Multi-instrument delivery method and interventional surgical robot

Abstract

The present specification relates to the technical field of medical instruments, and particularly relates to a multi-instrument delivery method and an interventional surgery robot. The multi-instrument delivery method comprises the following steps: determining a delivery mode of a delivery device, wherein the delivery mode is selected from a single-action mode and a linkage mode; when the delivery mode is the single-action mode, controlling the delivery device to deliver a first surgical instrument in a delivery direction, and to move a second surgical instrument in a direction opposite to the delivery direction by a specified distance, wherein the specified distance is a delivery distance of the first surgical instrument; when the delivery mode is the linkage mode, controlling the delivery device to synchronously deliver the first surgical instrument and the second surgical instrument. The embodiments of the present specification can realize delivery of multiple surgical instruments.

Description

TECHNICAL FIELD

[0001] The present specification relates to the technical field of medical devices, and in particular to a multi-instrument delivery method and an interventional surgery robot. BACKGROUND

[0002] Vascular interventional surgery is a surgical method in which an interventional physician operates interventional instruments such as a puncture needle, a catheter, a guide wire, a balloon, and a stent to deliver a specified instrument to a corresponding lesion site along a human vascular pathway after percutaneous puncture under the guidance of a medical imaging device, and perform treatment. As a minimally invasive treatment method, vascular interventional surgery has been widely applied in the interventional treatment of cardiovascular diseases, cerebrovascular diseases, peripheral vascular diseases, and tumors.

[0003] Vascular interventional 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 a problem to be solved at present. SUMMARY

[0004] Embodiments of the present specification provide a multi-instrument delivery method and an interventional surgery robot, which can achieve the delivery of multiple surgical instruments.

[0005] The present specification provides a multi-instrument delivery method applied to an interventional surgery robot, wherein the interventional surgery 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, wherein the delivery mode is selected from a single-action mode and a linkage mode;

[0007] when the delivery mode is the single-action mode, controlling the delivery device to deliver the first surgical instrument in a delivery direction, and moving the second surgical instrument in the opposite direction of the delivery direction by a specified distance, wherein the specified distance is a delivery distance of the first surgical instrument;

[0008] when the delivery mode is the linkage mode, controlling the delivery device to synchronously deliver the first surgical instrument and the second surgical instrument.

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

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

[0011] a controller configured to execute the above multi-instrument delivery method.

[0012] The embodiment of the present specification also provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the multi-instrument delivery method.

[0013] The embodiment of the present specification also provides a computer program product, which comprises a computer program, and the computer program is executed by a processor to implement the multi-instrument delivery method.

[0014] The delivery method of the embodiment of the present specification can determine the delivery mode of the delivery device; when the delivery mode is the single-acting mode, the delivery device can be controlled to deliver the first surgical instrument in the delivery direction and move the second surgical instrument in the opposite direction of the delivery direction by a specified distance, the specified distance being the delivery distance of the first surgical instrument; when the delivery mode is the linkage mode, the delivery device can be controlled to deliver the first surgical instrument and the second surgical instrument synchronously. Thus, the embodiment of the present specification can realize the delivery of multiple surgical instruments. And it also has the single-acting mode and the linkage mode. In the single-acting 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 realizing the delivery of one surgical instrument. In the linkage mode, the first surgical instrument and the second surgical instrument can be delivered simultaneously, thereby realizing the simultaneous delivery of multiple surgical instruments. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present specification or the prior art, the drawings needed to be used in the embodiment or prior art description will be briefly introduced as follows. The drawings in the following description are only some embodiments described in the present specification, and other drawings can also be obtained according to these drawings without creative labor for those skilled in the art.

[0016] Figure 1 It is a structural schematic diagram of the delivery device in the embodiment of the present specification;

[0017] Figure 2 It is a structural schematic diagram of the second instrument device in the embodiment of the present specification;

[0018] Figure 3 It is a flow schematic diagram of the multi-instrument delivery method in the embodiment of the present specification;

[0019] Figure 4 It is a flow schematic diagram of the multi-instrument delivery method in the embodiment of the present specification;

[0020] Figure 5 It is a switching schematic diagram of the delivery mode in the embodiment of the present specification;

[0021] Figure 6 It is a schematic diagram of the bending state of the first surgical instrument in the embodiment of the present specification;

[0022] Figure 7 Fig. 1 is a schematic diagram of the switching of the working mode in the embodiment of the present specification;

[0023] Figure 8 Fig. 2 is a schematic diagram of the process of the multi-instrument delivery method in the embodiment of the present specification;

[0024] Figure 9 Fig. 3 is a schematic diagram of the process of the rotation of the first surgical instrument in the embodiment of the present specification.

