Clamping control method, clamping device and equipment for slender medical instrument and medium

Abstract

The invention belongs to the technical field of interventional surgical robots, and discloses a clamping control method, a clamping device, equipment and a medium for a slender medical instrument, the method is applied to the clamping device for the slender medical instrument, and the method comprises the following steps: acquiring a clamping diameter parameter when the instrument is delivered detected by the clamping device; judging whether the clamping diameter parameter is changed or not; if yes, calculating a diameter change parameter when the instrument is delivered according to the calibrated outer diameter of the instrument and the changed clamping diameter parameter; according to the diameter change parameter, the clamping device is driven to adjust the clamping force applied to the instrument; and if not, the current clamping force is maintained. According to the device and the method, the clamping diameter parameter when the instrument is delivered is obtained, when it is judged that the clamping diameter parameter changes, the diameter change parameter when the instrument is delivered is calculated according to the calibrated outer diameter of the instrument and the changed clamping diameter parameter, and the clamping device is driven to adjust the clamping force applied to the instrument in a self-adaptive mode according to the diameter change parameter.

Description

Technical Field

[0001] The present invention relates to the technical field of interventional surgical robots, and in particular to a clamping control method, a clamping device, equipment and a medium for a slender medical device. Background Art

[0002] There are many types of slender medical devices used in vascular interventional surgery, such as catheters, guidewires, and quick-release devices, which have large differences in material properties and large differences in size standards for the same model. In order to adapt to more scenarios, the device used by vascular interventional surgery robots to control the device needs to be compatible with the above-mentioned multiple specifications of guidewires and catheters.

[0003] When the existing vascular interventional surgical robots are compatible with the above instruments, the device uses a fixed clamping force to control the movement and rotation of the instrument. Because the clamping force applied by the device is fixed, smaller instruments may not have enough clamping force, resulting in insufficient delivery force, and larger instruments may have too much clamping force, resulting in damage to the instrument. In addition, even for the same instrument, the diameter varies greatly at different positions of the length segment due to inconsistent soft and hard characteristics, and specifying a fixed clamping force will also result in differences in instrument control performance.

[0004] Therefore, existing vascular interventional surgical robots have the problem of poor instrument delivery stability. Summary of the invention

[0005] The main purpose of the present invention is to provide a clamping control method, clamping device, equipment and medium for a slender medical device, aiming to solve the problem of poor instrument delivery stability of existing vascular surgical robots.

[0006] In order to achieve the above-mentioned object of the invention, the first aspect of the present invention provides a clamping control method for an elongated medical device, which is applied to a clamping device for an elongated medical device, wherein the clamping device is used to clamp and deliver the elongated medical device, and the clamping control method comprises:

[0007] acquiring a clamping diameter parameter of the elongated medical device detected by the clamping device when the elongated medical device is delivered;

[0008] Determining whether the clamping diameter parameter changes;

[0009] If yes, calculating a diameter change parameter of the elongated medical device when it is delivered according to the calibrated outer diameter of the elongated medical device and the changed clamping diameter parameter;

[0010] According to the diameter change parameter, driving the clamping device to adjust the clamping force applied to the elongated medical device;

[0011] If not, the clamping force currently applied by the clamping device to the elongated medical device is maintained.

[0012] Furthermore, before obtaining the clamping diameter parameter of the elongated medical device detected by the clamping device when it is delivered, the method further includes:

[0013] Obtaining a preset clamping force and a calibrated outer diameter of the elongated medical device;

[0014] driving the clamping device to set the preoperative clamping force applied to the elongated medical device to the preset clamping force;

[0015] Acquiring a preoperative clamping diameter parameter of the slender medical device detected by the clamping device;

[0016] Calculating a preoperative diameter change parameter of the elongated medical device according to the calibrated outer diameter of the elongated medical device and the preoperative clamping diameter parameter;

[0017] Calculating the expected clamping force of the elongated medical device before surgery according to the preset clamping force and the diameter change parameter of the elongated medical device before surgery;

[0018] The clamping device is driven to adjust the clamping force applied to the elongated medical device before surgery to a desired clamping force of the elongated medical device before surgery.

[0019] Further, the step of driving the clamping device to adjust the clamping force applied to the elongated medical device according to the diameter change parameter comprises:

[0020] Acquiring a preset clamping force of the elongated medical device, and calculating an expected clamping force when the elongated medical device is delivered according to the preset clamping force and a diameter change parameter when the elongated medical device is delivered;

[0021] The clamping device is driven to adjust the clamping force applied to the elongated medical device to the desired clamping force when the elongated medical device is delivered.

[0022] Further, the step of driving the clamping device to adjust the clamping force applied to the elongated medical device to the desired clamping force when the elongated medical device is delivered comprises:

[0023] determining whether the desired clamping force when the elongated medical device is delivered is within a clamping force adjustment range;

[0024] If yes, driving the clamping device to adjust the clamping force applied to the elongated medical device to the desired clamping force when the elongated medical device is delivered;

[0025] If not, the clamping device is driven to adjust the clamping force applied to the elongated medical device to the desired clamping force when the elongated medical device is delivered, wherein the desired clamping force is the maximum value or the minimum value of the clamping force adjustment range.

[0026] Further, the step of driving the clamping device to adjust the clamping force applied to the elongated medical device to the desired clamping force when the elongated medical device is delivered comprises:

[0027] determining a diameter change trend of the elongated medical device according to a current delivery position and a delivery direction of the elongated medical device;

[0028] According to the diameter change trend and the expected clamping force, determining whether the expected clamping force can be further increased or decreased;

[0029] If not, stop driving the clamping device to adjust the clamping force applied to the elongated medical device, and issue a fault prompt;

[0030] If so, the clamping device is driven to adjust the clamping force applied to the elongated medical device to the desired clamping force when the elongated medical device is delivered.

[0031] Further, judging whether the expected clamping force can be further increased or decreased according to the diameter change trend and the expected clamping force includes:

[0032] When the expected clamping force reaches the maximum value of the clamping force adjustment range and the diameter change trend is increasing, determining that the expected clamping force can be further reduced;

[0033] When the expected clamping force reaches the maximum value of the clamping force adjustment range and the diameter change trend is decreasing, it is determined that the expected clamping force cannot be further increased;

[0034] When the expected clamping force reaches the minimum value of the clamping force adjustment range and the diameter change trend is decreasing, it is determined that the expected clamping force can be further increased;

[0035] When the expected clamping force reaches the minimum value of the clamping force adjustment range and the diameter change trend is increasing, it is determined that the expected clamping force cannot be further reduced.

