Multi-channel surgical instrument delivery method and interventional surgical robot

Abstract

The invention relates to the technical field of medical instruments, in particular to a multi-channel surgical instrument delivery method and an interventional surgical robot. The method comprises the steps that a first clamping component is controlled to loosen a first surgical instrument in a first delivery channel, and a first positioning component is controlled to clamp the first surgical instrument in the first delivery channel, so that the first surgical instrument can be kept at a fixed position; a second clamping component is controlled to clamp the second surgical instrument in the second delivery channel, and a second positioning component loosens the second surgical instrument in the second delivery channel, so that the second surgical instrument can be pushed and / or rotated. According to the embodiment of the invention, delivery of a plurality of surgical instruments can be realized through a plurality of delivery channels.

Description

Technical Field

[0001] The present specification relates to the field of medical device technology, and in particular to a multi-channel surgical instrument delivery method and an interventional surgical robot. Background Art

[0002] Vascular interventional surgery is a surgical procedure in which interventional doctors operate puncture needles, catheters, guidewires, balloons, stents and other interventional devices under the guidance of medical imaging equipment, and deliver the designated devices along the human blood vessels to the corresponding lesion site after percutaneous puncture for treatment. As a minimally invasive treatment method, vascular interventional surgery has been widely used in the interventional treatment of cardiovascular diseases, cerebrovascular diseases, peripheral vascular diseases and tumors.

[0003] Vascular intervention surgery involves the delivery of multiple surgical instruments. Different surgical instruments have different delivery requirements. Therefore, how to achieve the delivery of multiple surgical instruments is an urgent problem to be solved. Summary of the invention

[0004] The embodiments of this specification provide a multi-channel surgical instrument delivery method and an interventional surgical robot, which can achieve the delivery of multiple surgical instruments through multiple delivery channels.

[0005] The embodiment of the present specification provides a multi-channel surgical instrument delivery method, which is applied to an interventional surgical robot, wherein the interventional surgical robot is provided with a delivery device, wherein the delivery device comprises a first clamping component, a first positioning component, a second clamping component, and a second positioning component; the first clamping component and the first positioning component correspond to a first delivery channel, the first positioning component is located behind the first clamping component along the delivery direction, and a first surgical instrument is arranged in the first delivery channel; the second clamping component and the second positioning component correspond to a second delivery channel, the second positioning component is located behind the second clamping component along the delivery direction, and a second surgical instrument is arranged in the second delivery channel;

[0006] The method comprises:

[0007] Controlling the first clamping component to release the first surgical instrument in the first delivery channel and the first positioning component to clamp the first surgical instrument in the first delivery channel, so that the first surgical instrument can maintain a fixed position;

[0008] The second clamping component is controlled to clamp the second surgical instrument in the second delivery channel, and the second positioning component is controlled to release the second surgical instrument in the second delivery channel, so that the second surgical instrument can be pushed and / or rotated.

[0009] The present specification also provides an interventional surgery robot, including:

[0010] A delivery device, wherein a first delivery channel and a second delivery channel are provided on the delivery device, a first surgical instrument is provided in the first delivery channel, and a second surgical instrument is provided in the second delivery channel;

[0011] A controller configured to execute the above-mentioned surgical instrument delivery method.

[0012] The embodiments of the present specification also provide a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the above-mentioned surgical instrument delivery method is implemented.

[0013] The embodiments of the present specification also provide a computer program product, which includes a computer program, and when the computer program is executed by a processor, the above-mentioned surgical instrument delivery method is implemented.

[0014] In the delivery method of the embodiment of the present specification, the delivery device is provided with a first delivery channel and a second delivery channel. A first surgical instrument is provided in the first delivery channel, and a second surgical instrument is provided in the second delivery channel. Thus, the delivery device can realize the delivery of multiple surgical instruments through multiple delivery channels. The first clamping component can be controlled to release the first surgical instrument in the first delivery channel, and the first positioning component can be controlled to clamp the first surgical instrument in the first delivery channel, so that the first surgical instrument can be kept in a fixed position; the second clamping component can be controlled to clamp the second surgical instrument in the second delivery channel, and the second positioning component can be controlled to release the second surgical instrument in the second delivery channel, so that the second surgical instrument can be pushed and / or rotated. Thus, the first delivery channel among the multiple delivery channels can be selected as a spare channel, and the second delivery channel among the multiple delivery channels can be selected as a working channel. For the working channel, the corresponding clamping component can clamp the surgical instrument, and the corresponding positioning component can release the surgical instrument. In this way, the first surgical instrument in the working channel can be pushed and / or rotated. For the spare channel, the corresponding clamping component can release the surgical instrument, and the corresponding positioning component can clamp the surgical instrument. In this way, while the first surgical instrument in the working channel is pushed and / or rotated, the second surgical instrument in the standby channel can be kept in a fixed position. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of this specification or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. The drawings described below are only some embodiments recorded in this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0016] Figure 1This is a schematic diagram of the structure of the surgical robot in the embodiments of this specification;

[0017] Figure 2 This is a schematic diagram of the structure of the delivery device in the embodiments of this specification;

[0018] Figure 3 This is a flow chart of a surgical instrument delivery method in an embodiment of this specification;

[0019] Figure 4 This is a flow chart of a surgical instrument delivery method in an embodiment of this specification;

[0020] Figure 5 This is a flow chart of a surgical instrument delivery method in an embodiment of this specification;

[0021] Figure 6 Schematic diagram of the flow of the surgical instrument delivery method in the embodiments of this specification.

[0022] Description of Figure Numbers:

[0023] 1. Master end; 2. Slave end; 3. Delivery device; 4. Active robotic arm; 5. Surgical instrument;

[0024] 31. First clamping component; 32. First positioning component; 321. First clamping wheel; 322. First clamping block; 33. Second clamping component; 34. Second positioning component; 341. Second clamping wheel; 342. Second clamping block; 35. Delivery component; 36. First delivery channel; 37. Second delivery channel; 38. First clamping channel; 39. Second clamping channel. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of this specification will be clearly and completely described below in conjunction with the drawings in the embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this specification, rather than all of the embodiments. The specific embodiments described herein are only used to explain the present disclosure, rather than to limit the present disclosure. Based on the described embodiments of the present disclosure, all other embodiments obtained by those of ordinary skill in the art are within the scope of protection of the present disclosure. In addition, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations.

