance imaging (MRI), optical coherence tomography (OCT), and ultrasound may also be used to present images of the surgical site recorded preoperatively or intraoperatively. Preoperative or intraoperative image data may be presented as two-dimensional, three-dimensional, or four-dimensional (e.g., time-based or rate-based information) images and / or as images from models created based on preoperative or intraoperative image datasets. A virtual navigation image may also be displayed, in which the actual position of the catheter instruments 400 is registered with the preoperative image to present a virtual image of the catheter instruments 400 within the surgical site to the operator from the outside.

[0101] The control system 600 includes at least one memory and at least one processor communicatively connected to the robotic arm. It is understood that the control system 600 can be integrated into the trolley 200 or the imaging cart 100, or it can be set up independently. 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 instructing the catheter device 400 to move, which is then moved by the power unit. The catheter device 400 can extend to the surgical site within the body via an opening in the patient's natural cavity or a surgical incision.

[0102] Furthermore, 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). 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 cases listed above, and can be reasonably set according to actual conditions. Among them, the image processing system can image the surgical site based on images of the surgical site recorded before or during the operation, using the above-mentioned imaging technology. Software that can be used in conjunction with manual input can also convert the recorded images into two-dimensional or three-dimensional synthetic images of parts 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. This position can be used to generate external tracking images and internal virtual images of the patient's anatomical structure, realizing the registration of the actual position of the catheter instrument 400 with the preoperative image, thereby presenting a virtual image of the catheter instrument 400 within the surgical site to the operator from the outside.

[0103] The internal catheter device 410 and the external catheter device 420 have largely the same structure, each having a slender internal flexible body 41 and an external flexible body 42, respectively. The diameter of the external flexible body 42 is slightly larger than that of the internal flexible body 41, so that the internal flexible body 41 can pass through the external flexible body 42 and provide a certain degree of support for the internal flexible body 41. This allows the internal flexible body 41 to reach the target location in the patient's body, so as to facilitate operations such as tissue or cell sampling from the target location.

[0104] Certain movements of the user input device 300 can cause corresponding movements of the catheter instrument 400. For example, when the operator moves the direction lever of the user input device 300 up or down, the movement of the direction lever can be mapped to a corresponding pitch movement of the end of the catheter instrument 400; when the operator moves the direction lever of the user input device 300 left or right, the movement of the direction lever can be mapped to a corresponding yaw movement of the end of the catheter instrument 400. In this embodiment, the user input device 300 can 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 a power unit 240 of a robotic arm 230. The catheter device 400 includes an instrument housing 45 configured to engage with the power unit 240 and a flexible body 48 connected to the instrument housing 45. "Engagement" refers to a state where, when the instrument housing 45 is mounted to the power unit 240, the driving force of the power unit 240 can be transmitted to the instrument housing 45, enabling normal movement of the flexible body 48. For example, under the driving force of the power unit 240, the end of the flexible body 48 can bend and turn. A portion of the flexible body, including the end, is a controllable segment 49, the end of which is the end of the catheter 48. The controllable segment 49 can be a joint assembly with high stiffness in the extension direction and low stiffness in the bending direction, allowing it to bend under driving force, thereby achieving end-effector turning. In some embodiments, this joint assembly may be referred to as 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 drive wheels 456 supported by the base frame 452, and a housing 450 fastened to the base frame 452. The base frame 452 and the housing 450 form a receiving space to receive the drive 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 drive wheel 456, located on the side of the base frame 452 facing the power unit. One side of the input disk 458 is used to connect with the output disk 241 of the power unit 240. Figure 2 (As shown) The other side is connected to the drive wheel 456 to transmit the driving force of the power unit 240 to the drive wheel 456, thereby driving the end of the catheter instrument 400 to bend and turn accordingly.

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

[0108] In this embodiment, the number of drive wheels 456 can be four, and the four drive wheels 456 can be arranged in a square, rectangle, or rhombus shape. The four drive wheels 456 can be connected by their own independent drive wires 470, or they can be connected in series to form a closed loop. Two drive wheels 456 form one pair of drive wheels, and the other two drive wheels form another pair. Between the pairs of drive wheels, one is responsible for pulling the wire, and the other is responsible for releasing the wire, thereby achieving the corresponding bending and turning of the end of the catheter instrument 400. In one embodiment, the drive wires 470 wound on the one pair of drive wheels and the other pair of drive wheels are mirror images of each other. This mirror image arrangement makes the structure of the instrument box 45 more compact and neat. In another embodiment, the distribution of the drive wires 470 wound on the one pair of drive wheels and the other pair of drive wheels is the same. It should be understood that in other embodiments, for example, in the external catheter device 420, due to different material properties, in order to achieve the corresponding bending and turning of the end of the external catheter device 420, one drive wheel is required to pull the cable and two drive wheels are required to release the cable.

[0109] like Figure 6 As shown, the plurality of drive wheels 456 may include a pull wheel 468 located on the pull side and a release wheel 469 located on the release side. It should be understood that, in one embodiment, the drive wheel 456 may always be a pull wheel 468 located on the pull side, or always be a release wheel 469 located on the release side. In another embodiment, the drive wheel 456 may switch accordingly to different bend steering control requirements. For example, in one bend steering control, if the current drive wheel 456 is a release wheel 469 located on the release side, then in another bend steering control, the current drive wheel 456 switches to a pull wheel 468 located on the pull side. Similarly, in one bend steering control, if the current drive wheel 456 is a pull wheel 468 located on the pull side, then in another bend steering control, the current drive wheel 456 switches to a release wheel 469 located on the release side.

