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

Abstract

The present application belongs to the technical field of interventional surgery robots, and discloses a clamping control method, a clamping device, equipment and a medium for an elongated medical instrument, which are applied to a clamping device for an elongated medical instrument, and the method comprises the following steps: acquiring a clamping diameter parameter of the instrument detected by the clamping device when the instrument is delivered; determining whether the clamping diameter parameter changes; if yes, calculating a diameter change parameter of the instrument when the instrument is delivered according to a calibrated outer diameter of the instrument and the changed clamping diameter parameter; driving the clamping device to adjust the clamping force applied to the instrument according to the diameter change parameter; and if no, maintaining the current clamping force. According to the present application, the clamping diameter parameter of the instrument when the instrument is delivered is acquired, and when it is determined that the clamping diameter parameter changes, the diameter change parameter of the instrument 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 adaptively adjust the clamping force applied to the instrument according to the diameter change parameter.

Description

Technical Field

[0001] This invention relates to the field of interventional surgical robot technology, and in particular to a clamping control method, clamping device, equipment and medium for a slender medical device. Background Technology

[0002] There are many types of slender medical devices used in vascular interventional surgery, such as catheters, guidewires, and quick-connect devices, which vary greatly in material properties and size standards even for the same model. To adapt to more scenarios, the devices used to control the instruments in vascular interventional surgery robots need to be compatible with the various sizes of guidewires and catheters mentioned above.

[0003] When existing vascular interventional surgical robots are compatible with the aforementioned 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 require sufficient clamping force, resulting in insufficient delivery force, while larger instruments may require excessive clamping force, leading to instrument damage. Furthermore, even for the same instrument, its diameter can vary significantly at different points along its length due to inconsistencies in its rigidity; therefore, specifying a fixed clamping force will also result in differences in instrument control performance.

[0004] Therefore, existing vascular interventional surgical robots suffer from poor instrument delivery stability. Summary of the Invention

[0005] The main objective of this invention is to provide a clamping control method, clamping device, equipment, and medium for slender medical devices, aiming to solve the problem of poor device delivery stability in existing vascular surgery robots.

[0006] To achieve the aforementioned objective, the first aspect of this invention provides a clamping control method for an elongated medical device, applied to a clamping device for an elongated medical device, the clamping device being used to clamp and deliver the elongated medical device, the clamping control method comprising: The clamping diameter parameter detected by the clamping device when the elongated medical device is delivered is obtained; Determine whether the clamping diameter parameter has changed; If so, then the diameter change parameter of the slender medical device when it is delivered is calculated based on the calibrated outer diameter of the slender medical device and the changed clamping diameter parameter. Based on the diameter change parameter, the clamping device is driven to adjust the clamping force applied to the slender medical device; If not, maintain the clamping force currently applied to the elongated medical device by the clamping device.

[0007] Furthermore, before acquiring the clamping diameter parameter detected by the clamping device when the elongated medical device is delivered, the method further includes: Obtain the preset clamping force and calibrated outer diameter of the elongated medical device; The clamping device is driven to set the clamping force applied to the slender medical device before surgery to the preset clamping force; Obtain the clamping diameter parameters of the slender medical device before surgery, detected by the clamping device; Based on the calibrated outer diameter of the slender medical device and the preoperative clamping diameter parameters, calculate the preoperative diameter change parameters of the slender medical device; The expected clamping force of the slender medical device before surgery is calculated based on the preset clamping force and the diameter change parameters of the slender medical device before surgery. The clamping device is driven to adjust the clamping force applied to the elongated medical device before surgery to the desired clamping force of the elongated medical device before surgery.

[0008] Further, the step of adjusting the clamping force applied to the elongated medical device based on the diameter change parameter includes: Obtain the preset clamping force of the elongated medical device, and calculate the expected clamping force of the elongated medical device when it is delivered based on the preset clamping force and the diameter change parameter of the elongated medical device when it 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.

[0009] Further, the method 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 includes: Determine whether the desired clamping force is within the clamping force adjustment range when the slender medical device is delivered; 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; 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 or minimum value of the clamping force adjustment range.

[0010] Further, the method 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 includes: Based on the current delivery position and delivery direction of the slender medical device, determine the diameter change trend of the slender medical device; Based on the diameter change trend and the desired clamping force, it is determined whether the desired clamping force can be further increased or decreased. If not, stop driving the clamping device to adjust the clamping force applied to the slender medical device and issue a fault warning; 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.

[0011] Further, the step of determining whether the desired clamping force can be further increased or decreased based on the diameter change trend and the desired clamping force includes: When the desired clamping force reaches the maximum value of the clamping force adjustment range, and the diameter changes in an increasing trend, it is determined that the desired clamping force can be further reduced. When the desired clamping force reaches the maximum value of the clamping force adjustment range, and the diameter changes in a decreasing trend, it is determined that the desired clamping force cannot be increased further. When the desired clamping force reaches the minimum value of the clamping force adjustment range, and the diameter changes in a decreasing trend, it is determined that the desired clamping force can be further increased. When the desired clamping force reaches the minimum value of the clamping force adjustment range, and the diameter changes in an increasing trend, it is determined that the desired clamping force cannot be further reduced.

[0012] Furthermore, determining whether the clamping diameter parameter has changed includes: Determine whether the ratio of the changed clamping diameter parameter to the original clamping diameter parameter is greater than the safety change threshold; If so, then it is determined that the clamping diameter parameter has changed; If not, then it is determined that the clamping diameter parameter has not changed.

