A catheter delivery method based on an interventional surgical robot

Abstract

The application provides a catheter delivery method based on an interventional surgery robot. The interventional surgery robot comprises a front end device, a rear end device, an extension device and a driving arm, the front end device is fixed at a first end of the extension device, a second end of the extension device is fixed on the rear end device, the rear end device is fixed on the driving arm, and the catheter delivery method based on the interventional surgery robot comprises the following steps: receiving a delivery instruction sent by a control end; controlling the front end device to move the catheter to a first direction according to the delivery instruction; controlling the driving arm to drive the rear end device to move to a direction close to the front end device; and controlling the extension device to shorten the distance between the first end and the second end to realize the delivery of the catheter. The catheter delivery method based on the interventional surgery robot provided by the embodiment of the application can increase the delivery distance of the catheter.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and more specifically to a catheter delivery method based on an interventional surgical robot. Background Technology

[0002] Interventional surgical robots are advanced medical devices that use high-precision robotic arms, sensors, and control systems to precisely control surgical instruments, thereby completing various interventional surgical procedures.

[0003] When using interventional surgical robots to assist in vascular interventional procedures, catheters are required and need to be delivered. During the procedure, vascular puncture is performed and a vascular sheath is placed. The vascular sheath serves as the entry point for the catheter into the blood vessel, through which the catheter enters the patient's blood vessel. In existing technologies, interventional surgical robots include a first instrument delivery box and a telescopic delivery device. Catheter delivery can be achieved through the first delivery box alone, or through the cooperation of the first mechanical delivery box and the telescopic delivery device. However, due to the limitations on the movement of the first delivery box, the length of the catheter that can be delivered is limited. Therefore, how to propose a catheter delivery method that can increase the delivery distance has become an important issue that urgently needs to be addressed in this field. Summary of the Invention

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

[0005] This invention proposes a catheter delivery method based on an interventional surgical robot. The interventional surgical robot includes a front end device, a rear end device, a telescopic device, and an active arm. The front end device is fixed to a first end of the telescopic device, the second end of the telescopic device is fixed to the rear end device, and the rear end device is fixed to the active arm. The catheter delivery method of the interventional surgical robot includes:

[0006] Receive delivery instructions sent by the control terminal;

[0007] According to the delivery command, the front end device is controlled to move the catheter in a first direction, the active arm is controlled to drive the rear end device to move closer to the front end device, and the telescopic device is controlled to shorten the distance between the first end and the second end to achieve the delivery of the catheter.

[0008] Furthermore, the catheter delivery method based on an interventional surgical robot provided in this embodiment of the invention further includes:

[0009] The front-end device is controlled to release the conduit;

[0010] The rear-end device is controlled to rotate the catheter.

[0011] Further, the front-end device includes a clamping motor, a propulsion motor, an eccentric wheel, and a delivery wheel. The clamping motor controls the rotation of the eccentric wheel, and the propulsion motor controls the rotation of the delivery wheel. The eccentric wheel and the delivery wheel clamp the conduit. Correspondingly, controlling the front-end device to release the conduit includes:

[0012] The clamping motor is controlled to rotate the eccentric wheel to release the guide tube.

[0013] Further, the rear-end device includes a rotary motor and a catheter end fixing structure, wherein the catheter end fixing structure fixes the end of the catheter; correspondingly, controlling the rear-end device to drive the catheter to rotate includes:

[0014] The catheter is rotated by controlling the rotary motor to drive the fixing structure at the end of the catheter to rotate.

[0015] Furthermore, the catheter delivery method based on an interventional surgical robot provided in this embodiment of the invention further includes:

[0016] If the catheter is in a straightened state and the second end of the telescopic device is not at the set limit position, then the front end device is controlled to move the catheter in the second direction, the active arm is controlled to drive the rear end device to move away from the front end device, and the telescopic 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.

[0017] Furthermore, the catheter delivery method based on an interventional surgical robot provided in this embodiment of the invention further includes:

[0018] If the second end of the telescopic device reaches the set limit position, the active arm and the telescopic device are controlled to stop moving.