[0110] Furthermore, such as Figure 7As shown, in one embodiment, the drive wheel 456 includes a drive shaft 481 rotatably connected to the base frame 452, and a transmission wheel 482 connected to the drive shaft 481 and used for winding the drive wire 470. The transmission wheel 482 can be fixedly connected to the drive shaft 481 or movably connected to the drive shaft 481. Figure 5 As shown, the input disk 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 disk 458 can be fixedly connected to the drive shaft 481 or movably connected to the drive shaft 481.

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

[0112] In the first embodiment, as Figure 9As shown, the engagement mechanism 80 includes a protrusion 810 fixed to the drive shaft 481 and a mating portion 820 disposed on the input disk 458 that abuts against the protrusion 810. When the power unit drives the input disk 458 to rotate in a first direction, the mating portion 820 abuts against the protrusion 810, causing the drive wheel 456 to engage with the power unit. At this time, the drive wheel 456 switches to a wire pulley 468. Thus, under the driving force of the power unit, the drive wheel 456 rotates accordingly, thereby achieving a corresponding bending and turning of the end of the flexible body 48. When the power unit drives the input disk 458 to rotate in a second direction opposite to the first direction, the mating portion 820 disengages from the protrusion 810, causing the drive wheel 456 to disengage with the power unit. At this time, the drive wheel 456 switches to a wire feeder 469. It is understood that in this embodiment, the input disk 458 and the drive shaft 481 can be movably connected, and the transmission wheel 482 and the drive shaft 481 can be fixedly connected.

[0113] In the second embodiment, as Figure 10 As shown, the engagement mechanism 80 includes a protrusion 810 fixed to the drive shaft 481 and a mating portion 820 disposed on the transmission wheel 482 that abuts against the protrusion 810. When the power unit drives the input disk 458 to rotate in the first direction, the protrusion 810 abuts against the mating portion 820, causing the drive wheel 456 to engage with the power unit. At this time, the drive wheel 456 switches to a wire pulley 468. Thus, under the driving force of the power unit, the drive wheel 456 rotates accordingly, thereby achieving a corresponding bending and turning of the end of the flexible body 48. When the power unit drives the input disk 458 to rotate in the second direction opposite to the first direction, the protrusion 810 disengages from the mating portion 820, causing the drive wheel 456 to disengage with the power unit. At this time, the drive wheel 456 switches to a wire feeder 469. It is understood that in this embodiment, the input disk 458 and the drive shaft 481 can be fixedly connected, and the transmission wheel 482 and the drive shaft 481 can be movably connected.

[0114] It is understood that when the protrusion 810 abuts against the mating part 820, the engagement mechanism 80 is in an engaged state; when the protrusion 810 disengages from the mating part 820, the engagement mechanism 80 is in a non-engaged state.

[0115] Furthermore, such as Figure 11As shown, in the first embodiment, the input disk 458 has two oppositely arranged receiving grooves 488 recessed in the direction away from the power unit. The two receiving grooves 488 can have different shapes; for example, one receiving groove 488 may have an opening compared to the other, to facilitate the positioning of the instrument box. Figure 12 As shown, in the second embodiment, the input disk 458 is recessed in the direction away from the power unit, and the arc-shaped groove 489 is arranged along the circumference of the input disk 458. It can be understood that, for ease of positioning, the arc-shaped groove 489 can be arranged along the circumferential portion of the input disk 458.

[0116] like Figure 13 As shown, in one embodiment, the instrument box further includes a tensioning mechanism 460, one end of which is connected to the base frame 452 and the other end of which is fixedly connected to the drive wheel 456. The tensioning mechanism may be provided only on the feed reel 469, or it may be provided on both the draw reel 468 and the feed reel 469. The tensioning mechanism can pull the drive wheel 456, ensuring that the drive wire 470 on the drive wheel 456 remains taut whether the drive wheel 456 is stationary or in motion, thus preventing the drive wire 470 wound on the drive wheel 456 from slackening. It is understood that the tensioning mechanism may also be provided outside the drive wheel 456 but connected to it. The direction in which the tensioning mechanism pulls the drive wheel 456 to rotate is opposite to the winding direction of the drive wire 470 on the drive wheel 456.

[0117] Furthermore, such as Figure 13 As shown, the tensioning mechanism 460 includes a coil spring 461, a protrusion 462 extending outward from one end of the coil spring 461, and a snap-fit ​​portion 463 detachably connected to the protrusion 462. Further, the coil spring 461 has two ends, one end 464 being the end of the outer coil and the other end 465 being the end of the inner coil. The protrusion 462 can be an independent structure fixed to one end 464 of the coil spring 461 by welding or other means, or it can be an integral structure with the coil spring 461, for example, forming a thickened bent structure at one end 464 of the coil spring 461. It is understood that the tensioning mechanism can also be a tension spring or other elastic structures 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, such as Figure 14As shown, in a bending and steering control, a feed reel 469 located on the feed side and a pull reel 468 located on the pull side are involved. At this time, the power unit can drive the pull reel 468 to rotate clockwise or drive the feed reel 469 to rotate counterclockwise. When the power unit drives the feed reel 469 to rotate clockwise (opposite to the current counterclockwise direction), the feed reel 469 and the power unit are not engaged. At this time, due to the action of the tensioning mechanism, the drive wire 470 wound on the feed reel 469 can remain taut. Simultaneously, since the feed reel 469 and the power unit are not engaged, under the pulling action of the pull reel 468, the drive wire 470 on the feed reel 469 on the feed side can be fed out accordingly, thus making the length changes of the drive wire 470 on the feed reel 469 and the drive wire 470 on the pull reel 468 the same. This avoids situations where the drive wire 470 is laid too much or too little on the laying side, thus preventing the drive wire 470 from becoming loose or the bending angle of the catheter instrument end from being incorrect.

