Whole-course catheter delivery method for interventional operation robot

Abstract

The invention provides a catheter whole-course delivery method of an interventional surgical robotic.The interventional surgical robot comprises a first delivery device, a second delivery device, a telescopic delivery device and a mechanical arm, the first delivery device is fixed to the first end of the telescopic delivery device, and the second end of the telescopic delivery device is fixed to the second delivery device; the second delivery device is fixed to the mechanical arm. The whole-course catheter delivery method of the interventional operation robot comprises the steps that the straightening state of a catheter installed between the first delivery device and the second delivery device is detected; if the catheter is in the bent state, the first delivery device is controlled to enter the bent delivery mode for catheter delivery; and if the catheter is in the straightened state, the first delivery device, the mechanical arm and the telescopic delivery device are controlled to enter the straightened delivery mode for catheter delivery. According to the whole-course delivery method for the catheter of the interventional operation robot, the delivery reliability of the catheter is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a full-course catheter delivery method for an interventional surgical robot. Background Art

[0002] Interventional surgical robots play an increasingly important role in modern medicine, especially in minor surgeries requiring highly precise manipulation, such as cardiovascular interventions. However, existing interventional surgical robots face significant technical challenges when delivering catheters.

[0003] Catheter delivery is a crucial part of interventional surgery. During the delivery process, the catheter is often affected by bending, twisting, etc., making the full delivery of the catheter difficult. These problems not only increase the operation time, but may also lead to surgical failure or cause additional harm to the patient. In the existing technology, manual operation or simple automated delivery systems are usually used, which can easily lead to problems during the delivery of the catheter. Manual operation requires the doctor to concentrate highly and is prone to fatigue, which in turn affects the surgical effect; simple automated systems lack flexibility and cannot adapt to complex surgical environments. Therefore, how to achieve full delivery of the catheter has become a technical problem that needs to be solved urgently in this field. Summary of the Invention

[0004] In response to the problems in the prior art, an embodiment of the present invention provides a method for full-course catheter delivery of an interventional surgical robot, which can at least partially solve the problems in the prior art.

[0005] The present invention provides a full-course catheter delivery method for an interventional surgical robot. The interventional surgical robot includes a first delivery device, a second delivery device, a telescopic delivery device, and a robotic arm. The first delivery device is fixed to a first end of the telescopic delivery device, the second end of the telescopic delivery device is fixed to the second delivery device, and the second delivery device is fixed to the robotic arm. The interventional surgical robot has a curved delivery mode and a straight delivery mode. The full-course catheter delivery method for the interventional surgical robot includes:

[0006] detecting a stretched state of a catheter mounted between the first delivery device and the second delivery device;

[0007] If the catheter is in a bent state, controlling the first delivery device to enter the bent delivery mode to perform catheter delivery;

[0008] If the catheter is in a straightened state, the first delivery device, the robotic arm, and the telescopic delivery device are controlled to enter the straightened delivery mode for catheter delivery.

[0009] Furthermore, the first delivery device includes a first motor, a second motor, a clamping wheel, and a propulsion roller, the first motor controls the rotation of the clamping wheel, and the second motor controls the rotation of the propulsion roller; accordingly, controlling the first delivery device to enter the curved delivery mode to perform the catheter delivery includes:

[0010] Controlling the clamping wheel to rotate by the first motor to clamp the catheter;

[0011] The propulsion roller is controlled to rotate by the second motor so as to move the catheter in a first direction.

[0012] Furthermore, controlling the first delivery device, the robotic arm, and the telescopic delivery device to enter the straightened delivery mode for catheter delivery includes:

[0013] The first delivery device is controlled to move the catheter in a first direction, the robotic arm is controlled to drive the second delivery device to move toward the direction close to the first delivery device, and the telescopic delivery device is controlled to shorten the distance between the first end and the second end to achieve delivery of the catheter.

[0014] Furthermore, the first delivery device includes a first motor, a second motor, a clamping wheel, and a propulsion roller. The first motor controls the rotation of the clamping wheel, and the second motor controls the rotation of the propulsion roller. The clamping wheel and the propulsion roller clamp the catheter. Accordingly, controlling the first delivery device to move the catheter in the first direction includes:

[0015] The second motor is controlled to drive the propulsion roller to rotate, so that the catheter moves in the first direction.

