Interventional surgery robot and method for operating an interventional surgery instrument

Abstract

The application provides an interventional surgery instrument operating device and method of an interventional surgery robot. The interventional surgery robot comprises a mechanical arm and a delivery device, the delivery device is installed at the end of the mechanical arm, the interventional surgery instrument is installed on the delivery device, and the method comprises the following steps: controlling the mechanical arm to move the delivery device to a target position; and controlling the end of the mechanical arm to move in a linear direction and cooperating with the action of the delivery device to realize the operation of the interventional surgery instrument. The interventional surgery instrument operating device and method of the interventional surgery robot provided by the embodiment of the application improve the stability and reliability of the operation of the interventional surgery instrument.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, specifically to an interventional surgical robot and its operating device and method. Background Technology

[0002] Interventional surgical robots are devices that assist doctors in performing interventional surgeries. By manipulating interventional surgical instruments such as catheters, guidewires, balloons, and stents, they can perform surgical procedures with precision and dexterity in a minimally invasive manner.

[0003] Existing technologies primarily consist of a master device and a slave device. The master device includes a control unit and a display interface for controlling the slave device. The slave device may include a robotic arm and a delivery device. The delivery device is used to hold and manipulate various interventional surgical instruments, such as catheters, guidewires, balloons, and stents. To accommodate the manipulation of different types and multiple interventional surgical instruments, the delivery device has become increasingly complex in structure, resulting in increased size and weight. Therefore, developing an interventional surgical instrument manipulation method suitable for these complex delivery devices has become a crucial issue urgently needing to be addressed in the industry. Summary of the Invention

[0004] To address the problems in the prior art, embodiments of the present invention provide an interventional surgical instrument operation device and method for an interventional surgical robot, which can at least partially solve the problems existing in the prior art.

[0005] This invention provides a method for operating interventional surgical instruments using an interventional surgical robot. The interventional surgical robot includes a robotic arm and a delivery device. The delivery device is mounted at the end of the robotic arm, and the interventional surgical instruments are mounted on the delivery device. The method includes:

[0006] Control the robotic arm to move the delivery device to the target position;

[0007] The robotic arm's end-effector moves linearly and coordinates with the delivery device to operate the interventional surgical instrument.

[0008] Further, the delivery device includes a first delivery module, a second delivery module, and a telescopic delivery module. The first delivery module is fixed to a first end of the telescopic delivery module, and a second end of the telescopic delivery module is fixed to the second delivery module. The second delivery module is fixed to the end of the robotic arm, and the interventional surgical instrument is a catheter. Correspondingly, controlling the end of the robotic arm to move linearly and coordinate with the movement of the delivery device to realize the operation of the interventional surgical instrument includes:

[0009] Detect the tensile state of the conduit installed between the first delivery module and the second delivery module;

[0010] If the catheter is in a stretched state but bent state, then the first delivery module is controlled to enter the bent delivery mode to deliver the catheter.

[0011] If the catheter is in a taut state, then the first delivery module, the robotic arm, and the telescopic delivery module are controlled to enter the taut delivery mode to deliver the catheter.

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

[0013] The first delivery module is controlled to move the catheter in a first direction, the robotic arm is controlled to move the second delivery module closer to the first delivery module, and the telescopic delivery module is controlled to shorten the distance between the first end and the second end to deliver the catheter.

[0014] Further, the first delivery module 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 module to enter the curved delivery mode for catheter delivery includes:

[0015] The clamping wheel is rotated by the first motor to clamp the conduit;

[0016] The second motor controls the rotation of the propulsion roller to move the guide tube in the first direction.

[0017] Furthermore, the interventional surgical instrument operation method of the interventional surgical robot provided in this embodiment of the invention further includes:

[0018] If the catheter is in a taut state, control the first delivery module to release the catheter;

[0019] The second delivery module is controlled to rotate the catheter.

[0020] Further, the delivery device includes a first delivery module, a second delivery module, and a telescopic delivery module. The first delivery module is fixed to a first end of the telescopic delivery module, and a second end of the telescopic delivery module is fixed to the second delivery module. The second delivery module is fixed to the end of the robotic arm, and the interventional surgical instrument is a catheter. Correspondingly, controlling the end of the robotic arm to move linearly and coordinate with the movement of the delivery device to realize the operation of the interventional surgical instrument includes:

[0021] Detect the tensile state of the conduit installed between the first delivery module and the second delivery module;

[0022] If the catheter is in a taut state and the second end of the telescopic delivery module is not at a preset limit position, then the first delivery module is controlled to move the catheter in the second direction, the robotic arm is controlled to move the second delivery module away from the first delivery module, and the telescopic delivery module 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.

