Multi-instrument delivery method and interventional surgical robot

Abstract

The invention relates to the technical field of medical instruments, in particular to a multi-instrument delivery method and an interventional surgical robot. The multi-instrument delivery method comprises the steps that a delivery mode of a delivery device is determined, and the delivery mode is selected from a single-action mode and a linkage mode; when the delivery mode is a single-action mode, the delivery device is controlled so that the first surgical instrument can be delivered in the delivery direction, the second surgical instrument can move by a specified distance in the direction opposite to the delivery direction, and the specified distance is the delivery distance of the first surgical instrument; when the delivery mode is the linkage mode, the delivery device is controlled so that the first surgical instrument and the second surgical instrument can be delivered synchronously. According to the embodiment of the invention, the delivery of various surgical instruments can be realized.

Description

Technical Field

[0001] The present specification relates to the field of medical device technology, and in particular to a multi-device 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 types of 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-instrument delivery method and an interventional surgical robot, which can achieve the delivery of multiple surgical instruments.

[0005] The embodiment of this specification provides a multi-instrument delivery method, which is applied to an interventional surgical robot, wherein the interventional surgical robot is provided with a delivery device, and the delivery device is provided with a first surgical instrument and a second surgical instrument; the method comprises:

[0006] determining a delivery mode of the delivery device, the delivery mode being selected from a single-action mode and a linkage mode;

[0007] When the delivery mode is the single-action mode, the delivery device is controlled so that the first surgical instrument is delivered along the delivery direction, and the second surgical instrument is moved a specified distance in the opposite direction of the delivery direction, wherein the specified distance is the delivery distance of the first surgical instrument;

[0008] When the delivery mode is the linkage mode, the delivery device is controlled so that the first surgical instrument and the second surgical instrument are delivered synchronously.

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

[0010] a delivery device, wherein the delivery device is provided with a first surgical instrument and a second surgical instrument;

[0011] A controller is configured to execute the above-mentioned multi-device 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 multi-device delivery method described above is implemented.

[0013] The embodiments of the present specification also provide a computer program product, which includes a computer program. When the computer program is executed by a processor, the multi-device delivery method is implemented.

[0014] The delivery method of the embodiment of this specification can determine the delivery mode of the delivery device; when the delivery mode is a single-action mode, the delivery device can be controlled so that the first surgical instrument is delivered along the delivery direction, and the second surgical instrument moves a specified distance in the opposite direction of the delivery direction, and the specified distance is the delivery distance of the first surgical instrument; when the delivery mode is a linkage mode, the delivery device can be controlled so that the first surgical instrument and the second surgical instrument are delivered synchronously. Therefore, the embodiment of this specification can achieve the delivery of multiple surgical instruments. And it also has a single-action mode and a linkage mode. In the single-action mode, only the first surgical instrument can be delivered, and the position of the second surgical instrument relative to the surgical object remains unchanged, thereby achieving the delivery of a surgical instrument. In the linkage mode, the first surgical instrument and the second surgical instrument can be delivered at the same time, thereby achieving the simultaneous delivery of multiple surgical instruments. 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 1 This is a schematic diagram of the structure of the delivery device in the embodiments of this specification;

[0017] Figure 2 This is a schematic diagram of the structure of the second apparatus in the embodiment of this specification;

[0018] Figure 3 This is a flow chart of the multi-device delivery method in the embodiments of this specification;

[0019] Figure 4 This is a flow chart of the multi-device delivery method in the embodiments of this specification;

[0020] Figure 5 A schematic diagram of switching the delivery mode in the embodiment of this specification;

[0021] Figure 6 is a schematic diagram of a first surgical instrument in a bent state in an embodiment of this specification;

[0022] Figure 7 A schematic diagram of switching working modes in an embodiment of this specification;

[0023] Figure 8 This is a flow chart of the multi-device delivery method in the embodiments of this specification;

[0024] Fig. 9 It is a schematic diagram of the process of rotating the first surgical instrument in the embodiment of this specification.

[0025] Description of Figure Numbers:

[0026] 1. Delivery device; 2. Active robotic arm;

[0027] 11. first instrument device; 111. first driving wheel; 112. first driven wheel; 113. first delivery channel;

[0028] 12. second instrument device; 121. second delivery assembly; 1211. second driving wheel; 1212. second driven wheel; 1213. second delivery channel; 122. clamping assembly; 1221. clamping wheel; 1222. clamping block; 123. Y valve;

[0029] 13. Connectors;

[0030] 3. The first surgical instrument; 4. The second surgical instrument. DETAILED DESCRIPTION

[0031] 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.

[0032] 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 the delivery direction without rotating during the pushing process. Alternatively, delivery along a delivery direction may be pushing along the delivery direction while 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.

[0033] Please also read Figure 1 , Figure 2and Figure 6 The embodiments of this specification provide a surgical robot.

[0034] In some embodiments, the surgical robot may include an interventional surgical robot.

[0035] In some embodiments, a delivery device 1 is provided on the surgical robot. The delivery device 1 can be provided on the active robotic arm 2 of the surgical robot, for example, fixedly provided on the active robotic arm 2 of the surgical robot. The active robotic arm 2 is a robotic arm capable of autonomous movement. By providing the delivery device 1 on the active robotic arm 2, the active robotic arm 2 can drive the delivery device 1 to move, thereby assisting in the delivery of the first surgical instrument. Through the surgical robot, the active robotic arm 2 can be controlled to move in any direction and angle using a drag mode or a keyboard mode, making the manipulation of the first surgical instrument 3 more convenient and flexible.