[0025] Brief Description of the Drawings:

[0026] 1, delivery device; 2, active mechanical 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, connecting piece;

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

[0031] The technical solutions in the embodiments of the present specification will be described clearly and completely below in conjunction with the drawings in the embodiments of the present specification. Obviously, the described embodiments are only some of the embodiments of the present specification, but not all the embodiments. The specific embodiments described herein are only used to explain the present disclosure, but not to limit the present disclosure. All other embodiments obtained by those of ordinary skill in the art based on the described embodiments of the present disclosure belong to the scope of protection of the present disclosure. In addition, the relationship 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 the entities or operations.

[0032] The term delivery can include pushing and / or rotation, depending on the context in which the term is used. Delivery in the delivery direction can be pushing in the delivery direction without rotation during pushing. Alternatively, delivery in the delivery direction can also be pushing in the delivery direction while rotating during pushing. The delivery direction can refer to the direction of pushing. The delivery distance can be the distance of pushing.

[0033] Please refer to Figure 1 、 Figure 2and Figure 6 Embodiments of the present specification provide a surgical robot.

[0034] In some embodiments, the surgical robot can comprise 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 a master arm 2 of the surgical robot, for example fixedly provided on the master arm 2 of the surgical robot. The master arm 2 is a mechanical arm capable of autonomous movement. By providing the delivery device 1 on the master arm 2, the master arm 2 can drive the delivery device 1 to move, thereby assisting the delivery of the first surgical instrument. Through the surgical robot, the master arm 2 can be controlled to move in any direction and angle using a drag mode or a keyboard mode, making the control of the first surgical instrument 3 more convenient and flexible.

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

[0037] In some embodiments, the delivery device 1 can 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 telescopic connecting member 13. The connecting member 13 can be a screw rod. One end of the connecting member 13 is connected to the first instrument device 11, and the other end is connected to the second instrument device 12. By telescoping the connecting member 13, the first instrument device 11 and the second instrument device 12 can be relatively moved to adjust the distance between them, thereby assisting the pushing of the first surgical instrument 3. The second instrument device 12 can be arranged on the active mechanical arm 2 of the surgical robot, for example, fixedly arranged on the active mechanical arm 2 of the surgical robot. The first instrument device 11 is provided with the first surgical instrument 3. The second instrument device 12 is provided with the first surgical instrument 3 and one or more second surgical instruments 4. 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 curved state, the first instrument device 11 can independently realize the pushing of the first surgical instrument 3. Alternatively, the first instrument device 11, the active mechanical arm 2 and the connecting member 13 can also jointly realize the delivery of the first surgical instrument 3. For example, when the first surgical instrument 3 is in a straightened state, the first instrument device 11, the active mechanical arm 2 and the connecting member 13 can jointly realize the pushing of the first surgical instrument 3. The second instrument device 12 can realize the rotation of the first surgical instrument 3, as well as the pushing and rotation of the second surgical instrument 4.

[0038] The connecting member 13 is connected with a driving device (such as a motor). By driving the telescoping of the connecting member 13 with the driving device of the connecting member 13, the first instrument device 11 and the second instrument device 12 can be relatively moved to adjust the distance between them.

[0039] In some embodiments, the first instrument device 11 can comprise a first delivery assembly. The first delivery assembly comprises a plurality of first delivery wheels. A first delivery channel 113 can be formed between the plurality of first delivery wheels. The first surgical instrument 3 is arranged in the first delivery channel 113. The plurality of first delivery wheels comprises 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. The first delivery channel 113 can be formed between the first driving wheel 111 and the first driven wheel 112. The first driven wheel 112 can be deflected towards or away from the first driving wheel 111 by rotation. When the first driven wheel 112 is deflected towards the first driving wheel 111, the first surgical instrument 3 in the first delivery channel 113 can be clamped. At this time, the first driving wheel 111 rotates. The first driving wheel 111 can push the first surgical instrument 3 in the first delivery channel 113 to move in a delivery direction by friction, so as to push the first surgical instrument 3. When the first driven wheel 112 is deflected away 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 be kept unchanged.

[0040] The first driving wheel 111 and the first driven wheel 112 are respectively connected to corresponding driving devices (such as motors). The driving device of the first driven wheel 112 is used to drive the first driven wheel 112 to rotate to adjust the distance 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. In the state that the first driven wheel 112 is deflected towards 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 driven wheel 112 is not in action, and the first driving wheel 111 is driven by the corresponding driving device to push the first surgical instrument 3 by friction.