[0019] Further, the front-end device includes a clamping motor, a propulsion motor, an eccentric wheel, and a delivery wheel. The clamping motor controls the rotation of the eccentric wheel, and the propulsion motor controls the rotation of the delivery wheel. The eccentric wheel and the delivery wheel clamp the conduit. Correspondingly, controlling the front-end device to move the conduit in a first direction includes:

[0020] By controlling the propulsion motor to drive the delivery wheel to rotate, the conduit moves in the first direction.

[0021] Furthermore, controlling the active arm to move the rear-end device closer to the front-end device includes:

[0022] A control command carrying the direction and distance of movement is sent to the control system of the active arm, so that the control system moves the end of the active arm according to the direction and distance of movement.

[0023] Further, the telescopic device includes a lead screw and a lead screw motor; correspondingly, controlling the telescopic device to shorten the distance between the first end and the second end includes:

[0024] The movement of the lead screw is controlled by the lead screw motor, causing the second end to move closer to the first end.

[0025] Furthermore, the catheter delivery method based on an interventional surgical robot provided in this embodiment of the invention further includes:

[0026] The emergency stop command controls the active arm and the telescopic device to stop moving.

[0027] The catheter delivery method based on an interventional surgical robot provided in this invention can receive delivery instructions sent by a control terminal, control the front end device to move the catheter in a first direction according to the delivery instructions, control the active arm to drive the rear end device to move closer to the front end device, and control the telescopic device to shorten the distance between the first end and the second end to achieve catheter delivery. Since the active arm drives the rear end device to deliver the catheter, compared with the prior art of catheter delivery based on a first delivery box, it overcomes the limitation of the movement of the first delivery box and can increase the catheter delivery distance. Attached Figure Description

[0028] 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.

[0029] Figure 1A This is a schematic diagram of the interventional surgical robot provided in the first embodiment of the present invention.

[0030] Figure 1B This is a partial structural schematic diagram of the interventional surgical robot provided in the first embodiment of the present invention.

[0031] Figure 1C This is a schematic diagram of the back-end device provided in the first embodiment of the present invention.

[0032] Figure 2 This is a schematic diagram of the back-end device provided in the second embodiment of the present invention.

[0033] Figure 3 This is a partial structural diagram of the catheter end fixing structure provided in the third embodiment of the present invention.

[0034] Figure 4 This is a schematic flowchart of the catheter delivery method based on an interventional surgical robot provided in the fourth embodiment of the present invention.

[0035] Figure 5 This is a flowchart illustrating the catheter delivery method based on an interventional surgical robot provided in the fifth embodiment of the present invention. Detailed Implementation

[0036] 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.

[0037] To facilitate understanding of the technical solution provided in this application, the relevant content of the technical solution in this application will be explained below.

[0038] In vascular interventional procedures, catheter delivery is a crucial operation. This application proposes a method for catheter delivery using an active arm in conjunction with a delivery device, which can increase the delivery distance. Furthermore, it avoids damage to the catheter due to bending during catheter rotation.

[0039] 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 1B As shown, the interventional surgical robot provided in this embodiment of the invention includes a front end device 1, a rear end device 2, a telescopic device 3, and an active arm 4. The front end device 1 is fixed to the first end of the telescopic device 3, the second end of the telescopic device 3 is fixed to the rear end device 2, and the rear end device 2 is fixed to the active arm 4.

[0040] The front end device 1 is used to clamp and deliver the catheter; the rear end device 2 is used to fix the end of the catheter and rotate the catheter; the telescopic device 3 is used to adjust the distance between the front end device 1 and the rear end device; the active arm 4 is used to move the rear end device 2. Since the front end device 1 is fixed to the telescopic device 3, and the telescopic device 3 is fixed to the rear end device 2, the active arm 4 can also drive the front end device 1, the telescopic device 3, and the rear end device 2 to move as a whole. The active arm 4 can be controlled to move in any direction and angle using drag mode or keyboard mode, making surgical operation more convenient and flexible.

[0041] The active arm 4 can be fixed to the base 5, which supports the interventional surgical robot. The active arm 4 can be mounted on the worktable 6. The active arm 4 can be a multi-joint robotic arm, selected according to actual needs; this embodiment of the invention does not impose any limitations.