[0026] The term delivery may include pushing and / or rotating, depending on the context in which the term is used. Delivery along a delivery direction may be pushing along a delivery direction without rotating during the pushing process. Alternatively, delivery along a delivery direction may also be pushing along a delivery direction with rotating during the pushing process. The delivery direction may refer to the direction of pushing. The delivery distance may refer to the distance of pushing.

[0027] Please also read Figure 1 and Figure 2 The embodiments of this specification provide a surgical robot.

[0028] In some embodiments, the surgical robot may include an interventional surgical robot. A delivery device 3 is provided on the surgical robot. The surgical robot includes a master end 1 and a slave end 2. The master end 1 and the slave end 2 have a master-slave control relationship. The master end 1 is a control end, which is used to receive instructions input by a doctor. The slave end 2 is an execution end, which is used to perform corresponding actions according to the instructions. The delivery device 3 may be provided on the slave end 2. For example, the slave end 2 may include an active robotic arm 4, and the active robotic arm 4 is provided with a delivery device 3. The active robotic arm 4 is a robotic arm that can perform autonomous movements.

[0029] In some embodiments, a first delivery channel 36 and a second delivery channel 37 may be provided on the delivery device 3. A surgical instrument 5 may be provided in the first delivery channel 36 and / or the second delivery channel 37. The delivery device 3 can push the surgical instrument 5 in the first delivery channel 36 or the second delivery channel 37, and can also rotate the surgical instrument 5 in the first delivery channel 36 or the second delivery channel 37.

[0030] The surgical instruments 5 in the first delivery channel 36 and the second delivery channel 37 can be interventional surgical instruments, such as guidewires, balloon catheters, stent catheters and other interventional surgical instruments. As an example, the surgical instruments 5 in the first delivery channel 36 and the second delivery channel 37 can be surgical instruments 5 of the same type, or different types of instruments. For example, the surgical instruments 5 in the first delivery channel 36 and the second delivery channel 37 can both be guidewires, or both can be balloon catheters, or both can be stent catheters. The surgical instruments 5 in the first delivery channel 36 and the second delivery channel 37 can be located in catheters.

[0031] In some embodiments, the delivery device 3 may include a first clamping component 31, a first positioning component 32, a second clamping component 33, a second positioning component 34, and a delivery component 35, etc. The first clamping component 31 and the second clamping component are located on both sides of the delivery component 35. Thus, the delivery component 35 and the first clamping component 31 can form a first delivery channel 36, and the delivery component 35 and the second clamping component 33 can form a second delivery channel 37.

[0032] The first positioning member 32 and the first clamping member 31 correspond to the first delivery channel 36. The first positioning member 32 is located behind the first clamping member 31 along the delivery direction. The second positioning member 34 and the second clamping member 33 correspond to the second delivery channel 37. The second positioning member 34 is located behind the second clamping member 33 along the delivery direction. The first positioning member 32 is used to clamp or release the surgical instrument 5 in the first delivery channel 36. The first clamping member 31 is used to clamp or release the surgical instrument 5 in the first delivery channel 36. The second positioning member 34 is used to clamp or release the surgical instrument 5 in the second delivery channel 37. The second clamping member 33 is used to clamp or release the surgical instrument 5 in the second delivery channel 37.

[0033] The delivery component 35 is used to deliver the surgical instrument 5 in the first delivery channel 36 and the second delivery channel 37. The delivery component 35 cooperates with the first clamping component 31 to push and / or rotate the surgical instrument 5 in the first delivery channel 36. The delivery component 35 cooperates with the second clamping component 33 to push and / or rotate the surgical instrument 5 in the second delivery channel 37.

[0034] In some embodiments, the first delivery channel 36 and the second delivery channel 37 are active delivery channels. One of the first delivery channel 36 and the second delivery channel 37 is a working channel, and the other is a standby channel. The working channel and the standby channel can be switched with each other. For the working channel, the corresponding clamping component can clamp the surgical instrument 5, and the corresponding positioning component can release the surgical instrument 5. In this way, the surgical instrument 5 in the working channel can be pushed and / or rotated. For the standby channel, the corresponding clamping component can release the surgical instrument 5, and the corresponding positioning component can clamp the surgical instrument 5. In this way, while the surgical instrument 5 in the working channel is pushed and / or rotated, the surgical instrument 5 in the standby channel can be kept in a fixed position.

[0035] For example, the first delivery channel 36 is a working channel, and the second delivery channel 37 is a standby channel. The first clamping component 31 can clamp the surgical instrument 5 in the first delivery channel 36, and the first positioning component 32 can release the surgical instrument 5 in the first delivery channel 36. In this way, the surgical instrument 5 in the first delivery channel 36 can be pushed and / or rotated. The second clamping component 33 can release the surgical instrument 5 in the second delivery channel 37, and the second positioning component 34 can clamp the surgical instrument 5 in the second delivery channel 37. In this way, while the surgical instrument 5 in the first delivery channel 36 is pushed and / or rotated, the surgical instrument 5 in the second delivery channel 37 can be kept in a fixed position.

[0036] For another example, the first delivery channel 36 is a standby channel, and the second delivery channel 37 is a working channel. The second clamping component 33 can clamp the surgical instrument 5 in the second delivery channel 37, and the second positioning component 34 can release the surgical instrument 5 in the second delivery channel 37. In this way, the surgical instrument 5 in the second delivery channel 37 can be pushed and / or rotated. The first clamping component 31 can release the surgical instrument 5 in the first delivery channel 36, and the first positioning component 32 can clamp the surgical instrument 5 in the first delivery channel 36. In this way, while the surgical instrument 5 in the second delivery channel 37 is pushed and / or rotated, the surgical instrument 5 in the first delivery channel 36 can be kept fixed in position.

[0037] In some embodiments, the delivery component 35 may include a driving wheel. The first clamping component 31 may include a first driven wheel. The second clamping component 33 may include a second driven wheel. The first driven wheel and the second driven wheel are located on both sides of the driving wheel. So that the driving wheel and the first driven wheel can form a first delivery channel 36, and the driving wheel and the second driven wheel can form a second delivery channel 37.