[0119] like Figure 15 As shown, the base frame 452 has a protruding receiving portion 466, which is configured to accommodate the tensioning mechanism 460 and the drive wheel 456. The receiving portion 466 has a mounting hole 480. Figure 4As shown in the figure, the mounting hole 480 can be specifically provided on the side wall of the receiving portion 466. The shape of the mounting hole 480 can be adapted to the protrusion 462 of the coil spring 461. In one embodiment, the mounting hole 480 can be just a circular hole into which the protrusion 462 can be inserted; in another embodiment, the mounting hole 480 can include the aforementioned circular hole located at the bottom of the receiving portion 466, and can also include an elongated viewing window (not shown in the figure) extending from the circular hole in a direction away from the base frame 452. The viewing window allows for easy observation of the specific position of the coil spring 461 during the installation of the coil spring 461 into the receiving portion 466, facilitating the quick insertion of the protrusion 462 into the mounting hole 480. Of course, to adapt to the shape of the mounting hole 480, a flat surface can be provided on the side wall of the receiving groove so that the mounting hole 480 is a complete planar hole structure. To enhance the connection strength between the protrusion 462 and the receiving portion 466, after the protrusion 462 is engaged in the mounting hole 480, the latching portion 463 fixes the protrusion 462 in the position of the mounting hole 480, thereby preventing the protrusion 462 from moving. It is understood that, to further enhance the fixing strength between the latching portion 463 and the protrusion 462, a groove can be provided on the protrusion 462 for the latching portion 463 to engage, thus preventing the latching portion 463 from detaching from the protrusion 462.

[0120] Correspondingly, such as Figure 15As shown, the drive shaft 481 has a fixing hole 487 at the position corresponding to the coil spring 461. Specifically, when the coil spring 461 is installed in place, the fixing hole 487 is provided at the height position of the coil spring 461 relative to the drive shaft 481. By inserting one end 464, i.e., the protrusion 462, of the coil spring 461 into the mounting 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, it is only necessary to insert the bent structure into the fixing hole 487 to achieve the fixation between the two; 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 or 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 to the receiving part 466. Other structures can be added to the base frame 452 to fix one end 464 of the coil spring 461 to other structures of the base frame 452. The other end 465 of the coil spring 461 is not limited to being fixed to the drive shaft 481. It can also be indirectly connected to the drive shaft 481, such as fixing the other end 465 of the coil spring 461 to other structures connected to the drive shaft 481. Specific solutions will not be described in detail. That is, any solution that allows the coil spring 461 to drive the drive wheel 456 to rotate and tension the drive wire 470 when it elastically recovers is acceptable. When both ends of the coil spring 461 are fixed, the coil spring 461 can be made to store or release force by rotating either end of the coil spring 461 in different directions.

[0121] Furthermore, such as Figure 15 As shown, in one embodiment, the diameter of the transmission wheel 482 is approximately the same as the diameter of the receiving portion 466. Compared to existing solutions where the diameter of the transmission wheel 482 is smaller than the diameter of the receiving portion 466, this embodiment can increase the torque (force multiplied by lever arm) of the drive wheel 456, thereby making the end of the flexible body more compliant.

[0122] In addition, such as Figure 15 As shown, the drive wheel 456 also includes a C-ring 483 for fixing the transmission wheel body 482 to the drive shaft 481. In this embodiment, the fixing between the transmission wheel body 482 and the drive shaft 481 can be achieved simply by the snap-fit ​​of the C-ring 483, making assembly simpler.

[0123] like Figure 15As shown, in one embodiment, the drive wheel 456 further includes a first bearing 492 connected to the drive shaft 481, and a second bearing 493 connected to the drive shaft 481 and disposed adjacent to the coil spring 461. 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 housed within the housing portion 466. The housing portion 466 can be further divided into multiple housing slots to respectively accommodate the first bearing 492, the coil spring 461, and the second bearing 493; this will not be elaborated here. It is understood that the diameters of the various housing slots can be different, for example, they can increase or decrease sequentially. Each housing slot within the housing portion 466 has a protruding top wall or a corresponding limiting portion to restrict the movement of the corresponding structure within the housing slot in a direction away from or towards the power unit 240.

[0124] By using two bearings, not only can the movement of the drive wheel 456 be restricted in a direction perpendicular to the drive shaft 481, but the pulling force of the drive wire 470 on the transmission wheel 482 can also be prevented from concentrating at the transmission wheel 482, thus avoiding the phenomenon of the drive wheel 456 shaking. This ensures the control accuracy of the catheter instrument. Of course, in other embodiments, one, three, or more bearings can be used depending on the actual situation; this embodiment does not limit the number of bearings.