[0013] A second aspect of the present invention provides a clamping device for a slender medical device, employing 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 to the main body, the movable clamping component is disposed on the main body and is movable relative to the fixed clamping component to apply a clamping force to the slender medical device, and the detection component is disposed on the main body and is used to detect the clamping diameter parameter of the slender medical device.

[0014] A third aspect of the present invention provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement a clamping control method for a slender medical device as proposed in the first aspect of the present invention.

[0015] The fourth aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements a clamping control method for an elongated medical device as proposed in the first aspect of the present invention. Beneficial effects

[0016] The present invention relates to a clamping control method, clamping device, equipment, and medium for elongated medical devices. The clamping control method and clamping device for elongated medical devices acquire clamping diameter parameters detected by the clamping device during delivery. When a change in the clamping diameter parameters is detected, the method calculates the diameter change parameters of the elongated medical device during delivery based on the calibrated outer diameter of the elongated medical device and the changed clamping diameter parameters. Based on the diameter change parameters, the clamping device is driven to adjust the clamping force applied to the elongated medical device. This ensures that the actual clamping force applied by the clamping device to the elongated medical device is compatible with elongated medical devices of different types, specifications, performance, and manufacturing differences, achieving adaptive control and adjustment of the clamping force, improving the versatility of the clamping device and the stability of delivery of elongated medical devices. Attached Figure Description

[0017] Figure 1 This is a schematic flowchart of a clamping control method for a slender medical device according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of a clamping device for a slender medical device according to an embodiment of the present invention; Figure 3 This is a cross-sectional schematic diagram of a clamping device for a slender medical device according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of a slender medical device according to an embodiment of the present invention; Figure 5 This is a schematic flowchart of a clamping control method for a slender medical device according to an embodiment of the present invention; Figure 6 This is a schematic flowchart of a clamping control method for a slender medical device according to an embodiment of the present invention; Figure 7 This is a schematic flowchart of a clamping control method for a slender medical device according to an embodiment of the present invention; Figure 8 This is a schematic flowchart of a clamping control method for a slender medical device according to an embodiment of the present invention; Figure 9 This is a schematic flowchart of a clamping control method for a slender medical device according to an embodiment of the present invention; Figure 10 This is a schematic diagram of the structure of a clamping device for a slender medical device according to an embodiment of the present invention; Figure 11 This is a cross-sectional schematic diagram of a clamping device for a slender medical device according to an embodiment of the present invention; Figure 12 This is a schematic diagram of the structure of a computer device according to an embodiment of the present invention.

[0018] in: 100-Clamping device; 10-Main body; 20-Fixed clamping assembly; 21-Fixed clamping element; 211-Fixed roller; 212-Fixed block; 22-Delivery motor; 30-Detection assembly; 31-Detection transmission element; 311-Slider base; 312-Guide slider; 313-Floating joint; 32-Pressure sensor; 33-Detection element; 331-Distance detection sensor; 40-Modible clamping assembly; 41-Modible clamping element; 411-Floating roller; 412-Floating block; 42-Drive element; 50-Clamping transmission element; 51-Transmission gear; 60-Elastic element; 200-Slender medical device; 201-Proximal end; 202-Distal end.

[0019] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0020] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0021] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0022] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, a direct connection, or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0023] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0024] Reference Figures 1 to 4 An embodiment of the present invention provides a clamping control method for an elongated medical device 200, 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: S11, Obtain the clamping diameter parameter detected by the clamping device 100 when the elongated medical device 200 is delivered; S12, determine whether the clamping diameter parameter has changed; S13, if so, then calculate the diameter change parameter of the elongated medical device 200 when it is delivered based on the calibrated outer diameter of the elongated medical device 200 and the changed clamping diameter parameter. S14, based on the diameter change parameter, drive the clamping device 100 to adjust the clamping force applied to the slender medical device 200.

[0025] S15, if not, maintain the clamping force currently applied by the clamping device 100 to the elongated medical device 200.

[0026] Reference Figures 2 to 4This invention provides a clamping device 100 for an elongated medical device 200, which employs a clamping control method for an elongated medical device as described in any embodiment of this invention. The clamping device 100 includes a main body 10, a fixed clamping component 20, a detection component 30, and a movable clamping component 40. The fixed clamping component 20 is fixed to the main body 10; the movable clamping component 40 is disposed on the main body 10 and is movable relative to the fixed clamping component 20 to apply a clamping force to the elongated medical device 200; the detection component 30 is disposed on the main body 10 and is used to detect the clamping diameter parameter of the elongated medical device 200.

[0027] In this embodiment of the invention, the fixed clamping component 20 is fixed to the main body 10, and the movable clamping component 40 is movably disposed on the main body 10 and opposite to the fixed clamping component 20. The fixed clamping component 21 can carry the elongated medical device 200, and the movable clamping component 40 is used to apply clamping force to the elongated medical device 200. Specifically, in addition to clamping the elongated medical device 200, the fixed clamping component 20 and the movable clamping component 40 of the clamping device 100 can also be used together to deliver the elongated medical device 200 in other scenarios, such as delivery scenarios, for example, by delivering the elongated medical device 200 forward, backward, or rotating.