[0016] Furthermore, controlling the robotic arm to drive the second delivery device to move toward the first delivery device includes:

[0017] A control instruction carrying a moving direction and a moving distance is sent to a control system of the robotic arm, so that the control system moves the end of the robotic arm according to the moving direction and the moving distance.

[0018] Furthermore, the telescopic delivery device includes a screw and a screw motor; accordingly, controlling the telescopic delivery device to shorten the distance between the first end and the second end includes:

[0019] The screw motor controls the movement of the screw so that the second end approaches the first end.

[0020] Furthermore, the catheter delivery method for the interventional surgery robot provided in an embodiment of the present invention further includes:

[0021] If the stretched state of the catheter is a straight state and the second end of the telescopic delivery device is not located at the preset limit position, the first delivery device is controlled to move the catheter in a second direction, the robotic arm is controlled to drive the second delivery device to move in a direction away from the first delivery device, and the telescopic delivery device is controlled to increase the distance between the first end and the second end to achieve the retraction of the catheter; wherein, the second direction is opposite to the first direction.

[0022] Furthermore, the catheter delivery method for the interventional surgery robot provided in an embodiment of the present invention further includes:

[0023] If the second end of the telescopic delivery device moves to the preset limit position, the robotic arm and the telescopic delivery device are controlled to stop moving, and the first delivery device is controlled to continue moving the catheter along the second direction.

[0024] Furthermore, the catheter delivery method for the interventional surgery robot provided in an embodiment of the present invention further includes:

[0025] controlling the first delivery device to release the catheter;

[0026] The second delivery device is controlled to rotate the catheter.

[0027] Furthermore, the catheter delivery method for the interventional surgery robot provided in an embodiment of the present invention further includes:

[0028] The end of the robotic arm is controlled to move so that the first delivery device reaches the target position.

[0029] The full-course catheter delivery method of the interventional surgical robot provided in an embodiment of the present invention can detect the straight state of the catheter installed between the first delivery device and the second delivery device; if the catheter is in a bent state, the first delivery device is controlled to enter the bent delivery mode to perform the catheter delivery; if the catheter is in a straight state, the first delivery device, the robotic arm and the telescopic delivery device are controlled to enter the straight delivery mode to perform catheter delivery, and can automatically switch between the two delivery modes, thereby improving the reliability of catheter delivery. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0031] Figure 1a It is a schematic structural diagram of the interventional surgery robot provided by the first embodiment of the present invention.

[0032] Figure 1b It is a partial structural diagram of the interventional surgical robot provided by the first embodiment of the present invention.

[0033] Figure 1c It is a structural schematic diagram of the rotating fixing assembly provided by the first embodiment of the present invention.

[0034] Figure 2 2 is a schematic structural diagram of a second delivery device provided in a second embodiment of the present invention.

[0035] Figure 3 It is a partial structural diagram of the rotation fixing assembly provided in the third embodiment of the present invention.

[0036] Figure 4 It is a flowchart of the entire catheter delivery method of the interventional surgical robot provided by the fourth embodiment of the present invention.

[0037] Figure 5 It is a flowchart of the entire catheter delivery method of the interventional surgical robot provided by the fifth embodiment of the present invention.

[0038] Figure 6 It is a flowchart of the entire catheter delivery method of the interventional surgical robot provided by the sixth embodiment of the present invention. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention are further described in detail with reference to the accompanying drawings. Here, the schematic embodiments of the present invention and their descriptions are used to explain the present invention, but are not intended to limit the present invention. It should be noted that, in the absence of conflict, the embodiments in this application and the features in the embodiments can be combined with each other in any way. The acquisition, storage, use, processing, etc. of data in the technical solutions in this application comply with the relevant provisions of laws and regulations. The user information in the embodiments of this application is obtained through legal and compliant channels, and the acquisition, storage, use, processing, etc. of user information are authorized and agreed by the customer.