[0036] Further, the determining whether the clamping diameter parameter changes includes:

[0037] Determine whether the ratio of the clamping diameter parameter after the change to the clamping diameter parameter before the change is greater than a safe change threshold;

[0038] If so, it is determined that the clamping diameter parameter has changed;

[0039] If not, it is determined that the clamping diameter parameter has not changed.

[0040] The second aspect of the present invention proposes a clamping device for a slender medical device, which adopts a clamping control method for a slender medical device proposed in the first aspect of the present invention. The clamping device includes a main body, a fixed clamping component, a movable clamping component and a detection component. The fixed clamping component is fixed on the main body, the movable clamping component is arranged on the main body and can be movable relative to the fixed clamping component to apply a clamping force to the slender medical device, and the detection component is arranged on the main body and is used to detect the clamping diameter parameters of the slender medical device.

[0041] The third aspect of the present invention provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the clamping control method for a slender medical device provided in the first aspect of the present invention is implemented.

[0042] A fourth aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the computer program implements a clamping control method for an elongated medical device provided in the first aspect of the present invention.

[0043] Beneficial effects:

[0044] The clamping control method, clamping device, equipment and medium of a slender medical device of the present invention, the clamping control method and clamping device of a slender medical device, obtain the clamping diameter parameter of the slender medical device detected by the clamping device when it is delivered, and when it is judged that the clamping diameter parameter has changed, calculate the diameter change parameter of the slender medical device when it is delivered according to the calibrated outer diameter of the slender medical device and the changed clamping diameter parameter, and drive the clamping device to adjust the clamping force applied to the slender medical device according to the diameter change parameter, so that the actual clamping force applied by the clamping device to the slender medical device can be compatible with slender medical devices of different types, specifications, performances, and production differences of different manufacturers, so as to achieve the purpose of adaptively controlling and adjusting the clamping force of the slender medical device, improve the versatility of the clamping device, and improve the stability of the delivery of the slender medical device. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 is a flow chart of a method for controlling a clamping of an elongated medical device according to an embodiment of the present invention;

[0046] Figure 2 is a schematic structural diagram of a clamping device for an elongated medical device according to an embodiment of the present invention;

[0047] Figure 3 is a cross-sectional schematic diagram of a clamping device for an elongated medical device according to an embodiment of the present invention;

[0048] Figure 4 is a schematic structural diagram of a slender medical device according to an embodiment of the present invention;

[0049] Figure 5 is a flow chart of a method for controlling a clamping of an elongated medical device according to an embodiment of the present invention;

[0050] Figure 6 is a flow chart of a method for controlling a clamping of an elongated medical device according to an embodiment of the present invention;

[0051] Figure 7 is a flow chart of a method for controlling a clamping of an elongated medical device according to an embodiment of the present invention;

[0052] Figure 8 is a flow chart of a method for controlling a clamping of an elongated medical device according to an embodiment of the present invention;

[0053] Fig. 9 is a flow chart of a method for controlling a clamping of an elongated medical device according to an embodiment of the present invention;

[0054] Fig.10 is a schematic structural diagram of a clamping device for an elongated medical device according to an embodiment of the present invention;

[0055] Fig.11 is a cross-sectional schematic diagram of a clamping device for an elongated medical device according to an embodiment of the present invention;

[0056] Fig.12 It is a schematic diagram of the structure of a computer device according to an embodiment of the present invention.

[0057] in:

[0058] 100-clamping device; 10-main body; 20-fixed clamping assembly; 21-fixed clamping member; 211-fixed roller; 212-fixed block; 22-delivery motor; 30-detection assembly; 31-detection transmission member; 311-slider base; 321-guide slider; 313-floating joint; 32-pressure sensor; 33-detection member; 331-distance detection sensor; 40-movable clamping assembly; 41-movable clamping member; 411-floating roller; 412-floating block; 42-driving member; 50-clamping transmission member; 51-transmission gear; 60-elastic member; 200-slender medical device; 201-proximal end; 202-distal end.

[0059] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0060] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0061] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0062] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0063] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0064] Reference Figures 1 to 4An embodiment of the present invention provides a clamping control method for an elongated medical device 200, which is applied to a clamping device 100 for the elongated medical device 200. The clamping device 100 is used to clamp and deliver the elongated medical device 200. The clamping control method includes the following steps:

[0065] S11, obtaining a clamping diameter parameter of the elongated medical device 200 detected by the clamping device 100 when the elongated medical device 200 is delivered;

[0066] S12, determining whether the clamping diameter parameter changes;

[0067] S13, if yes, calculating the diameter change parameter of the elongated medical device 200 when it is delivered according to the calibrated outer diameter of the elongated medical device 200 and the changed clamping diameter parameter;

[0068] S14, driving the clamping device 100 to adjust the clamping force applied to the elongated medical device 200 according to the diameter change parameter.

[0069] S15 , if not, maintaining the clamping force currently applied by the clamping device 100 to the elongated medical device 200 .

[0070] Reference Figures 2 to 4 An embodiment of the present invention provides a clamping device 100 for a slender medical device 200. The clamping device 100 adopts a clamping control method for a slender medical device described in any embodiment of the present invention. The clamping device 100 includes a main body 10, a fixed clamping assembly 20, a detection assembly 30, and a movable clamping assembly 40. The fixed clamping assembly 20 is fixed to the main body 10; the movable clamping assembly 40 is disposed on the main body 10 and can move relative to the fixed clamping assembly 20 to apply a clamping force to the slender medical device 200; the detection assembly 30 is disposed on the main body 10 and is used to detect the clamping diameter parameter of the slender medical device 200.

[0071] In the embodiment of the present invention, the fixed clamping assembly 20 is fixed on the main body 10, the movable clamping assembly 40 is movably arranged on the main body 10 and opposite to the fixed clamping assembly 20, the fixed clamping member 21 can carry the slender medical device 200, and the movable clamping assembly 40 is used to apply a clamping force to the slender medical device 200. Specifically, in addition to being used to clamp the slender medical device 200, in other scenarios, such as delivery scenarios, the fixed clamping assembly 20 and the movable clamping assembly 40 of the clamping device 100 can also be used together to deliver the slender medical device 200, for example, to deliver the slender medical device 200 forward, backward or rotate.