[0042] like Figure 1B As shown, based on the above embodiments, the front-end device 1 further includes a clamping motor, a propulsion motor, an eccentric wheel 101 and a delivery wheel 102. The clamping motor controls the eccentric wheel 101 to rotate, and the propulsion motor controls the delivery wheel 102 to rotate.

[0043] The clamping motor is connected to the eccentric wheel 101 via a first mechanical shaft, and the propulsion motor is connected to the delivery wheel 102 via a second mechanical shaft. The conduit passes between the eccentric wheel 101 and the delivery wheel 102. The clamping motor rotates the eccentric wheel 101 to maximize the distance between the eccentric wheel 101 and the delivery wheel 102, at which point the conduit is placed. The clamping motor then rotates the eccentric wheel 101 to decrease the distance between the eccentric wheel 101 and the delivery wheel 102, thus clamping the conduit. When the conduit is clamped by the eccentric wheel 101 and the delivery wheel 102, the clamping motor rotates the eccentric wheel 101 to increase the distance between the eccentric wheel 101 and the delivery wheel 102, thus releasing the conduit. When the conduit is clamped by the eccentric wheel 101 and the delivery wheel 102, the propulsion motor rotates the delivery wheel 102, thus advancing or retracting the conduit.

[0044] like Figure 1C As shown, based on the above embodiments, the rear end device 2 further includes a rotary motor and a catheter end fixing structure 201. The catheter end fixing structure 201 fixes the end of the catheter, and the catheter end fixing structure 201 can drive the catheter to rotate under the drive of the rotary motor.

[0045] The rear end 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 end fixing structure 201 of the conduit.

[0046] like Figure 2 and Figure 3As shown, based on the above embodiments, the catheter end fixing structure 201 further includes a Y valve 2011, a Y valve fixing seat 2012, and a Y valve rotating mechanism 2013.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] The rear end 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 delivery of the catheter in this application.

[0052] Based on the above embodiments, the telescopic 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 front end device 1 and the rear end device 2.

[0053] When the catheter installation is complete, the clamping motor of the front end device 1 controls the eccentric wheel 101 to clamp the catheter in the gap between the eccentric wheel 101 and the delivery wheel 102. The catheter delivery process is carried out after the catheter installation is completed.

[0054] During catheter delivery, the delivery direction of the catheter is parallel to the movement direction of the lead screw, and the direction of catheter movement from the rear end device 2 to the front end device 1 can be defined as positive. The vascular sheath is fixed to the front end device 1. During catheter delivery, the front end device 1 remains stationary relative to the operating table, thus achieving fixation of the vascular sheath.

[0055] The catheter delivery process is as follows: If a command to advance a distance d is received from the control end of the interventional surgical robot, the propulsion motor of the front-end device 1, the lead screw motor of the telescopic device 3, and the active arm 4 are controlled to move synchronously. The propulsion motor drives the delivery wheel 102 to rotate, causing the catheter to move a distance d along the lead screw direction; the lead screw motor drives the lead screw to move, changing the distance between the front-end device 1 and the rear-end device 2, causing the rear-end device 2 to move a distance d towards the front-end device 1; the active arm 4 drives the rear-end device 2 to move a distance d along the lead screw direction, thereby completing the catheter delivery. The value of d can be positive or negative, with the sign representing the direction of movement.

[0056] The catheter rotation process is as follows: If a rotation angle c is received from the control end of the interventional surgical robot, the clamping motor of the front-end device 1 is controlled to rotate, causing the eccentric wheel to move to the first preset position to release the catheter, releasing the catheter into the gap between the eccentric wheel 101 and the delivery wheel 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 rear-end device 2 drives the catheter end fixing structure 201 to rotate, causing the catheter to rotate by angle c. After the rotation is completed, the clamping motor of the front-end device 1 resumes rotation, causing the eccentric wheel to move to the second preset position to clamp the catheter, thereby completing the catheter rotation.

[0057] It is understood that the interventional surgical robot has a controller. The controller, as the executing entity, is capable of performing the catheter delivery method based on the interventional surgical robot provided in this embodiment of the invention.