[0028] The detection component 30 is used to detect the clamping diameter parameter of the elongated medical device 200 when it is clamped. This clamping diameter parameter includes the preoperative clamping diameter parameter and the clamping diameter parameter during intraoperative delivery of the elongated medical device 200. The clamping diameter parameter includes the actual outer diameter of the elongated medical device 200. Correspondingly, the detection component 30 includes a distance detection sensor 331 for detecting the actual outer diameter of the elongated medical device 200. In other embodiments, the clamping diameter parameter can also be converted into the actual outer diameter of the elongated medical device 200 by detecting its elastic modulus, torque, material properties, etc. Correspondingly, the detection component 30 may also include a strain sensor for detecting the elastic modulus of the elongated medical device 200, a torque sensor for detecting the torque of the elongated medical device 200, and a material property testing device for detecting the material properties of the elongated medical device 200. In one embodiment, the detection component 30 is further configured to detect the clamping force applied to the elongated medical device 200, in order to determine whether the clamping force applied by the movable clamping component 40 to the elongated medical device 200 reaches the desired clamping force, correspondingly referring to... Figure 3 The detection component 30 also includes a pressure sensor 32 for detecting the clamping force applied to the elongated medical device 200.

[0029] The diameter variation parameter represents the performance change of the slender medical device 200 during the clamping process, and can be a performance change ratio, performance change amount, etc. Due to differences between different types of slender medical devices 200, differences in diameter and performance hardness at different length segments of the same slender medical device 200, and production differences between different manufacturers, the diameter variation parameter of the slender medical device 200 changes during the clamping process.

[0030] Specifically, this embodiment of the invention uses the performance change ratio as the diameter change parameter for detailed explanation. 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 for the diameter change parameter can be: ij=D / dj Wherein, ij represents the diameter variation parameter of the slender medical device 200 at delivery position j, D represents the calibrated outer diameter of the slender medical device 200, and dj represents the actual outer diameter of the slender medical device 200 when it is clamped at delivery position j. It can be understood that delivery position j can be the initial delivery position before surgery or any delivery position during surgery.

[0031] It is understandable that when the clamping diameter parameters are the elastic modulus, torque, material properties, etc. of the slender medical device 200, the specific type of the detection component 30 and the calculation formula of the diameter variation parameters are determined according to the actual clamping diameter parameters, and no specific limitations are made here.

[0032] During the delivery of the elongated medical device 200, a change in the clamping diameter parameter of the elongated medical device 200 is detected. When a change in the clamping diameter parameter is detected, the diameter change parameter of the elongated medical device 200 is calculated based on the calibrated outer diameter and the clamping diameter parameter of the elongated medical device 200. Based on the calculated diameter change parameter, the movable clamping component 40 of the clamping device 100 is driven to adjust the clamping force applied to the elongated medical device 200. When a change in the clamping diameter parameter is detected, the diameter change parameter of the elongated medical device 200 is not calculated, and the movable clamping component 40 of the clamping device 100 is not driven to adjust the clamping force applied to the elongated medical device 200; instead, the clamping force currently applied by the clamping device 100 to the elongated medical device 200 is maintained.

[0033] In summary, the clamping control method and clamping device 100 for elongated medical devices acquire the clamping diameter parameters detected by the clamping device 100 when the elongated medical device 200 is delivered. When a change in the clamping diameter parameters is detected, the clamping device 100 calculates the diameter change parameters of the elongated medical device 200 when it is delivered based on the calibrated outer diameter of the elongated medical device 200 and the changed clamping diameter parameters. Based on the diameter change parameters, the clamping device 100 is driven to adjust the clamping force applied to the elongated medical device. This ensures that the actual clamping force applied by the clamping device 100 to the elongated medical device 200 is compatible with elongated medical devices 200 of different types, specifications, performance, and manufacturing differences, achieving the purpose of adaptive control and adjustment of the clamping force of the elongated medical device 200, improving the versatility of the clamping device 100 and the stability of the delivery of the elongated medical device 200.

[0034] Reference Figure 5 In one embodiment, before obtaining the clamping diameter parameter detected by the clamping device 100 when the elongated medical device 200 is delivered in step S11, the following step is further included: Step S21: Obtain the preset clamping force and calibrated outer diameter of the slender medical device 200; Step S22: Drive the clamping device 100 to set the clamping force applied to the slender medical device 200 before surgery to the preset clamping force; Step S23: Obtain the clamping diameter parameters of the slender medical device 200 before surgery, detected by the clamping device 100; Step S24: Calculate the preoperative diameter change parameter of the slender medical device 200 based on the calibrated outer diameter of the slender medical device 200 and the preoperative clamping diameter parameter. Step S25: Calculate the expected clamping force of the slender medical device 200 before surgery based on the preset clamping force and the diameter change parameters of the slender medical device 200 before surgery. Step S26: Drive the clamping device 100 to adjust the clamping force applied to the elongated medical device 200 before surgery to the desired clamping force of the elongated medical device 200 before surgery.

[0035] In this embodiment of the invention, the preset clamping force F is the initial pre-pressure applied by the movable clamping component 40 of the preoperative clamping device 100 to the slender medical device 200.

[0036] In clamping and delivery scenarios, the clamping force applied by the movable clamping assembly 40 to the elongated medical device 200 not only satisfies the surgical function of clamping the elongated medical device 200, but also meets the delivery force required for delivering the elongated medical device 200. The preset clamping force F is related to the calibrated outer diameter D of the elongated medical device 200 and the type of different elongated medical devices 200. For example, catheters may have different preset clamping forces F set according to different models from 1.6F to 9F. When determining the preset clamping force F, the F value depends on the median average of the material properties of the same specification and type. By collecting and comparing the relationship between the clamping force and delivery force of elongated medical devices 200 of the same specification and function, the preset clamping force F is determined while ensuring that the elongated medical device 200 meets the maximum delivery force required for surgery.

