A catheter full-length delivery method for an interventional surgical robot

Abstract

The application provides a catheter whole-process delivery method of an interventional surgery robot, the interventional surgery robot comprising a first delivery device, a second delivery device, an extendable delivery device and a mechanical arm, the first delivery device being fixed at a first end of the extendable delivery device, a second end of the extendable delivery device being fixed on the second delivery device, the second delivery device being fixed on the mechanical arm, the catheter whole-process delivery method of the interventional surgery robot comprising: detecting a straightening state of a catheter installed between the first delivery device and the second delivery device; if the catheter is in a curved state, controlling the first delivery device to enter the curved delivery mode to perform the catheter delivery; if the catheter is in the straightening state, controlling the first delivery device, the mechanical arm and the extendable delivery device to enter the straightening delivery mode to perform the catheter delivery. The catheter whole-process delivery method of the interventional surgery robot provided by the embodiment of the application improves the reliability of the catheter delivery.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and specifically to a method for end-to-end catheter delivery in an interventional surgical robot. Background Technology

[0002] Interventional surgical robots are playing an increasingly important role in modern medicine, especially in minor surgeries requiring high precision, such as cardiovascular interventional procedures. However, existing interventional surgical robots face significant technical challenges in catheter delivery.

[0003] Catheter delivery is a crucial step in interventional surgery. During delivery, catheters are often subjected to bending, twisting, and other factors, making the entire delivery process difficult. These problems not only increase surgical time but can also lead to surgical failure or additional harm to the patient. Current technologies typically employ manual operation or simple automated delivery systems, which are prone to problems during delivery. Manual operation requires a high degree of concentration from the physician, easily leading to fatigue and affecting surgical outcomes; while simple automated systems lack flexibility and cannot adapt to complex surgical environments. Therefore, achieving successful end-to-end catheter delivery has become a pressing technical challenge in this field. Summary of the Invention

[0004] To address the problems in the prior art, embodiments of the present invention provide a method for end-to-end catheter delivery using an interventional surgical robot, which can at least partially solve the problems existing in the prior art.

[0005] This invention proposes a method for end-to-end catheter delivery using 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 bending delivery mode and a straightening delivery mode. The end-to-end catheter delivery method of the interventional surgical robot includes:

[0006] Detect the tension state of the conduit installed between the first delivery device and the second delivery device;

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

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

[0009] Further, the first delivery device includes a first motor, a second motor, a clamping wheel, and a pushing roller. The first motor controls the rotation of the clamping wheel, and the second motor controls the rotation of the pushing roller. Correspondingly, controlling the first delivery device to enter the curved delivery mode for delivery of the conduit includes:

[0010] The clamping wheel is rotated by the first motor to clamp the conduit;

[0011] The second motor controls the rotation of the propulsion roller to move the guide tube in the first direction.

[0012] Further, controlling the first delivery device, the robotic arm, and the telescopic delivery device to enter the taut 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 move the second delivery device closer 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 deliver the catheter.

[0014] Further, the first delivery device includes a first motor, a second motor, a clamping wheel, and a pushing roller. The first motor controls the clamping wheel to rotate, and the second motor controls the pushing roller to rotate. The clamping wheel and the pushing roller clamp the conduit. Correspondingly, controlling the first delivery device to move the conduit in a first direction includes:

[0015] By controlling the second motor to drive the propulsion roller to rotate, the guide tube moves in the first direction.

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

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

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

[0019] The movement of the lead screw is controlled by the lead screw motor, causing the second end to move closer to the first end.

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

[0021] If the catheter is in a taut state and the second end of the telescopic delivery device is not at a preset limit position, then the first delivery device is controlled to move the catheter in the 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.

[0022] Furthermore, the catheter delivery method for the interventional surgical robot provided in this embodiment of the 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 conduit along the second direction.

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

[0025] Control the first delivery device to release the conduit;

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

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

[0028] Control the movement of the end effector of the robotic arm to bring the first delivery device to the target position.

[0029] The catheter delivery method for interventional surgical robots provided in this invention can detect the tautness 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 taut state, the first delivery device, the robotic arm, and the telescopic delivery device are controlled to enter the taut delivery mode to deliver the catheter. It can automatically switch between the two delivery modes, thereby improving the reliability of catheter delivery. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. 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 effort. In the drawings:

[0031] Figure 1a This is a schematic diagram of the interventional surgical robot provided in the first embodiment of the present invention.