[0058] Figure 4 This is a flowchart illustrating the catheter delivery method based on an interventional surgical robot provided in the fourth embodiment of the present invention, as shown below. Figure 4 As shown, the catheter delivery method based on an interventional surgical robot provided in this embodiment of the invention is applied to the interventional surgical robot described in the above embodiment, and includes:

[0059] S401, Receive delivery instructions sent by the control terminal;

[0060] Specifically, the insertion of the catheter into the front-end device and its fixation in the rear-end device are performed manually, ensuring the catheter is in a straightened state. A delivery command is issued via a control terminal, and the controller receives the delivery command. The delivery command is set according to actual needs, and this embodiment of the invention does not impose any limitations.

[0061] For example, the delivery instruction includes an advance distance d, indicating that the catheter should be advanced d in a first direction.

[0062] S402. According to the delivery command, control the front end device to move the catheter in the first direction, control the active arm to drive the rear end device to move closer to the front end device, and control the telescopic device to shorten the distance between the first end and the second end to achieve the delivery of the catheter.

[0063] Specifically, after receiving the delivery command, the controller can control the front-end device to move the catheter in a first direction, simultaneously control the active arm to move the rear-end device closer to the front-end device, and simultaneously control the telescopic device to shorten the distance between the first end and the second end, allowing the catheter to extend forward from the front-end device, thus achieving catheter delivery. The first direction is the direction in which the catheter extends forward from the front-end device. The direction of movement of the telescopic device is parallel to the straightening direction of the catheter.

[0064] For example, after receiving a delivery instruction including a pushing distance d, the controller sends a pushing distance d instruction to the front end device, the telescopic device, and the active arm respectively. The front end device will move the guide tube forward by a distance d, the telescopic device will shorten the distance d between the front end device and the rear end device along the straightening direction of the guide tube, and the active arm will drive the rear end device to move in the direction of the telescopic device. The actions of the front end device moving the guide tube, the telescopic device, and the active arm driving the rear end device are performed synchronously.

[0065] The catheter delivery method based on an interventional surgical robot provided in this invention can receive delivery instructions sent by a control terminal, control the front-end device to move the catheter in a first direction according to the delivery instructions, control the active arm to drive the rear-end device to move closer to the front-end device, and control the telescopic device to shorten the distance between the first end and the second end to achieve catheter delivery. Since the active arm drives the rear-end device to deliver the catheter, compared with the prior art method of catheter delivery based on a first delivery box, this overcomes the limitation of the first delivery box's movement and can increase the catheter delivery distance. Compared with the prior art, the telescopic device can be designed with a longer stroke, which can improve the catheter delivery distance.

[0066] Figure 5 This is a flowchart illustrating the catheter delivery method based on an interventional surgical robot provided in the fifth embodiment of the present invention, as shown below. Figure 5 As shown, based on the above embodiments, the catheter delivery method for the interventional surgical robot provided in this embodiment of the invention further includes:

[0067] S501, Control the front-end device to release the conduit;

[0068] Specifically, catheter delivery is stopped when catheter rotation is required. When the catheter is in a straightened state during its extension / retraction, the controller can control the front-end device to release the catheter.

[0069] S502, Control the rear-end device to drive the catheter to rotate.

[0070] Specifically, since the end of the catheter is fixed in the rear end device, the controller can control the rear end device to drive the end of the catheter to rotate, thereby realizing the rotation of the catheter.

[0071] This application allows the catheter to be rotated while it is in a straightened state, effectively preventing damage caused by uneven force distribution during rotation when the catheter is bent.

[0072] Based on the above embodiments, the front-end device further includes a clamping motor, a propulsion motor, an eccentric wheel, and a delivery wheel. The clamping motor controls the rotation of the eccentric wheel, and the propulsion motor controls the rotation of the delivery wheel. The eccentric wheel and the delivery wheel clamp the conduit. Correspondingly, controlling the front-end device to release the conduit includes:

[0073] The clamping motor is controlled to rotate the eccentric wheel to release the conduit.

[0074] Specifically, the controller can control the clamping motor and the propulsion motor. The conduit is located between the eccentric wheel and the delivery wheel. The controller can control the clamping motor to rotate, using the eccentric motion of the eccentric wheel to clamp and release the conduit. When the conduit is in a straightened state, the eccentric wheel and the delivery wheel clamp the conduit. The controller can control the clamping motor to drive the eccentric wheel to rotate, thereby releasing the conduit.