[0040] Figure 1a is a schematic structural diagram of an interventional surgical robot provided by a first embodiment of the present invention, Figure 1b FIG. 1 is a partial structural diagram of an interventional surgical robot provided by a first embodiment of the present invention. Figure 1a and Figure 1bAs shown, the interventional surgical robot provided by an embodiment of the present invention includes a first delivery device 1, a second delivery device 2, a telescopic delivery device 3 and a robotic arm 4. The first delivery device 1 is fixed to the first end of the telescopic delivery device 3, the second end of the telescopic delivery device 3 is fixed to the second delivery device 2, and the second delivery device 2 is fixed to the robotic arm 4.

[0041] The first delivery device 1 is used to clamp and deliver the catheter; the second delivery device 2 is used to fix the end of the catheter and rotate the catheter; the telescopic delivery device 3 is used to adjust the distance between the first delivery device 1 and the second delivery device; the robotic arm 4 is used to move the second delivery device 2; since the first delivery device 1 is fixed on the telescopic delivery device 3, and the telescopic delivery device 3 is fixed on the second delivery device 2, the robotic arm 4 can also drive the first delivery device 1, the telescopic delivery device 3 and the second delivery device 2 to move as a whole.

[0042] The robotic arm 4 can be fixed on a base 5, which is used to support the interventional surgery robot. The base 5 can be set on a workbench 6. The robotic arm 4 can be a multi-joint robotic arm, which can be selected according to actual needs and is not limited in this embodiment of the present invention.

[0043] like Figure 1b As shown, based on the above embodiments, the first delivery device 1 further includes a first motor, a second motor, a clamping wheel 101 and a propulsion roller 102 , wherein the first motor controls the rotation of the clamping wheel 101 and the second motor controls the rotation of the propulsion roller 102 .

[0044] The first motor can be connected to the clamping wheel 101 via a first mechanical shaft, and the second motor can be connected to the propulsion roller 102 via a second mechanical shaft. The catheter passes between the clamping wheel 101 and the propulsion roller 102. The first motor rotates the clamping wheel 101 to maximize the distance between the two wheels, thereby placing the catheter. The first motor rotates the clamping wheel 101 to reduce the distance between the two wheels, thereby clamping the catheter. When the catheter is clamped by the clamping wheel 101 and the propulsion roller 102, the first motor rotates the clamping wheel 101 to increase the distance between the two wheels, thereby loosening the catheter. When the catheter is clamped by the clamping wheel 101 and the propulsion roller 102, the second motor rotates the propulsion roller 102 to advance or retract the catheter. The catheter's extension and contraction state can be detected by detecting the current of the second motor. If the current of the second motor is greater than a threshold, the catheter is in a straightened state. If the current of the second motor is less than or equal to the threshold, the catheter is in a bent state. A current sensor can also be provided to detect the straightening state of the catheter by the current switch detection structure of the clamping motor.

[0045] like Figure 1c As shown, based on the above embodiments, the second delivery device 2 further includes a rotating motor and a rotating fixing component 201. The rotating fixing component 201 fixes the end of the catheter, and the rotating fixing component 201 can drive the catheter to rotate under the drive of the rotating motor.

[0046] The second delivery device 2 further includes a cover 202 and a bottom shell 203 . A mounting groove 204 is defined on the bottom shell 203 , and the rotating and fixing assembly 201 is mounted in the mounting groove 204 .

[0047] like Figure 2 and Figure 3 As shown, based on the above embodiments, the rotation and fixing component 201 further includes a Y-valve 2011, a Y-valve fixing seat 2012 and a Y-valve rotation mechanism 2013.

[0048] The Y-valve fixing seat 2012 is disposed within the mounting groove 204. A Y-valve rotating mechanism 2013 is detachably mounted on the Y-valve fixing seat 2012. The Y-valve rotating mechanism 2013 can be connected to the Y-valve 2011 to drive the rotation of the Y-valve 2011. The structure of the Y-valve 2011 is conventional and will not be described in detail here.