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

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

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

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

[0036] Figure 4 This is a flowchart illustrating the catheter delivery method for an interventional surgical robot provided in the fourth embodiment of the present invention.

[0037] Figure 5 This is a flowchart illustrating the catheter delivery method for an interventional surgical robot provided in the fifth embodiment of the present invention.

[0038] Figure 6 This is a schematic flowchart of the catheter delivery method for the interventional surgical robot provided in the sixth embodiment of the present invention. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. Here, the illustrative embodiments and their descriptions are used to explain the present invention, but are not intended to limit the present invention. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be arbitrarily combined with each other. The acquisition, storage, use, and processing of data in the technical solutions of this application all comply with relevant laws and regulations. The user information in the embodiments of this application is obtained through legal and compliant means, and the acquisition, storage, use, and processing of user information have been authorized and agreed upon by the customer.

[0040] Figure 1a This is a schematic diagram of the interventional surgical robot provided in the first embodiment of the present invention. Figure 1b This is a partial structural schematic diagram of the interventional surgical robot provided in the first embodiment of the present invention, as shown below. Figure 1a and Figure 1bAs shown, the interventional surgical robot provided in this embodiment of the 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 conduit; the second delivery device 2 is used to fix the end of the conduit and rotate the conduit; 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 to the telescopic delivery device 3, and the telescopic delivery device 3 is fixed to 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 to the base 5, which supports the interventional surgical robot. The base 5 can be mounted on the worktable 6. The robotic arm 4 can be a multi-jointed robotic arm, selected according to actual needs; this embodiment of the invention does not impose any limitations.

[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 pushing roller 102. The first motor controls the clamping wheel 101 to rotate, and the second motor controls the pushing roller 102 to rotate.

[0044] The first motor is connected to the clamping wheel 101 via a first mechanical shaft, and the second motor is connected to the pushing roller 102 via a second mechanical shaft. The conduit passes between the clamping wheel 101 and the pushing roller 102. The first motor rotates the clamping wheel 101 to maximize the distance between the clamping wheel 101 and the pushing roller 102, at which point the conduit is positioned. The first motor rotates the clamping wheel 101 to decrease the distance between the clamping wheel 101 and the pushing roller 102, thus clamping the conduit. When the conduit is clamped by the clamping wheel 101 and the pushing roller 102, the first motor rotates the clamping wheel 101 to increase the distance between the clamping wheel 101 and the pushing roller 102, thus releasing the conduit. When the conduit is clamped by the clamping wheel 101 and the pushing roller 102, the second motor rotates the pushing roller 102 to advance or retract the conduit. The extension / retraction state of the conduit can be detected by monitoring the current of the second motor; if the current of the second motor is greater than a threshold, the conduit is in a taut state. If the current of the second motor is less than or equal to the threshold, the conduit is in a bent state. Alternatively, a current sensor can be used to detect the straightening state of the conduit via a current switching detection structure for the clamping motor.

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

[0046] The second delivery device 2 also includes a cover 202 and a bottom shell 203. An installation groove 204 is provided on the bottom shell 203, and the installation groove 204 is used to install the rotating fixing component 201.

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

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

[0049] The Y-valve rotation mechanism 2013 includes a gear fixing seat 2013-2 and a handwheel 2013-3 and a first gear 2013-1 coaxially connected. The first gear 2013-1 is rotatably mounted in the gear fixing seat 2013-2, and the gear fixing seat 2013-2 can be locked onto the Y-valve fixing seat 2012. A second gear 2013-4 is provided on the Y-valve fixing seat 2012. 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 handwheel 2013-3 and the first gear 2013-1.

[0050] A corresponding slot 2012-1 is provided on the Y-valve mounting base 2012, and the gear mounting base 2013-2 can be locked in the slot 2012-1 to achieve quick assembly and disassembly. The gear mounting base 2013-2 is a ring-shaped seat. The first gear 2013-1 can be connected to the gear mounting base 2013-2 through a corresponding bearing. The first gear 2013-1 and the handwheel 2013-3 are arranged coaxially side by side and can be fixedly connected by fasteners (such as screws). The axis of the first gear 2013-1 is perpendicular to the axis of the second gear 2013-4. During surgical operation, the axis of the second gear 2013-4 is placed vertically, and the axis of the first gear 2013-1 is placed horizontally. For example, the two gears can be bevel gears. Using bevel gears can change the direction of power transmission, so that the first gear 2013-1 and the second gear 2013-4 can be configured 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] In 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 tail of the Y-valve 2011. The Y-valve 2011 can be rotated manually or mechanically as needed. In manual mode, the Y-valve rotation mechanism 2013 is not initially installed in the Y-valve mounting base 2012. The doctor manually turns the handwheel 2013-3 to rotate the Y-valve 2011, which in turn rotates the catheter connected to the Y-valve 2011. In mechanical mode, the Y-valve rotation mechanism 2013 is installed in the Y-valve mounting base 2012. The second gear 2013-4 is driven by a bottom mechanical motor, which in turn rotates the first gear 2013-1, simultaneously rotating the Y-valve 2011. Since the tail of the Y-valve 2011 is connected to the catheter, the catheter rotates as well.