[0037] Therefore, before the procedure (before the clamping operation), the type and calibrated outer diameter D of the elongated medical device 200 are obtained so that the preset clamping force F of the elongated medical device 200 can be determined based on the actual size. According to the preset clamping force F, the movable clamping assembly 40 is driven to adjust the clamping force of the elongated 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 to the elongated medical device 200 by the movable clamping assembly 40 has reached the preset clamping force F, the movement of the movable clamping assembly 40 is immediately stopped.

[0038] Calculate the diameter change parameter ij of the slender medical device 200 before surgery. When ij is closer to 1, it is determined that the outer diameter deformation 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. Conversely, the actual clamping force of the slender medical device 200 needs to be adjusted according to the expected clamping force Fj before surgery 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.

[0039] The specific formula for calculating the desired clamping force Fj can be: Fj=ij*F Where Fj represents the expected clamping force of the slender medical device 200 at delivery position j, F represents the preset clamping force of the slender medical device 200, and ij represents the diameter variation parameter of the slender medical device 200 at delivery position j. It can be understood that both the expected clamping force Fj before surgery and the expected clamping force Fj during surgery can be calculated using the above formula.

[0040] The expected clamping force Fj before surgery is calculated according to the above formula. Then, based on the expected clamping force Fj before surgery, the movable clamping component 40 is driven to adjust the clamping force applied to the slender medical device 200 before surgery to the expected clamping force Fj before surgery, so as to achieve the purpose of adaptive adjustment of the clamping force of the slender medical device 200 before surgery.

[0041] Reference Figure 6 In one embodiment, step S14, which involves driving the clamping device 100 to adjust the clamping force applied to the elongated medical device 200 based on the diameter change parameter, includes the following steps: S141, Obtain the preset clamping force of the elongated medical device, and calculate the expected clamping force of the elongated medical device 200 when it is delivered based on the preset clamping force and the diameter change parameter of the elongated medical device 200 when it is delivered. S142, 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.

[0042] In this embodiment of the invention, during the procedure, due to differences in diameter and performance (hardness / softness) at different length segments of the slender medical device 200, such as... Figure 4 As shown, the outer diameters of the long end of the device will differ to some extent, and the internal structure and support rigidity will also vary accordingly. This will cause the clamping diameter parameter d at different positions to change. Therefore, during the operation, it is necessary to adaptively control the actual clamping force of the slender medical device 200 according to the expected clamping force Fj. The expected clamping force Fj during the operation can be calculated using the formula Fj=ij*F.

[0043] For example, if the calibrated outer diameter D of a certain slender medical device 200 is 3mm, under the action of the preset clamping force F, the actual outer diameter d1 of the slender medical device 200 when it is clamped at the delivery position 1 before surgery becomes 2.5mm, i1=D / d1=1.2, then the expected clamping force F1 before surgery is 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 delivery position 2 during the operation, the actual outer diameter d2 becomes 3mm, 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 adaptively adjust to F; when the slender medical device 200 is clamped at delivery position 3 during the operation, the actual outer diameter d3 becomes 3.75mm, 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 adaptively adjust to 0.8F.

[0044] Reference Figure 7In one embodiment, step S12, determining whether the clamping diameter parameter has changed, includes the following steps: S121, determine whether the ratio of the changed clamping diameter parameter to the original clamping diameter parameter is greater than the safety change threshold; S122, if so, then determine that the clamping diameter parameter has changed; S123, if not, then it is determined that the clamping diameter parameter has not changed.

[0045] In this embodiment of the invention, the safety change threshold A is an adjustment trigger value that considers the safe fluctuation range of a clamping diameter parameter. This prevents the expected clamping force Fj during surgery from constantly changing, which would cause the actual clamping force applied by the active clamping component 40 of the clamping device 100 to the slender medical device 200 to constantly change, affecting the smoothness and safety of the delivery of the slender medical device 200. The formula for calculating the rate of change B of the clamping diameter parameter can be: B=dj / dj-1 Wherein, dj represents the actual outer diameter of the slender medical device 200 when it is clamped at delivery position j, i.e., the changed clamping diameter parameter, and dj-1 represents the actual outer diameter of the slender medical device 200 when it is clamped at delivery position j-1, i.e., the clamping diameter parameter before the change.

[0046] Specifically, when the rate of change B of the clamping diameter parameter is greater than the safe 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 Fj during the operation.

[0047] If the rate of change B of the clamping diameter parameter is less than or equal to the safe change threshold A, it is determined that the clamping diameter parameter has not changed. The calculation of the diameter change parameter after the change 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.

[0048] Therefore, the embodiments of the present invention employ the above-mentioned calculation triggering conditions to ensure the smoothness and safety of the delivery of the slender medical device 200, and to improve the precise control of the slender medical device 200, thereby increasing surgical efficiency and success rate.

[0049] Reference Figure 8 In one embodiment, step S142, which drives 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, includes the following steps: S143, determine whether the expected clamping force when the elongated medical device 200 is delivered is within the clamping force adjustment range; S144, if so, then 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; S145, if not, then 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 or minimum value of the clamping force adjustment range.