[0023] Further, the delivery device includes a first delivery module, a second delivery module, and a telescopic delivery module. The first delivery module is fixed to a first end of the telescopic delivery module, and a second end of the telescopic delivery module is fixed to the second delivery module. The second delivery module is fixed to the end of the robotic arm. The interventional surgical instrument includes a first surgical instrument and a second surgical instrument. Correspondingly, controlling the end of the robotic arm to move linearly and coordinate with the action of the delivery device to realize the operation of the interventional surgical instrument includes:

[0024] If the operation mode is single-action mode, the first delivery module, the robotic arm, and the telescopic delivery module are controlled to cooperate in delivering the first surgical instrument along the first direction, and the second delivery module is controlled to move the second surgical instrument along the second direction to keep the position of the second surgical instrument unchanged; wherein, the first direction and the second direction are opposite.

[0025] If the operation mode is a linkage mode, the first delivery module, the robotic arm and the telescopic delivery module are controlled to cooperate in delivering the first surgical instrument along the first direction, and the second delivery module is controlled to perform a linkage action on the second surgical instrument so that the second surgical instrument is delivered synchronously with the first surgical instrument.

[0026] Furthermore, controlling the robotic arm to move the delivery device to the target position includes:

[0027] Move and / or rotate the robotic arm in keyboard control mode to move the delivery device to the target position.

[0028] Furthermore, controlling the robotic arm to move the delivery device to the target location includes:

[0029] Based on the coordinates of the target position included in the control instructions, the robotic arm is controlled to move the delivery device to the target position.

[0030] Furthermore, the interventional surgical instrument operation method of the interventional surgical robot provided in this embodiment of the invention further includes:

[0031] The robotic arm and delivery device are stopped according to the emergency stop command.

[0032] The interventional surgical robot and its interventional surgical instrument operation device and method provided in this invention can control the robotic arm to move the delivery device to the target position; and control the end of the robotic arm to move in a linear direction and cooperate with the action of the delivery device to realize the operation of the interventional surgical instrument. Since the robotic arm participates in the operation of the interventional surgical instrument, it can realize the stable movement of the delivery device with a large volume and weight, thereby improving the stability and reliability of the operation of the interventional surgical instrument. Attached Figure Description

[0033] 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:

[0034] Figure 1 This is a schematic diagram of the interventional surgical robot provided in the first embodiment of the present invention.

[0035] Figure 2 This is a flowchart illustrating the operation method of the interventional surgical instrument of the interventional surgical robot provided in the second embodiment of the present invention.

[0036] Figure 3 This is a schematic diagram of the delivery device provided in the third embodiment of the present invention.

[0037] Figure 4 This is a flowchart illustrating the operation method of the interventional surgical instrument of the interventional surgical robot provided in the fourth embodiment of the present invention.

[0038] Figure 5 This is a flowchart illustrating the operation method of the interventional surgical instrument of the interventional surgical robot provided in the fifth embodiment of the present invention.

[0039] Figure 6 This is a flowchart illustrating the operation method of the interventional surgical instrument of the interventional surgical robot provided in the sixth embodiment of the present invention.

[0040] Figure 7 This is a flowchart illustrating the operation method of the interventional surgical instrument of the interventional surgical robot provided in the seventh embodiment of the present invention.

[0041] Figure 8A three-dimensional structural diagram of the second delivery module provided in the eighth embodiment of the present invention.

[0042] Figure 9 A flowchart illustrating the operation method of the interventional surgical instrument of the interventional surgical robot provided in the ninth embodiment of the present invention. Detailed Implementation

[0043] 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.

[0044] Figure 1 This is a schematic diagram of the interventional surgical robot provided in the first embodiment of the present invention, as shown below. Figure 1 As shown, the interventional surgical robot provided in this embodiment of the invention includes a robotic arm 1 and a delivery device 2, wherein the delivery device 2 is installed at the end of the robotic arm 1, wherein:

[0045] The delivery device 2 is used to hold and manipulate the interventional surgical instrument 3, and the robotic arm 1 is used to move the delivery device 2. The delivery device 2 is detachably mounted on the end of the robotic arm 1. The interventional surgical instrument 3 includes, but is not limited to, catheters, guidewires, balloons, stents, etc. The robotic arm 1 can be a multi-joint robotic arm, capable of multi-degree-of-freedom rotation and movement in space. The choice is made according to actual needs, and this embodiment of the invention is not limited thereto.

[0046] The robotic arm 1 can be fixed to the base 4, which is mounted on the worktable 5. The base 4 is movably mounted on the worktable 5 and can move in a first preset direction via a first moving mechanism 6 and in a second preset direction via a second moving structure 7. The first preset direction and the second preset direction are perpendicular.

[0047] Figure 2 This is a flowchart illustrating the operation method of the interventional surgical instrument of the interventional surgical robot provided in the second embodiment of the present invention, as shown below. Figure 2 As shown, the interventional surgical robot operation method of the present invention provided in this embodiment includes:

[0048] S201. Control the robotic arm to move the delivery device to the target position;

[0049] Specifically, before performing vascular interventional surgery, the delivery device needs to be moved to a suitable position for the operation of interventional surgical instruments. This can be achieved by controlling the movement of a robotic arm, which moves the delivery device to the target position. The movement of the robotic arm can also move the delivery device along with it. The target position is set according to actual needs, and this embodiment of the invention does not limit it.