[0072] The detection component 30 is used to detect the clamping diameter parameter of the slender medical device 200 when being clamped, and the clamping diameter parameter when being clamped includes the clamping diameter parameter of the slender medical device 200 before surgery and the clamping diameter parameter when being delivered during surgery. Among them, the clamping diameter parameter includes the actual outer diameter of the slender medical device 200. Correspondingly, the detection component 30 includes a distance detection sensor 331 for detecting the actual outer diameter of the slender medical device 200. In other embodiments, the clamping diameter parameter can also be converted into the actual outer diameter of the slender medical device 200 through the elastic modulus, torque, material properties, etc. of the detected slender medical device 200. Correspondingly, the detection component 30 can also include a strain sensor for detecting the elastic modulus of the slender medical device 200, a torque sensor for detecting the torque of the slender medical device 200, a material property detection device for detecting the material properties of the slender medical device 200, etc. In one embodiment, the detection component 30 is also used to detect the clamping force applied to the slender medical device 200 to determine whether the clamping force applied by the active clamping component 40 to the slender medical device 200 reaches the expected clamping force. Figure 3 The detection assembly 30 further includes a pressure sensor 32 for detecting a clamping force applied to the elongated medical device 200 .

[0073] The diameter change parameter indicates the performance change of the slender medical device 200 during the clamping process, and may be a performance change ratio, a performance change amount, etc. Due to the differences between different types of slender medical devices 200, the differences in diameter and performance hardness at different length sections of the same slender medical device 200, and the production differences between different manufacturers, the diameter change parameter of the slender medical device 200 changes during the clamping process of the slender medical device 200.

[0074] Specifically, the embodiment of the present invention uses the performance change ratio as the diameter change parameter for detailed description. When the clamping diameter parameter is the actual outer diameter d of the slender medical device 200, the detection component 30 is used to detect the actual outer diameter d of the slender medical device 200, and the calculation formula of the diameter change parameter can be:

[0075] i j =D / d j

[0076] Among them, i j represents the diameter variation parameter of the elongated medical device 200 at the delivery position j, D represents the nominal outer diameter of the elongated medical device 200, and d j It represents the actual outer diameter of the elongated medical device 200 when it is clamped at the delivery position j. It can be understood that the delivery position j can be an initial delivery position before the operation or any delivery position during the operation.

[0077] It can be understood that when the clamping diameter parameter is the elastic modulus, torque, material properties, etc. of the slender medical device 200, correspondingly, the specific type of the detection component 30 and the calculation formula of the diameter change parameter are determined according to the actual clamping diameter parameter and are not specifically limited here.

[0078] During the delivery of the slender medical device 200, it is determined that the clamping diameter parameter of the slender medical device 200 has changed. When it is determined that the clamping diameter parameter has changed, the diameter change parameter of the slender medical device 200 is calculated according to the calibrated outer diameter of the slender medical device 200 and the clamping diameter parameter, so that according to the calculated diameter change parameter, the movable clamping assembly 40 of the clamping device 100 is driven to adjust the clamping force applied to the slender medical device 200. When it is determined that the clamping diameter parameter has not changed, the diameter change parameter of the slender medical device 200 does not need to be calculated, and the movable clamping assembly 40 of the clamping device 100 does not need to be driven to adjust the clamping force applied to the slender medical device 200, but maintains the clamping force currently applied to the slender medical device 200 by the clamping device 100.

[0079] In summary, the clamping control method and clamping device 100 of a slender medical device obtain the clamping diameter parameters of the slender medical device 200 detected by the clamping device 100 when it is delivered. When it is determined that the clamping diameter parameters have changed, the diameter change parameters of the slender medical device 200 when it is delivered are calculated according to the calibrated outer diameter of the slender medical device 200 and the changed clamping diameter parameters. According to the diameter change parameters, the clamping device 100 is driven to adjust the clamping force applied to the slender medical device, so that the actual clamping force applied by the clamping device 100 to the slender medical device 200 can be compatible with slender medical devices 200 of different types, specifications, performances, and production differences of different manufacturers, so as to achieve the purpose of adaptively controlling and adjusting the clamping force of the slender medical device 200, thereby improving the versatility of the clamping device 100 and improving the stability of the delivery of the slender medical device 200.

[0080] Reference Figure 5 In one embodiment, before the step S11 of acquiring the clamping diameter parameter of the elongated medical device 200 detected by the clamping device 100 when it is delivered, the following steps are also included:

[0081] Step S21, obtaining a preset clamping force and a calibrated outer diameter of the slender medical device 200;

[0082] Step S22, driving the clamping device 100 to set the preoperative clamping force applied to the elongated medical device 200 to the preset clamping force;

[0083] Step S23, obtaining the clamping diameter parameter of the slender medical device 200 detected by the clamping device 100 before the operation;

[0084] Step S24, calculating a pre-operative diameter change parameter of the slender medical device 200 according to the calibrated outer diameter of the slender medical device 200 and the pre-operative clamping diameter parameter;

[0085] Step S25, calculating the expected clamping force of the elongated medical device 200 before surgery according to the preset clamping force and the diameter change parameter of the elongated medical device 200 before surgery;

[0086] Step S26 , driving the clamping device 100 to adjust the preoperative clamping force applied to the elongated medical device 200 to the preoperative desired clamping force of the elongated medical device 200 .

[0087] In the embodiment of the present invention, the preset clamping force F is the initial pre-pressure applied by the movable clamping assembly 40 of the clamping device 100 to the elongated medical device 200 before surgery.

[0088] In the clamping and delivery scenario, the clamping force applied by the active clamping assembly 40 to the slender medical device 200 can not only meet the function of clamping the slender medical device 200 in surgery, but also meet the required delivery force for delivering the slender medical device 200. The preset clamping force F is related to the calibrated outer diameter D of the slender medical device 200 and the types of different slender medical devices 200. For example, the catheter will set different levels of preset clamping force F according to different models of 1.6F-9F. When determining the preset clamping force F, the F value depends on the average value of the material properties of the same specification type. By collecting and comparing the relationship between the clamping force and the delivery force of the slender medical devices 200 of the same specification and the same function, it is ensured that the preset clamping force F is determined when the slender medical device 200 meets the maximum delivery force of the surgery.