[0050] In this embodiment of the invention, after calculating the expected clamping force Fj during the operation, it is also necessary to determine whether the expected clamping force Fj during the operation is within the clamping force adjustment range. The clamping force adjustment range is [Fmin, Fmax], where Fmin represents the minimum clamping force required for the slender medical device 200 to be delivered, and Fmax represents the maximum clamping force that the slender medical device 200 can withstand.

[0051] When it is determined that the calculated expected clamping force Fj is within the clamping force adjustment range, i.e., Fj∈[Fmin, Fmax], the movable clamping component 40 is driven to adjust the clamping force on the slender medical device 200 according to the expected clamping force Fj, until the expected clamping force Fj reaches the maximum value Fmax or the minimum value Fmin of the clamping force adjustment range.

[0052] When the desired clamping force Fj reaches the maximum value Fmax of the clamping force adjustment range, the desired clamping force Fj will no longer be adjusted to the upper limit indefinitely, in order to prevent the desired clamping force Fj from being continuously corrected, which would result in the actual clamping force of the slender medical device 200 being too large after adjustment, and thus damaging the slender medical device 200.

[0053] When the desired clamping force Fj reaches the minimum value Fmin of the clamping force adjustment range, the desired clamping force Fj will no longer be adjusted to the lower limit indefinitely, in order to prevent the desired clamping force Fj from being continuously corrected, which would result in the actual clamping force of the slender medical device 200 being too small after adjustment, leading to delivery failure.

[0054] When it is determined that the calculated expected clamping force Fj is not within the clamping force adjustment range, for example, when the expected clamping force Fj is greater than the maximum value Fmax, the expected clamping force Fj is set to the maximum value Fmax. When the clamping force applied by the movable clamping component 40 to the elongated medical device 200 reaches the maximum value Fmax, the driving of the movable clamping component 40 to continue adjusting the clamping force on the elongated medical device 200 is stopped to prevent the actual clamping force on the elongated medical device 200 from being too large after adjustment, which would damage the elongated medical device 200. When the calculated expected clamping force Fj is less than the minimum value Fmin, the expected clamping force Fj is set to the minimum value Fmin. When the clamping force applied by the movable clamping component 40 to the elongated medical device 200 reaches the minimum value Fmin, the driving of the movable clamping component 40 to continue adjusting the clamping force on the elongated medical device 200 is stopped to prevent the actual clamping force on the elongated medical device 200 from being too small after adjustment, which would cause delivery failure.

[0055] It is understandable that the expected clamping force Fj before surgery also needs to be within the clamping force adjustment range.

[0056] Reference Figure 9 In one embodiment, step S144, which drives 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, includes the following steps: S1441, Based on the current delivery position and delivery direction of the elongated medical device 200, determine the diameter change trend of the elongated medical device 200; S1442, Based on the diameter change trend and the desired clamping force, determine whether the desired clamping force can be further increased or decreased; S1443, if not, then stop driving the clamping device 100 to adjust the clamping force applied to the elongated medical device 200 and issue a fault warning; S1444, if so, then 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.

[0057] In this embodiment of the invention, reference is made to Figure 4 The elongated medical device 200 includes a proximal end 201 and a distal end 202 arranged along the axis. The proximal end 201 is the end closer to the clamping device 100 or the operator with reference to the clamping device 100 or the operator, and the distal end 202 is the end farther from the clamping device 100 or the operator. Generally speaking, the actual outer diameter of the elongated medical device 200 gradually widens from the distal end 202 to the proximal end 201.

[0058] Since the desired clamping force Fj needs to be within the above-mentioned clamping force adjustment range, and the diameter change trend of the elongated medical device 200 during delivery also affects the judgment of whether the desired clamping force can be increased or decreased, 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 elongated medical device 200 and the magnitude of the desired clamping force.

[0059] Specifically, when the current desired clamping force Fj has not yet reached the maximum value Fmax or minimum value Fmin of the clamping force adjustment range, the diameter change trend of the elongated medical device 200 is determined based on the current delivery position and delivery direction of the elongated medical device 200. Then, based on the diameter change trend and the desired clamping force, it is determined whether the desired clamping force can be further increased or decreased. If, based on the diameter change trend, it is determined that the next desired clamping force Fj+1 still has not reached the maximum value Fmax or minimum value Fmin of the clamping force adjustment range, and therefore it is determined that the desired clamping force Fj can be further increased or decreased, then the drive clamping device 100 adjusts the clamping force applied to the elongated medical device 200 to the desired clamping force Fj when the elongated medical device 200 is delivered. Furthermore, the actual clamping force of the elongated medical device 200 can gradually increase as the desired clamping force increases or gradually decrease as the desired clamping force Fj decreases.

[0060] When the current desired clamping force Fj has reached the maximum value Fmax of the clamping force adjustment range, the diameter change trend of the elongated medical device 200 is determined based on the current delivery position and delivery direction of the elongated medical device 200. If the diameter change trend indicates that the next desired clamping force Fj+1 is greater than the maximum value Fmax, it is determined that the desired clamping force Fj cannot be increased further, and the movement of the clamping device 100 must be stopped and a fault warning is issued. If the diameter change trend indicates that the next desired clamping force Fj+1 still meets the clamping force adjustment range, for example, it is determined that the desired clamping force Fj can be decreased further, the clamping device 100 is driven to adjust the clamping force applied to the elongated medical device 200 to the desired clamping force Fj when the elongated medical device 200 is delivered, and the actual clamping force of the elongated medical device 200 can be gradually reduced as the desired clamping force decreases subsequently.