[0038] The driving wheel is a concentric wheel, and the first driven wheel and the second driven wheel are eccentric wheels.

[0039] The first driven wheel approaches or deviates from the driving wheel by rotating. When the first driven wheel approaches the driving wheel, the surgical instrument 5 in the first delivery channel 36 can be clamped. At this time, the driving wheel rotates. The driving wheel can rely on friction to push the surgical instrument 5 in the first delivery channel 36 to move along the delivery direction, thereby pushing the surgical instrument 5. When the first driven wheel deviates from the driving wheel, the surgical instrument 5 in the first delivery channel 36 can be released so that the position of the surgical instrument 5 can remain unchanged.

[0040] The second driven wheel rotates to approach or deviate from the driving wheel. When the second driven wheel approaches the driving wheel, the surgical instrument 5 in the second delivery channel 37 can be clamped. At this time, the driving wheel rotates. The driving wheel can rely on friction to push the surgical instrument 5 in the second delivery channel 37 to move along the delivery direction, thereby pushing the surgical instrument 5. When the second driven wheel deviates from the driving wheel, the surgical instrument 5 in the second delivery channel 37 can be released so that the position of the surgical instrument 5 can remain unchanged.

[0041] The driving wheel, the first driven wheel and the second driven wheel are respectively connected to corresponding driving devices (such as motors).

[0042] The driving device of the first driven wheel is used to drive the first driven wheel to rotate in an eccentric direction, so as to adjust the spacing between the first driven wheel and the driving wheel, so that the first driven wheel and the driving wheel clamp or release the surgical instrument 5 in the first delivery channel 36. When the first driven wheel is close to the driving wheel, the first driven wheel and the driving wheel clamp the surgical instrument 5 in the first delivery channel 36. At this time, the driving device of the first driven wheel does not work, and the driving wheel, driven by the corresponding driving device, relies on friction to push the surgical instrument 5.

[0043] The second driven wheel is driven to rotate in an eccentric manner by the driving device of the second driven wheel to adjust the spacing between the second driven wheel and the driving wheel, so that the second driven wheel and the driving wheel clamp or release the surgical instrument 5 in the second delivery channel 37. When the second driven wheel is close to the driving wheel, the second driven wheel and the driving wheel clamp the surgical instrument 5 in the second delivery channel 37. At this time, the driving device of the second driven wheel does not work, and the driving wheel, driven by the corresponding driving device, pushes the surgical instrument 5 by friction.

[0044] The driving wheel and the first driven wheel can also generate staggered motion in opposite directions to twist the surgical instrument 5 in the first delivery channel 36 to rotate. The driving wheel and the first driven wheel can generate staggered motion in a direction perpendicular to the delivery direction, and the two are tangentially rubbed in opposite directions up and down to realize the rotation of the surgical instrument 5 in the clamped first delivery channel 36. The up and down staggered lifting and lowering of the driving wheel and the first driven wheel is realized by a driving device (such as a motor).

[0045] The driving wheel and the second driven wheel can also generate staggered motion in opposite directions to twist the surgical instrument 5 in the second delivery channel 37 to rotate. The driving wheel and the second driven wheel can generate staggered motion in a direction perpendicular to the delivery direction, and the two wheels rub against each other in opposite directions up and down to realize the rotation of the surgical instrument 5 in the clamped second delivery channel 37. The up and down staggered lifting and lowering of the driving wheel and the second driven wheel is realized by a driving device (such as a motor).

[0046] In some embodiments, the first positioning component 32 may include a first clamping wheel 321 and a first clamping block 322. The first clamping wheel 321 is an eccentric wheel. The first clamping block 322 may be a rectangular block, or may be in other shapes as needed. The first clamping wheel 321 can approach or deviate from the first clamping block 322. The surgical instrument 5 in the first delivery channel 36 may be located between the first clamping wheel 321 and the first clamping block 322. Thus, the first positioning component 32 can clamp or release the surgical instrument 5 in the first delivery channel 36. When the first clamping wheel 321 is close to the first clamping block 322, the first clamping wheel 321 cooperates with the first clamping block 322 to clamp the surgical instrument 5 in the first delivery channel 36. When the first clamping wheel 321 deviates from the first clamping block 322, the surgical instrument 5 in the first delivery channel 36 can be released.

[0047] The first clamping wheel 321 is connected to a driving device (such as a motor). The driving device of the first clamping wheel 321 drives the first clamping wheel 321 to rotate in an eccentric direction to adjust the distance between the first clamping wheel 321 and the first clamping block 322 to clamp or release the surgical instrument 5.

[0048] In some embodiments, the second positioning component 34 may include a second clamping wheel 341 and a second clamping block 342. The second clamping wheel 341 is an eccentric wheel. The second clamping block 342 may be a rectangular block, or may be in other shapes as needed. The second clamping wheel 341 can approach or deviate from the second clamping block 342. The surgical instrument 5 in the second delivery channel 37 may be located between the second clamping wheel 341 and the second clamping block 342. Thus, the second positioning component 34 can clamp or release the surgical instrument 5 in the second delivery channel 37. When the second clamping wheel 341 is close to the second clamping block 342, the second clamping wheel 341 cooperates with the second clamping block 342 to clamp the surgical instrument 5 in the second delivery channel 37. When the second clamping wheel 341 deviates from the second clamping block 342, the surgical instrument 5 in the second delivery channel 37 can be released.

[0049] The second clamping wheel 341 is connected to a driving device (such as a motor). The driving device of the second clamping wheel 341 drives the second clamping wheel 341 to rotate in an eccentric direction to adjust the distance between the second clamping wheel 341 and the second clamping block 342 to clamp or release the surgical instrument 5.

[0050] In some embodiments, the delivery device 3 may be provided with a first clamping channel 38 and a second clamping channel 39. The first clamping channel 38 and the second clamping channel 39 are passive clamping channels. The first clamping channel 38 and the second clamping channel 39 are respectively formed by groove structures provided on the delivery device 3. When there is no need to operate the surgical instrument 5 in the first delivery channel 36, the surgical instrument 5 in the first delivery channel 36 may be placed in the first clamping channel 38 or the second clamping channel 39. In this way, the surgical instrument 5 that is no longer in operation can be clamped and fixed. When there is no need to operate the surgical instrument 5 in the second delivery channel 37, the surgical instrument 5 in the second delivery channel 37 may be placed in the first clamping channel or the second clamping channel 39. In this way, the surgical instrument 5 that is no longer in operation can be clamped and fixed.