[0089] Therefore, before the operation (before the clamping operation), the type and the calibrated outer diameter D of the slender medical device 200 are obtained so as to determine the preset clamping force F of the slender medical device 200 based on the actual size, and according to the preset clamping force F, the movable clamping assembly 40 is driven to adjust the clamping force of the slender medical device 200 to the preset clamping force F. Specifically, during the adjustment process, when the pressure sensor 32 detects that the clamping force applied by the movable clamping assembly 40 to the slender medical device 200 has reached the preset clamping force F, the driving of the movable clamping assembly 40 to move is immediately stopped.

[0090] Calculate the diameter change parameter i of the slender medical device 200 before the operation j , when i jWhen the value is closer to 1, it is judged that the outer diameter deformation amplitude of the slender medical device 200 after clamping is smaller under the action of the preset clamping force F, and the performance of the slender medical device 200 is closer to the preset clamping force F. On the contrary, it is necessary to adjust the clamping force F according to the expected clamping force F before the operation. j The actual clamping force of the slender medical device 200 is adjusted to automatically adapt to the performance of the slender medical device 200 , thereby satisfying the control stability of the slender medical device 200 caused by the performance change of the slender medical device 200 .

[0091] Where, the desired clamping force F j The specific calculation formula can be:

[0092] F j =i j *F

[0093] Among them, F j represents the desired clamping force of the elongated medical device 200 at the delivery position j, F represents the preset clamping force of the elongated medical device 200, and i j represents the diameter variation parameter of the elongated medical device 200 at the delivery position j. It can be understood that the desired clamping force F before surgery is j and the desired clamping force F during the procedure j All can be calculated using the above formula.

[0094] According to the above formula, the expected clamping force F before surgery is calculated. j , then according to the expected clamping force F before surgery j , driving the movable clamping assembly 40 to adjust the clamping force applied to the elongated medical device 200 before the operation to the desired clamping force F before the operation j , so as to achieve the purpose of adaptively adjusting the clamping force of the slender medical device 200 before surgery.

[0095] Reference Figure 6 In one embodiment, the step S14 drives the clamping device 100 to adjust the clamping force applied to the elongated medical device 200 according to the diameter change parameter, and includes the following steps:

[0096] S141, obtaining a preset clamping force of the slender medical device, and calculating an expected clamping force when the slender medical device 200 is delivered according to the preset clamping force and a diameter change parameter of the slender medical device 200 when it is delivered;

[0097] S142, driving the clamping device 100 to adjust the clamping force applied to the elongated medical device 200 to the desired clamping force when the elongated medical device 200 is delivered.

[0098] In the embodiment of the present invention, during the operation, the elongated medical device 200 has different diameters and performance hardness at different length sections, such as Figure 4 As shown in the figure, the outer diameters of the head and tail in the length direction will be different, and the internal structure and support hardness performance will also be different, resulting in the clamping diameter parameter d at different positions may change. Therefore, the expected clamping force F should also be considered during the operation. j The actual clamping force of the slender medical device 200 is adaptively controlled. The desired clamping force F during the operation j The above formula F j =i j *F is calculated.

[0099] For example, if the calibrated outer diameter D of a slender medical device 200 is 3 mm, under the action of the preset clamping force F, the actual outer diameter d1 of the slender medical device 200 when clamped at the preoperative delivery position 1 becomes 2.5 mm, i1=D / d1=1.2, then the preoperative expected clamping force F1=1.2F, and the actual clamping force of the slender medical device 200 will be adaptively adjusted to 1.2F. When the slender medical device 200 is clamped at the delivery position 2 during the operation, the actual outer diameter d2 becomes 3 mm, i2=D / d2=1, then the expected clamping force F2=F during the operation, and the actual clamping force of the slender medical device 200 will be adaptively adjusted to F; when the slender medical device 200 is clamped at the delivery position 3 during the operation, the actual outer diameter d3 becomes 3.75 mm, i3=D / d3=0.8, then the expected clamping force F3=0.8F during the operation, and the actual clamping force of the slender medical device 200 will be adaptively adjusted to 0.8F.

[0100] Reference Figure 7 In one embodiment, the step S12 determines whether the clamping diameter parameter has changed, and includes the following steps:

[0101] S121, determining whether the ratio of the clamping diameter parameter after the change to the clamping diameter parameter before the change is greater than a safety change threshold;

[0102] S122, if yes, determining that the clamping diameter parameter has changed;

[0103] S123: If not, it is determined that the clamping diameter parameter has not changed.

[0104] In the embodiment of the present invention, the safety change threshold A is an adjustment trigger value that considers the safety fluctuation of the clamping diameter parameter to prevent the desired clamping force F during the operation from jThe actual clamping force applied by the active clamping assembly 40 of the clamping device 100 to the slender medical device 200 changes all the time, which affects the smoothness and safety of the delivery of the slender medical device 200. The calculation formula of the change rate B of the clamping diameter parameter can be:

[0105] B=d j / d j-1

[0106] Among them, d j represents the actual outer diameter of the elongated medical device 200 when it is clamped at the delivery position j, that is, the clamping diameter parameter after the change, d j-1 represents the actual outer diameter of the elongated medical device 200 when it is clamped at the delivery position j-1, that is, the clamping diameter parameter before the change.

[0107] Specifically, when it is determined that the change rate B of the clamping diameter parameter is greater than the safety change threshold A, it is determined that the clamping diameter parameter has changed, triggering the calculation of the diameter change parameter of the slender medical device 200 after the change, so as to recalculate the expected clamping force F during the operation. j .

[0108] When it is determined that the change rate B of the clamping diameter parameter is less than or equal to the safety change threshold A, it is determined that the clamping diameter parameter has not changed, and the calculation of the changed diameter change parameter of the slender medical device 200 is not triggered. Instead, the clamping force currently applied to the slender medical device 200 by the clamping device 100 is maintained.

[0109] Therefore, the embodiment of the present invention adopts the above calculation trigger conditions to ensure the smoothness and safety of the delivery of the slender medical device 200, and improve the precise control capability of the slender medical device 200, thereby improving the efficiency and success rate of the operation.