[0061] When the desired clamping force Fj has reached the minimum value Fmin of the clamping force adjustment range, the diameter change trend of the elongated medical device 200 is determined based on the current delivery position and delivery direction of the elongated medical device 200. If the diameter change trend indicates that the next desired clamping force Fj+1 is less than the minimum value Fmin, it is determined that the desired clamping force Fj cannot be further reduced, and the movement of the clamping device 100 must be stopped and a fault warning is issued. If the diameter change trend indicates that the next desired clamping force Fj+1 still meets the clamping force adjustment range, for example, it is determined that the desired clamping force Fj can be further increased, the clamping device 100 is driven to adjust the clamping force applied to the elongated medical device 200 to the desired clamping force Fj when the elongated medical device 200 is delivered, and the actual clamping force of the elongated medical device 200 can be gradually increased as the desired clamping force increases subsequently.

[0062] In one embodiment, step S1442 determines whether the desired clamping force can be further increased or decreased based on the diameter change trend and the desired clamping force, including the following four cases: When the desired clamping force reaches the maximum value of the clamping force adjustment range, and the diameter changes in an increasing trend, it is determined that the desired clamping force can be further reduced. When the desired clamping force reaches the maximum value of the clamping force adjustment range, and the diameter changes in a decreasing trend, it is determined that the desired clamping force cannot be increased further. When the desired clamping force reaches the minimum value of the clamping force adjustment range, and the diameter changes in a decreasing trend, it is determined that the desired clamping force can be further increased. When the desired clamping force reaches the minimum value of the clamping force adjustment range, and the diameter changes in an increasing trend, it is determined that the desired clamping force cannot be further reduced.

[0063] In this embodiment of the invention, reference is made to Figure 4 When the current expected clamping force Fj reaches its maximum value Fmax, and the current delivery position of the slender medical device 200 is the dmin position, that is, when it is at the point where the outer diameter of the distal end 202 of the slender medical device 200 is the smallest, the value of d is the smallest. If the device 200 advances ( Figure 4 (Moving from left to right), the diameter trend is increasing (d value will increase). The next expected clamping force Fj+1 of the slender medical device 200 needs to decrease according to the direction of travel. Since the next expected clamping force Fj+1 with a decreasing trend is still within the clamping force adjustment range, it is determined that the expected clamping force Fj can continue to decrease. When the slender medical device 200 continues to be delivered forward, it can trigger... Figure 7If step S121 is satisfied, it is determined that the clamping diameter parameter has changed, triggering the calculation of the next diameter change parameter ij+1 of the slender medical device 200 to calculate the next expected clamping force Fj+1. Then, the active clamping component 40 is driven to adjust the clamping force on the slender medical device 200 according to the next expected clamping force Fj+1.

[0064] When the current expected clamping force Fj reaches its maximum value Fmax, and the current delivery position of the elongated medical device 200 is the dmax position, that is, when it is at the maximum outer diameter of the proximal end 201 of the elongated medical device 200, since the d value is the maximum, the elongated medical device 200 can only move backward. Figure 4 (Moving from right to left), at this time the diameter changes in a decreasing trend (d value will decrease). The next expected clamping force Fj+1 of the slender medical device 200 needs to be reduced according to the backward direction. Since the current expected clamping force Fj has reached the maximum value Fmax, if it continues to increase, the next expected clamping force Fj+1 will be greater than the maximum value Fmax of the clamping force adjustment range. Therefore, it is determined that the expected clamping force Fj cannot be increased further, and a fault prompt is issued to remind the doctor that the slender medical device 200 may be damaged and its performance cannot meet the usage requirements.

[0065] When the current expected clamping force Fj reaches its minimum value Fmin, and the current delivery position of the elongated medical device 200 is the dmax position, that is, when it is at the maximum outer diameter of the proximal end 201 of the elongated medical device 200, the d value is at its maximum, and the elongated medical device 200 can only move backward. Figure 4 (Moving from right to left), the diameter trend is decreasing (d value will decrease). The next expected clamping force Fj+1 of the slender medical device 200 needs to increase according to the backward direction. Since the next expected clamping force Fj+1, which has an increasing trend, is still within the clamping force adjustment range, it is determined that the expected clamping force Fj can continue to increase. When the slender medical device 200 is delivered backward, it can trigger... Figure 7 If step S121 is satisfied, it is determined that the clamping diameter parameter has changed, triggering the calculation of the next diameter change parameter ij+1 after the change of the slender medical device 200, so as to calculate the next expected clamping force Fj+1, and then driving the active clamping component 40 to adjust the clamping force on the slender medical device 200 according to the next expected clamping force Fj+1.

[0066] When the current expected clamping force Fj reaches its minimum value Fmin, and the current delivery position of the elongated medical device 200 is dmin, that is, when it is at the point where the outer diameter of the distal end 202 of the elongated medical device 200 is the smallest, the value of d is the smallest. If the elongated medical device 200 moves forward ( Figure 4(Moving from left to right), the diameter changes by increasing (the d value increases). The expected clamping force Fj of the slender medical device 200 needs to decrease according to the direction of movement. Since the current expected clamping force Fj has reached the minimum value Fmin, if it continues to decrease, the next expected clamping force Fj+1 will be less than the minimum value Fmin of the clamping force adjustment range. Therefore, it is determined that the expected clamping force Fj cannot be further decreased, and a fault prompt is issued to remind the doctor that the slender medical device 200 may be damaged and its performance cannot meet the usage requirements.