[0051] See also Figure 3 The embodiment of this specification also provides a surgical instrument delivery method. The surgical instrument delivery method can be applied to the above-mentioned surgical robot. The surgical instrument delivery method can include the following steps.

[0052] Step 101: Control a first clamping component to release a first surgical instrument in a first delivery channel, and a first positioning component to clamp the first surgical instrument in the first delivery channel, so that the first surgical instrument can maintain a fixed position.

[0053] Step 102: Control the second clamping component to clamp the second surgical instrument in the second delivery channel, and the second positioning component to release the second surgical instrument in the second delivery channel, so that the second surgical instrument can be pushed and / or rotated.

[0054] In some embodiments, a surgical instrument may be disposed in the first delivery channel, and another surgical instrument may be disposed in the second delivery channel. The surgical instrument in the first delivery channel may be used as the first surgical instrument. The surgical instrument in the second delivery channel may be used as the second surgical instrument. For example, both the first surgical instrument and the second surgical instrument are guide wires.

[0055] In some embodiments, the doctor can input a first instruction at the master end. The first instruction is used to instruct the pushing and / or rotating of the second surgical instrument. Considering that the second surgical instrument is arranged in the second delivery channel, the first instruction can also be understood as being used to indicate that the second delivery channel is a working channel and the first delivery channel is a standby channel. The slave end can control the first clamping component to release the first surgical instrument in the first delivery channel and the first positioning component to clamp the first surgical instrument in the first delivery channel according to the first instruction. Thus, when the second surgical instrument is pushed and / or rotated, the first surgical instrument can remain in a fixed position. At the same time, the slave end can control the second clamping component to clamp the second surgical instrument in the second delivery channel and the second positioning component to release the second surgical instrument in the second delivery channel according to the first instruction. Thus, the second surgical instrument can be pushed and / or rotated.

[0056] The slave end can control the delivery component to enable the second surgical instrument to push and / or rotate. For example, the delivery component can be controlled to enable the second surgical instrument to push. For another example, the delivery component and the second clamping component can be controlled to enable the second surgical instrument to rotate. For another example, the delivery component and the second clamping component can be controlled to enable the second surgical instrument to push and rotate.

[0057] The slave end can control the first driven wheel to deviate from the driving wheel, and can control the first clamping wheel to approach the first clamping block. In this way, the first surgical instrument can be kept in a fixed position. At the same time, the slave end can also control the second driven wheel to approach the driving wheel, and can control the second clamping wheel to deviate from the second clamping block. At the same time, the slave end can also control the driving wheel to push and / or rotate the second surgical instrument. For example, the slave end can control the driving wheel to rotate to push the second surgical instrument to move in the delivery direction, thereby pushing the second surgical instrument. For another example, the slave end can control the driving wheel and the second driven wheel to produce a staggered motion in opposite directions to rotate the second surgical instrument. For another example, the slave end can control the driving wheel to rotate, and the driving wheel and the second driven wheel to produce a staggered motion in opposite directions to push and rotate the second surgical instrument.

[0058] As an example, the surgical robot is provided with an operating handle. The doctor can input the first instruction through the operating handle. As another example, the surgical robot is provided with a button. The doctor inputs the first instruction by pressing the button. In this way, the doctor can input the instruction on the master end. Thus, the instruction input by the doctor can be executed to realize the delivery of the surgical instrument.

[0059] In some embodiments, the doctor can input a second instruction at the master end. The second instruction is used to instruct the pushing and reciprocating rotation of the second surgical instrument. The second surgical instrument is arranged in the second delivery channel, so the second instruction can also be understood as being used to indicate that the second delivery channel is the working channel and the first delivery channel is the standby channel. The slave end can control the first clamping component to release the first surgical instrument in the first delivery channel and the first positioning component to clamp the first surgical instrument in the first delivery channel according to the second instruction. As a result, when the second surgical instrument is pushed and reciprocated, the first surgical instrument can remain in a fixed position. At the same time, the slave end can control the second clamping component to clamp the second surgical instrument in the second delivery channel and the second positioning component to release the second surgical instrument in the second delivery channel according to the second instruction. As a result, the second surgical instrument can be pushed and reciprocated.

[0060] The slave end can control the delivery component to push the second surgical instrument along the delivery direction and reciprocate. Thus, the doctor can control the slave end to automatically deliver the second surgical instrument and rotate the second surgical instrument back and forth during delivery by inputting instructions on the master end. Thus, the second surgical instrument can be pushed and rotated back and forth quickly. The user experience is improved. Among them, the reciprocating rotation can be after rotating a set number of circles in one direction, and then rotating the set number of circles in the other opposite direction.

[0061] The specific implementation of the first clamping component releasing the first surgical instrument, the first positioning component clamping the first surgical instrument, the second clamping component clamping the second surgical instrument, and the second positioning component releasing the second surgical instrument can refer to the previous embodiment. The input method of the second instruction can refer to the input method of the first instruction. These contents are not repeated here.

[0062] The slave end can control the rotation of the driving wheel, and control the driving wheel and the second driven wheel to generate reciprocating staggered motion in opposite directions, so that the second surgical instrument is pushed along the delivery direction and reciprocates.

[0063] In some embodiments, the doctor can input a third instruction at the master end. The third instruction is used to instruct the reciprocating pushing of the second surgical instrument. Considering that the second surgical instrument is arranged in the second delivery channel, the third instruction can also be understood as being used to indicate that the second delivery channel is the working channel and the first delivery channel is the standby channel. The slave end can control the first clamping component to release the first surgical instrument in the first delivery channel and the first positioning component to clamp the first surgical instrument in the first delivery channel according to the third instruction. As a result, when the second surgical instrument is pushed back and forth, the first surgical instrument can remain in a fixed position. At the same time, the slave end can control the second clamping component to clamp the second surgical instrument in the second delivery channel and the second positioning component to release the second surgical instrument in the second delivery channel according to the third instruction. As a result, the second surgical instrument can be pushed back and forth.