[0036] In some embodiments, the delivery device 1 may be provided with a first surgical instrument 3 and a second surgical instrument 4. The delivery device 1 can push the first surgical instrument 3 and / or the second surgical instrument 4, and can also rotate the first surgical instrument 3 and / or the second surgical instrument 4. The first surgical instrument 3 and the second surgical instrument 4 are interventional surgical instruments. The first surgical instrument 3 and the second surgical instrument 4 are surgical instruments of different types. The second surgical instrument 4 may be located inside the first surgical instrument 3. Thus, the first surgical instrument 3 and the second surgical instrument 4 may form a coaxial surgical instrument. The second surgical instrument 4 may be pushed and / or rotated inside the first surgical instrument 3. For example, the first surgical instrument 3 is a catheter, and the second surgical instrument 4 may be one or more of a guidewire, a balloon catheter, and a stent catheter. As an example, a first surgical instrument 3 and a second surgical instrument 4 may be provided on the delivery device 1. In this way, the delivery of two surgical instruments can be achieved. As another example, a first surgical instrument 3 and a plurality of second surgical instruments 4 may also be provided on the delivery device 1. In this way, the delivery of more than two surgical instruments can be achieved.

[0037] In some embodiments, the delivery device 1 may include a first instrument device 11 and a second instrument device 12. The first instrument device 11 and the second instrument device 12 are connected by a retractable connector 13. The connector 13 may be a lead screw. One end of the connector 13 is connected to the first instrument device 11, and the other end is connected to the second instrument device 12. Through the extension and retraction of the connector 13, the first instrument device 11 and the second instrument device 12 can move relative to each other to adjust the distance between the first instrument device 11 and the second instrument device 12, so as to assist in the pushing of the first surgical instrument 3. The second instrument device 12 may be arranged on the active robotic arm 2 of the surgical robot, for example, fixedly arranged on the active robotic arm 2 of the surgical robot. The first surgical instrument 3 is arranged on the first instrument device 11. The first surgical instrument 3 and one or more second surgical instruments 4 are arranged on the second instrument device 12. The first instrument device 11 can realize the delivery of the first surgical instrument 3. For example, when the first surgical instrument 3 is in a bent state, the first instrument device 11 can realize the pushing of the first surgical instrument 3 alone. Alternatively, the first instrument device 11, the active robotic arm 2 and the connector 13 can also realize the delivery of the first surgical instrument 3 together. For example, when the first surgical instrument 3 is in a straight state, the first instrument device 11, the active robot arm 2 and the connecting member 13 can jointly push the first surgical instrument 3. The second instrument device 12 can rotate the first surgical instrument 3, and push and rotate the second surgical instrument 4.

[0038] The connecting member 13 is connected to a driving device (such as a motor). The driving device of the connecting member 13 drives the connecting member 13 to extend and retract, so that the first instrument device 11 and the second instrument device 12 can move relative to each other to adjust the distance between them.

[0039] In some embodiments, the first instrument device 11 may include a first delivery assembly. The first delivery assembly includes a plurality of first delivery wheels. A first delivery channel 113 may be formed between the plurality of first delivery wheels. The first surgical instrument 3 is disposed in the first delivery channel 113. The plurality of first delivery wheels include a first driving wheel 111 and a first driven wheel 112. The first driving wheel 111 is a concentric wheel, and the first driven wheel 112 is a deflection wheel. A first delivery channel 113 may be formed between the first driving wheel 111 and the first driven wheel 112. The first driven wheel 112 approaches or deviates from the first driving wheel 111 by rotation. When the first driven wheel 112 approaches the first driving wheel 111, the first surgical instrument 3 in the first delivery channel 113 may be clamped. At this time, the first driving wheel 111 rotates. The first driving wheel 111 can rely on friction to push the first surgical instrument 3 in the first delivery channel 113 to move along the delivery direction, thereby pushing the first surgical instrument 3. When the first driven wheel 112 deviates from the first driving wheel 111 , the first surgical instrument 3 in the first delivery channel 113 can be released so that the position of the first surgical instrument 3 can remain unchanged.

[0040] The first driving wheel 111 and the first driven wheel 112 are each connected to a corresponding driving device (e.g., a motor). The driving device of the first driven wheel 112 is used to drive the first driven wheel 112 to rotate in a biased manner to adjust the spacing between the first driven wheel 112 and the first driving wheel 111, so that the first driven wheel 112 and the first driving wheel 111 clamp or release the first surgical instrument 3. When the first driven wheel 112 is close to the first driving wheel 111, the first driven wheel 112 and the first driving wheel 111 clamp the first surgical instrument 3. At this time, the driving device of the first driving wheel 112 does not work, and the first driving wheel 111, driven by the corresponding driving device, relies on friction to push the first surgical instrument 3.

[0041] As an example, the first delivery assembly may include two first delivery wheels. The two first delivery wheels may form a first delivery channel 113. A first surgical instrument 3 is disposed in the first delivery channel 113.

[0042] In some embodiments, the first instrument device 11 may further include a bending detection component. The bending detection component is used to detect the bending state of the first surgical instrument 3. The bending state may include a bent state or a straight state. The bending detection component may be implemented by a sensor, or may be implemented by a micro switch or the like. No specific limitation is made here.

[0043] In some embodiments, a vascular sheath may also be provided on the first instrument device 11 .

[0044] In some embodiments, the second instrument device 12 may include a second delivery assembly 121. The second delivery assembly 121 includes a plurality of second delivery wheels. The plurality of second delivery wheels may form a second delivery channel 1213. The second surgical instrument 4 is disposed in the second delivery channel 1213. The plurality of second delivery wheels include a second driving wheel 1211 and a second driven wheel 1212. The second driving wheel 1211 is a concentric wheel, and the second driven wheel 1212 is a deflection wheel. A second delivery channel 1213 may be formed between the second driving wheel 1211 and the second driven wheel 1212. The second driven wheel 1212 is rotated to approach or deviate from the second driving wheel 1211. When the second driven wheel 1212 approaches the second driving wheel 1211, the second surgical instrument 4 in the second delivery channel 1213 may be clamped. At this time, the second driving wheel 1211 rotates. The second driving wheel 1211 can rely on friction to push the second surgical instrument 4 to move along the delivery direction, thereby achieving the pushing of the second surgical instrument 4. When the second driven wheel 1212 deviates from the second driving wheel 1211 , the second surgical instrument 4 can be released so that the position of the second surgical instrument 4 can remain unchanged.