[0125] like Figure 16 As shown, in one embodiment, the housing 450 and the base frame 452 can be connected by fastening, adhesive, threading, welding, or other fixing methods. During sterilization of the catheter instrument, a sealing ring 454 is provided between the housing 450 and the base frame 452 to prevent moisture from entering the instrument box. A groove for accommodating the sealing ring 454 can be provided along the circumferential edge of the housing 450 or the base frame 452. The sealing ring 454 can be made of a waterproof material such as silicone. It is understood that the shape of the sealing ring 454 should be adapted to the shape of the circumferential edge of the housing 450 or the base frame 452.

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

[0127] Furthermore, such as Figure 18 As shown, the catheter device has a symmetrical plane Y, and both the water-air connector 455 and the joint 457 are located on the symmetrical plane Y. This ensures that the channel tube 459 enters the flexible body in a straight line, thereby avoiding any impact on the flexible body and guaranteeing the control accuracy of the catheter device.

[0128] like Figure 19 As shown, in one embodiment, the instrument box further includes a reversing wheel 490 located between the joint 457 and the drive wheel 456. The reversing wheel 490 is configured to guide the drive wire 470 wound from the drive wheel 456 into the flexible body along its length. For ease of description and understanding, in this embodiment, the length direction of the flexible body is referenced to the flexible body being in a naturally straight state, rather than a bent state. In this embodiment, the reversing wheel 490 includes four wheel bodies, each corresponding to one drive wheel 456. It can be understood that the two wheel bodies corresponding to the two drive wheels 456 located on the same side of the plane of symmetry 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 drive wheels 456 located on the same side of the plane of symmetry Y are also different. Optionally, the corresponding transmission wheel 482 and the wheel body located 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 482 can enter the flexible body in a direction parallel to the base frame 452. Furthermore, combined with the reversing action of the wheel body, the drive wire 470 entering the flexible body can extend along the length direction of the flexible body, thereby avoiding any impact on the flexible body and ensuring the control accuracy of the catheter device. In an optional embodiment, based on the shape and material characteristics of the drive wire 470 used in the external catheter device, for example, the drive wire 470 used in the external catheter device is a flat wire, which can be applied to the reversing wheel 490; therefore, this embodiment is applicable to the external catheter device.

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

[0130] Furthermore, such as Figure 21 As shown, the fixing part 44 includes a body 441 fixed to the base frame 452 and a guide 442 fixed to the body 441. The guide 442 is configured to allow the drive wire 470 to pass through and enter the spring tube 46, and to restrict the movement of the spring tube 46 along the direction of the flexible body 48 by abutting against the spring tube 46.

[0131] In an optional embodiment, since the above-mentioned flat wire is not suitable for the snake-bone joint structure at the end of the flexible body, the shape and material characteristics of the drive wire 470 used in the internal catheter device are different from those of the drive wire 470 used in the external catheter device. For example, the drive wire 470 used in the internal catheter device is a multi-strand round wire. Therefore, this embodiment can be applied to the internal catheter device.

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

[0133] like Figure 23As shown, in one embodiment, the instrument box further includes an electronic connector 710 inserted into the PCB board 700, and a sealing part 720 detachably fixed to the housing 450. The housing 450 also has a through hole 730 corresponding to the position of the electronic connector 710, allowing the external cable to be electrically connected to the electronic connector 710 via the through hole 730, and providing a fixing position for the sealing part 720. Specifically, the sealing part 720 can be cap-shaped, with a portion of its structure insertable into the through hole 730; the two can be detachably fixed together by means of snap-fit ​​or interference fit. A waterproof ring can be provided around the circumferential contact point between the sealing part 720 and the housing 450 to isolate external moisture. Thus, when the catheter instrument needs sterilization after use, the sealing part 720 can be fixed at the position of the through hole 730, thereby preventing moisture from entering the instrument box.

[0134] The processor of the control system 600 is configured to perform the following steps to implement the duct drive control method provided in the first embodiment of this application. For example... Figure 24 As shown, this method includes:

[0135] Step S10: Obtain the current distance between the end of the inner catheter and the end of the outer catheter;

[0136] In this embodiment, the external catheter device has at least one first engagement mechanism, and is configured to engage with the power unit of one of the robotic arms. The external catheter device includes an external catheter. The internal catheter device has at least one second engagement mechanism, and is configured to engage with the power unit of another robotic arm. The internal catheter device includes an internal catheter, which is driven through the cavity of the external catheter. It should be understood that the external catheter can correspond to the aforementioned external flexible body, and the internal catheter can correspond to the aforementioned internal flexible body. For simplicity, the external flexible body and the internal flexible body are referred to as the external catheter and the internal catheter, respectively. It is understood that the first engagement mechanism corresponds to the drive wheel within the external catheter device, and each drive wheel can be provided with a corresponding first engagement mechanism; similarly, the second engagement mechanism corresponds to the drive wheel within the internal catheter device, and each drive wheel can be provided with a corresponding second engagement mechanism.