[0041] As an example, the first delivery assembly can comprise two first delivery wheels. The two first delivery wheels can form one first delivery channel 113. One first surgical instrument 3 is arranged in the one first delivery channel 113.

[0042] In some embodiments, the first instrument device 11 can further comprise a bending detection assembly. The bending detection assembly is used to detect the bending state of the first surgical instrument 3. The bending state can include a bending state or a straightening state, etc. The bending detection assembly can be realized by a sensor, and can also be realized by a micro switch, etc. No specific limitation is made herein.

[0043] In some embodiments, a blood vessel sheath can also be arranged on the first instrument device 11.

[0044] In some embodiments, the second instrument device 12 can include a second delivery assembly 121. The second delivery assembly 121 includes a plurality of second delivery wheels. The plurality of second delivery wheels can form a second delivery channel 1213. The second surgical instrument 4 is disposed within the second delivery channel 1213. The plurality of second delivery wheels includes 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 biasing wheel. The second delivery channel 1213 can be formed between the second driving wheel 1211 and the second driven wheel 1212. The second driven wheel 1212 can be moved closer to or away from the second driving wheel 1211 by rotation. When the second driven wheel 1212 is moved closer to the second driving wheel 1211, the second surgical instrument 4 within the second delivery channel 1213 can be clamped. At this time, the second driving wheel 1211 is rotated. The second driving wheel 1211 can push the second surgical instrument 4 in a delivery direction by friction, thereby achieving the pushing of the second surgical instrument 4. When the second driven wheel 1212 is moved away 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 be kept 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 a biasing direction, so as to adjust the size of the distance 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 moved closer 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 is not actuated, and the second driving wheel 1211 is driven by the corresponding driving device to push the second surgical instrument 4 by friction.

[0046] The second driving wheel 1211 and the second driven wheel 1212 can also move in a staggered motion in opposite directions to twist the second surgical instrument 4 within the second delivery channel 1213. The second driving wheel 1211 and the second driven wheel 1212 can move in a staggered motion in a direction perpendicular to the delivery direction, and the two are tangent to each other in the opposite directions to achieve the rotation of the clamped second surgical instrument 4. The up-and-down staggered motion of the second driving wheel 1211 and the second driven wheel 1212 is achieved by a driving device (e.g., a motor).

[0047] In some embodiments, the second instrument device 12 can further comprise a clamping assembly 122. The clamping assembly 122 is located behind the second delivery channel 1213 in the delivery direction. The clamping assembly 122 can comprise a clamping wheel 1221 and a clamping block 1222. The clamping wheel 1221 is an eccentric wheel. The clamping block 1222 can be in the shape of a rectangular block, or other shapes as desired. The clamping wheel 1221 can be moved towards or away from the clamping block 1222. The second surgical instrument 4 in the second delivery channel 1213 can be located between the clamping wheel 1221 and the clamping block 1222. Thus, the clamping assembly 122 can clamp or release the second surgical instrument 4 in the second delivery channel 1213. When the clamping wheel 1221 is moved towards the clamping block 1222, the clamping wheel 1221 can clamp the second surgical instrument 4 in cooperation with the clamping block 1222. When the clamping wheel 1221 is moved away from the clamping block 1222, the second surgical instrument 4 can be released.

[0048] The clamping wheel 1221 is connected to a driving device (e.g. a motor). The driving device of the clamping wheel 1221 can be used to drive the clamping wheel 1221 to rotate, so as to adjust the distance between the clamping wheel 1221 and the clamping block 1222, and clamp or release the second surgical instrument 4.

[0049] In some embodiments, the plurality of second delivery wheels of the second delivery assembly 121 can form a plurality of second delivery channels 1213. The second instrument device 12 can comprise a plurality of clamping assemblies 122 corresponding to the plurality of second delivery channels 1213. One clamping assembly 122 is located behind each second delivery channel 1213 in the delivery direction. When one second delivery channel 1213 is delivering 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 in the remaining active delivery channels. In this way, the positions of the remaining second surgical instruments 4 can be fixed.

[0050] As an example, the plurality of second delivery wheels of the second delivery assembly 121 can comprise one second driving wheel 1211 and two second driven wheels 1212. The two second driven wheels 1212 can be located on both sides of the one second driving wheel 1211. Thus, the second delivery assembly 121 can comprise two second delivery channels 1213, and can achieve double-channel delivery of surgical instruments. One clamping assembly 122 corresponding to each second delivery channel 1213 is located behind the second delivery channel 1213 in the delivery direction. The second surgical instrument 4 in each second delivery channel 1213 passes through the clamping assembly 122 corresponding to the second delivery channel 1213. Thus, the clamping assembly 122 can clamp or release the second surgical instrument 4 in the second delivery channel 1213.