[0064] The slave end can control the delivery component to push the second surgical instrument back and forth. During the reciprocating pushing process, the distance the second surgical instrument moves in the delivery direction is greater than the distance it moves in the opposite direction of the delivery direction. In this way, the second surgical instrument can be pushed forward slowly as a whole when it is pushed back and forth. Therefore, the doctor can control the slave end to automatically push the second surgical instrument back and forth and move it forward slowly as a whole by inputting instructions on the master end. This improves the user experience.

[0065] For the specific implementation of the first clamping component releasing the first surgical instrument, the first positioning component clamping the first surgical instrument, the second clamping component clamping the second surgical instrument, and the second positioning component releasing the second surgical instrument, reference may be made to the previous embodiments.

[0066] The input method of the third instruction can refer to the input method of the first instruction, and these contents will not be repeated here.

[0067] The slave end can control the driving wheel to rotate back and forth so that the second surgical instrument can be pushed back and forth.

[0068] In some embodiments, see Figure 4 . After step 102, the doctor can input a fourth instruction at the master end. The fourth instruction is used to instruct the switching of channels. According to the fourth instruction, the slave end can control the second clamping component to release the second surgical instrument in the second delivery channel, and the second positioning component to clamp the second surgical instrument in the second delivery channel, so that the second surgical instrument can keep a fixed position; and can control the first clamping component to clamp the first surgical instrument in the first delivery channel, and the first positioning component to release the first surgical instrument in the first delivery channel, so that the first surgical instrument can be pushed and / or rotated. In this way, the first delivery channel is switched to the working channel, and the second delivery channel is switched to the standby channel.

[0069] The slave end may control the delivery component to enable the first surgical instrument to push and / or rotate. For example, the delivery component may be controlled to enable the first surgical instrument to push. For another example, the delivery component and the first clamping component may be controlled to enable the first surgical instrument to rotate. For another example, the delivery component and the first clamping component may be controlled to enable the first surgical instrument to push and rotate.

[0070] The slave end can control the second driven wheel to deviate from the driving wheel, and can control the second clamping wheel to approach the second clamping block. In this way, the second surgical instrument can be kept in a fixed position. At the same time, the slave end can also control the first driven wheel to approach the driving wheel, and can control the first clamping wheel to deviate from the first clamping block. At the same time, the slave end can also control the driving wheel to push and / or rotate the first surgical instrument. For example, the slave end can control the driving wheel to rotate to push the first surgical instrument to move in the delivery direction, thereby pushing the first surgical instrument. For another example, the slave end can control the driving wheel and the first driven wheel to produce a staggered motion in opposite directions to rotate the first surgical instrument. For another example, the slave end can control the driving wheel to rotate, and the driving wheel and the first driven wheel to produce a staggered motion in opposite directions to push and rotate the first surgical instrument.

[0071] The input method of the fourth instruction can refer to the input method of the first instruction. These contents are not repeated here.

[0072] In some embodiments, see Figure 5 . After step 102, the doctor can input the fifth instruction at the master end. The fifth instruction is used to instruct the alternating delivery of surgical instruments. The slave end iteratively executes the following steps according to the fifth instruction until the first end condition is met: after the channel switching condition is met, the second clamping component is controlled to release the second surgical instrument in the second delivery channel, and the second positioning component is controlled to clamp the second surgical instrument in the second delivery channel, so that the second surgical instrument can be kept in a fixed position; the first clamping component is controlled to clamp the first surgical instrument in the first delivery channel, and the first positioning component is controlled to release the first surgical instrument in the first delivery channel, so that the first surgical instrument can be pushed and / or rotated; detect whether the first surgical instrument meets the channel switching condition; after the channel switching condition is met, the first clamping component is controlled to release the first surgical instrument in the first delivery channel, and the first positioning component is controlled to clamp the first surgical instrument in the first delivery channel, so that the first surgical instrument can be kept in a fixed position; the second clamping component is controlled to clamp the second surgical instrument in the second delivery channel, and the second positioning component is controlled to release the second surgical instrument in the second delivery channel, so that the second surgical instrument can be pushed and / or rotated; detect whether the second surgical instrument meets the channel switching condition. In this way, the first surgical instrument and the second surgical instrument can be delivered alternately to pass through the lesion site.

[0073] The channel switching condition can be flexibly set as needed. For example, the channel switching condition can be: the distance moved by the surgical instrument along the delivery direction is greater than or equal to the set distance. The set distance can be d, where d is a real number greater than 0. The first end condition can be flexibly set as needed. For example, the first end condition can be: receiving the end instruction input by the doctor at the master end.

[0074] During the alternating delivery process, when the first surgical instrument is clamped by the first clamping component, the slave end can control the delivery component to push and / or rotate the first surgical instrument. For example, the delivery component can be controlled so that the first surgical instrument is pushed back and forth along the delivery direction. For another example, the delivery component and the first clamping component can be controlled so that the first surgical instrument is pushed and reciprocated. During the alternating delivery process, when the second surgical instrument is clamped by the second clamping component, the slave end can control the delivery component so that the second surgical instrument is pushed and / or rotated. For example, the delivery component can be controlled so that the second surgical instrument is pushed back and forth along the delivery direction. For another example, the delivery component and the second clamping component can be controlled so that the second surgical instrument is pushed and reciprocated. Among them, the first clamping component clamps and releases the first surgical instrument, the first positioning component clamps and releases the first surgical instrument, the second clamping component clamps and releases the second surgical instrument, and the second positioning component clamps and releases the second surgical instrument, which can be referred to the previous embodiment. The slave end controls the delivery component to push and / or rotate the first surgical instrument, and the slave end controls the delivery component to push and / or rotate the second surgical instrument. Their specific implementation can refer to the previous embodiment. The input method of the fifth instruction can refer to the input method of the first instruction. These contents are not repeated here.

[0075] In some embodiments, the first surgical instrument can be arranged in the first clamping channel, and the second surgical instrument can be arranged in the second clamping channel. In this way, the first surgical instrument and the second surgical instrument that are no longer in operation can be clamped and fixed. The third surgical instrument can be arranged in the first delivery channel, and the fourth surgical instrument can be arranged in the second delivery channel. The third surgical instrument and the fourth surgical instrument are surgical instruments of the same type. For example, the third surgical instrument and the fourth surgical instrument are both balloon catheters.