[0137] like Figure 25As shown, in one embodiment, the length L1 of the inner conduit and the length L2 of the outer conduit can be obtained. The length information of L1 and L2 is known and can be retrieved from the manufacturing information of the inner and outer conduits. Based on the kinematics of the robotic arm, the pose information of the two power units can be calculated according to the joint angles of the robotic arm, thereby obtaining the distance d between the two power units. The current distance between the end of the inner conduit and the end of the outer conduit can be calculated using the formula: D c =L1-L2-d. In other embodiments, the spatial coordinates of the inner catheter can be obtained using a position sensor located at the end of the inner catheter, and the spatial coordinates of the outer catheter can be obtained using a position sensor located at the end of the outer catheter. The current distance between the ends of the inner and outer catheters can then be calculated based on these two spatial coordinates. Of course, this application is not limited to obtaining the current distance between the ends of the inner and outer catheters through the above embodiments; other reasonable solutions are also possible, and this application does not specifically limit them.

[0138] Step S20: Determine the control mode for the inner and outer catheters to enter based on the current distance;

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

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

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

[0142] It is understood that, in order to put the external or internal catheter into a zero-force mode, the corresponding power unit can be reversed accordingly, thereby putting all the corresponding first or second engagement mechanisms into a non-engaging state. At this time, the connection between each drive wheel of the external catheter device and the corresponding power unit is non-engaging, or the connection between each drive wheel of the internal catheter device and the corresponding power unit is non-engaging. The position or angle of the power unit reversal can be reasonably set according to actual needs, so that the corresponding engagement mechanism can enter a non-engaging state, and the connection between each drive wheel of the catheter device and the corresponding power unit is non-engaging.

[0143] In this embodiment, based on the corresponding control mode to be entered, the first engagement mechanism and / or the second engagement mechanism can be controlled to enter a non-engaging state, thereby controlling at least one of the external and internal catheters to enter a zero-force mode. In this way, in scenarios involving bending reversal control or straight-line forward / backward control, the catheter can be switched to a flexible state in a timely manner, avoiding damage to anatomical structures and thus improving safety.

[0144] Furthermore, such as Figure 26 As shown, in the first embodiment, steps S20 and S30 may include:

[0145] Step S201: If the current distance reaches the first preset distance, then it is determined that the external catheter enters the active control mode and the internal catheter enters the zero force mode.

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

[0147] Step S202: In response to determining that the inner guide tube has entered the zero-force mode, control the second engagement mechanism to enter the non-engaging state;

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

[0149] Step S301: In response to determining that the external conduit has entered the active control mode, control at least one of the first engagement mechanisms to enter the engagement state, so that the end of the internal conduit passively follows the rotation of the end of the external conduit.

[0150] In this embodiment, when it is determined that the external catheter will enter the active control mode, the power unit corresponding to the external catheter will drive the first engagement mechanism to enter the engagement state, thereby making the connection between at least one drive wheel of the external catheter device and the corresponding power unit engaged. Specifically, the power unit can drive each drive wheel of the external catheter device to rotate clockwise or counterclockwise. For example, when the power unit drives the drive wheel to rotate clockwise, the first engagement mechanism corresponding to that drive wheel enters the engagement state, making the drive wheel and the power unit engaged. At this time, the drive wheel is a pull reel. When the power unit drives the drive wheel to rotate counterclockwise, the first engagement mechanism corresponding to that drive wheel enters the non-engaged state, making the drive wheel and the power unit non-engaged. At this time, the drive wheel is a feed reel.

[0151] It is understood that when the external catheter enters the active control mode, the power unit corresponding to the external catheter will drive at least one of the first engagement mechanisms into an engaged state, while the other first engagement mechanisms enter a disengaged state. Thus, in bending and steering control, under the pulling action of the pull reel, the drive wire on the feed reel on the feed side can be fed out accordingly, thereby achieving bending at the end of the external catheter. Furthermore, combined with the tensioning action of the tensioning mechanism, the drive wire wound on the feed reel can be kept taut, ensuring that the length changes of the drive wire on the feed side and the drive wire on the pull side are the same. This avoids situations where too much or too little drive wire is fed out on the feed side, thus preventing the drive wire from becoming slack or the bending angle of the catheter end being incorrect.

[0152] like Figure 27As shown, when the tips of the inner and outer catheters reach the 3rd to 4th level branches or 1st to 2nd level branches of the patient's anatomical structure, the outer catheter can pass smoothly during this journey. If a change of direction is required, the inner catheter can be controlled to enter a zero-force mode, and the outer catheter to enter an active control mode. In this mode, the bending angle of the inner and outer catheters during the change of direction is smaller. In the active control mode of the outer catheter, the tip of the inner catheter passively follows the rotation of the tip of the outer catheter. Thus, when a change of direction is required, by promptly switching the inner catheter to a flexible state and passively following the rotation of the tip of the outer catheter, interference between the inner and outer catheters during bending can be avoided, improving the control accuracy of the catheter instruments. In addition, since the tip of the inner catheter extends beyond the tip of the outer catheter, promptly switching the inner catheter to a flexible state can also prevent injury to the patient if the tip of the inner catheter accidentally comes into contact with the patient's anatomical structure.

[0153] Furthermore, such as Figure 28 As shown, in the second embodiment, steps S20 and S30 may include:

[0154] Step S203: If the current distance reaches the second preset distance, then it is determined that the external catheter enters the zero-force mode and the internal catheter enters the active control mode.