[0051] In use, one second driven wheel 1212 is close to 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 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 rest of the second driven wheels 1212 are away from the second driving wheel 1211; and the rest of the clamping assemblies 122 clamp the rest of the second surgical instruments 4 in the rest of the second delivery channels 1213.

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

[0053] The rotating assembly can be implemented by a Y valve 123. The specific structure of the Y valve 123 is prior art, which can 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). The driving device of the rotating assembly is used to drive the rotating assembly to rotate.

[0055] Please refer to Figure 3 , Figure 4 , Figure 5 , Figure 7 , Figure 8 and Figure 9 . The embodiments of the present specification also provide a multi-instrument delivery method. The multi-instrument delivery method can be applied to the surgical robot described above. The multi-instrument delivery method can comprise the following steps.

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

[0057] Step 102: when the delivery mode is the single-action mode, controlling the delivery device to deliver the first surgical instrument in the delivery direction and move the second surgical instrument in the opposite direction of the delivery direction by a specified distance, the specified distance being the delivery distance of the first surgical instrument.

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

[0059] The delivery method of the embodiment of the present specification can determine the delivery mode of the delivery device; when the delivery mode is the single-action mode, the delivery device can be controlled to deliver the first surgical instrument in the delivery direction and move the second surgical instrument in the opposite direction of the delivery direction by a specified distance, which is the delivery distance of the first surgical instrument; when the delivery mode is the linkage mode, the delivery device can be controlled to deliver the first surgical instrument and the second surgical instrument synchronously. Thus, the embodiment of the present specification can realize the delivery of multiple surgical instruments. Moreover, it also has the single-action mode and the 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 realized alone. In the linkage mode, the first surgical instrument and the second surgical instrument can be delivered synchronously, thereby realizing the simultaneous delivery of multiple surgical instruments.

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

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

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

[0063] In some embodiments, please refer to 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 switching can be performed to switch 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 provided on the delivery device. When the first surgical instrument is delivered, the position of the second surgical instrument will also change accordingly. When the first surgical instrument moves by a specified distance in the delivery direction (for example, moves by a specified distance relative to the surgical object), the second surgical instrument will also move by the specified distance.

[0065] When the delivery mode is the single-acting mode, the delivery device can be controlled to deliver the first surgical instrument in the delivery direction and move the second surgical instrument in the opposite direction of the delivery direction by a specified distance, which is the delivery distance of the first surgical instrument. Thus in the single-acting mode, the first surgical instrument is moved in the delivery direction by the specified distance (e.g. relative to the surgical subject) while the second surgical instrument is moved in the opposite direction of the delivery direction by the specified distance. This can offset the distance the second surgical instrument is moved following the first surgical instrument, so that the position of the second surgical instrument (relative to the surgical subject) remains unchanged. The surgical subject can be a patient, or 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. The delivery in the delivery direction can be a forward delivery or a backward delivery. The delivery direction can be indicated by the first control instruction. The specified distance can be indicated by the first control instruction.

[0066] In some embodiments, in the single-acting mode, the first instrument device can be controlled to deliver the first surgical instrument in the delivery direction; at the same time, the active mechanical arm can be controlled to move in the delivery direction by the specified distance; and the connecting member can be controlled to shorten the distance between the first instrument device and the second instrument device by the specified distance. Thus the first surgical instrument can be pushed in the delivery direction, and the position of the first instrument device (e.g. the position of the blood vessel sheath relative to the surgical subject) can be kept unchanged. Since the position of the second surgical instrument will also change when the first surgical instrument is delivered, the second instrument device can be controlled to move the second surgical instrument in the opposite direction of the delivery direction by the specified distance. This can keep the position of the second surgical instrument unchanged.

[0067] The first instrument device can include a first delivery assembly. The first delivery assembly can be controlled to deliver the first surgical instrument in the delivery direction. The first delivery assembly can specifically include a first driving wheel and a first driven wheel. The first driving wheel is a concentric wheel, and 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. Thus the first driven wheel can be controlled to move close to the first driving wheel to clamp the first surgical instrument in the first delivery channel; and the first driving wheel can be controlled to rotate to deliver the first surgical instrument in the first delivery channel in the delivery direction.