[0075] Based on the above embodiments, the rear-end device further includes a rotary motor and a catheter end fixing structure, wherein the catheter end fixing structure fixes the end of the catheter; correspondingly, controlling the rear-end device to drive the catheter to rotate includes:

[0076] The catheter is rotated by controlling the rotary motor to drive the fixing structure at the end of the catheter to rotate.

[0077] Specifically, the controller can control the rotary motor to drive the catheter end fixing structure to rotate. The catheter is fixed in the catheter end fixing structure. The controller controls the rotary motor to rotate, thereby driving the catheter end fixing structure to rotate, thus realizing the rotation of the catheter.

[0078] Based on the above embodiments, the catheter delivery method based on an interventional surgical robot provided in this embodiment of the invention further includes:

[0079] If the catheter is in a straightened state and the second end of the telescopic device is not at the set limit position, then the front end device is controlled to move the catheter in the second direction, the active arm is controlled to drive the rear end device to move away from the front end device, and the telescopic 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.

[0080] Specifically, the interventional surgical robot can advance and retract the catheter. If the catheter is in a straightened state and the second end of the telescopic device is not at a set limit position, the controller can control the front end device to move the catheter in a second direction, while simultaneously controlling the active arm to move the rear end device away from the front end device, and simultaneously controlling the telescopic device to increase the distance between the first end and the second end, so that the catheter can be retracted from the front end device, achieving catheter retraction. The second direction is opposite to the first direction. The set limit position is the position where the second end is furthest from the first end.

[0081] Based on the above embodiments, the catheter delivery method based on an interventional surgical robot provided in this embodiment of the invention further includes:

[0082] If the second end of the telescopic device reaches the set limit position, the active arm and the telescopic device are controlled to stop moving.

[0083] Specifically, during the retraction of the catheter, if the second end of the telescopic device reaches a set limit position, then the telescopic device can no longer increase the distance between the front end device and the rear end device. The controller will then control the telescopic device to stop moving and control the active arm to stop moving.

[0084] Based on the above embodiments, the front-end device further includes a clamping motor, a propulsion motor, an eccentric wheel, and a delivery wheel. The clamping motor controls the rotation of the eccentric wheel, the propulsion motor controls the rotation of the delivery wheel, and the eccentric wheel and delivery wheel clamp the conduit. Correspondingly, controlling the front-end device to move the conduit in the first direction includes:

[0085] By controlling the propulsion motor to drive the delivery wheel to rotate, the conduit moves in the first direction.

[0086] Specifically, the controller can control the clamping motor and the propulsion motor. The conduit is located between the eccentric wheel and the delivery wheel. The controller can control the clamping motor to rotate, using the eccentric motion of the eccentric wheel to clamp the conduit. When the conduit is in a straightened state, the eccentric wheel and the delivery wheel clamp the conduit. The controller can control the propulsion motor to drive the delivery wheel to rotate, allowing the delivery wheel to move the conduit in the first direction during rotation.

[0087] Based on the above embodiments, further, controlling the active arm to move the rear-end device toward the front-end device includes:

[0088] A control command carrying the direction and distance of movement is sent to the control system of the active arm, so that the control system moves the end of the active arm according to the direction and distance of movement.

[0089] Specifically, the controller can send control commands to the control system of the active arm. The control system controls the movement of the end of the active 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 device, and the movement distance is the same as the movement distance of the telescopic device.

[0090] Based on the above embodiments, the telescopic device further includes a lead screw and a lead screw motor; correspondingly, controlling the telescopic device to shorten the distance between the first end and the second end includes:

[0091] The movement of the lead screw is controlled by the lead screw motor, causing the second end to move closer to the first end.

[0092] Specifically, the telescopic 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 device. When the second end of the telescopic device moves closer to the first end, the distance between the front end and the rear end decreases; when the second end moves further away from the first end, the distance between the front end and the rear end increases. The controller can control the lead screw motor to rotate, causing the lead screw to move and bring the second end of the telescopic device closer to the first end, thereby shortening the distance between the first end and the second end.