[0067] Reference Figures 2 to 4 In 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 disposed on the main body 10 and opposite to the fixed clamping member 21; the driving member 42 is throttlely 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 to apply a clamping force to the elongated medical device 200.

[0068] In this embodiment of the invention, the fixed clamping member 21 is fixed on the main body 10, and the movable clamping member 41 is movably disposed 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.

[0069] In one embodiment, the drive element 42 includes, but is not limited to, a motor, a cylinder, and a push rod.

[0070] Reference Figure 10 and Figure 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.

[0071] An elongated medical device 200 is disposed between a fixed block 212 and a floating block 412. The fixed block 212 can support 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.

[0072] Reference Figures 2 to 4 In one embodiment, the fixed clamping assembly 20 further includes a clamping transmission member 50, and the movable clamping member 41 is connected to the fixed clamping member 21 via the clamping transmission member 50. The fixed clamping assembly 20 also includes a delivery motor 22, which drives the fixed clamping member 21 to move so that the fixed clamping member 21 and the movable clamping member 41 together deliver the elongated medical device 200.

[0073] In addition to clamping the elongated medical device 200, the fixed clamping assembly 20 and the movable clamping assembly 40 can also be used together to deliver the elongated medical device 200 in other scenarios, such as delivery scenarios, for example, to deliver the elongated medical device 200 forward, backward or rotate.

[0074] In the context of clamping and delivery, the clamping force applied by the active clamping component 40 to the elongated medical device 200 can not only satisfy the function of clamping the elongated medical device 200 during surgery, but also meet the delivery force required for delivering the elongated medical device 200.

[0075] Specifically, the fixed clamping assembly 20 further includes a clamping transmission member 50 and a delivery motor 22. The fixed clamping member 21 is connected to the delivery motor 22 and is 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, 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 deliver the slender medical device 200 together.

[0076] 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.

[0077] A slender medical device 200 is positioned between a fixed roller 211 and a floating roller 411. When the fixed roller 211 is driven to rotate by the delivery motor 22, it drives the transmission gear 51 to rotate, which in turn drives the floating roller 411 to rotate. This, in turn, drives the fixed clamping member 21 and the movable clamping member 41 to 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.

[0078] In one embodiment, there are multiple fixed rollers 211 and multiple floating rollers 411, and the positions of the multiple floating rollers 411 correspond to the positions of the multiple fixed rollers 211.

[0079] For example, refer to Figure 2 There are two fixed rollers 211 and two floating rollers 411. The positions of the two floating rollers 411 correspond one-to-one with the positions of the two fixed rollers 211, so as to achieve stable delivery and stable clamping of the slender medical device 200.

[0080] Reference Figures 2 to 4In one embodiment, an elastic element 60, such as a spring, is provided between the floating roller 411 and the main body 10. The elastic element 60 can pre-compress the floating roller 411 to fit tightly against the fixed roller 211.

[0081] Reference Figure 3 In one embodiment, the detection component 30 includes a detection transmission component 31 and a pressure sensor 32 for detecting the clamping force applied by the movable clamping component 41 to the elongated medical device 200. The movable clamping component 41 is connected to the driving component 42 via the detection transmission component 31, and the pressure sensor 32 is disposed on the detection transmission component 31.

[0082] In this embodiment of the invention, the movable clamping member 41 is connected to the driving member 42 via a detection transmission member 31. When the driving member 42 drives the movable clamping member 41 to move, the detection transmission member 31 moves accordingly. A pressure sensor 32 is provided on the detection transmission member 31. When the driving member 42 drives the movable clamping member 41 to clamp the elongated 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 pressure sensor 32 detects the clamping force between the movable clamping member 41 and the fixed clamping member 21 to obtain the clamping force of the movable clamping member 41 acting on the elongated medical device 200.

[0083] Reference Figure 3 In one embodiment, the detection transmission component 31 includes a slider base 311, a guide slider 312, and a floating joint 313. The slider base 311 is fixed to the main body 10, and the guide slider 312 is slidably disposed on the slider base 311. The first end of the guide slider 312 is connected to the driving component 42, and the second end of the guide slider 312 is fixedly connected to the movable clamping component 41. The pressure sensor 32 is disposed on the first end, and the floating joint 313 is disposed below the second end of the guide slider 312. The pressure sensor 32 is connected to the floating joint 313.

[0084] In this embodiment of the invention, when the driving member 42 is not driving the movable clamping member 41 to apply a clamping force to the elongated 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 elongated 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 acting on the elongated medical device 200.

[0085] Reference Figures 2 to 4In one embodiment, the clamping diameter parameter includes the actual outer diameter of the elongated medical device 200, and the detection component 30 includes a detection element 33 for detecting the outer diameter of the elongated medical device 200, the detection element 33 being fixed to the main body 10.

[0086] In this embodiment of the invention, the clamping diameter parameter is the actual outer diameter d of the elongated medical device 200. Due to differences between different types of elongated medical devices 200, differences in diameter and performance (hardness / softness) at different length segments of the same elongated medical device 200, and differences in production by different manufacturers, the actual outer diameter d of the elongated medical device 200 changes during the clamping process. The detection element 33 can detect the actual outer diameter d of the elongated medical device 200.