[0049] The Y-valve rotating mechanism 2013 includes a gear fixing seat 2013-2 and a coaxially connected hand wheel 2013-3 and a first gear 2013-1. The first gear 2013-1 can be rotatably inserted into the gear fixing seat 2013-2, and the gear fixing seat 2013-2 can be clamped on the Y-valve fixing seat 2012; a second gear 2013-4 is provided on the Y-valve fixing seat 2012, and the second gear 2013-4 can mesh with the first gear 2013-1 and drive the first gear 2013-1 to rotate; the Y-valve 2011 can be inserted into the hand wheel 2013-3 and the first gear 2013-1.

[0050] A corresponding slot 2012-1 is provided on the Y-valve fixing seat 2012, into which the gear fixing seat 2013-2 can be locked, enabling quick assembly and disassembly. The gear fixing seat 2013-2 is an annular seat. The first gear 2013-1 can be connected to the gear fixing seat 2013-2 via corresponding bearings. The first gear 2013-1 and the hand wheel 2013-3 are coaxially arranged side by side and can be fixedly connected by fasteners (such as screws). The axial direction of the first gear 2013-1 is perpendicular to the axial direction of the second gear 2013-4. During surgical operation, the axial direction of the second gear 2013-4 is vertically positioned, while the axial direction of the first gear 2013-1 is horizontally positioned. The two gears can be, for example, bevel gears. Using bevel gears can change the direction of power transmission, allowing the first gear 2013-1 and the second gear 2013-4 to be arranged in different directions, saving installation space and making the structure more compact. The diameter of the first gear 2013 - 1 should be larger than that of the second gear 2013 - 4 , that is, the first gear 2013 - 1 is a large gear and the second gear 2013 - 4 is a small gear, thereby achieving speed reduction.

[0051] During use, the Y-valve 2011 is inserted into the inner hole of the handwheel 2013-3. The handwheel 2013-3 and the first gear 2013-1 are axially inserted and fixed to the rear end of the Y-valve 2011. The Y-valve 2011 can be rotated manually or mechanically, as needed. When rotating manually, the Y-valve rotating mechanism 2013 is not initially installed within the Y-valve holder 2012. The physician manually rotates the handwheel 2013-3 to rotate the Y-valve 2011, which in turn rotates the catheter connected to the Y-valve 2011. When rotating mechanically, the Y-valve rotating mechanism 2013 is installed within the Y-valve holder 2012. The second gear 2013-4 is driven by a mechanical motor at the bottom to rotate, which in turn rotates the first gear 2013-1 and, in turn, the Y-valve 2011. Since the rear end of the Y-valve 2011 is connected to the catheter, the catheter is also rotated.

[0052] The second delivery device 2 may also include a structure for delivering and clamping other interventional surgical instruments such as a guide wire, which is irrelevant to the full delivery of the catheter of the present application and will not be described in detail here.

[0053] On the basis of the above embodiments, the telescopic delivery device 3 further includes a lead screw and a lead screw motor, and the lead screw motor controls the movement of the lead screw to adjust the distance between the first delivery device 1 and the second delivery device 2 .

[0054] When the catheter is installed, the first motor of the first delivery device 1 controls the clamping wheel 101 to clamp the catheter in the gap between the clamping wheel 101 and the propulsion roller 102. The delivery process of the catheter is performed after the catheter is installed.

[0055] The interventional surgical robot has a curved delivery mode and a straight delivery mode for delivering the catheter. The stretched state of the catheter determines which of the two modes is used for catheter delivery. During the delivery of the catheter, the two modes can be automatically switched according to actual conditions. When the catheter is delivered, the direction of movement is along the direction of the screw. The direction in which the catheter moves from the second delivery device 2 to the first delivery device 1 can be defined as positive. The vascular sheath is fixed to the first delivery device 1. During catheter delivery, the first delivery device 1 is always stationary relative to the operating table, thereby achieving fixation of the vascular sheath.

[0056] In curved delivery mode, upon receiving a command from the host to advance the catheter a distance x, the second motor of the first delivery device 1 is activated. The second motor rotates the propulsion roller, causing the catheter to move a distance x relative to the first delivery device 1 along the lead screw. This completes the delivery of the catheter in curved delivery mode. The value x can be positive or negative, with the sign indicating the direction of movement.