[0076] In some embodiments, the doctor can input a sixth instruction at the master end. The sixth instruction is used to instruct the alternating delivery of surgical instruments. The slave end iteratively executes the following steps according to the sixth instruction until the second end condition is met: after the channel switching condition is met, the first clamping component is controlled to release the third surgical instrument in the first delivery channel, and the first positioning component is controlled to clamp the third surgical instrument in the first delivery channel, so that the third surgical instrument can be kept in a fixed position; the second clamping component is controlled to clamp the fourth surgical instrument in the second delivery channel, and the second positioning component is controlled to release the fourth surgical instrument in the second delivery channel, so that the fourth surgical instrument can be pushed and / or rotated; detect whether the fourth surgical instrument meets the channel switching condition; after the channel switching condition is met, the second clamping component is controlled to release the fourth surgical instrument in the second delivery channel, and the second positioning component is controlled to clamp the fourth surgical instrument in the second delivery channel, so that the fourth surgical instrument can be kept in a fixed position; the first clamping component is controlled to clamp the third surgical instrument in the first delivery channel, and the first positioning component is controlled to release the third surgical instrument in the first delivery channel, so that the third surgical instrument can be pushed and / or rotated; detect whether the third surgical instrument meets the channel switching condition.

[0077] This allows alternating delivery of the third surgical instrument and the fourth surgical instrument.

[0078] The slave end can control the first clamping component to clamp the third surgical instrument in the first delivery channel and the first positioning component to release the third surgical instrument in the first delivery channel according to the sixth instruction, so that the third surgical instrument can be pushed and / or rotated; the second clamping component can be controlled to release the fourth surgical instrument in the second delivery channel and the second positioning component can clamp the fourth surgical instrument in the second delivery channel, so that the fourth surgical instrument can keep a fixed position. Then the slave end can perform iterative steps.

[0079] The channel switching condition can be flexibly set as needed. For example, the channel switching condition can be: the distance moved by the surgical instrument along the delivery direction is greater than or equal to the set distance. The set distance can be d, where d is a real number greater than 0. The second end condition can be flexibly set as needed. For example, the second end condition can be: receiving the end instruction input by the doctor at the master end.

[0080] During the alternating delivery process, when the third surgical instrument is clamped by the first clamping component, the slave end can control the delivery component to push and / or rotate the third surgical instrument. For example, the delivery component can be controlled to push the third surgical instrument along the delivery direction. For another example, the delivery component and the first clamping component can be controlled to push and rotate the third surgical instrument. During the alternating delivery process, when the fourth surgical instrument is clamped by the second clamping component, the slave end can control the delivery component to push and / or rotate the fourth surgical instrument. For example, the delivery component can be controlled to push the fourth surgical instrument along the delivery direction. For another example, the delivery component and the second clamping component can be controlled to push and rotate the fourth surgical instrument.

[0081] The first clamping component clamps and releases the third surgical instrument, the first positioning component clamps and releases the third surgical instrument, the second clamping component clamps and releases the fourth surgical instrument, and the second positioning component clamps and releases the fourth surgical instrument, which can be referred to in the previous embodiments. The slave end controls the delivery component to push and / or rotate the third surgical instrument, and the slave end controls the delivery component to push and / or rotate the fourth surgical instrument. Their specific implementation can be referred to in the previous embodiments. The input method of the sixth instruction can refer to the input method of the first instruction. These contents will not be repeated here.

[0082] Optionally, see Figure 6 The third surgical instrument and the fourth surgical instrument are both balloon catheters. After the fourth surgical instrument is delivered, the balloon of the fourth surgical instrument can be expanded and deflated in sequence; after the third surgical instrument is delivered, the balloon of the third surgical instrument can be expanded and deflated in sequence.

[0083] The following is an example of a specific scenario in this manual.

[0084] The first surgical instrument and the second surgical instrument are both guide wires, and the third surgical instrument and the fourth surgical instrument are both balloon catheters. The first surgical instrument can be arranged in the first delivery channel, and the second surgical instrument can be arranged in the second delivery channel.

[0085] The slave end can control the first clamping component to release the first surgical instrument in the first delivery channel, and the first positioning component to clamp the first surgical instrument in the first delivery channel, so that the first surgical instrument can keep a fixed position; the second clamping component can be controlled to clamp the second surgical instrument in the second delivery channel, and the second positioning component can be controlled to release the second surgical instrument in the second delivery channel, so that the second surgical instrument can be pushed and / or rotated. The doctor can input the fourth instruction at the master end. The fourth instruction is used to indicate the switching channel. According to the fourth instruction, the slave end can control the second clamping component to release the second surgical instrument in the second delivery channel, and the second positioning component to clamp the second surgical instrument in the second delivery channel, so that the second surgical instrument can keep a fixed position; the first clamping component can be controlled to clamp the first surgical instrument in the first delivery channel, and the first positioning component can be controlled to release the first surgical instrument in the first delivery channel, so that the first surgical instrument can be pushed and / or rotated. In this way, by switching the channels, the first surgical instrument and the second surgical instrument can be pushed to the lesion position of the blood vessel. After the first surgical instrument and the second surgical instrument reach the lesion position, the third surgical instrument (such as a balloon) can be loaded along the first surgical instrument (such as a guide wire), the first surgical instrument can be set in the first clamping channel, the fourth surgical instrument (such as a balloon) can be loaded along the second surgical instrument (such as a guide wire), and the second surgical instrument can be set in the second clamping channel. In this way, the first surgical instrument and the second surgical instrument can be clamped and fixed.