[0110] Reference Figure 8 In one embodiment, the step S142 of driving the clamping device 100 to adjust the clamping force applied to the elongated medical device 200 to the desired clamping force when the elongated medical device 200 is delivered comprises the following steps:

[0111] S143, determining whether the expected clamping force when the elongated medical device 200 is delivered is within a clamping force adjustment range;

[0112] S144, if yes, driving the clamping device 100 to adjust the clamping force applied to the elongated medical device 200 to the desired clamping force when the elongated medical device 200 is delivered;

[0113] S145, if not, drive the clamping device 100 to adjust the clamping force applied to the elongated medical device 200 to the desired clamping force when the elongated medical device 200 is delivered, wherein the desired clamping force is the maximum value or the minimum value of the clamping force adjustment range.

[0114] In the embodiment of the present invention, the desired clamping force F during the operation is calculated. j Finally, it is necessary to determine the expected clamping force F during the operation. j Is it within the clamping force adjustment range? min , F max ],F min represents the minimum value of the clamping force when the slender medical device 200 can be delivered, F max It represents the maximum value of the clamping force that the slender medical device 200 can withstand.

[0115] In determining the expected clamping force F j Within the clamping force adjustment range, that is, F j ∈[F min , F max ], according to the expected clamping force F j , driving the movable clamping assembly 40 to adjust the clamping force on the elongated medical device 200 until the desired clamping force F j Reach the maximum value F of the clamping force adjustment range max or minimum value F min .

[0116] When the desired clamping force F j Reach the maximum value F of the clamping force adjustment range max The expected clamping force F will no longer be infinitely adjusted to the upper limit. j , in order to prevent the desired clamping force F from being constantly corrected j , which results in the actual clamping force of the slender medical device 200 being too large after adjustment, thereby damaging the slender medical device 200.

[0117] When the desired clamping force F j Reach the minimum value F of the clamping force adjustment range min When the desired clamping force F is adjusted infinitely to the lower limit j , in order to prevent the desired clamping force F from being constantly corrected j , which results in the actual clamping force of the adjusted slender medical device 200 being too small, resulting in delivery failure.

[0118] In determining the expected clamping force F j When the clamping force is not within the adjustment range, for example, when the clamping force F is expected j Greater than the maximum value F max When the clamping force Fj Set to maximum value F max , and the clamping force applied by the active clamping assembly 40 to the elongated medical device 200 reaches a maximum value F max When the desired clamping force F is calculated, the active clamping assembly 40 is stopped from continuing to adjust the clamping force on the elongated medical device 200 to prevent the actual clamping force of the elongated medical device 200 from being too large and damaging the elongated medical device 200. j Less than the minimum value F min When the clamping force F j Set to minimum value F min , and the clamping force applied by the active clamping assembly 40 to the elongated medical device 200 reaches a minimum value F min When the movable clamping assembly 40 is stopped from driving to continue adjusting the clamping force on the elongated medical device 200, the actual clamping force of the elongated medical device 200 after adjustment is prevented from being too small, resulting in delivery failure.

[0119] It can be understood that the expected clamping force F before surgery j It also needs to be within the clamping force adjustment range.

[0120] Reference Fig. 9 In one embodiment, the step S144 of driving the clamping device 100 to adjust the clamping force applied to the elongated medical device 200 to the desired clamping force when the elongated medical device 200 is delivered comprises the following steps:

[0121] S1441, determining a diameter change trend of the elongated medical device 200 according to the current delivery position and delivery direction of the elongated medical device 200;

[0122] S1442, judging whether the expected clamping force can be further increased or decreased according to the diameter change trend and the expected clamping force;

[0123] S1443, if not, stop driving the clamping device 100 to adjust the clamping force applied to the elongated medical device 200, and issue a fault prompt;

[0124] S1444: If yes, drive the clamping device 100 to adjust the clamping force applied to the elongated medical device 200 to the desired clamping force when the elongated medical device 200 is delivered.

[0125] In the embodiment of the present invention, refer to Figure 4The slender medical device 200 includes a proximal end 201 and a distal end 202 arranged along the axis. The proximal end 201 is referenced to the clamping device 100 or the operator. The proximal end 201 represents the end closer to the clamping device 100 or the operator, and the distal end 202 represents the end farther from the clamping device 100 or the operator. Generally speaking, the actual outer diameter of the slender medical device 200 is a gradually widening structure from the distal end 202 to the proximal end 201.

[0126] Since the desired clamping force F j The conditions of being within the above-mentioned clamping force adjustment range must be met, and in the process of delivering the slender medical device 200, the diameter change trend of the slender medical device 200 also affects the judgment of whether the desired clamping force can be increased or decreased. Therefore, it is necessary to jointly judge whether the clamping device 100 can continue to increase or decrease the desired clamping force based on the diameter change trend of the slender medical device 200 and the size of the desired clamping force.

[0127] Specifically, at the current desired clamping force F j The maximum value F of the clamping force adjustment range has not been reached max or minimum value F min When the diameter change trend of the slender medical device 200 is determined according to the current delivery position and delivery direction of the slender medical device 200, the expected clamping force can be further increased or decreased according to the diameter change trend and the expected clamping force. j+1 The maximum value F of the clamping force adjustment range has not yet been reached max or minimum value F min , so it is determined that the desired clamping force F can be further increased or decreased j , the clamping device 100 is driven to adjust the clamping force applied to the elongated medical device 200 to the desired clamping force F when the elongated medical device 200 is delivered. j , and the actual clamping force of the elongated medical device 200 may be gradually increased according to the subsequent increase in the desired clamping force or may be increased according to the desired clamping force F j decreases gradually.

[0128] At the current desired clamping force F j The maximum value F of the clamping force adjustment range has been reached max When the diameter change trend of the slender medical device 200 is determined according to the current delivery position and delivery direction of the slender medical device 200, the next expected clamping force F is determined according to the diameter change trend. j+1 Greater than the maximum value F max , it is determined that the desired clamping force F cannot be further increased j, it is necessary to stop driving the clamping device 100 and issue a fault prompt; if the next expected clamping force F is determined based on the diameter change trend j+1 The clamping force adjustment range is still met, for example, it is determined that the expected clamping force F can be further reduced. j , the clamping device 100 is driven to adjust the clamping force applied to the elongated medical device 200 to the desired clamping force F when the elongated medical device 200 is delivered. j , and the actual clamping force of the elongated medical device 200 may be gradually reduced according to the subsequent reduction in the desired clamping force.