[0052] The second delivery device 2 may also include structures for delivering and holding other interventional surgical instruments such as guidewires, which will not be described in detail here as they are not relevant to the entire delivery of the catheter in this application.

[0053] Based on the above embodiments, the telescopic delivery device 3 further includes a lead screw and a lead screw motor, the lead screw motor controlling 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 conduit installation is complete, the first motor of the first delivery device 1 controls the clamping wheel 101 to clamp the conduit in the gap between the clamping wheel 101 and the push roller 102. The conduit delivery process is carried out after the conduit installation is completed.

[0055] The interventional surgical robot has both a bending delivery mode and a straightening delivery mode for catheter delivery. The delivery mode is determined by the catheter's tension state, and the robot can automatically switch between the two modes during delivery based on the actual situation. During catheter delivery, the movement direction is along the lead screw, and the direction of catheter movement 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 remains stationary relative to the operating table, thus achieving vascular sheath fixation.

[0056] In the curved delivery mode: if a command for a propulsion distance x is received from the main control unit, the second motor of the first delivery device 1 can be controlled to operate. The second motor drives the propulsion roller to rotate, causing the guide tube to move a distance x relative to the first delivery device 1 along the screw direction. At this point, the delivery of the guide tube in the curved delivery mode is completed. Here, the value of x can be positive or negative, and the positive or negative sign represents the direction of movement.

[0057] In the taut delivery mode: if a command for a propulsion distance y is received from the main control unit, the second motor of the first delivery device 1, the lead screw motor of the telescopic delivery device 3, and the robotic arm 4 can be controlled to move simultaneously. The second motor of the first delivery device 1 drives the propulsion roller to rotate, causing the guide tube to move a distance y relative to the first delivery device 1 along the lead screw direction; the lead screw motor of the telescopic delivery device 3 drives the lead screw to move, changing the distance between the first delivery device 1 and the second delivery device 2, causing the second delivery device 2 to move a distance y towards the first delivery device 1; the robotic arm 4 drives the second delivery device 2 to move a distance y along the lead screw direction, thereby completing the delivery of the guide tube. Here, the value of y can be positive or negative, with the sign representing the direction of movement.

[0058] The catheter rotation process is as follows: In the taut delivery mode, if a rotation angle z is received from the main control terminal, the first motor of the first delivery device 1 is controlled to rotate, causing the clamping wheel to move to the first preset position to release the catheter, releasing the catheter into the gap between the clamping wheel 101 and the push roller 102, preventing damage to the catheter during rotation, and simultaneously synchronizing the rotation action to the distal end of the catheter in a timely manner. Then, the rotation motor of the second delivery device 2 drives the rotation fixing assembly 201 to rotate, causing the catheter to rotate by angle c. After the rotation is completed, the first motor of the first delivery device 1 resumes rotation, causing the clamping wheel to move to the second preset position to clamp the catheter, thereby completing the catheter rotation.

[0059] Figure 4 This is a flowchart illustrating the catheter delivery method for the interventional surgical robot provided in the fourth embodiment of the present invention, as shown below. Figure 4 As shown, the catheter delivery method for interventional surgical robots provided in this embodiment of the invention includes:

[0060] S401. Detect the tension state of the conduit installed between the first delivery device and the second delivery device;

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

[0062] S402. If the catheter is in a bent state, control the first delivery device to enter the bent delivery mode to deliver the catheter;

[0063] Specifically, if the catheter is detected to be in a bent state, the first delivery device can be controlled to enter the bent delivery mode, in which only the first delivery device participates in the delivery of the catheter.

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

[0065] Specifically, if the catheter is detected to be in a taut state, the first delivery device, the robotic arm, and the telescopic delivery device are controlled to enter the taut delivery mode. In the taut delivery mode, the first delivery device, the robotic arm, and the telescopic delivery device work together to deliver the catheter. The catheter delivery method for interventional surgical robots provided in this embodiment of the invention can detect the taut 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 taut state, the first delivery device, the robotic arm, and the telescopic delivery device are controlled to enter the taut delivery mode to deliver the catheter. This allows for automatic switching between the two delivery modes, improving the reliability of catheter delivery.