[0045] The second driving wheel 1211 and the second driven wheel 1212 are each connected to a corresponding driving device (e.g., a motor). The driving device of the second driven wheel 1212 is used to drive the second driven wheel 1212 to rotate in an eccentric manner to adjust the spacing between the second driven wheel 1212 and the second driving wheel 1211, so that the second driven wheel 1212 and the second driving wheel 1211 clamp or release the second surgical instrument 4. When the second driven wheel 1212 is close to the second driving wheel 1211, the second driven wheel 1212 and the second driving wheel 1211 clamp the second surgical instrument 4. At this time, the driving device of the second driven wheel 1212 does not work, and the second driving wheel 1211, driven by the corresponding driving device, relies on friction to push the second surgical instrument 4.

[0046] The second driving wheel 1211 and the second driven wheel 1212 can also generate staggered motion in opposite directions to twist the second surgical instrument 4 in the second delivery channel 1213 to rotate. The second driving wheel 1211 and the second driven wheel 1212 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 clamped second surgical instrument 4. The up and down staggered lifting and lowering of the second driving wheel 1211 and the second driven wheel 1212 is realized by a driving device (such as a motor).

[0047] In some embodiments, the second instrument device 12 may further include a clamping assembly 122. The clamping assembly 122 is located behind the second delivery channel 1213 along the delivery direction. The clamping assembly 122 may include a clamping wheel 1221 and a clamping block 1222. The clamping wheel 1221 is an eccentric wheel. The clamping block 1222 may be a rectangular block, or may be in other shapes as required. The clamping wheel 1221 may be close to or deviate from the clamping block 1222. The second surgical instrument 4 in the second delivery channel 1213 may be located between the clamping wheel 1221 and the clamping block 1222. Thus, the clamping assembly 122 may clamp or release the second surgical instrument 4 in the second delivery channel 1213. When the clamping wheel 1221 is close to the clamping block 1222, the clamping wheel 1221 can cooperate with the clamping block 1222 to clamp the second surgical instrument 4. When the clamping wheel 1221 deviates from the clamping block 1222, the second surgical instrument 4 may be released.

[0048] The clamping wheel 1221 is connected to a driving device (such as a motor). The driving device of the clamping wheel 1221 drives the clamping wheel 1221 to rotate in a biased manner to adjust the distance between the clamping wheel 1221 and the clamping block 1222 to clamp or release the second surgical instrument 4.

[0049] In some embodiments, the plurality of second delivery wheels of the second delivery assembly 121 may form a plurality of second delivery channels 1213. The second instrument device 12 may include a plurality of clamping assemblies 122 corresponding to the plurality of second delivery channels 1213. A clamping assembly 122 is provided at the rear of the delivery direction of each second delivery channel 1213. When one of the second delivery channels 1213 delivers a second surgical instrument 4, the remaining clamping assemblies 122 corresponding to the remaining second delivery channels 1213 can clamp the remaining second surgical instruments 4 located in the remaining active delivery channels. This ensures that the positions of the remaining second surgical instruments 4 are fixed.

[0050] As an example, the multiple second delivery wheels of the second delivery component 121 may include a second driving wheel 1211 and two second driven wheels 1212. The two second driven wheels 1212 may be located on both sides of the second driving wheel 1211. Thus, the second delivery component 121 may include two second delivery channels 1213, which can realize dual-channel delivery of surgical instruments. A clamping component 122 corresponding to the second delivery channel 1213 is provided behind the delivery direction of each second delivery channel 1213. The second surgical instrument 4 in each second delivery channel 1213 passes through the clamping component 122 corresponding to the second delivery channel 1213. Thus, the clamping component 122 can clamp or release the second surgical instrument 4 in the second delivery channel 1213.

[0051] During use, one second driven wheel 1212 approaches the second driving wheel 1211, so that the second driven wheel 1212 and the second driving wheel 1211 can cooperate with each other to deliver the second surgical instrument 4 located in the corresponding second delivery channel 1213; and the clamping assembly 122 corresponding to the second delivery channel 1213 releases the second surgical instrument 4 in the second delivery channel 1213 to ensure smooth delivery of the second surgical instrument 4. At the same time, the remaining second driven wheels 1212 are away from the second driving wheel 1211; and the remaining clamping assemblies 122 clamp the remaining second surgical instruments 4 in the remaining second delivery channels 1213.

[0052] In some embodiments, the second instrument device 12 may further include a rotating assembly. The first surgical instrument 3 may pass through the first instrument device 11 and be fixedly connected to the rotating assembly. The rotating assembly may rotate, thereby driving the first surgical instrument 3 to rotate.

[0053] The rotating assembly can be implemented by using a Y-valve 123. The specific structure of the Y-valve 123 is a prior art, which may include a fixed part and a rotating part with a rotating connection. Of course, the rotating assembly can also be implemented in other ways, which are not limited here.

[0054] The rotating assembly is connected to a driving device (such as a motor), and the driving device of the rotating assembly is used to drive the rotating assembly to rotate.

[0055] See also Figure 3 , Figure 4 , Figure 5 , Figure 7 , Figure 8 and Fig. 9 The embodiment of this specification also provides a multi-instrument delivery method. The multi-instrument delivery method can be applied to the above-mentioned surgical robot. The multi-instrument delivery method can include the following steps.