[0129] The expected clamping force F j The minimum value F of the clamping force adjustment range has been reached min When the diameter change trend of the slender medical device 200 is determined according to the current delivery position and delivery direction of the slender medical device 200, the next expected clamping force F is determined according to the diameter change trend. j+1 Less than the minimum value F min , it is determined that the desired clamping force F cannot be further reduced j , it is necessary to stop driving the clamping device 100 and issue a fault prompt; if the next expected clamping force F is determined based on the diameter change trend j+1 The clamping force adjustment range is still met, for example, it is determined that the expected clamping force F can be further increased. j , the clamping device 100 is driven to adjust the clamping force applied to the elongated medical device 200 to the desired clamping force F when the elongated medical device 200 is delivered. j , and the actual clamping force of the elongated medical device 200 may gradually increase according to the subsequent increase in the desired clamping force.

[0130] In one embodiment, the step S1442 determines whether the expected clamping force can be further increased or decreased according to the diameter change trend and the expected clamping force, including the following four situations:

[0131] When the expected clamping force reaches the maximum value of the clamping force adjustment range and the diameter change trend is increasing, determining that the expected clamping force can be further reduced;

[0132] When the expected clamping force reaches the maximum value of the clamping force adjustment range and the diameter change trend is decreasing, it is determined that the expected clamping force cannot be further increased;

[0133] When the expected clamping force reaches the minimum value of the clamping force adjustment range and the diameter change trend is decreasing, it is determined that the expected clamping force can be further increased;

[0134] When the expected clamping force reaches the minimum value of the clamping force adjustment range and the diameter change trend is increasing, it is determined that the expected clamping force cannot be further reduced.

[0135] In the embodiment of the present invention, refer to Figure 4 , at the current desired clamping force F j Reach the maximum value F max , and the current delivery position of the elongated medical device 200 is d min When the slender medical device 200 is at the position where the outer diameter of the distal end 202 is the smallest, the d value is the smallest. If the device 200 moves forward ( Figure 4 The diameter changes from left to right), and the diameter changes in this case tends to increase (the d value will increase). The next expected clamping force F of the slender medical device 200 is j+1 It needs to be reduced according to the advancing direction, because the next desired clamping force F has a decreasing trend j+1 It is still within the clamping force adjustment range, so it is determined that the desired clamping force F can be further reduced. j When the elongated medical device 200 is continuously delivered, the Figure 7 In step S121, if the condition is satisfied, it is determined that the clamping diameter parameter has changed, triggering the calculation of the next diameter change parameter i of the slender medical device 200. j+1 , to calculate the next desired clamping force F j+1 , and then according to the next desired clamping force F j+1 The movable clamping assembly 40 is driven to adjust the clamping force on the elongated medical device 200 .

[0136] At the current desired clamping force F j Reach the maximum value F max , and the current delivery position of the elongated medical device 200 is d max When the slender medical device 200 is at the maximum outer diameter of the proximal end 201, the slender medical device 200 can only move backward ( Figure 4 The diameter changes from right to left), and the diameter changes in this case tends to decrease (the d value will decrease). The next expected clamping force F of the slender medical device 200 is j+1 It needs to be reduced according to the backward direction, because the current expected clamping force F j The maximum value F has been reached max , if it continues to increase, the next expected clamping force F j+1 Will be greater than the maximum value F of the clamping force adjustment range max Therefore, it is determined that the expected clamping force F cannot be further increased. j , and issue a fault prompt to remind the doctor to check the slender medical device 200. The slender medical device 200 may be damaged and its performance cannot meet the use requirements.

[0137] At the current desired clamping force F j Reach the minimum value F min , and the current delivery position of the elongated medical device 200 is d max When the slender medical device 200 is at the position where the outer diameter of the proximal end 201 is the largest, the d value is the largest, and the slender medical device 200 can only move backward ( Figure 4 The diameter changes from right to left), and the diameter changes in this case tends to decrease (the d value will decrease). The next expected clamping force F of the slender medical device 200 is j+1 It needs to increase according to the backward direction, because the next expected clamping force F has an increasing trend j+1 It is still within the clamping force adjustment range, so it is determined that the desired clamping force F can be further increased. j When the delivery elongated medical device 200 moves backward, the Figure 7 In step S121, if the condition is satisfied, it is determined that the clamping diameter parameter has changed, triggering the calculation of the next diameter change parameter i of the slender medical device 200 after the change. j+1 , to calculate the next desired clamping force F j+1 , and then according to the next desired clamping force F j+1 The movable clamping assembly 40 is driven to adjust the clamping force on the elongated medical device 200 .

[0138] At the current desired clamping force F j Reach the minimum value F min , and the current delivery position of the elongated medical device 200 is d min When the slender medical device 200 is at the position where the outer diameter of the distal end 202 is the smallest, the d value is the smallest. If the slender medical device 200 moves forward ( Figure 4 The diameter changes from left to right), and the expected clamping force F of the slender medical device 200 is j Need to be reduced according to the forward direction, due to the current desired clamping force F j The minimum value F has been reached min , if it continues to decrease, the next expected clamping force F j+1 Will be less than the minimum value F of the clamping force adjustment range min Therefore, it is determined that the desired clamping force F cannot be further reduced. j , and issue a fault prompt to remind the doctor to check the slender medical device 200. The slender medical device 200 may be damaged and its performance cannot meet the use requirements.

[0139] Reference Figures 2 to 4In one embodiment, the fixed clamping assembly 20 includes a fixed clamping member 21, and the movable clamping assembly 40 includes a movable clamping member 41 and a driving member 42; the fixed clamping member 21 is fixed on the main body 10, and the movable clamping member 41 is movably arranged on the main body 10 and opposite to the fixed clamping member 21; the driving member 42 is transmission-connected to the movable clamping member 41, and is used to drive the movable clamping member 41 to move relative to the fixed clamping member 21, so as to apply a clamping force to the slender medical device 200.

[0140] In the embodiment of the present invention, the fixed clamping member 21 is fixed on the main body 10, and the movable clamping member 41 is movably arranged on the main body 10 and opposite to the fixed clamping member 21. The fixed clamping member 21 can carry the slender medical device 200, and the movable clamping member 41 is used to apply clamping force to the slender medical device 200.

[0141] In one embodiment, the driving member 42 includes but is not limited to a motor, a cylinder, and a push rod.

[0142] Reference Fig.10 and Fig.11 In one embodiment, the fixed clamping member 21 includes a fixed block 212 , and the movable clamping member 41 includes a floating block 412 .

[0143] The elongated medical device 200 is disposed between the fixed block 212 and the floating block 412. The fixed block 212 can carry the elongated medical device 200. The driving member 42 can drive the floating block 412 to apply a clamping force to the elongated medical device 200.