[0066] Figure 5 This is a flowchart illustrating the catheter delivery method for the interventional surgical robot provided in the fifth embodiment of the present invention, as shown below. Figure 5As shown, based on the above embodiments, the first delivery device further includes a first motor, a second motor, a clamping wheel, and a pushing roller. The first motor controls the rotation of the clamping wheel, and the second motor controls the rotation of the pushing roller. Correspondingly, controlling the first delivery device to enter the curved delivery mode for catheter delivery includes:

[0067] S501. The clamping wheel is rotated by the first motor to clamp the conduit;

[0068] Specifically, the conduit is located between the clamping wheel and the pushing roller. By controlling the rotation of the first motor, the clamping wheel is driven to rotate, and the eccentric motion of the clamping wheel is used to clamp the conduit.

[0069] S502. The second motor controls the rotation of the propulsion roller to move the guide tube in the first direction.

[0070] Specifically, by controlling the second motor to drive the propulsion roller to rotate, the propulsion roller can move the conduit in the first direction during rotation. The first direction is the direction in which the conduit extends forward from the first delivery device. The first direction is parallel to the direction of movement 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 taut 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 move the second delivery device closer 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 deliver 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 move the second delivery device closer to the first delivery device. Simultaneously, the telescopic delivery device is controlled to reduce the distance between the first end and the second end, allowing the catheter to extend forward from the first delivery device, thus delivering the catheter. The direction of movement of the telescopic delivery device is parallel to the direction of tautness of the catheter.

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

[0075] Based on the above embodiments, the first delivery device further includes a first motor, a second motor, a clamping wheel, and a pushing roller. The first motor controls the clamping wheel to rotate, and the second motor controls the pushing roller to rotate. The clamping wheel and the pushing roller clamp the conduit. Correspondingly, controlling the first delivery device to move the conduit in a first direction includes:

[0076] By controlling the second motor to drive the propulsion roller to rotate, the guide tube moves in the first direction.

[0077] Specifically, the conduit is located between the clamping wheel and the pushing roller. The conduit is clamped by controlling the rotation of the first motor, utilizing the eccentric motion of the clamping wheel. When the conduit is taut, it is clamped between the clamping wheel and the pushing roller. The second motor can be controlled to drive the pushing roller to rotate, allowing the pushing roller to move the conduit in the first direction during rotation.

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

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

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

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

[0082] The movement of the lead screw is controlled by the lead screw motor, causing the second end to move closer to the first end.

[0083] Specifically, the telescopic delivery device includes a lead screw and a lead screw motor. The lead screw motor controls the movement of the lead screw, thereby adjusting the distance between the second end and the first end of the telescopic delivery device. When the second end of the telescopic delivery device moves closer to the first end, the distance between the first and second delivery devices decreases; when the second end moves further away from the first end, the distance between the first and second delivery devices increases. The lead screw motor can be controlled to rotate, driving the lead screw to move, causing the second end of the telescopic delivery device to move closer to the first end, thereby shortening the distance between the first and second ends.

[0084] Based on the above embodiments, the catheter delivery method for interventional surgical robots provided in this embodiment of the invention further includes:

[0085] If the catheter is in a taut state and the second end of the telescopic delivery device is not at a preset limit position, then the first delivery device is controlled to move the catheter in the 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.

[0086] Specifically, the interventional surgical robot can deliver and retract catheters. If the catheter is in a taut state and the second end of the telescopic delivery device is not at a preset limit position, the first delivery device can be controlled to move the catheter in a second direction, while the robotic arm is controlled to move the second delivery device away from the first delivery device. Simultaneously, the telescopic delivery device increases the distance between the first and second ends, allowing the catheter to be retracted from the first delivery device. 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 furthest from the first end.

[0087] Based on the above embodiments, the catheter delivery method for interventional surgical robots provided in this embodiment of the 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 conduit along the second direction.

[0089] Specifically, during the retraction of the conduit, if the second end of the telescopic delivery device reaches its extension limit, then the telescopic delivery device can no longer increase the distance between the first and second delivery devices. The controller will then stop the telescopic delivery device and the robotic arm, but will continue to move the conduit along the second direction using the first delivery device. At this point, since the distance between the first and second delivery devices no longer increases, the conduit between them is no longer taut.