[0057] In the straight delivery mode, upon receiving a command from the master terminal to advance the catheter a distance y, the second motor of the first delivery mechanism 1, the lead screw motor of the telescopic delivery mechanism 3, and the robotic arm 4 are simultaneously controlled. The second motor of the first delivery mechanism 1 rotates the propulsion roller, causing the catheter to move a distance y relative to the first delivery mechanism 1 along the lead screw. The lead screw motor of the telescopic delivery mechanism 3 drives the lead screw, changing the distance between the first and second delivery mechanisms 1 and 2, causing the second delivery mechanism 2 to move a distance y toward the first delivery mechanism 1. The robotic arm 4 then drives the second delivery mechanism 2 along the lead screw to move a distance y, completing the delivery of the catheter. The value y can be positive or negative, with the sign indicating the direction of movement.

[0058] The catheter rotation process is as follows: In the straightening delivery mode, upon receiving the rotation angle z transmitted by the master control terminal, the first motor of the first delivery device 1 is controlled to rotate, causing the clamping wheel to move to the first set position for releasing the catheter. This releases the catheter into the gap between the clamping wheel 101 and the propulsion roller 102, preventing damage to the catheter during rotation while also synchronizing the rotation to the distal end of the catheter. The rotary motor of the second delivery device 2 then drives the rotation fixing assembly 201 to rotate the catheter by angle c. Once rotation is complete, the first motor of the first delivery device 1 is restored, causing the clamping wheel to move to the second set position for clamping the catheter, thus completing the catheter rotation.

[0059] Figure 4 FIG. 4 is a flow chart of a method for delivering a catheter throughout an interventional surgical robot according to a fourth embodiment of the present invention. Figure 4 As shown, the catheter delivery method of the interventional surgery robot provided by the embodiment of the present invention includes:

[0060] S401, detecting a stretched state of a catheter installed between the first delivery device and the second delivery device;

[0061] Specifically, after the catheter is installed, the stretched state of the catheter installed between the first and second delivery devices is detected. The stretched state includes a straight state and a bent state. In the straight state, the catheter between the first and second delivery devices is straightened; in the bent state, the catheter between the first and second delivery devices is not straightened but may be bent. The catheter adopts different delivery modes in different stretched states.

[0062] S402: If the catheter is in a curved state, controlling the first delivery device to enter the curved delivery mode to perform catheter delivery;

[0063] Specifically, if it is detected that the stretched state of the catheter is a bent state, the first delivery device may be controlled to enter the bent delivery mode. In the bent delivery mode, only the first delivery device participates in the delivery of the catheter.

[0064] S403: If the catheter is in a stretched state, control the first delivery device, the robotic arm, and the telescopic delivery device to enter the stretched delivery mode for catheter delivery.

[0065] Specifically, if it is detected that the stretched state of the catheter is a straight state, the first delivery device, the robotic arm, and the telescopic delivery device will be controlled to enter the straight delivery mode. In the straight delivery mode, the first delivery device, the robotic arm, and the telescopic delivery device will cooperate to deliver the catheter. The full-course catheter delivery method of the interventional surgical robot provided in an embodiment of the present invention can detect the straight state of the catheter installed between the first delivery device and the second delivery device; if the catheter is in a bent state, the first delivery device is controlled to enter the bent delivery mode to deliver the catheter; if the catheter is in a straight state, the first delivery device, the robotic arm, and the telescopic delivery device are controlled to enter the straight delivery mode to deliver the catheter. It can automatically switch between the two delivery modes, thereby improving the reliability of catheter delivery.

[0066] Figure 5 FIG. 5 is a flow chart of a method for delivering a catheter throughout an interventional surgical robot according to a fifth embodiment of the present invention. Figure 5As shown, based on the above embodiments, further, the first delivery device includes a first motor, a second motor, a clamping wheel and a propulsion roller, the first motor controls the rotation of the clamping wheel, and the second motor controls the rotation of the propulsion roller; accordingly, controlling the first delivery device to enter the curved delivery mode to perform the catheter delivery includes:

[0067] S501, controlling the clamping wheel to rotate by the first motor to clamp the catheter;

[0068] Specifically, the catheter is located between the clamping wheel and the propulsion roller. The first motor is controlled to rotate to drive the clamping wheel to rotate, and the catheter is clamped by utilizing the eccentric movement of the clamping wheel.