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

[0156] Step S204: In response to determining that the external guide tube has entered the zero-force mode, control the first engagement mechanism to enter the non-engaging state;

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

[0158] Step S302: In response to determining that the inner catheter has entered the active control mode, control at least one of the second engagement mechanisms to enter the 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 internal catheter will enter the active control mode, the power unit corresponding to the internal catheter will drive the second engagement mechanism to enter the engagement state, thereby making the connection between at least one drive wheel of the internal catheter device and the corresponding power unit engaged. Specifically, the power unit can drive each drive wheel of the internal catheter device to rotate clockwise or counterclockwise. For example, when the power unit drives the drive wheel to rotate clockwise, the second engagement mechanism corresponding to that drive wheel enters the engagement state, making the drive wheel and the power unit engaged. At this time, the drive wheel is a pull reel. When the power unit drives the drive wheel to rotate counterclockwise, the second engagement mechanism corresponding to that drive wheel enters the non-engaged state, making the drive wheel and the power unit non-engaged. At this time, the drive wheel is a feed reel.

[0160] It is understood 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 engagement mechanisms into engagement, while the other second engagement mechanisms will enter disengagement. Thus, in bending and steering control, under the pulling action of the pull reel, the drive wire on the feed reel on the feed side can be fed out accordingly, thereby achieving bending at the end of the inner catheter. Furthermore, combined with the tensioning action of the tensioning mechanism, the drive wire wound on the feed reel can be kept taut, ensuring that the length changes of the drive wire on the feed side and the drive wire on the pull side are the same. This avoids situations where too much or too little drive wire is fed out on the feed side, thus preventing slack drive wire or inadequate bending angle at the end of the catheter.

[0161] like Figure 29 As shown, when the distal end of the catheter needs to reach the 6th or 7th level branch of the patient's anatomical structure, the external catheter cannot pass through. If a change of direction is required, the external catheter can be controlled to enter a zero-force mode, and the internal catheter can enter an active control mode. In this mode, the internal catheter bends at a larger angle. In the active control mode of the internal catheter, the distal end of the external catheter passively follows the distal end of the internal catheter. Thus, when a change of direction is needed, by promptly switching the external catheter to a flexible state and passively following the distal end of the internal catheter, interference between the external catheter and the bending of the internal catheter can be avoided, improving the control accuracy of the catheter instruments.

[0162] In another embodiment, in certain scenarios requiring large-angle bending, both the outer conduit and the inner conduit can be controlled to enter an active control mode. In this mode, the outer conduit is in a rigid state, which can provide support for the bending and reversing of the inner conduit, so that the inner conduit can achieve large-angle bending.

[0163] Furthermore, such as Figure 30 As shown, in the third embodiment, steps S20 and S30 may include:

[0164] Step S205: If the current distance remains at the third preset distance within a predetermined time, then determine that the external conduit and the internal conduit enter the forward or backward control mode;

[0165] In this embodiment, the third preset distance can be 4mm or other reasonable values, and this application does not limit the specific value. The preset time can be a reasonable value such as 10s or 20s, and this application does not limit the specific value. For example, when the inner catheter extends 4mm beyond the outer catheter for 20s, 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 conduit and the inner conduit have entered the forward or backward control mode, control both the first engagement mechanism and the second engagement mechanism to enter the non-engaging state.

[0167] In this embodiment, when the external catheter and the internal catheter enter the forward or backward control mode, the corresponding power units of the external catheter and the internal catheter will reverse, causing all the first engagement mechanisms of the external catheter device and all the second engagement mechanisms of the internal catheter device to enter a non-engaging state. The position or angle of the power unit reversal can be reasonably set according to actual needs, so that both the first and second engagement mechanisms can enter a non-engaging state, and the connection between each drive wheel and the corresponding power unit of the external catheter device and the internal catheter device is in a non-engaging state.

[0168] When the internal and external 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, timely switching of both internal and external catheters to a flexible state can prevent injury to the patient if the ends of the internal and external catheters accidentally come into contact with the patient's anatomical structure.

[0169] Furthermore, such as Figure 31 As shown, in the first embodiment, the power unit is equipped with a torque sensor to detect the tension value of the drive wire of the external or internal catheter instrument, and the processor is configured to perform the following specific steps:

[0170] Step S40: Obtain the tension value of the drive wire detected by the torque sensor;

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

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

[0173] This embodiment can further determine whether the external or internal catheter has entered the zero-force mode by detecting the tension value of the drive wire, thereby avoiding the safety risks that may arise if the external or internal catheter is not yet in the zero-force mode before proceeding to the next operation.

[0174] Furthermore, such as Figure 32 As shown, in the second embodiment, the processor is further configured to perform the following steps:

[0175] Step S42: Obtain the current value of the power unit;

[0176] Step S43: If the current value reaches the first threshold, it is determined that the external conduit or the internal conduit has entered the zero-force mode.

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

[0178] By obtaining the current value of the power unit, this embodiment can further determine whether the external conduit or the internal conduit has entered the zero-force mode, thereby avoiding the safety risks that may arise if the external conduit or the internal conduit has not yet entered the zero-force mode before proceeding to the next operation.