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

[0069] The second instrument device comprises a second delivery assembly. The second delivery assembly can be controlled to move the second surgical instrument in the reverse direction of the delivery direction. The second delivery assembly can specifically comprise a second driving wheel and a second driven wheel. The second driving wheel is a concentric wheel, and the second driven wheel is a deflection wheel. 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 move close to the second driving wheel to clamp the second surgical instrument in the second delivery channel, and the second driving wheel can be controlled to rotate to move the second surgical instrument in the reverse direction of the delivery direction in the second delivery channel.

[0070] In some embodiments, when the delivery mode is the linkage mode, the delivery device can be controlled to deliver the first surgical instrument in the delivery direction, and 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 also changes accordingly. The first surgical instrument moves a specified distance in the delivery direction (for example, a specified distance relative to the surgical object), and the second surgical instrument also moves the specified distance. In this way, the first surgical instrument and the second surgical instrument can be delivered synchronously.

[0071] In some embodiments, in the linkage mode, the first instrument device can be controlled to deliver the first surgical instrument in the delivery direction, the active mechanical arm can be controlled to move the specified distance in the delivery direction, and the connecting member 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 delivered in the delivery direction, and the position of the first instrument device (for example, the position of the vascular sheath relative to the surgical object) remains unchanged. The second instrument device can be controlled not to deliver the second surgical instrument (for example, not to push and rotate). In this way, the second surgical instrument can be delivered synchronously with the first surgical instrument.

[0072] The first instrument device can comprise a first delivery assembly. The first delivery assembly can be controlled to deliver the first surgical instrument in the delivery direction. The first delivery assembly can specifically comprise a first driving wheel and a first driven wheel. The first driving wheel is a concentric wheel, and 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. The first driven wheel can be controlled to move close to the first driving wheel to clamp the first surgical instrument in the first delivery channel, and the first driving wheel can be controlled to rotate to deliver the first surgical instrument in the delivery direction in the first delivery channel.

[0073] The connecting member can be implemented by a lead screw. The lead screw can be controlled to move the specified distance in the reverse 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 can comprise a second delivery assembly. The second delivery assembly can be controlled to stop delivery of the second surgical instrument. The second delivery assembly can comprise a second driving wheel and a second driven wheel. The second driving wheel can be a concentric wheel and the second driven wheel can be a deflection wheel. The second surgical instrument can be disposed in a second delivery channel formed by the second driving wheel and the second driven wheel. The second driven wheel can be controlled to move towards the second driving wheel to clamp the second surgical instrument in the second delivery channel. The second driving wheel can be controlled to stop rotating to ensure that the position of the second surgical instrument is fixed. Of course, the second instrument device can further comprise a clamping assembly corresponding to the second delivery channel. The clamping assembly can be controlled to release the second surgical instrument in the second delivery channel.

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

[0076] The curved and straight state of the first surgical instrument can be detected at intervals. When the curved and straight state is a curved state, the working mode of the delivery device can be determined as a curved working mode. When the curved and straight state is a straight state, the working mode of the delivery device can be determined as a straight working mode. The curved state can refer to the portion of the first surgical instrument between the first instrument box and the second instrument box being in a curved state. The straight state can refer to the portion of the first surgical instrument between the first instrument box and the second instrument box being in a straight state. For example, the current working mode of the delivery device is a curved working mode. When the curved and straight state is detected as a curved state, the curved working mode can be maintained. When the curved and straight state is detected as a straight state, the curved working mode can be switched to a straight working mode. For another example, the current working mode of the delivery device is a straight working mode. When the curved and straight state is detected as a curved state, the straight working mode can be switched to a curved working mode. When the curved and straight state is detected as a straight state, the straight working mode can be maintained. In this way, the 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., a motor) corresponding to the first driving wheel can be detected. The curved and straight state of the first surgical instrument can be determined according to the current. For example, when the current is less than or equal to a current threshold, the curved and straight state can be determined as a curved state. When the current is greater than the current threshold, the curved and straight state can be determined as a straight state.

[0078] Alternatively, the first instrument device can comprise a curved and straight detection assembly. The curved and straight state of the first surgical instrument can be detected by the curved and straight detection assembly. For example, the curved and straight state of the first surgical instrument can be determined according to the signal output by the curved and straight detection assembly.

[0079] In some embodiments, referring to Figure 8 . After the surgeon installs the first surgical instrument in the first instrument box and the second instrument box, the first surgical instrument can be in a curved state. In this way, the first surgical instrument is in a curved state when the delivery starts, and then enters a straightened state. Therefore, when the delivery starts, the curved state of the first surgical instrument can be detected to be a curved state, so as to enter a curved working mode. When the working mode is the curved working mode, the curved state of the first surgical instrument can be detected every interval time interval, so as to determine the working mode of the delivery device according to the curved state, until the working mode of the delivery device is a straightened working mode. When the working mode is the curved working mode, the delivery device can also be controlled to deliver the first surgical instrument in the delivery direction. Since the first surgical instrument is in a curved state in the curved working mode. Therefore, the first instrument device can be controlled to deliver the first surgical instrument in the delivery direction; at the same time, the active mechanical arm can be controlled to be 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 separate delivery of the first surgical instrument is realized.