[0056] Step 101: Determine a delivery mode of a delivery device, wherein the delivery mode is selected from a single-action mode and a linkage mode.

[0057] Step 102: When the delivery mode is the single-action mode, control the delivery device so that the first surgical instrument is delivered along the delivery direction, and the second surgical instrument moves a specified distance in the opposite direction of the delivery direction, wherein the specified distance is the delivery distance of the first surgical instrument.

[0058] Step 103: When the delivery mode is the linkage mode, control the delivery device to deliver the first surgical instrument and the second surgical instrument synchronously.

[0059] The delivery method of the embodiment of this specification can determine the delivery mode of the delivery device; when the delivery mode is a single-action mode, the delivery device can be controlled so that the first surgical instrument is delivered along the delivery direction, and the second surgical instrument moves a specified distance in the opposite direction of the delivery direction, and the specified distance is the delivery distance of the first surgical instrument; when the delivery mode is a linkage mode, the delivery device can be controlled so that the first surgical instrument and the second surgical instrument are delivered synchronously. Therefore, the embodiment of this specification can achieve the delivery of multiple surgical instruments. And it also has a single-action mode and a linkage mode. In the single-action mode, only the first surgical instrument can be delivered, and the position of the second surgical instrument relative to the surgical object remains unchanged, and the delivery of the first surgical instrument is achieved alone. In the linkage mode, the first surgical instrument and the second surgical instrument can be delivered synchronously, thereby achieving the simultaneous delivery of multiple surgical instruments.

[0060] In some embodiments, the doctor may input a first control instruction to the surgical robot. The surgical robot may receive the first control instruction. The first control instruction is used to indicate the delivery mode of the delivery device. The surgical robot may determine the delivery mode of the delivery device according to the first control instruction. The delivery mode is selected from a single-action mode and a linkage mode. In the single-action mode, the delivery device may only deliver the first surgical instrument. In the linkage mode, the delivery device may simultaneously deliver the first surgical instrument and the second surgical instrument. Thus, the first control instruction may also be understood as being used to indicate the surgical instrument to be delivered. For example, the first control instruction may indicate the delivery of only the first surgical instrument, or may indicate the synchronous delivery of the first surgical instrument and the second surgical instrument.

[0061] The first control instruction may also indicate a delivery direction and / or a delivery distance. The delivery direction may be forward or backward.

[0062] As an example, the surgical robot is provided with an operating handle. The doctor can input the first control instruction through the operating handle. As another example, the surgical robot is provided with a button. The doctor inputs the first control instruction by pressing the button.

[0063] In some embodiments, see Figure 5 If the current delivery mode of the delivery device is different from the delivery mode indicated by the first control instruction, the delivery mode may be switched to the delivery mode indicated by the first control instruction.

[0064] In some embodiments, the first surgical instrument and the second surgical instrument are both arranged on the delivery device. When the first surgical instrument is delivered, the position of the second surgical instrument will also change accordingly. Whenever the first surgical instrument moves a specified distance along the delivery direction (for example, a specified distance relative to the surgical object), the second surgical instrument will also follow and move the specified distance.

[0065] When the delivery mode is a single-action mode, the delivery device can be controlled so that the first surgical instrument is delivered along the delivery direction, and the second surgical instrument moves a specified distance in the opposite direction of the delivery direction, and the specified distance is the delivery distance of the first surgical instrument. Therefore, in the single-action mode, the first surgical instrument moves a specified distance along the delivery direction (for example, a specified distance relative to the surgical object), and the second surgical instrument moves the specified distance in the opposite direction of the delivery direction. In this way, the distance moved by the second surgical instrument following the first surgical instrument can be offset, so that the position of the second surgical instrument (relative to the position of the surgical object) remains unchanged. Among them, the surgical object can be a patient, or it can also be an organ or tissue of the patient, such as a blood vessel. The delivery direction can be a forward direction or a backward direction. Delivery along the delivery direction can be forward or backward. The delivery direction can be the delivery direction indicated by the first control instruction. The specified distance can be the delivery distance indicated by the first control instruction.

[0066] In some embodiments, in the single-action mode, the first instrument device can be controlled to deliver the first surgical instrument along the delivery direction; at the same time, the active robotic arm can be controlled to move the specified distance along the delivery direction; at the same time, the connecting piece can be controlled to shorten the specified distance between the first instrument device and the second instrument device. In this way, the first surgical instrument is pushed along the delivery direction, and the position of the first instrument device (for example, the position of the vascular sheath relative to the surgical object) can be ensured to remain unchanged. Since the position of the second surgical instrument will also change accordingly when the first surgical instrument is delivered. Therefore, the second instrument device can be controlled to move the second surgical instrument along the opposite direction of the delivery direction. The position of the second surgical instrument can be kept unchanged in this way.

[0067] The first instrument device may include a first delivery component. The first delivery component may be controlled so that the first surgical instrument is delivered along a delivery direction. The first delivery component may specifically include a first driving wheel and a first driven wheel. The first driving wheel is a concentric wheel, the first driven wheel is a deflection wheel, and the first surgical instrument is arranged in a first delivery channel formed by the first driving wheel and the first driven wheel. Thus, the first driven wheel may be controlled to approach the first driving wheel to clamp the first surgical instrument in the first delivery channel; at the same time, the first driving wheel may be controlled to rotate so that the first surgical instrument is delivered in the first delivery channel along the delivery direction.

[0068] The connecting member can be implemented by a lead screw. The lead screw can be controlled to move the specified distance in the opposite direction of the delivery direction, so as to shorten the specified distance between the first instrument device and the second instrument device.