[0086] The third surgical instrument may be placed in the first delivery channel, and the fourth surgical instrument may be placed in the second delivery channel. The doctor may input a sixth instruction at the master end. The sixth instruction is used to instruct the alternating delivery of surgical instruments. The slave end may iteratively perform the following steps according to the sixth instruction until the second end condition is met:

[0087] After the channel switching condition is met, the first clamping component is controlled to release the third surgical instrument in the first delivery channel, and the first positioning component is controlled to clamp the third surgical instrument in the first delivery channel, so that the third surgical instrument can keep a fixed position; the second clamping component is controlled to clamp the fourth surgical instrument in the second delivery channel, and the second positioning component is controlled to release the fourth surgical instrument in the second delivery channel, so that the fourth surgical instrument can be reciprocated along the delivery direction; the balloon of the fourth surgical instrument is sequentially expanded and deflated, and the expansion operation is used to make the first surgical instrument produce a cutting effect on the lesion position; and whether the fourth surgical instrument meets the channel switching condition is detected; After the channel switching conditions are met, the second clamping component is controlled to release the fourth surgical instrument in the second delivery channel, and the second positioning component is controlled to clamp the fourth surgical instrument in the second delivery channel, so that the fourth surgical instrument can maintain a fixed position; the first clamping component is controlled to clamp the third surgical instrument in the first delivery channel, and the first positioning component is controlled to release the third surgical instrument in the first delivery channel, so that the third surgical instrument can be pushed back and forth along the delivery direction; the balloon of the third surgical instrument is sequentially expanded and deflated, and the expansion operation is used to make the second surgical instrument produce a cutting effect on the lesion location; and it is detected whether the third surgical instrument meets the channel switching conditions.

[0088] This scenario example can realize the seesaw cutting of balloon-guidewire. Take the first surgical instrument as guidewire A, the second surgical instrument as guidewire B, the third surgical instrument as balloon catheter A, and the fourth surgical instrument as balloon catheter B as an example. Guidewire A is passed through the occluded high-resistance lesion to reach the distal vascular true lumen, and then guidewire B is slowly and carefully operated along guidewire A to pass through the lesion to reach the distal vascular true lumen. Then, balloon catheter A is sent along guidewire A, and balloon catheter B is sent along guidewire B. Specifically, balloon catheter A can be pushed as far as possible along guidewire A to the high-resistance lesion, and high-pressure dilation of the lesion squeezes guidewire B at the same time, so that guidewire B produces a cutting effect on the proximal fiber cap of the high-resistance CTO lesion (chronic total occlusion lesion of the coronary artery). Next, balloon A is withdrawn, and balloon B repeats the above operation. This is repeated and alternating, and finally balloon A and balloon B pass through the CTO lesion.

[0089] Specifically, when the guidewire dual-channel installation is completed, the master end can normally operate guidewire A and guidewire B to reach the distal vascular true lumen in turn. Then both guidewires are loaded with short balloons. At this time, the two guidewires are clamped to the first clamping channel and the second clamping channel on both sides. The balloon is installed in the spare channel and the working channel. At this time, balloon A and balloon B are operated to approach the lesion in turn. At this time, the master end triggers the operation, and the slave end automatically performs the following operations: push one of the channels a short distance, and then expand the balloon in turn, deflate the balloon, and then switch to the other channel for the same operation. The two channels are operated in turn.

[0090] In the delivery method of the embodiment of the present specification, the delivery device is provided with a first delivery channel and a second delivery channel. A first surgical instrument is provided in the first delivery channel, and a second surgical instrument is provided in the second delivery channel. Thus, the delivery device can realize the delivery of multiple surgical instruments through multiple delivery channels. The first clamping component can be controlled to release the first surgical instrument in the first delivery channel, and the first positioning component can be controlled to clamp the first surgical instrument in the first delivery channel, so that the first surgical instrument can be kept in a fixed position; the second clamping component can be controlled to clamp the second surgical instrument in the second delivery channel, and the second positioning component can be controlled to release the second surgical instrument in the second delivery channel, so that the second surgical instrument can be pushed and / or rotated. Thus, the first delivery channel among the multiple delivery channels can be selected as a spare channel, and the second delivery channel among the multiple delivery channels can be selected as a working channel. For the working channel, the corresponding clamping component can clamp the surgical instrument, and the corresponding positioning component can release the surgical instrument. Thus, the first surgical instrument in the working channel can be pushed and / or rotated. For the spare channel, the corresponding clamping component can release the surgical instrument, and the corresponding positioning component can clamp the surgical instrument. Thus, while the first surgical instrument in the working channel is pushed and / or rotated, the second surgical instrument in the backup channel can be kept in a fixed position.

[0091] The present specification also provides a surgical robot. The surgical robot includes a delivery device and a controller. The delivery device is provided with a first delivery channel and a second delivery channel, a first surgical instrument is provided in the first delivery channel, and a second surgical instrument is provided in the second delivery channel. The controller is configured to execute the above-mentioned surgical instrument delivery method.

[0092] The embodiment of the present specification also provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned surgical instrument delivery method when executing the computer program.

[0093] The embodiments of the present specification also provide a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the above-mentioned surgical instrument delivery method is implemented.

[0094] The embodiments of the present specification also provide a computer program product, which includes a computer program, and when the computer program is executed by a processor, the above-mentioned surgical instrument delivery method is implemented.

[0095] Those skilled in the art will appreciate that this specification may be provided as a method, system, or computer program product. Therefore, this specification may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, this specification may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0096] This specification is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products of the embodiments of this specification. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. The computer can be a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0097] The various functional units in the embodiments of this specification may be integrated into one processing unit, or each functional unit may exist physically separately, or two or more functional units may be integrated into one processing unit.

[0098] Those skilled in the art will understand that the description of each embodiment in this specification has its own emphasis. For parts not described in detail in a certain embodiment, reference can be made to the relevant description of other embodiments. In addition, it is understood that after reading this specification, those skilled in the art can think of any combination of some or all of the embodiments listed in this specification without creative work, and these combinations are also within the scope of disclosure and protection of this specification.

[0099] Although the present specification is described by way of examples, it is known to those skilled in the art that the above examples are only used to help understand the core idea of ​​the present specification. It is understood by those skilled in the art that there are many variations and changes in the present specification. It is hoped that the appended claims include these variations and changes without departing from the spirit of the present specification.