[0069] S502: Control the propulsion roller to rotate by the second motor to move the catheter in a first direction.

[0070] Specifically, the second motor is controlled to drive the propulsion roller to rotate, so that the propulsion roller can move the catheter in the first direction during rotation. The first direction is the direction in which the catheter is extended forward from the first delivery device. The first direction is parallel to the movement direction of the telescopic delivery device.

[0071] Based on the above embodiments, further, controlling the first delivery device, the robotic arm, and the telescopic delivery device to enter the straightened delivery mode for catheter delivery includes:

[0072] The first delivery device is controlled to move the catheter in a first direction, the robotic arm is controlled to drive the second delivery device to move toward the direction close to the first delivery device, and the telescopic delivery device is controlled to shorten the distance between the first end and the second end to achieve delivery of the catheter.

[0073] Specifically, the first delivery device is controlled to move the catheter in a first direction, while the robotic arm is controlled to drive the second delivery device to move closer to the first delivery device. Furthermore, the telescopic delivery device is controlled to reduce the distance between the first end and the second end, so that the catheter can be extended forward from the first delivery device, thereby achieving delivery of the catheter. The movement direction of the telescopic delivery device is parallel to the direction in which the catheter is stretched.

[0074] For example, a propulsion distance d instruction is sent to the first delivery device, the telescopic delivery device, and the robotic arm respectively. The first delivery device will move the catheter forward by a distance d. The telescopic delivery device will shorten the distance between the first delivery device and the second delivery device along the straightening direction of the catheter by d. The robotic arm will drive the second delivery device to move in the direction of movement of the telescopic delivery device. The movement of the catheter and the telescopic delivery device by the first delivery device and the movement of the second delivery device by the robotic arm are carried out synchronously.

[0075] Based on the above embodiments, further, the first delivery device includes a first motor, a second motor, a clamping wheel, and a propulsion roller, the first motor controls the rotation of the clamping wheel, the second motor controls the rotation of the propulsion roller, and the clamping wheel and the propulsion roller clamp the catheter; accordingly, controlling the first delivery device to move the catheter in the first direction includes:

[0076] The second motor is controlled to drive the propulsion roller to rotate, so that the catheter moves in the first direction.

[0077] Specifically, the catheter is positioned between the clamping wheel and the propulsion roller. By controlling the rotation of the first motor, the eccentric motion of the clamping wheel is utilized to clamp the catheter. When the catheter is in a straightened state, the clamping wheel and the propulsion roller clamp the catheter. The second motor can be controlled to rotate the propulsion roller, such that the propulsion roller can move the catheter in the first direction during rotation.

[0078] Based on the above embodiments, further, controlling the robotic arm to drive the second delivery device to move toward the first delivery device includes:

[0079] A control instruction carrying a moving direction and a moving distance is sent to a control system of the robotic arm, so that the control system moves the end of the robotic arm according to the moving direction and the moving distance.

[0080] Specifically, a control instruction can be sent to the control system of the robotic arm, and the control system controls the movement of the end of the robotic arm according to the moving direction and moving distance carried by the control instruction, wherein the moving direction is the same as the moving direction of the telescopic delivery device, and the moving distance is the same as the moving distance of the telescopic delivery device.

[0081] Based on the above embodiments, further, the telescopic delivery device includes a screw and a screw motor; accordingly, controlling the telescopic delivery device to shorten the distance between the first end and the second end includes:

[0082] The screw motor controls the movement of the screw so that the second end approaches the first end.

[0083] Specifically, the telescopic delivery device includes a leadscrew and a leadscrew motor. The leadscrew motor is capable of controlling the movement of the leadscrew, thereby adjusting the distance between the second end of the telescopic delivery device and the first end of the telescopic delivery device. When the second end of the telescopic delivery device approaches the first end of the telescopic delivery device, the distance between the first and second delivery devices decreases; when the second end of the telescopic delivery device moves away from the first end of the telescopic delivery device, the distance between the first and second delivery devices increases. The leadscrew motor can be controlled to rotate, driving the leadscrew to move, causing the second end of the telescopic delivery device to approach the first end of the telescopic delivery device, thereby shortening the distance between the first and second ends.