[0144] Reference Figures 2 to 4 In one embodiment, the fixed clamping assembly 20 also includes a clamping transmission member 50, and the movable clamping member 41 is transmission-connected to the fixed clamping member 21 via the clamping transmission member 50. The fixed clamping assembly 20 also includes a delivery motor 22, and the delivery motor 22 is used to drive the fixed clamping member 21 to move, so as to drive the fixed clamping member 21 and the movable clamping member 41 to jointly deliver the slender medical device 200.

[0145] In addition to being used to clamp the slender medical device 200, the fixed clamping assembly 20 and the movable clamping assembly 40 can also be used together to deliver the slender medical device 200 in other scenarios, such as delivery scenarios, for example, to deliver the slender medical device 200 forward, backward or rotate.

[0146] In the clamping and delivery scenario, the clamping force applied by the active clamping assembly 40 to the elongated medical device 200 can not only meet the function of surgically clamping the elongated medical device 200 , but also meet the required delivery force for delivering the elongated medical device 200 .

[0147] Specifically, the fixed clamping assembly 20 also includes a clamping transmission member 50, and the fixed clamping assembly 20 also includes a delivery motor 22. The fixed clamping member 21 is transmission-connected to the delivery motor 22, and is transmission-connected to the movable clamping assembly 40 through the clamping transmission member 50. The delivery motor 22 can drive the fixed clamping member 21 to move, and the fixed clamping member 21 drives the clamping transmission member 50 to move, and the clamping transmission member 50 drives the movable clamping member 41 to move, thereby driving the fixed clamping member 21 and the movable clamping member 41 to jointly deliver the slender medical device 200.

[0148] Reference Figures 2 to 4 In one embodiment, the fixed clamping member 21 includes a fixed roller 211 , the movable clamping member 41 includes a floating roller 411 , and the clamping transmission member 50 includes a transmission gear 51 .

[0149] The slender medical device 200 is disposed between the fixed roller 211 and the floating roller 411. When the fixed roller 211 is driven by the delivery motor 22 to rotate, it can drive the transmission gear 51 to rotate, and the transmission gear 51 drives the floating roller 411 to rotate, thereby driving the fixed clamping member 21 and the movable clamping member 41 to jointly deliver the slender medical device 200. The driving member 42 can drive the floating roller 411 to apply a clamping force to the slender medical device 200.

[0150] In one embodiment, there are a plurality of fixed rollers 211 , a plurality of floating rollers 411 , and positions of the plurality of floating rollers 411 correspond to positions of the plurality of fixed rollers 211 .

[0151] For example, refer to Figure 2 There are two fixed rollers 211 and two floating rollers 411 , and the positions of the two floating rollers 411 correspond one-to-one to the positions of the two fixed rollers 211 , so as to achieve smooth delivery and smooth clamping of the slender medical device 200 .

[0152] Reference Figures 2 to 4 In one embodiment, an elastic member 60 , such as a spring, is disposed between the floating roller 411 and the main body 10 , and the elastic member 60 can pre-press the floating roller 411 to fit tightly against the fixed roller 211 .

[0153] Reference Figure 3 In one embodiment, the detection component 30 includes a detection transmission member 31 and a pressure sensor 32 for detecting the clamping force applied by the movable clamping member 41 to the slender medical device 200. The movable clamping member 41 is connected to the driving member 42 through the detection transmission member 31, and the pressure sensor 32 is arranged on the detection transmission member 31.

[0154] In the embodiment of the present invention, the movable clamping member 41 is connected to the driving member 42 through the detection transmission member 31. When the driving member 42 drives the movable clamping member 41 to move, the detection transmission member 31 moves accordingly. The detection transmission member 31 is provided with a pressure sensor 32. When the driving member 42 drives the movable clamping member 41 to clamp the slender medical device 200, the clamping force between the movable clamping member 41 and the fixed clamping member 21 is transmitted to the pressure sensor 32. The clamping force between the movable clamping member 41 and the fixed clamping member 21 is detected by the pressure sensor 32 to obtain the clamping force of the movable clamping member 41 acting on the slender medical device 200.

[0155] Reference Figure 3 In one embodiment, the detection transmission member 31 includes a slider base 311, a guide slider 312 and a floating joint 313, the slider base 311 is fixed on the main body 10, the guide slider 312 is slidably set on the slider base 311, the first end of the guide slider 312 is transmission-connected to the driving member 42, the second end of the guide slider 312 is fixedly connected to the movable clamping member 41, the pressure sensor 32 is arranged on the first end, the floating joint 313 is arranged below the second end of the guide slider 312, and the pressure sensor 32 is connected to the floating joint 313.

[0156] In the embodiment of the present invention, when the driving member 42 does not drive the movable clamping member 41 to apply a clamping force to the slender medical device 200, the floating joint 313 supports the second end of the guide slider 312 to support the movable clamping member 41. When the driving member 42 drives the guide slider 312 to slide along the slider base 311, the guide slider 312 drives the movable clamping member 41 to apply a clamping force to the slender medical device 200. At this time, the second end of the guide slider 312 abuts against the pressure sensor 32. The pressure sensor 32 detects the pressure abutting against the second end of the guide slider 312, which is the clamping force of the movable clamping member 41 on the slender medical device 200.

[0157] Reference Figures 2 to 4 In one embodiment, the clamping diameter parameter includes an actual outer diameter of the slender medical device 200 , and the detection component 30 includes a detection member 33 for detecting the outer diameter of the slender medical device 200 , and the detection member 33 is fixed on the main body 10 .

[0158] In the embodiment of the present invention, the clamping diameter parameter is the actual outer diameter d of the slender medical device 200. Due to the differences between different types of slender medical devices 200, the differences in diameter and performance hardness at different length sections of the same slender medical device 200, and the differences in production by different manufacturers, the actual outer diameter d of the slender medical device 200 changes during the clamping process of the slender medical device 200, and the detection member 33 can detect the actual outer diameter d of the slender medical device 200.

[0159] Reference Figures 2 to 3 In one embodiment, the detection member 33 includes a distance detection sensor 331 disposed above the main body 10, and the distance detection sensor 331 is used to detect the distance parameter of the movable clamping member 41 relative to the distance detection sensor 331 to obtain the outer diameter of the slender medical device 200 when it is clamped.