[0179] Furthermore, such as Figure 33As shown, in one embodiment, both the first engagement mechanism and the second engagement mechanism have mutually engaging protrusions and mating portions, 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, determine whether there is a gap between the protrusion and the mating part;

[0181] In this embodiment, the protrusion and the mating part can mesh with each other. When the protrusion and the mating part are meshed, the corresponding meshing mechanism is in an engaged state, and there is no gap between the protrusion and the mating part. When the protrusion and the mating part are far apart, the corresponding meshing mechanism is in a non-engaged state, and there is no gap between the protrusion and the mating part. The method for determining whether there is a gap between the protrusion and the mating part can be: by using a torque sensor provided in the power unit to detect the tension value of the corresponding drive wire; if it is determined that the outer or inner guide tube is currently in a zero-force mode, then a gap exists between the protrusion and the mating part. Alternatively, by obtaining the current value of the power unit, it can be determined whether the outer or inner guide tube is currently in a zero-force mode; if it is determined that the outer or inner guide tube is currently in a zero-force mode, then a gap exists between the protrusion and the mating part.

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

[0183] In this embodiment, when the outer or inner conduit is in zero-force mode, the corresponding engagement mechanism is in a non-engaged state, meaning the protrusion and mating part are far apart with a certain gap. Therefore, if it is necessary to switch from the current zero-force mode to the active control mode, the power unit reverses, causing the protrusion or mating part to reverse accordingly and re-engage. During this process, by controlling the corresponding power unit to rotate rapidly at a first preset speed, the lag caused by the gap can be eliminated. The first preset speed can be reasonably set according to actual needs, and this application does not limit its specific value.

[0184] Furthermore, such as Figure 34 As shown, in another embodiment, both the first engagement mechanism and the second engagement mechanism have mutually engaging protrusions and mating portions, and the processor is further configured to perform the following steps:

[0185] Step 60: In response to the outer conduit or the inner conduit switching from the zero-force mode to the active control mode, detect the current value of the power unit;

[0186] Step 61: When the current value reaches the 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 conduit or the inner conduit from the zero-force mode to the active control mode, the current value of the power unit can be obtained to determine whether the outer conduit or the inner conduit is currently in the zero-force mode. If it is determined that the outer conduit or the inner conduit is currently in the zero-force mode, it can be determined that there is a gap between the protrusion and the mating part.

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

[0189] Step 62: In response to the received user command, apply a corresponding force to the power unit to rotate the end of the corresponding inner or outer conduit.

[0190] In this embodiment, upon receiving a user command, a corresponding force can be applied to the power unit according to the user command, thereby causing the end of the corresponding inner or outer conduit to rotate. It is understood that by obtaining the current value of the power unit, there is usually no gap between the protrusion and the mating part. However, this embodiment, by detecting the current value, can further determine whether a gap exists between the protrusion and the mating part, thus avoiding potential safety risks in subsequent operations.

[0191] Furthermore, such as Figure 35 As shown, in one embodiment, the user input device is communicatively connected to the robotic arm. The user input device may be equipped with a zero-force key 900. This zero-force key 900 can be a shared zero-force key 900 that simultaneously controls both the internal and external catheter instruments; or it can be a separate internal catheter zero-force key 900 that controls the internal catheter instrument, and a separate external catheter zero-force key 900 that controls the external catheter instrument. When the user triggers the zero-force key 900 on the user input device, the processor responds to the trigger command of the zero-force key 900 and controls the power unit corresponding to the internal and external catheter instruments to rapidly reverse at a second preset speed. The second preset speed can be reasonably set according to actual needs, and this application does not limit its specific value.

[0192] Furthermore, in one embodiment, when the external catheter and the internal catheter switch from the active control mode to the zero-force mode, all drive wheels corresponding to the first engagement mechanism and / or the second engagement mechanism in the external catheter or the internal catheter that are in engagement state reverse, so that all the first engagement mechanisms of the external catheter and all the second engagement mechanisms of the internal catheter enter a non-engaged state. The position or angle at which the power unit and the drive wheels reverse can be reasonably set according to actual needs, so that both the first engagement mechanism and the second engagement mechanism can enter a non-engaged state, and the connection state between each drive wheel and the corresponding power unit of the external catheter and the internal catheter is non-engaged.

[0193] It should be understood that the term "reached" in this application, such as "reached" 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. If they have a certain distance range, it can also be considered as reaching.

[0194] This application also provides a control system for a catheter system. Please refer to... Figure 36 This illustrates a schematic diagram of the control system of a catheter system provided in an embodiment of this application. Figure 36 As shown, the control system 600 includes: a processor 60, a memory 61, a bus 62, and a communication interface 63. The processor 60, the communication interface 63, and the memory 61 are connected through the bus 62. The memory 61 stores computer program instructions that can be executed by the processor 60. When the processor 60 executes the computer program instructions, it executes the duct drive control method provided in any of the foregoing embodiments of this application.

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

[0196] Bus 62 can be an ISA bus, PCI bus, or EISA bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. The memory 61 is used to store programs. After receiving an execution instruction, the processor 60 executes the program. The drive control method for the conduit disclosed in any of the foregoing embodiments of this application can be applied to the processor 60, or implemented by the processor 60.

[0197] Processor 60 may be an integrated circuit chip with signal processing capabilities. In implementation, each step of the above method can be completed by the integrated logic circuitry in the hardware of processor 60 or by instructions in software form. 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), an Off-the-shelf Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this application can be directly embodied in the execution of a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software modules can reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. The storage medium is located in memory 61. Processor 60 reads the information in memory 61 and, in conjunction with its hardware, completes the steps of the above method.