[0080] The first instrument device can include a first delivery assembly. The first delivery assembly can be controlled to deliver the first surgical instrument in the delivery direction. The first delivery assembly can include a first driving wheel and a first driven wheel. The first driving wheel is a concentric wheel, and the first driven wheel is an eccentric wheel. 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 can 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 can also be controlled to rotate to deliver the first surgical instrument in the first delivery channel in the delivery direction.

[0081] In some embodiments, when the working mode is the straightened working mode, the delivery mode of the delivery device can be determined. When the delivery mode is a single-acting mode, the delivery device can be controlled to deliver the first surgical instrument in the delivery direction, and the second surgical instrument moves a specified distance in the opposite direction of the delivery direction, the specified distance being the delivery distance of the first surgical instrument. When the delivery mode is a linkage mode, the delivery device can be controlled to deliver the first surgical instrument and the second surgical instrument synchronously.

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

[0083] Referring to Figure 9In some embodiments, the second control instruction can be used to instruct the first surgical instrument to rotate. The first surgical instrument can be rotated by the rotation assembly when the first instrument device releases the first surgical instrument. The first surgical instrument can be rotated by the rotation assembly when the first instrument device releases the first surgical instrument and the working mode is the straight working mode. The first surgical instrument can not be rotated by the rotation assembly when the first instrument device releases the first surgical instrument and the working mode is the curved working mode.

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

[0085] The first instrument device can include a first delivery assembly. The first delivery assembly can include a first driving wheel and a first driven wheel. The first driving wheel can be a concentric wheel. The first driven wheel can be a deflection wheel. The first surgical instrument can be disposed 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 be used to instruct the first surgical instrument to rotate a number of turns and / or in a direction. The rotation assembly can be controlled to rotate the first surgical instrument the number of turns, in the direction, or the number of turns in the direction when the first instrument device releases the first surgical instrument.

[0087] In some embodiments, the surgeon can further input a third control instruction to the surgical robot. The surgical robot can receive the third control instruction. The third control instruction can be used to instruct the delivery of a second surgical instrument. The third control instruction can be used to instruct a delivery direction and / or a delivery distance of the second surgical instrument. The third control instruction can be input in the same manner as the first control instruction. The second instrument device can be controlled to deliver the second surgical instrument in the second delivery channel in the delivery direction, such as the delivery direction instructed by the third control instruction for the delivery distance instructed by the third control instruction, after the third control instruction is received. The delivery direction can be a forward direction or a backward direction. The delivery in the delivery direction can be a forward or a backward.

[0088] The second instrument device can include a second delivery assembly. The second delivery assembly can be controlled to deliver the second surgical instrument in a delivery direction. The second delivery assembly can include a second driving wheel and a second driven wheel. The second driving wheel is a concentric wheel and the second driven wheel is a biasing wheel. The second surgical instrument is disposed 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 driving wheel can be controlled to rotate to deliver the second surgical instrument in the second delivery channel in the delivery direction.

[0089] In this way, the second surgical instrument can be operated individually by the third control instruction to achieve individual delivery of the second surgical instrument.

[0090] As an example, the second instrument device can further include a plurality of second delivery channels and a corresponding plurality of clamping assemblies. The third control instruction can further 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 can be controlled to clamp the remaining second surgical instruments in the remaining driving 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 physician can further input a fourth control instruction to the surgical robot. The surgical robot can receive the fourth control instruction. The fourth control instruction can be used to indicate rotation of the second surgical instrument. The fourth control instruction can further be used to indicate the number of rotations and / or the direction of rotation of the second surgical instrument. The input method of the fourth control instruction can 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. It is considered that rotation in the curved state can damage the second surgical instrument. When the working mode is the curved working mode, the delivery device can be controlled not to rotate the second surgical instrument. For example, when the working mode is the curved working mode, the fourth control instruction can be ignored. For another example, when the working mode is the curved working mode, a prompt message can be generated. The prompt message can be used to prompt that the second surgical instrument cannot be rotated at present. In this way, damage to the second surgical instrument caused by uneven stress due to rotation in the curved state can be effectively prevented.

[0093] 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, and the second driven wheel is a deflection wheel. 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 move close to 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 produce a joggling motion in opposite directions to rotate the second surgical instrument.