[0090] Figure 6 This is a flowchart illustrating the catheter delivery method for the interventional surgical robot provided in the sixth embodiment of the present invention, as shown below. Figure 6 As shown, based on the above embodiments, the catheter delivery method for interventional surgical robots provided in this embodiment of the invention further includes:

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

[0092] Specifically, when catheter rotation is required, catheter delivery will stop. If the catheter is detected to be in a taut state, the first delivery device can be controlled to release the catheter.

[0093] S602, Control the second delivery device to drive the conduit to rotate.

[0094] Specifically, since the end of the catheter is fixed in the second delivery device, the controller can control the second delivery device to drive the 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 damage to the catheter. This application rotates the catheter while it is taut, which can effectively prevent damage caused by uneven force on the catheter due to rotation while it is bent.

[0096] Based on the above embodiments, the catheter delivery method for interventional surgical robots provided in this embodiment of the invention further includes:

[0097] Control the movement of the end effector of the robotic arm to bring the first delivery device to the target position.

[0098] Specifically, before performing vascular interventional surgery, the first delivery device needs to be moved to a suitable position for catheter delivery. This can be achieved by controlling the movement of the end effector of the robotic arm. The movement of the robotic arm can move 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 or keyboard mode, making surgical operations more convenient and flexible.

[0100] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0101] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in one or more blocks of the flowchart illustrations and / or one or more blocks of the block diagrams.

[0102] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and / or one or more block diagrams.

[0103] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable apparatus, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

[0104] In the description of this specification, the references to terms such as "an embodiment," "a specific embodiment," "some embodiments," "for example," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions 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 one or more embodiments or examples.

[0105] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are 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 within the scope of protection of the present invention.

Claims

1. An interventional surgical robot, characterized in that, 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, and a second end of the telescopic delivery device is fixed to the second delivery device. The second delivery device is fixed to the robotic arm. 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 interventional surgical robot has a controller capable of executing the catheter delivery method of the interventional surgical robot. The interventional surgical robot has a bending delivery mode and a straightening delivery mode, and the catheter delivery method of the interventional surgical robot includes: The tension state of the catheter installed between the first delivery device and the second delivery device is detected to determine whether to use the bending delivery mode or the straightening delivery mode for delivery of the catheter; and during the delivery of the catheter, the two delivery modes are automatically switched according to the tension state of the catheter; the tension state of the catheter is 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 straight state; if the current of the second motor is less than or equal to the threshold, the catheter is in a bending state. 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 taut state, the first delivery device, the robotic arm, and the telescopic delivery device are controlled to enter the taut delivery mode to deliver the catheter. Wherein, controlling the first delivery device to enter the curved delivery mode to deliver the catheter includes: The clamping wheel is rotated by the first motor to clamp the conduit; The second motor controls the rotation of the propulsion roller to move the guide tube in the first direction; The step of controlling the first delivery device, the robotic arm, and the telescopic delivery device to enter the taut delivery mode for catheter delivery includes: The first delivery device is controlled to move the catheter in a first direction, the robotic arm is controlled to move the second delivery device closer 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 deliver the catheter.

2. The interventional surgical robot according to claim 1, characterized in that, The step of controlling the robotic arm to move the second delivery device toward the direction of the first delivery device includes: A control command carrying the direction and distance of movement is sent to the control system of the robotic arm, so that the control system moves the end effector of the robotic arm according to the direction and distance of movement.

3. The interventional surgical robot according to claim 1, characterized in that, The telescopic delivery device includes a lead screw and a lead screw motor; correspondingly, controlling the telescopic delivery device to shorten the distance between the first end and the second end includes: The movement of the lead screw is controlled by the lead screw motor, causing the second end to move closer to the first end.

4. The interventional surgical robot according to claim 1, characterized in that, The catheter delivery method for the interventional surgical robot also includes: If the catheter is in a taut state and the second end of the telescopic delivery device is not at a preset limit position, then 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.

5. The interventional surgical robot according to claim 4, characterized in that, The catheter delivery method for the interventional surgical robot 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 conduit along the second direction.

6. The interventional surgical robot according to claim 1, characterized in that, The catheter delivery method for the interventional surgical robot also includes: Control the first delivery device to release the conduit; The second delivery device is controlled to rotate the catheter.

7. The interventional surgical robot according to any one of claims 1 to 6, characterized in that, The catheter delivery method for the interventional surgical robot also includes: Control the movement of the end effector of the robotic arm to bring the first delivery device to the target position.

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