[0069] The second instrument device includes a second delivery component. The second delivery component can be controlled to move the second surgical instrument in the opposite direction of the delivery direction. The second delivery component can specifically include a second driving wheel and a second driven wheel. The second driving wheel is a concentric wheel, the second driven wheel is a deflection wheel, and the second surgical instrument is arranged in a second delivery channel formed by the second driving wheel and the second driven wheel. The second driven wheel can be controlled to approach the second driving wheel to clamp the second surgical instrument in the second delivery channel; at the same time, the second driving wheel can also be controlled to rotate to move the second surgical instrument in the second delivery channel in the opposite direction of the delivery direction.

[0070] In some embodiments, when the delivery mode is the linkage mode, the delivery device can be controlled to deliver the first surgical instrument along the delivery direction; the delivery device can be controlled not to deliver the second surgical instrument. The first surgical instrument and the second surgical instrument are both arranged on the delivery device. When the first surgical instrument is delivered, the position of the second surgical instrument will also change accordingly. Every time the first surgical instrument moves a specified distance along the delivery direction (for example, a specified distance relative to the surgical object), the second surgical instrument will also follow and move the specified distance. In this way, the synchronous delivery of the first surgical instrument and the second surgical instrument can be achieved.

[0071] In some embodiments, in linkage mode, the first instrument device can be controlled to deliver the first surgical instrument along the delivery direction; the active robotic arm can also be controlled to move the specified distance along the delivery direction; and the connecting piece can be controlled to shorten the specified distance between the first instrument device and the second instrument device. In this way, the first surgical instrument can be delivered along the delivery direction, and the position of the first instrument device (for example, the position of the vascular sheath relative to the surgical object) can be ensured to remain unchanged. The second instrument device can be controlled so that the second surgical instrument is not delivered (for example, it is not pushed and rotated). In this way, the second surgical instrument can be delivered synchronously with the first surgical instrument.

[0072] The first instrument device may include a first delivery component. The first delivery component may be controlled so that the first surgical instrument is delivered along a delivery direction. The first delivery component may specifically include a first driving wheel and a first driven wheel. The first driving wheel is a concentric wheel, the first driven wheel is a deflection wheel, and the first surgical instrument is arranged in a first delivery channel formed by the first driving wheel and the first driven wheel. Thus, the first driven wheel may be controlled to approach the first driving wheel to clamp the first surgical instrument in the first delivery channel; at the same time, the first driving wheel may be controlled to rotate so that the first surgical instrument is delivered in the first delivery channel along the delivery direction.

[0073] The connecting member can be implemented by a lead screw. The lead screw can be controlled to move the specified distance in the opposite direction of the delivery direction, so as to shorten the specified distance between the first instrument device and the second instrument device.

[0074] The second instrument device may include a second delivery component. The second delivery component may be controlled so that the second surgical instrument is not delivered. The second delivery component may specifically include a second driving wheel and a second driven wheel. The second driving wheel is a concentric wheel, the second driven wheel is a deflection wheel, and the second surgical instrument is arranged in a second delivery channel formed by the second driving wheel and the second driven wheel. The second driven wheel may be controlled to approach the second driving wheel to clamp the second surgical instrument in the second delivery channel; the second driving wheel may be controlled not to rotate to ensure that the position of the second surgical instrument is fixed. Of course, the second instrument device may also include a clamping component corresponding to the second delivery channel. The clamping component may be controlled to release the second surgical instrument in the second delivery channel.

[0075] In some embodiments, see Figure 7 Different straight and curved states of the first surgical instrument correspond to different working modes of the delivery device. The straight and curved state of the first surgical instrument can be detected; and the working mode of the delivery device can be determined according to the straight and curved state.

[0076] The bending and straightening state of the first surgical instrument can be detected at set intervals. When the bending and straightening state is a bent state, the working mode of the delivery device can be determined to be a bent working mode. When the bending and straightening state is a straightened state, the working mode of the delivery device can be determined to be a straightened working mode. The bending state can refer to that the portion of the first surgical instrument between the first instrument box and the second instrument box is in a bent state. The straightened state can refer to that the portion of the first surgical instrument between the first instrument box and the second instrument box is in a straightened state. For example, the current working mode of the delivery device is a bent working mode. When it is detected that the bending and straightening state is a bent state, the bending working mode can be kept unchanged. When it is detected that the bending and straightening state is a straightened state, the bending working mode can be switched to the straightening working mode. For another example, the current working mode of the delivery device is a straightening working mode. When it is detected that the bending and straightening state is a bent state, the straightening working mode can be switched to the bending working mode. When it is detected that the bending and straightening state is a straightened state, the straightening working mode can be kept unchanged. In this way, mutual switching between different working modes can be achieved.

[0077] When the first surgical instrument is delivered in the first delivery channel, the current of the driving device (e.g., motor) corresponding to the first active wheel can be detected; the bending state of the first surgical instrument can be determined according to the current. For example, when the current is less than or equal to the current threshold, the bending state can be determined to be a bent state; when the current is greater than the current threshold, the bending state can be determined to be a straight state.

[0078] Alternatively, the first instrument device may include a straightness detection component. The straightness detection component may be used to detect the straightness state of the first surgical instrument. For example, the straightness state of the first surgical instrument may be determined based on a signal output by the straightness detection component.

[0079] In some embodiments, see Figure 8 . After the doctor installs the first surgical instrument in the first instrument box and the second instrument box, the first surgical instrument may be in a bent state. In this way, the first surgical instrument is in a bent state at the beginning of delivery, and then enters a straight state. For this reason, at the beginning of delivery, it can be detected that the bending state of the first surgical instrument is a bent state, thereby entering a bending working mode. When the working mode is a bending working mode, the bending state of the first surgical instrument can be detected at intervals to determine the working mode of the delivery device according to the bending state until the working mode of the delivery device is a straight working mode. When the working mode is a bending working mode, the delivery device can also be controlled to deliver the first surgical instrument along the delivery direction. Since the first surgical instrument is in a bent working mode, the first surgical instrument is in a bent state. Therefore, the first instrument device can be controlled to deliver the first surgical instrument along the delivery direction; at the same time, the active robotic arm can be controlled to remain stationary; at the same time, the connecting member can be controlled to keep the distance between the first instrument device and the second instrument device unchanged. Thus, the first surgical instrument is delivered separately.