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

[0095] The delivery method of the embodiments of the present specification can determine the delivery mode of the delivery device. When the delivery mode is a single-acting mode, the delivery device can be controlled to deliver the first surgical instrument in the delivery direction and move the second surgical instrument in the opposite direction of the delivery direction by a specified distance, which is the delivery distance of the first surgical instrument. When the delivery mode is a linkage mode, the delivery device can be controlled to deliver the first surgical instrument and the second surgical instrument synchronously. Thus, the embodiments of the present specification can achieve the delivery of multiple surgical instruments. Moreover, the single-acting mode and the linkage mode are also provided. In the single-acting 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 one surgical instrument. In the linkage mode, the first surgical instrument and the second surgical instrument can be delivered simultaneously, thereby achieving the simultaneous delivery of multiple surgical instruments.

[0096] The embodiments of the present specification also provide a surgical robot. The surgical robot comprises 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 arranged on a driving mechanical 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 storing a computer program, which, when executed by a processor, implements the above-mentioned multi-instrument delivery method.

[0098] The embodiments of the present specification also provide a computer program product comprising a computer program, which, when executed by a processor, implements the above-mentioned multi-instrument delivery method.

[0099] Those skilled in the art can understand that the description of each embodiment in the specification is focused on, and the parts not described in detail in a certain embodiment can be referred to the relevant description of other embodiments. In addition, it can be understood that, after reading the specification document, those skilled in the art can think of any combination of the parts or all embodiments listed in the specification without creative labor, and these combinations are also within the scope disclosed and protected by the specification.

[0100] Although the specification is described through the embodiments, those skilled in the art know that the above embodiments are only used to help understand the core idea of the specification. Those skilled in the art can understand that there are many variations and changes of the specification. It is hoped that the appended claims include these variations and changes without departing from the spirit of the specification.

Claims

1. An interventional surgical robot, characterized in that, include: A delivery device is mounted on the active robotic arm of an interventional surgical robot. The delivery device includes a first instrument device and a second instrument device, which are connected by a retractable connector. The first instrument device is equipped with a first surgical instrument, and the second instrument device is equipped with both a first surgical instrument and a second surgical instrument. A controller configured to perform a multi-instrument delivery method, the method comprising: Determine the delivery mode of the delivery device, wherein the delivery mode is selected from single-action mode and linkage mode; In single-action delivery mode, the delivery device is controlled to deliver only the first surgical instrument, while the position of the second surgical instrument relative to the surgical object remains unchanged. Controlling the delivery device in single-action mode includes: maintaining the position of the first instrument relative to the surgical object; controlling the first instrument to deliver the first surgical instrument relative to itself along the delivery direction; controlling the active robotic arm to move a specified distance along the delivery direction; controlling the connector to shorten the specified distance between the first and second instrument devices; and controlling the second instrument to move the second surgical instrument relative to itself in the opposite direction of the delivery direction by the specified distance. The specified distance is the delivery distance of the first surgical instrument. When the delivery mode is in linkage mode, the delivery device is controlled to deliver the first surgical instrument and the second surgical instrument synchronously. Controlling the delivery device in linkage mode includes: maintaining the position of the first instrument relative to the surgical object; controlling the first instrument to deliver the first surgical instrument relative to the first instrument along the delivery direction; controlling the active robotic arm to move the specified distance along the delivery direction; controlling the connector to shorten the specified distance between the first and second instrument; and controlling the second instrument to prevent the second surgical instrument from moving relative to the second instrument.

2. The interventional surgical robot according to claim 1, characterized in that, The determination of the delivery mode of the delivery device includes: The system receives a first control command input by the doctor, which indicates the delivery mode of the delivery device.

3. The interventional surgical robot according to claim 1, characterized in that, The first instrument device includes a first delivery component, which includes a first driving wheel and a first driven wheel. The first driving wheel is a concentric wheel, and the first driven wheel is a deflecting wheel. The first surgical instrument is disposed within a first delivery channel formed by the first driving wheel and the first driven wheel. The control of the first instrument device to deliver the first surgical instrument relative to the first instrument device along the delivery direction includes: Control the first driven wheel to move closer to the first driving wheel to clamp the first surgical instrument in the first delivery channel; The first drive wheel is controlled to rotate so that the first surgical instrument is delivered in the first delivery channel along the delivery direction.