[0084] On the basis of the above embodiments, the catheter delivery method for the interventional surgery robot provided in the embodiment of the present invention further includes:

[0085] If the stretched state of the catheter is a straight state and the second end of the telescopic delivery device is not located at the preset limit position, the first delivery device is controlled to move the catheter in a second direction, the robotic arm is controlled to drive the second delivery device to move in a direction away from the first delivery device, and the telescopic delivery device is controlled to increase the distance between the first end and the second end to achieve the retraction of the catheter; wherein, the second direction is opposite to the first direction.

[0086] Specifically, the interventional surgical robot can deliver a catheter and can also retract the catheter. If the telescopic state of the catheter is a straight state, and the second end of the telescopic delivery device is not located at the preset limit position, then the first delivery device can be controlled to move the catheter in the second direction, while the robotic arm is controlled to drive the second delivery device to move away from the first delivery device, and at the same time, the telescopic delivery device is controlled to increase the distance between the first end and the second end, so that the catheter can be withdrawn backward from the first delivery device, thereby achieving the withdrawal of the catheter. The second direction is opposite to the first direction. The preset limit position is the position where the second end of the telescopic delivery device is farthest from the first end.

[0087] On the basis of the above embodiments, the catheter delivery method for the interventional surgery robot provided in the embodiment of the present invention further includes:

[0088] If the second end of the telescopic delivery device moves to a preset limit position, the robotic arm and the telescopic delivery device are controlled to stop moving, and the first delivery device is controlled to continue moving the catheter along the second direction.

[0089] Specifically, during the catheter retraction process, if the second end of the telescopic delivery device reaches the extension limit, the telescopic delivery device can no longer increase the distance between the first delivery device and the second delivery device. The controller controls the telescopic delivery device to stop moving, controls the robotic arm to stop moving, but controls the first delivery device to continue moving the catheter in the second direction. At this point, since the distance between the first delivery device and the second delivery device no longer increases, the catheter between the first delivery device and the second delivery device is no longer in a straight state.

[0090] Figure 6 FIG. 1 is a flow chart of a method for delivering a catheter throughout an interventional surgical robot according to a sixth embodiment of the present invention. Figure 6 As shown, based on the above embodiments, the catheter delivery method of the interventional surgery robot provided in the embodiment of the present invention further includes:

[0091] S601: If the catheter is in a stretched state, control the first delivery device to release the catheter;

[0092] Specifically, when the catheter needs to be rotated, the delivery of the catheter will be stopped. If it is detected that the stretched state of the catheter is a straight state, the first delivery device can be controlled to release the catheter.

[0093] S602: Control the second delivery device to drive the catheter to rotate.

[0094] Specifically, since the distal end of the catheter is fixed in the second delivery device, the controller can control the second delivery device to drive the distal end of the catheter to rotate, thereby realizing the rotation of the catheter.

[0095] When rotating a catheter, if the catheter is in a bent state, there is a risk of damaging the catheter; the present application rotates the catheter in a straight state, which can effectively prevent damage to the catheter due to uneven force during rotation in a bent state.

[0096] On the basis of the above embodiments, the catheter delivery method for the interventional surgery robot provided in the embodiment of the present invention further includes:

[0097] The end of the robotic arm is controlled to move so that the first delivery device reaches the target position.

[0098] Specifically, before performing a vascular interventional procedure, the first delivery device needs to be moved to a position suitable for catheter delivery. The first delivery device can be moved to the target position by controlling the movement of the distal end of the robotic arm. The movement of the robotic arm can also drive the movement of the first delivery device, the second delivery device, and the telescopic delivery device.

[0099] The robotic arm can be controlled to move in any direction and angle using drag mode or keyboard mode, making surgical control more convenient and flexible.