[0080] The first instrument device may include a first delivery assembly. The first delivery assembly may be controlled so that the first surgical instrument is delivered along a delivery direction. The first delivery assembly may include a first driving wheel and a first driven wheel. The first driving wheel is a concentric wheel, the first driven wheel is an eccentric wheel, and the first surgical instrument is arranged in a first delivery channel formed by the first driving wheel and the first driven wheel. Thus, the first driven wheel may be controlled to approach the first driving wheel to clamp the first surgical instrument in the first delivery channel; and at the same time, the first driving wheel may be controlled to rotate so that the first surgical instrument is delivered in the first delivery channel along the delivery direction.

[0081] In some embodiments, when the working mode is the straight working mode, the delivery mode of the delivery device can be determined. When the delivery mode is the single-action mode, the delivery device can be controlled so that the first surgical instrument is delivered along the delivery direction, and the second surgical instrument moves a specified distance in the opposite direction of the delivery direction, and the specified distance is the delivery distance of the first surgical instrument. When the delivery mode is the linkage mode, the delivery device can be controlled so that the first surgical instrument and the second surgical instrument are delivered synchronously.

[0082] In some embodiments, the doctor may also input a second control instruction to the surgical robot. The surgical robot may receive the second control instruction. The second control instruction is used to instruct the rotation of the first surgical instrument. The second control instruction may also be used to instruct the number of revolutions and / or direction of rotation of the first surgical instrument. The input method of the second control instruction may refer to the input method of the first control instruction.

[0083] See also Fig. 9. After receiving the second control instruction, the working mode of the delivery device can be determined. When the working mode is the straight working mode, the delivery device can be controlled to rotate the first surgical instrument. Considering that rotation in a bent state may damage the first surgical instrument. When the working mode is the bent working mode, the delivery device can be controlled not to rotate the first surgical instrument. For example, when the working mode is the bent working mode, the second control instruction can be ignored. For another example, when the working mode is the bent working mode, a prompt message can also be generated. The prompt message is used to prompt that the first surgical instrument cannot be rotated at present. This can effectively prevent the first surgical instrument from being damaged due to uneven force during rotation in a bent state.

[0084] The first instrument device can be controlled to release the first surgical instrument; the rotating assembly can be controlled to rotate the first surgical instrument.

[0085] The first instrument device includes a first delivery assembly. The first delivery assembly includes a first driving wheel and a first driven wheel, the first driving wheel is a concentric wheel, the first driven wheel is a deflection wheel, and the first surgical instrument is arranged in a first delivery channel formed by the first driving wheel and the first driven wheel. The first driven wheel can be controlled to deviate from the first driving wheel to release the first surgical instrument in the first delivery channel.

[0086] As an example, the second control instruction can also be used to indicate the number of revolutions and / or direction of rotation of the first surgical instrument. Then, under the condition that the first instrument device releases the first surgical instrument, the rotating assembly can be controlled to make the first surgical instrument rotate the number of revolutions, rotate in the direction, or rotate the number of revolutions in the direction.

[0087] In some embodiments, the doctor may also input a third control instruction into the surgical robot. The surgical robot may receive the third control instruction. The third control instruction is used to instruct the delivery of the second surgical instrument. The third control instruction may also be used to indicate the delivery direction and / or delivery distance of the second surgical instrument. The input method of the third control instruction may refer to the input method of the first control instruction. After receiving the third control instruction, the second instrument device may be controlled so that the second surgical instrument is delivered in the second delivery channel along the delivery direction, for example, the delivery distance indicated by the third control instruction is delivered along the delivery direction indicated by the third control instruction. The delivery direction may be a forward direction or a backward direction. Delivery along the delivery direction may be forward or backward.

[0088] The second instrument device may include a second delivery assembly. The second delivery assembly may be controlled so that the second surgical instrument is delivered along a delivery direction. The second delivery assembly may include a second driving wheel and a second driven wheel. The second driving wheel is a concentric wheel, the second driven wheel is a deflection wheel, and the second surgical instrument is arranged in a second delivery channel formed by the second driving wheel and the second driven wheel. The second driven wheel may be controlled to approach the second driving wheel to clamp the second surgical instrument in the second delivery channel; the second driving wheel may be controlled to rotate so that the second surgical instrument is delivered in the second delivery channel along the delivery direction.

[0089] In this way, through the third control instruction, the second surgical instrument can be operated independently to achieve independent delivery of the second surgical instrument.

[0090] As an example, the second instrument device may also include a plurality of second delivery channels and a corresponding plurality of clamping assemblies. The third control instruction may also indicate a working channel among the plurality of second delivery channels. When the working channel delivers the second surgical instrument, the remaining clamping assemblies corresponding to the remaining second delivery channels may be controlled to clamp the remaining second surgical instruments in the remaining active delivery channels to ensure that the positions of the second surgical instruments in the remaining second delivery channels are fixed.

[0091] In some embodiments, the doctor may also input a fourth control instruction into the surgical robot. The surgical robot may receive the fourth control instruction. The fourth control instruction is used to instruct the rotation of the second surgical instrument. The fourth control instruction may also be used to instruct the number of revolutions and / or direction of rotation of the second surgical instrument. The input method of the fourth control instruction may refer to the input method of the first control instruction.