[0160] It is understandable that the actual outer diameter d of the slender medical device 200 may also be detected by other detection members 33 , which is not specifically limited here.

[0161] It can be understood that the clamping diameter parameter can also be converted into the outer diameter of the slender medical device 200 by detecting the elastic modulus, torque, material properties, etc. of the slender medical device 200. Correspondingly, the detection component 30 can also include a strain sensor for detecting the elastic modulus of the slender medical device 200, a torque sensor for detecting the torque of the slender medical device 200, a material property detection device for detecting the material properties of the slender medical device 200, etc. The specific type and installation position of the detection member 33 are determined according to the actual clamping diameter parameters and are not specifically limited here.

[0162] Reference Fig.12 An embodiment of the present invention further provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the clamping control method of the slender medical device 200 in any embodiment of the present invention is implemented.

[0163] The computer device includes a processor, a memory, a network interface and a database connected through a system bus. The processor of the computer design is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store rotation data, calculation data, etc. of the slave end of the interventional robot. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a clamping control method of a slender medical device 200 is implemented.

[0164] An embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the method for controlling the clamping of the elongated medical device 200 in any embodiment of the present invention is implemented.

[0165] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media provided in this application and used in the embodiments may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0166] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A clamping control method for a slender medical device, characterized in that: A clamping device for a slender medical device is used to clamp and deliver the slender medical device. The clamping control method includes: acquiring a clamping diameter parameter of the elongated medical device detected by the clamping device when the elongated medical device is delivered; Determining whether the clamping diameter parameter changes; If yes, calculating a diameter change parameter of the elongated medical device when it is delivered according to the calibrated outer diameter of the elongated medical device and the changed clamping diameter parameter; According to the diameter change parameter, driving the clamping device to adjust the clamping force applied to the elongated medical device; If not, the clamping force currently applied by the clamping device to the elongated medical device is maintained.

2. The clamping control method of the elongated medical device according to claim 1, characterized in that: Before acquiring the clamping diameter parameter of the elongated medical device detected by the clamping device when it is delivered, the method further includes: Obtaining a preset clamping force and a calibrated outer diameter of the elongated medical device; driving the clamping device to set the preoperative clamping force applied to the elongated medical device to the preset clamping force; Acquiring a preoperative clamping diameter parameter of the slender medical device detected by the clamping device; Calculating a preoperative diameter change parameter of the elongated medical device according to the calibrated outer diameter of the elongated medical device and the preoperative clamping diameter parameter; Calculating the expected clamping force of the elongated medical device before surgery according to the preset clamping force and the diameter change parameter of the elongated medical device before surgery; The clamping device is driven to adjust the clamping force applied to the elongated medical device before surgery to a desired clamping force of the elongated medical device before surgery.

3. The clamping control method of the slender medical device according to claim 1, characterized in that: The step of driving the clamping device to adjust the clamping force applied to the elongated medical device according to the diameter change parameter comprises: Acquiring a preset clamping force of the elongated medical device, and calculating an expected clamping force when the elongated medical device is delivered according to the preset clamping force and a diameter change parameter when the elongated medical device is delivered; The clamping device is driven to adjust the clamping force applied to the elongated medical device to the desired clamping force when the elongated medical device is delivered.

4. The clamping control method of the elongated medical device according to claim 3, characterized in that: The step of driving the clamping device to adjust the clamping force applied to the elongated medical device to the desired clamping force when the elongated medical device is delivered comprises: determining whether the desired clamping force when the elongated medical device is delivered is within a clamping force adjustment range; If yes, driving the clamping device to adjust the clamping force applied to the elongated medical device to the desired clamping force when the elongated medical device is delivered; If not, the clamping device is driven to adjust the clamping force applied to the elongated medical device to the desired clamping force when the elongated medical device is delivered, wherein the desired clamping force is the maximum value or the minimum value of the clamping force adjustment range.

5. The clamping control method of the elongated medical device according to claim 4, characterized in that: The step of driving the clamping device to adjust the clamping force applied to the elongated medical device to the desired clamping force when the elongated medical device is delivered comprises: determining a diameter change trend of the elongated medical device according to a current delivery position and a delivery direction of the elongated medical device; According to the diameter change trend and the expected clamping force, determining whether the expected clamping force can be further increased or decreased; If not, stop driving the clamping device to adjust the clamping force applied to the elongated medical device, and issue a fault prompt; If so, the clamping device is driven to adjust the clamping force applied to the elongated medical device to the desired clamping force when the elongated medical device is delivered.

6. The clamping control method of the elongated medical device according to claim 5, characterized in that: The determining whether the expected clamping force can be further increased or decreased according to the diameter change trend and the expected clamping force includes: When the expected clamping force reaches the maximum value of the clamping force adjustment range and the diameter change trend is increasing, determining that the expected clamping force can be further reduced; When the expected clamping force reaches the maximum value of the clamping force adjustment range and the diameter change trend is decreasing, it is determined that the expected clamping force cannot be further increased; When the expected clamping force reaches the minimum value of the clamping force adjustment range and the diameter change trend is decreasing, it is determined that the expected clamping force can be further increased; When the expected clamping force reaches the minimum value of the clamping force adjustment range and the diameter change trend is increasing, it is determined that the expected clamping force cannot be further reduced.

7. The clamping control method of an elongated medical device according to any one of claims 1 to 6, characterized in that: The determining whether the clamping diameter parameter has changed includes: Determine whether the ratio of the clamping diameter parameter after the change to the clamping diameter parameter before the change is greater than a safe change threshold; If so, it is determined that the clamping diameter parameter has changed; If not, it is determined that the clamping diameter parameter has not changed.

8. A clamping device for an elongated medical device, characterized in that: A clamping control method for a slender medical device as described in any one of claims 1 to 7, wherein the clamping device includes a main body, a fixed clamping component, a movable clamping component and a detection component, the fixed clamping component is fixed to the main body, the movable clamping component is arranged on the main body and can be movable relative to the fixed clamping component to apply a clamping force to the slender medical device, and the detection component is arranged on the main body and is used to detect a clamping diameter parameter of the slender medical device.

9. A computer device, characterized in that: The invention comprises a memory and a processor, wherein the memory stores a computer program, and the processor implements the clamping control method of the elongated medical device according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and when the computer program is executed by a processor, the clamping control method for an elongated medical device according to any one of claims 1 to 7 is implemented.

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