4. The interventional surgical robot according to claim 1, characterized in that, The second instrument device includes a second delivery assembly, which includes a second driving wheel and a second driven wheel. The second driving wheel is a concentric wheel, and the second driven wheel is a deflecting wheel. The second surgical instrument is disposed within a second delivery channel formed by the second driving wheel and the second driven wheel. The control of the second instrument device to move the second surgical instrument relative to the second instrument device in the opposite direction of the delivery direction by the specified distance includes: Control the second driven wheel to move closer to the second driving wheel to clamp the second surgical instrument in the second delivery channel; Control the rotation of the second drive wheel to make the second surgical instrument move in the opposite direction of the delivery direction within the second delivery channel.

5. The interventional surgical robot according to claim 1, characterized in that, The second instrument device includes a second delivery assembly, which includes a second driving wheel and a second driven wheel. The second driving wheel is a concentric wheel, and the second driven wheel is a deflecting wheel. The second surgical instrument is disposed within a second delivery channel formed by the second driving wheel and the second driven wheel. The control of the second instrument device to prevent the second surgical instrument from moving relative to the second instrument device includes: Control the second driven wheel to move closer to the second driving wheel to clamp the second surgical instrument in the second delivery channel; Control the second drive wheel to prevent it from rotating.

6. The interventional surgical robot according to claim 1, characterized in that, The method further includes: Detect the straightness or curvature of the first surgical instrument; When the curved state is the straight state, the working mode of the delivery device is determined to be the straight working mode; The determination of the delivery mode of the delivery device includes: In the extended working mode, the delivery mode of the delivery device is determined.

7. The interventional surgical robot according to claim 1, characterized in that, The method further includes: Detect the straightness or curvature of the first surgical instrument; When the straight state is a bent state, the operating mode of the delivery device is determined to be a bent operating mode; In the bending working mode, the delivery device is controlled to deliver the first surgical instrument along the delivery direction.

8. The interventional surgical robot according to claim 6 or 7, characterized in that, The delivery device includes a first instrument device, 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 an offset wheel, and the first surgical instrument is disposed in a first delivery channel formed by the first driving wheel and the first driven wheel; The detection of the straightness or bending state of the first surgical instrument includes: 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, the current of the drive device corresponding to the first driving wheel is detected; The bending or straightness of the first surgical instrument is determined based on the current.

9. The interventional surgical robot according to claim 6 or 7, characterized in that, The delivery device includes a first instrument device, the first instrument device including a straightness / bend detection component; the detection of the straightness / bend state of the first surgical instrument includes: The straightness or curvature of the first surgical instrument is detected by a straightness / curvature detection component.

10. The interventional surgical robot according to claim 1, characterized in that, The method further includes: Receives a second control command input by the doctor, the second control command being used to instruct the rotation of the first surgical instrument; Determine the 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.

11. The interventional surgical robot according to claim 10, characterized in that, A delivery device is provided on the active robotic 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 connector. The first instrument device includes a first delivery component, which includes a first driving wheel and a first driven wheel. The first driving wheel is a concentric wheel, and the first driven wheel is an offset wheel. The first surgical instrument is disposed in a first delivery channel formed by the first driving wheel and the first driven wheel. The second instrument device includes a rotating component. The control delivery device for rotating the first surgical instrument includes: Control the first driven wheel to deviate from the first driving wheel, so as to release the first surgical instrument in the first delivery channel; Control the rotating component to rotate the first surgical instrument.

12. The interventional surgical robot according to claim 1, characterized in that, The delivery device includes a second instrument device, the second instrument device including a second delivery assembly, the second delivery assembly including a second driving wheel and a second driven wheel, the second driving wheel being a concentric wheel and the second driven wheel being an offset wheel, the second surgical instrument being disposed within a second delivery channel formed by the second driving wheel and the second driven wheel; the method further includes: Receive a third control command input by the doctor, the third control command being used to instruct the delivery of a second surgical instrument; Control the second driven wheel to move closer to the second driving wheel to clamp the second surgical instrument in the second delivery channel; Control the rotation of the second drive wheel to deliver the second surgical instrument in the delivery channel along the delivery direction.

13. The interventional surgical robot according to claim 1, characterized in that, The method further includes: Receives a fourth control command input by the doctor, the fourth control command being used to instruct the rotation of the second surgical instrument; Determine the operating mode of the delivery device; When the working mode is the straightening working mode, the delivery device is controlled to rotate the second surgical instrument.

14. The interventional surgical robot according to claim 13, characterized in that, The delivery device includes a second instrument device, which 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, and the second driven wheel is a deflecting wheel. The second surgical instrument is disposed within a second delivery channel formed by the second driving wheel and the second driven wheel. The control delivery device for rotating the second surgical instrument includes: Control the second driven wheel to move closer to 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 move in opposite directions to rotate the second surgical instrument.

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