[0092] After receiving the fourth control instruction, the working mode of the delivery device can be determined. When the working mode is the straight working mode, the delivery device can be controlled to rotate the second surgical instrument. Considering that rotation in a bent state may damage the second surgical instrument. When the working mode is the bent working mode, the delivery device can be controlled not to rotate the second surgical instrument. For example, when the working mode is the bent working mode, the fourth control instruction can be ignored. For another example, when the working mode is the bent working mode, a prompt message can also be generated. The prompt message is used to prompt that the second surgical instrument cannot be rotated at present. This can effectively prevent the second surgical instrument from being damaged due to uneven force during rotation in a bent state.

[0093] The second instrument device includes a second delivery assembly. The second delivery assembly includes a second driving wheel and a second driven wheel, the second driving wheel is a concentric wheel, the second driven wheel is a deflection wheel, and the second surgical instrument is arranged in a second delivery channel formed by the second driving wheel and the second driven wheel. The second driven wheel can be controlled to approach the second driving wheel to clamp the second surgical instrument in the second delivery channel; the second driven wheel and the second driving wheel can be controlled to generate a staggered motion in opposite directions to rotate the second surgical instrument.

[0094] As an example, the fourth control instruction may also be used to indicate the number of revolutions and / or direction of rotation of the second surgical instrument. The rotating assembly may then be controlled to cause the first surgical instrument to rotate the number of revolutions, rotate in the direction, or rotate the number of revolutions in the direction.

[0095] The delivery method of the embodiment of this specification can determine the delivery mode of the delivery device; when the delivery mode is a single-action mode, the delivery device can be controlled so that the first surgical instrument is delivered along the delivery direction, and the second surgical instrument moves a specified distance in the opposite direction of the delivery direction, and the specified distance is the delivery distance of the first surgical instrument; when the delivery mode is a linkage mode, the delivery device can be controlled so that the first surgical instrument and the second surgical instrument are delivered synchronously. Therefore, the embodiment of this specification can achieve the delivery of multiple surgical instruments. And it also has a single-action mode and a linkage mode. In the single-action mode, only the first surgical instrument can be delivered, and the position of the second surgical instrument relative to the surgical object remains unchanged, thereby achieving the delivery of a surgical instrument. In the linkage mode, the first surgical instrument and the second surgical instrument can be delivered at the same time, thereby achieving the simultaneous delivery of multiple surgical instruments.

[0096] The embodiment of 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 surgical instrument and a second surgical instrument. The delivery device can be provided on an active robotic arm of the surgical robot. The controller is configured to execute the above-mentioned multi-instrument delivery method.

[0097] 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 multi-device delivery method described above is implemented.

[0098] The embodiments of the present specification also provide a computer program product, which includes a computer program. When the computer program is executed by a processor, the multi-device delivery method is implemented.

[0099] 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.

[0100] 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-device delivery method, characterized in that: Applied to an interventional surgical robot, the interventional surgical robot is provided with a delivery device, the delivery device is provided with a first surgical instrument and a second surgical instrument; the method comprises: determining a delivery mode of the delivery device, the delivery mode being selected from a single-action mode and a linkage mode; When the delivery mode is the single-action mode, the delivery device is controlled so that the first surgical instrument is delivered along the delivery direction, and the second surgical instrument is moved a specified distance in the opposite direction of the delivery direction, wherein the specified distance is the delivery distance of the first surgical instrument; When the delivery mode is the linkage mode, the delivery device is controlled so that the first surgical instrument and the second surgical instrument are delivered synchronously.

2. The method according to claim 1, characterized in that Determining the delivery mode of the delivery device includes: A first control instruction input by a doctor is received, where the first control instruction is used to instruct a delivery mode of the delivery device.

3. The method according to claim 1, characterized in that A delivery device is provided on the active mechanical arm of the interventional surgical robot, the delivery device includes a first instrument device and a second instrument device, the first instrument device and the second instrument device are connected by a retractable connecting piece, the first instrument device is provided with a first surgical instrument, and the second instrument device is provided with a first surgical instrument and a second surgical instrument; When the delivery mode is the single-action mode, controlling the delivery device comprises: controlling the first instrument device to deliver the first surgical instrument along a delivery direction; Controlling the active robotic arm to move the specified distance along the delivery direction; Controlling the connection member to shorten the specified distance between the first instrument device and the second instrument device; The second instrument device is controlled to move the second surgical instrument the designated distance in a direction opposite to the delivery direction.

4. The method according to claim 1, characterized in that: A delivery device is provided on the active mechanical arm of the interventional surgical robot, the delivery device includes a first instrument device and a second instrument device, the first instrument device and the second instrument device are connected by a retractable connecting piece, the first instrument device is provided with a first surgical instrument, and the second instrument device is provided with a first surgical instrument and a second surgical instrument; When the delivery mode is the linkage mode, controlling the delivery device includes: controlling the first instrument device to deliver the first surgical instrument along a delivery direction; Controlling the active robotic arm to move the specified distance along the delivery direction; Controlling the connection member to shorten the specified distance between the first instrument device and the second instrument device; The second instrument device is controlled so that the second surgical instrument is not delivered.

5. The method according to claim 3 or 4, characterized in that: The first instrument device comprises a first delivery assembly, the first delivery assembly comprises a first driving wheel and a first driven wheel, the first driving wheel is a concentric wheel, the first driven wheel is a deflection wheel, and the first surgical instrument is arranged in a first delivery channel formed by the first driving wheel and the first driven wheel; The controlling the first instrument device to deliver the first surgical instrument along a delivery direction comprises: Controlling the first driven wheel to approach the first driving wheel to clamp the first surgical instrument in the first delivery channel; The first driving wheel is controlled to rotate so that the first surgical instrument is delivered in the first delivery channel along the delivery direction.