[0087] Reference Figures 2 to 3 In one embodiment, the detection element 33 includes a distance detection sensor 331 disposed above the main body 10. The distance detection sensor 331 is used to detect the distance parameter of the movable clamping element 41 relative to the distance detection sensor 331 to obtain the outer diameter of the elongated medical device 200 when it is clamped.

[0088] It is understandable that the actual outer diameter d of the slender medical device 200 can also be detected by other testing components 33, and no specific limitation is made here.

[0089] It is 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. Correspondingly, the detection component 30 may 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, and a material property detection device for detecting the material properties of the slender medical device 200. The specific type and installation position of the detection component 33 are determined according to the actual clamping diameter parameter and are not specifically limited here.

[0090] Reference Figure 12 An embodiment of the present invention also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the clamping control method of the elongated medical device 200 in any embodiment of the present invention.

[0091] The computer device includes a processor, memory, network interface, and database connected via a system bus. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and database. The internal memory provides the environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores rotational data and computational data from the interventional robot's slave end. The network interface allows communication with external terminals via a network connection. When executed by the processor, the computer program implements a clamping control method for an elongated medical device 200.

[0092] An embodiment of the present invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the clamping control method of the elongated medical device 200 in any embodiment of the present invention.

[0093] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in this application and in the embodiments can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can 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), dual-speed SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0094] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within 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, the clamping device being used to clamp and deliver the slender medical device, the clamping control method comprising: The clamping diameter parameter detected by the clamping device when the elongated medical device is delivered is obtained; Determine whether the clamping diameter parameter has changed; If so, then the diameter change parameter of the slender medical device when it is delivered is calculated based on the calibrated outer diameter of the slender medical device and the changed clamping diameter parameter. Based on the diameter change parameter, the clamping device is driven to adjust the clamping force applied to the slender medical device, including: Obtain the preset clamping force of the elongated medical device, and calculate the expected clamping force of the elongated medical device when it is delivered based on the preset clamping force and the diameter change parameter of the elongated medical device when it 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; If not, maintain the clamping force currently applied to the elongated medical device by the clamping device.

2. The clamping and control method for a slender medical device according to claim 1, characterized in that, Before acquiring the clamping diameter parameter detected by the clamping device when the elongated medical device is delivered, the method further includes: Obtain the preset clamping force and calibrated outer diameter of the elongated medical device; The clamping device is driven to set the clamping force applied to the slender medical device before surgery to the preset clamping force; Obtain the clamping diameter parameters of the slender medical device before surgery, detected by the clamping device; Based on the calibrated outer diameter of the slender medical device and the preoperative clamping diameter parameters, calculate the preoperative diameter change parameters of the slender medical device; The expected clamping force of the slender medical device before surgery is calculated based on the preset clamping force and the diameter change parameters of the slender medical device before surgery. The clamping device is driven to adjust the clamping force applied to the elongated medical device before surgery to the desired clamping force of the elongated medical device before surgery.

3. The clamping and control method for the slender medical device according to claim 1, characterized in that, The method 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 includes: Determine whether the desired clamping force is within the clamping force adjustment range when the slender medical device is delivered; 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; 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 or minimum value of the clamping force adjustment range.

4. The clamping and control method for a slender medical device according to claim 3, characterized in that, The method 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 includes: Based on the current delivery position and delivery direction of the slender medical device, determine the diameter variation trend of the slender medical device; Based on the diameter change trend and the desired clamping force, it is determined whether the desired clamping force can be further increased or decreased. If not, stop driving the clamping device to adjust the clamping force applied to the slender medical device and issue a fault warning; 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.

5. The clamping and control method for a slender medical device according to claim 4, characterized in that, The step of determining whether the desired clamping force can be further increased or decreased based on the diameter change trend and the desired clamping force includes: When the desired clamping force reaches the maximum value of the clamping force adjustment range, and the diameter changes in an increasing trend, it is determined that the desired clamping force can be further reduced. When the desired clamping force reaches the maximum value of the clamping force adjustment range, and the diameter changes in a decreasing trend, it is determined that the desired clamping force cannot be increased further. When the desired clamping force reaches the minimum value of the clamping force adjustment range, and the diameter changes in a decreasing trend, it is determined that the desired clamping force can be further increased. When the desired clamping force reaches the minimum value of the clamping force adjustment range, and the diameter changes in an increasing trend, it is determined that the desired clamping force cannot be further reduced.

6. The clamping and control method for an elongated medical device according to any one of claims 1 to 5, characterized in that, The step of determining whether the clamping diameter parameter has changed includes: Determine whether the ratio of the changed clamping diameter parameter to the original clamping diameter parameter is greater than the safety change threshold; If so, then determine that the clamping diameter parameter has changed; If not, then it is determined that the clamping diameter parameter has not changed.

7. A clamping device for a slender medical device, characterized in that, The clamping control method for a slender medical device according to any one of claims 1 to 6, wherein the clamping device includes a main body, a fixed clamping component, a movable clamping component, and a detection component, wherein the fixed clamping component is fixed on the main body, the movable clamping component is disposed on the main body and is movable relative to the fixed clamping component to apply a clamping force to the slender medical device, and the detection component is disposed on the main body and is used to detect the clamping diameter parameter of the slender medical device.

8. A computer device, characterized in that, The device includes a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the clamping control method for the elongated medical device according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, It stores a computer program, which, when executed by a processor, implements the clamping control method for the elongated medical device according to any one of claims 1 to 6.

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