[0100] It will be understood by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0101] The present invention is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0102] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a product including an instruction device that implements the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0103] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0104] Throughout this specification, reference to terms such as "one embodiment," "a specific embodiment," "some embodiments," "for example," "example," "specific example," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0105] The specific embodiments described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for delivering a catheter throughout an interventional surgery robot, characterized in that: The interventional surgery robot comprises a first delivery device, a second delivery device, a telescopic delivery device and a mechanical arm, wherein the first delivery device is fixed to a first end of the telescopic delivery device, the second end of the telescopic delivery device is fixed to the second delivery device, and the second delivery device is fixed to the mechanical arm. The interventional surgery robot has a curved delivery mode and a straight delivery mode. The catheter full-course delivery method of the interventional surgery robot comprises: detecting a stretched state of a catheter mounted between the first delivery device and the second delivery device; If the catheter is in a bent state, controlling the first delivery device to enter the bent delivery mode to perform catheter delivery; If the catheter is in a straightened state, the first delivery device, the robotic arm and the telescopic delivery device are controlled to enter the straightened delivery mode to perform catheter delivery.

2. The catheter delivery method of the interventional surgery robot according to claim 1, characterized in that: The first delivery device comprises a first motor, a second motor, a clamping wheel and a propulsion roller, the first motor controls the rotation of the clamping wheel, and the second motor controls the rotation of the propulsion roller; accordingly, controlling the first delivery device to enter the curved delivery mode to perform the catheter delivery comprises: Controlling the clamping wheel to rotate by the first motor to clamp the catheter; The propulsion roller is controlled to rotate by the second motor so as to move the catheter in a first direction.

3. The catheter delivery method of the interventional surgery robot according to claim 1, characterized in that: The controlling the first delivery device, the robotic arm, and the telescopic delivery device to enter the straightened delivery mode to perform catheter delivery comprises: The first delivery device is controlled to move the catheter in a first direction, the robotic arm is controlled to drive the second delivery device to move in a direction close to the first delivery device, and the telescopic delivery device is controlled to shorten the distance between the first end and the second end to achieve delivery of the catheter.

4. The catheter delivery method of the interventional surgery robot according to claim 3, characterized in that: The first delivery device comprises a first motor, a second motor, a clamping wheel and a propulsion roller, the first motor controls the rotation of the clamping wheel, the second motor controls the rotation of the propulsion roller, and the clamping wheel and the propulsion roller clamp the catheter; accordingly, controlling the first delivery device to move the catheter in the first direction comprises: The second motor is controlled to drive the propulsion roller to rotate, so that the catheter moves in the first direction.

5. The catheter delivery method of the interventional surgery robot according to claim 3, characterized in that: The controlling the robot arm to drive the second delivery device to move toward the direction close to the first delivery device comprises: A control instruction carrying a moving direction and a moving distance is sent to a control system of the robot arm, so that the control system moves the end of the robot arm according to the moving direction and the moving distance.

6. The catheter delivery method of the interventional surgery robot according to claim 3, characterized in that: The telescopic delivery device includes a lead screw and a lead screw motor; accordingly, controlling the telescopic delivery device to shorten the distance between the first end and the second end includes: The screw motor controls the movement of the screw so that the second end approaches the first end.

7. The catheter delivery method of the interventional surgery robot according to claim 1, characterized in that: Also includes: If the stretched state of the catheter is a straight state and the second end of the telescopic delivery device is not located at the preset extreme position, the first delivery device is controlled to move the catheter in a second direction, the robotic arm is controlled to drive the second delivery device to move away from the first delivery device, and the telescopic delivery device is controlled to increase the distance between the first end and the second end to achieve the retraction of the catheter; wherein the second direction is opposite to the first direction.

8. The catheter delivery method of the interventional surgery robot according to claim 7, characterized in that: Also includes: If the second end of the telescopic delivery device moves to the preset limit position, the robotic arm and the telescopic delivery device are controlled to stop moving, and the first delivery device is controlled to continue moving the catheter along the second direction.

9. The catheter delivery method of the interventional surgery robot according to claim 1, characterized in that: Also includes: controlling the first delivery device to release the catheter; The second delivery device is controlled to rotate the catheter.

10. The catheter delivery method of an interventional surgery robot according to any one of claims 1 to 9, characterized in that: Also includes: The end of the robot arm is controlled to move so that the first delivery device reaches a target position.

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