6. The method according to claim 3, characterized in that The second instrument device comprises a second delivery assembly, the second delivery assembly comprises a second driving wheel and a second driven wheel, the second driving wheel is a concentric wheel, the second driven wheel is a deflection wheel, and the second surgical instrument is arranged in a second delivery channel formed by the second driving wheel and the second driven wheel; The controlling the second instrument device to move the second surgical instrument by the specified distance in the opposite direction of the delivery direction comprises: Controlling the second driven wheel to approach the second driving wheel to clamp the second surgical instrument in the second delivery channel; The second driving wheel is controlled to rotate so as to move the second surgical instrument in the second delivery channel in a direction opposite to the delivery direction.

7. The method according to claim 4, characterized in that The second instrument device comprises a second delivery assembly, the second delivery assembly comprises a second driving wheel and a second driven wheel, the second driving wheel is a concentric wheel, the second driven wheel is a deflection wheel, and the second surgical instrument is arranged in a second delivery channel formed by the second driving wheel and the second driven wheel; The controlling the second instrument device so that the second surgical instrument is not delivered comprises: Controlling the second driven wheel to approach the second driving wheel to clamp the second surgical instrument in the second delivery channel; The second driving wheel is controlled not to rotate.

8. The method according to claim 1, characterized in that The method further comprises: detecting a bending or straightness state of the first surgical instrument; When the curved state is the straight state, determining the working mode of the delivery device to be the straight working mode; Determining the delivery mode of the delivery device includes: When in the straightened operating mode, the delivery mode of the delivery device is determined.

9. The method according to claim 1, characterized in that: The method further comprises: detecting a bending or straightness state of the first surgical instrument; When the straight state is a curved state, determining that the working mode of the delivery device is a curved working mode; In the bending working mode, the delivery device is controlled to deliver the first surgical instrument along the delivery direction.

10. The method according to claim 8 or 9, characterized in that: The delivery device comprises a first instrument device, the first instrument device comprises a first delivery assembly, the first delivery assembly comprises a first driving wheel and a first driven wheel, the first driving wheel is a concentric wheel, the first driven wheel is a deflection wheel, and the first surgical instrument is arranged in a first delivery channel formed by the first driving wheel and the first driven wheel; The detecting the bending and straightness state of the first surgical instrument comprises: When the first driven wheel approaches the first driving wheel and the first driving wheel rotates to deliver the first surgical instrument in the first delivery channel along the delivery direction, detecting the current of the driving device corresponding to the first driving wheel; The bending or straightness state of the first surgical instrument is determined based on the current.

11. The method according to claim 8 or 9, characterized in that: The delivery device includes a first instrument device, the first instrument device includes a bending and straightness detection component; the detecting the bending and straightness state of the first surgical instrument includes: The straightness and curvature of the first surgical instrument is detected by the straightness and curvature detection component.

12. The method according to claim 1, characterized in that The method further comprises: receiving a second control instruction input by a doctor, wherein the second control instruction is used to instruct to rotate the first surgical instrument; determining an operating mode of the delivery device; When the working mode is the straight working mode, the delivery device is controlled to rotate the first surgical instrument.

13. The method according to claim 12, characterized in that A delivery device is provided on the active mechanical arm of the interventional surgical robot, the delivery device includes a first instrument device and a second instrument device, the first instrument device and the second instrument device are connected by a retractable connecting piece, the first instrument device includes a first delivery component, the first delivery component includes a first driving wheel and a first driven wheel, the first driving wheel is a concentric wheel, the first driven wheel is a deflection wheel, the first surgical instrument is arranged in a first delivery channel formed by the first driving wheel and the first driven wheel, and the second instrument device includes a rotating component; The controlling the delivery device to rotate the first surgical instrument comprises: Controlling the first driven wheel to deviate from the first driving wheel to release the first surgical instrument in the first delivery channel; The rotation assembly is controlled to rotate the first surgical instrument.

14. The method according to claim 1, characterized in that The delivery device comprises a second instrument device, the second instrument device comprises a second delivery assembly, the second delivery assembly comprises a second driving wheel and a second driven wheel, the second driving wheel is a concentric wheel, the second driven wheel is a deflection wheel, and the second surgical instrument is arranged in a second delivery channel formed by the second driving wheel and the second driven wheel; the method further comprises: receiving a third control instruction input by a doctor, wherein the third control instruction is used to instruct delivery of a second surgical instrument; Controlling the second driven wheel to approach the second driving wheel to clamp the second surgical instrument in the second delivery channel; The second driving wheel is controlled to rotate so that the second surgical instrument is delivered in the second delivery channel along the delivery direction.

15. The method according to claim 1, characterized in that The method further comprises: receiving a fourth control instruction input by a doctor, wherein the fourth control instruction is used to instruct to rotate the second surgical instrument; determining an operating mode of the delivery device; When the working mode is the straight working mode, the delivery device is controlled to rotate the second surgical instrument.

16. The method according to claim 15, characterized in that The delivery device comprises a second instrument device, the second instrument device comprises a second delivery assembly, the second delivery assembly comprises a second driving wheel and a second driven wheel, the second driving wheel is a concentric wheel, the second driven wheel is a deflection wheel, and the second surgical instrument is arranged in a second delivery channel formed by the second driving wheel and the second driven wheel; The controlling the delivery device to rotate the second surgical instrument comprises: Controlling the second driven wheel to approach the second driving wheel to clamp the second surgical instrument in the second delivery channel; The second driven wheel and the second driving wheel are controlled to generate staggered motion in opposite directions so as to rotate the second surgical instrument.

17. An interventional surgery robot, characterized in that: include: a delivery device, wherein the delivery device is provided with a first surgical instrument and a second surgical instrument; A controller configured to perform the method according to any one of claims 1 to 16.

18. The interventional surgery robot according to claim 17, characterized in that: The interventional surgery robot comprises an active robotic arm, and the delivery device is arranged on the active robotic arm.

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