[0198] The catheter system and the catheter drive control method provided in this application embodiment are based on the same application concept and have the same beneficial effects as the methods used, operated or implemented.

[0199] This application also provides a computer-readable storage medium corresponding to the catheter driving control method provided in the foregoing embodiments. Please refer to... Figure 37 The computer-readable storage medium 6 shown thereon stores computer program instructions that, when executed by a processor, implement the drive control method for the conduit provided in any of the foregoing embodiments.

[0200] It should be noted that examples of the computer-readable storage medium may include, but are not limited to, optical discs, 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 and magnetic storage media, which will not be elaborated here.

[0201] The above description is merely an optional embodiment of this application and does not limit the patent scope of this application. Any equivalent structural transformations made based on the content of the specification and drawings of this application under the concept of this application, or direct / indirect applications in other related technical fields, are included within the patent protection scope of this application.

Claims

1. A catheter system, characterized in that, The catheter system includes: robotic arm; An external catheter device having a first engagement mechanism is configured to engage with a power unit of one of the robotic arms, the external catheter device comprising an external catheter; An internal catheter device having a second engagement mechanism is configured to engage with the power unit of another said robotic arm, the internal catheter device comprising an internal catheter configured to be driven through the lumen of the external catheter; and A processor communicatively connected to the robotic arm is configured to perform the following steps: Obtain the current distance between the tip of the inner catheter and the tip of the outer catheter; Based on the current distance, determine the control mode for the internal and external catheters to be entered; According to the control mode, the first engagement mechanism and / or the second engagement mechanism are controlled to enter the non-engaging state, so as to control at least one of the outer conduit and the inner conduit to enter the zero-force mode.

2. The catheter system as claimed in claim 1, characterized in that, The processor is configured to perform the following specific steps: If the current distance reaches the first preset distance, it is determined that the external catheter enters the active control mode and the internal catheter enters the zero-force mode. In response to determining that the inner catheter has entered a zero-force mode, the second engagement mechanism is controlled to enter a non-engaging state; In response to determining that the external catheter has entered an active control mode, at least one of the first engagement mechanisms is controlled to enter an engagement state so that the end of the internal catheter passively follows the rotation of the end of the external catheter.

3. The catheter system as described in claim 2, characterized in that, The processor is configured to perform the following specific steps: If the current distance reaches the second preset distance, it is determined that the external catheter enters the zero-force mode and the internal catheter enters the active control mode. In response to determining that the external conduit has entered a zero-force mode, the first engagement mechanism is controlled to enter a non-engaging state; In response to determining that the inner catheter has entered an active control mode, at least one of the second engagement mechanisms is controlled to enter an engagement state so that the end of the outer catheter passively follows the rotation of the end of the inner catheter.

4. The catheter system as claimed in claim 2, characterized in that, The processor is configured to perform the following specific steps: If the current distance remains at the third preset distance within a predetermined time, then the external catheter and the internal catheter are determined to enter the forward or backward control mode; In response to determining that the external conduit and the internal conduit have entered a forward or backward control mode, the first engagement mechanism and the second engagement mechanism are both controlled to enter a non-engaging state.

5. The catheter system as claimed in claim 1, characterized in that, The power unit is equipped with a torque sensor to detect the tension value of the drive wire of the external or internal catheter instrument. The processor is configured to perform the following specific steps: Obtain the tension value of the drive wire detected by the torque sensor; When the tension value of the drive wire is a predetermined value, it is determined that the outer catheter or the inner catheter has entered the zero-force mode.

6. The catheter system as claimed in claim 1, characterized in that, The processor is also configured to perform the following steps: Obtain the current value of the power unit; If the current value reaches the first threshold, it is determined that the external conduit or the internal conduit has entered the zero-force mode.

7. The catheter system as claimed in claim 1, characterized in that, Both the first and second engagement mechanisms have intermeshing protrusions and mating portions, and the processor is further configured to perform the following steps: In response to the external catheter or the internal catheter switching from the zero-force mode to the active control mode, it is determined whether there is a gap between the protrusion and the mating part; If present, the corresponding power unit is controlled to rotate rapidly at a first preset speed.

8. The catheter system as claimed in claim 1, characterized in that, Both the first and second engagement mechanisms have intermeshing protrusions and mating portions, and the processor is further configured to perform the following steps: In response to the external conduit or the internal conduit switching from the zero-force mode to the active control mode, the current value of the power unit is detected; When the current value reaches the second threshold, it indicates that the first meshing mechanism or the second meshing mechanism is currently in a meshing state. In response to a received user command, a corresponding force is applied to the power unit to rotate the end of the corresponding inner or outer catheter.

9. The catheter system as claimed in claim 1, characterized in that, The conduit system also includes a user input device communicatively connected to the robotic arm, the user input device being equipped with a zero-force key, and the processor being configured to perform the following specific steps: In response to the trigger command of the zero-force key, the corresponding power unit is controlled to rapidly reverse at a second preset speed.

10. The catheter system as claimed in claim 2, characterized in that, The external catheter device and / or the internal catheter device includes two or more drive wheels, and the processor is further configured to perform the following steps: In response to the external catheter device or the internal catheter device switching from the active control mode to the zero-force mode, all drive wheels corresponding to the first engagement mechanism and / or the second engagement mechanism in the external catheter device or the internal catheter device that are in engagement are controlled to reverse.

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