Claims

1. A multi-channel surgical instrument delivery method, characterized in that: Applied to an interventional surgical robot, the interventional surgical robot is provided with a delivery device, the delivery device comprises a first clamping component, a first positioning component, a second clamping component and a second positioning component; the first clamping component and the first positioning component correspond to a first delivery channel, the first positioning component is located behind the first clamping component along the delivery direction, and a first surgical instrument is arranged in the first delivery channel; the second clamping component and the second positioning component correspond to a second delivery channel, the second positioning component is located behind the second clamping component along the delivery direction, and a second surgical instrument is arranged in the second delivery channel; The method comprises: Controlling the first clamping component to release the first surgical instrument in the first delivery channel and the first positioning component to clamp the first surgical instrument in the first delivery channel, so that the first surgical instrument can maintain a fixed position; The second clamping component is controlled to clamp the second surgical instrument in the second delivery channel, and the second positioning component is controlled to release the second surgical instrument in the second delivery channel, so that the second surgical instrument can be pushed and / or rotated.

2. The method according to claim 1, characterized in that The interventional surgical robot comprises a master end and a slave end, wherein the slave end is provided with a delivery device; the delivery device further comprises a delivery component, wherein the delivery component and the first clamping component can form a first delivery channel, and the delivery component and the second clamping component can form a second delivery channel; The method further comprises: receiving a first instruction input by a doctor at the master end, wherein the first instruction is used to instruct pushing a second surgical instrument; The delivery component is controlled to push the second surgical instrument along the delivery direction.

3. The method according to claim 1, characterized in that The interventional surgical robot comprises a master end and a slave end, wherein the slave end is provided with a delivery device; the delivery device further comprises a delivery component, wherein the delivery component and the first clamping component can form a first delivery channel, and the delivery component and the second clamping component can form a second delivery channel; The method further comprises: receiving a second instruction inputted by a doctor at the master end, wherein the second instruction is used to instruct pushing and reciprocatingly rotating a second surgical instrument; The delivery component and the second clamping component are controlled to push the second surgical instrument along the delivery direction and reciprocate.

4. The method according to claim 1, characterized in that: The interventional surgical robot comprises a master end and a slave end, wherein the slave end is provided with a delivery device; the delivery device further comprises a delivery component, wherein the delivery component and the first clamping component can form a first delivery channel, and the delivery component and the second clamping component can form a second delivery channel; The method further comprises: receiving a third instruction inputted by a doctor at the master end, wherein the third instruction is used to instruct to push the second surgical instrument back and forth; The delivery component and the second clamping component are controlled to push the second surgical instrument back and forth along the delivery direction.

5. The method according to claim 1, characterized in that The interventional surgical robot comprises a master end and a slave end, and the slave end is provided with a delivery device; the method further comprises: receiving a fourth instruction input by a doctor at the master end, wherein the fourth instruction is used to instruct to switch channels; Controlling the second clamping component to release the second surgical instrument in the second delivery channel and the second positioning component to clamp the second surgical instrument in the second delivery channel, so that the second surgical instrument can maintain a fixed position; The first clamping component is controlled to clamp the first surgical instrument in the first delivery channel, and the first positioning component is controlled to release the first surgical instrument in the first delivery channel, so that the first surgical instrument can be pushed and / or rotated.

6. The method according to claim 1, characterized in that The interventional surgical robot comprises a master end and a slave end, and the slave end is provided with a delivery device; the method further comprises: receiving a fifth instruction inputted by a doctor at the master end, wherein the fifth instruction is used to instruct to deliver surgical instruments alternately; Iterate the following steps until the first end condition is met: After the channel switching condition is met, the second clamping component is controlled to release the second surgical instrument in the second delivery channel, and the second positioning component is controlled to clamp the second surgical instrument in the second delivery channel, so that the second surgical instrument can maintain a fixed position; Controlling the first clamping component to clamp the first surgical instrument in the first delivery channel, and the first positioning component to release the first surgical instrument in the first delivery channel, so that the first surgical instrument can be pushed and / or rotated; After the channel switching condition is met, the first clamping component is controlled to release the first surgical instrument in the first delivery channel, and the first positioning component is controlled to clamp the first surgical instrument in the first delivery channel, so that the first surgical instrument can maintain a fixed position; The second clamping component is controlled to clamp the second surgical instrument in the second delivery channel, and the second positioning component is controlled to release the second surgical instrument in the second delivery channel, so that the second surgical instrument can be pushed and / or rotated.

7. The method according to any one of claims 1 to 6, characterized in that The interventional surgical robot comprises a master end and a slave end, the slave end is provided with a delivery device; the delivery device is provided with a first clamping channel and a second clamping channel; After the first surgical instrument is disposed in the first clamping channel, the second surgical instrument is disposed in the second clamping channel, the third surgical instrument is disposed in the first delivery channel, and the fourth surgical instrument is disposed in the second delivery channel, the method further includes: receiving a sixth instruction inputted by a doctor at the master end, wherein the sixth instruction is used to instruct to deliver surgical instruments alternately; Iterate the following steps until the second end condition is met: After the channel switching condition is met, the first clamping component is controlled to release the third surgical instrument in the first delivery channel, and the first positioning component is controlled to clamp the third surgical instrument in the first delivery channel, so that the third surgical instrument can maintain a fixed position; Controlling the second clamping component to clamp the fourth surgical instrument in the second delivery channel, and the second positioning component to release the fourth surgical instrument in the second delivery channel, so that the fourth surgical instrument can be pushed and / or rotated; After the channel switching condition is met, the second clamping component is controlled to release the fourth surgical instrument in the second delivery channel, and the second positioning component is controlled to clamp the fourth surgical instrument in the second delivery channel, so that the fourth surgical instrument can maintain a fixed position; The first clamping component is controlled to clamp the third surgical instrument in the first delivery channel, and the first positioning component is controlled to release the third surgical instrument in the first delivery channel, so that the third surgical instrument can be pushed and / or rotated.

8. The method according to claim 7, characterized in that The first surgical instrument and the second surgical instrument are guide wires, and the third surgical instrument and the fourth surgical instrument are balloon catheters.

9. The method according to claim 8, characterized in that The method further comprises: After the fourth surgical instrument is delivered, the balloon of the fourth surgical instrument is expanded and deflated in sequence; After the third surgical instrument is delivered, the balloon of the third surgical instrument is expanded and deflated in sequence.

10. An interventional surgery robot, characterized in that: include: A delivery device, wherein a first delivery channel and a second delivery channel are provided on the delivery device, a first surgical instrument is provided in the first delivery channel, and a second surgical instrument is provided in the second delivery channel; A controller configured to execute the method according to any one of claims 1 to 9.

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