[0093] Based on the above embodiments, the catheter delivery method based on an interventional surgical robot provided in this embodiment of the invention further includes:

[0094] The emergency stop command controls the active arm and the telescopic device to stop moving.

[0095] Specifically, in an emergency, an emergency stop command can be triggered by pressing the emergency stop button to stop the active arm and the telescopic device from moving. The emergency stop button can be located on the main control terminal and / or the back-end device, depending on actual needs; this embodiment of the invention does not impose any limitations.

[0096] 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.

[0097] 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.

[0098] 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.

[0099] 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.

[0100] 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.

[0101] 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 front end device, a rear end device, a telescopic device, and an active arm. The front end device is fixed to a first end of the telescopic device, the second end of the telescopic device is fixed to the rear end device, and the rear end device is fixed to the active arm. The interventional surgical robot has a controller capable of executing a catheter delivery method of the interventional surgical robot, which includes: Receive delivery instructions sent by the control terminal; According to the delivery command, the front end device is controlled to move the catheter in a first direction, the active arm is controlled to drive the rear end device to move closer to the front end device, and the telescopic device is controlled to shorten the distance between the first end and the second end to achieve catheter delivery; wherein, the movement of the catheter by the front end device, the action of the telescopic device, and the movement of the rear end device driven by the active arm are performed synchronously, and the distance the front end device moves the catheter, the distance the telescopic device shortens, and the distance the active arm drives the rear end device to move are equal; during catheter delivery, the front end device is stationary relative to the operating table.

2. The interventional surgical robot according to claim 1, characterized in that, The catheter delivery method of the interventional surgical robot also includes: The front-end device is controlled to release the conduit; The rear-end device is controlled to rotate the catheter.

3. The interventional surgical robot according to claim 2, characterized in that, The front-end device includes a clamping motor, a propulsion motor, an eccentric wheel, and a delivery wheel. The clamping motor controls the rotation of the eccentric wheel, and the propulsion motor controls the rotation of the delivery wheel. The eccentric wheel and the delivery wheel clamp the conduit. Correspondingly, controlling the front-end device to release the conduit includes: The clamping motor is controlled to rotate the eccentric wheel to release the conduit.

4. The interventional surgical robot according to claim 2, characterized in that, The rear-end device includes a rotary motor and a catheter end fixing structure, wherein the catheter end fixing structure fixes the end of the catheter; correspondingly, controlling the rear-end device to drive the catheter to rotate includes: The catheter is rotated by controlling the rotary motor to drive the fixing structure at the end of the catheter to rotate.

5. The interventional surgical robot according to claim 1, characterized in that, The catheter delivery method of the interventional surgical robot also includes: If the catheter is in a straightened state and the second end of the telescopic device is not at the set limit position, then the front end device is controlled to move the catheter in the second direction, the active arm is controlled to drive the rear end device to move away from the front end device, and the telescopic 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.

6. The interventional surgical robot according to claim 5, characterized in that, The catheter delivery method of the interventional surgical robot also includes: If the second end of the telescopic device reaches the set limit position, the active arm and the telescopic device are controlled to stop moving.

7. The interventional surgical robot according to claim 1, characterized in that, The front-end device includes a clamping motor, a propulsion motor, an eccentric wheel, and a delivery wheel. The clamping motor controls the rotation of the eccentric wheel, and the propulsion motor controls the rotation of the delivery wheel. The eccentric wheel and the delivery wheel clamp the conduit. Correspondingly, controlling the front-end device to move the conduit in a first direction includes: By controlling the propulsion motor to drive the delivery wheel to rotate, the conduit moves in the first direction.

8. The interventional surgical robot according to claim 1, characterized in that, The step of controlling the active arm to move the rear-end device toward the front-end device includes: A control command carrying the direction and distance of movement is sent to the control system of the active arm, so that the control system moves the end of the active arm according to the direction and distance of movement.

9. The interventional surgical robot according to claim 1, characterized in that, The telescopic device includes a lead screw and a lead screw motor; correspondingly, controlling the telescopic 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.

10. The interventional surgical robot according to any one of claims 1 to 9, characterized in that, The catheter delivery method of the interventional surgical robot also includes: The emergency stop command controls the active arm and the telescopic device to stop moving.

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