[0050] Moving the delivery device with a robotic arm increases the flexibility of its movement.

[0051] S202. Control the end of the robotic arm to move in a linear direction and cooperate with the action of the delivery device to realize the operation of the interventional surgical instrument.

[0052] Specifically, the operation of the interventional surgical instrument includes advancing, rotating, and retracting. To operate the interventional surgical instrument, the delivery device performs an action, simultaneously controlling the end effector of the robotic arm to move in a linear direction in coordination with the delivery device's actions. The linear direction is set according to actual needs, and this embodiment of the invention does not impose a limitation.

[0053] The interventional surgical robot operation method provided in this embodiment of the invention can control the robotic arm to move the delivery device to the target position; and control the end of the robotic arm to move in a linear direction and cooperate with the action of the delivery device to realize the operation of the interventional surgical instrument. Since the robotic arm participates in the operation of the interventional surgical instrument, it can realize the stable movement of the delivery device with a large volume and weight, thereby improving the stability and reliability of the operation of the interventional surgical instrument.

[0054] Figure 3 This is a schematic diagram of the delivery device provided in the third embodiment of the present invention, as shown below. Figure 3 As shown, the delivery device 2 includes a first delivery module 2-1, a second delivery module 2-2, and a telescopic delivery module 2-3. The first delivery module 2-1 is fixed to the first end of the telescopic delivery module 2-3, the second end of the telescopic delivery module 2-3 is fixed to the second delivery module 2-2, and the second delivery module 2-2 is fixed to the end of the robotic arm 1.

[0055] The interventional surgical instrument is a catheter. The first delivery module 2-1 is used to clamp and deliver the catheter; the second delivery module 2-2 is used to fix the end of the catheter and rotate the catheter; the telescopic delivery module 2-3 is used to adjust the distance between the first delivery module 2-1 and the second delivery module 2-2; the robotic arm 1 is used to move the second delivery module 2-2; since the first delivery module 2-1 is fixed to the telescopic delivery module 2-3, and the telescopic delivery module 2-3 is fixed to the second delivery module 2-2, the robotic arm 1 can also drive the first delivery module 2-1, the telescopic delivery module 2-3 and the second delivery module 2-2 to move as a whole.

[0056] Based on the above embodiments, the first delivery module 2-1 further includes a first motor, a second motor, a clamping wheel 2-1-1, and a pushing roller 2-1-2. The first motor controls the rotation of the clamping wheel 2-1-1, and the second motor controls the rotation of the pushing roller 2-1-2. The vascular sheath is fixed to the first delivery module 2-1. During catheter delivery, the first delivery module 2-1 remains stationary relative to the operating table, thus achieving the fixation of the vascular sheath.

[0057] The first motor can be connected to clamping wheel 2-1-1 via a first mechanical shaft, and the second motor can be connected to pushing roller 2-1-2 via a second mechanical shaft. The conduit passes between clamping wheel 2-1-1 and pushing roller 2-1-2. The first motor rotates clamping wheel 2-1-1 to maximize the distance between clamping wheel 2-1-1 and pushing roller 2-1-2, at which point the conduit is positioned. The first motor rotates clamping wheel 2-1-1 to decrease the distance between clamping wheel 2-1-1 and pushing roller 2-1-2, thus clamping the conduit. When the conduit is clamped by clamping wheel 2-1-1 and pushing roller 2-1-2, the first motor rotates clamping wheel 2-1-1 to increase the distance between clamping wheel 2-1-1 and pushing roller 2-1-2, thus releasing the conduit. When the conduit is clamped by clamping wheel 2-1-1 and pushing roller 2-1-2, the second motor rotates pushing roller 2-1-2, thus advancing or retracting the conduit. The tension state of the conduit can be detected by monitoring the current of the first motor. If the current of the first motor is greater than a threshold, the conduit is in a taut state. If the current of the first motor is less than or equal to the threshold, the conduit is in a bent state. Alternatively, a switch-based detection structure can be used to detect the taut state of the conduit.

[0058] Based on the above embodiments, the second delivery module 2-2 further includes a rotary motor and a rotary fixing assembly 2-2-1, which fixes the end of the catheter. The rotary motor drives the rotary fixing assembly 2-2-1 to rotate, thereby rotating the catheter.

[0059] Based on the above embodiments, the telescopic delivery module 2-3 further includes a lead screw and a lead screw motor. The lead screw motor controls the movement of the lead screw to adjust the distance between the first delivery module 2-1 and the second delivery module 2-2.

[0060] Figure 4 This is a flowchart illustrating the operation method of the interventional surgical instrument of the interventional surgical robot provided in the fourth embodiment of the present invention, as shown below. Figure 4 As shown, based on the above embodiments, further, controlling the end effector of the robotic arm to move in a linear direction and cooperating with the action of the delivery device to realize the operation of the interventional surgical instrument includes:

[0061] S401. Detect the tension state of the conduit installed between the first delivery module and the second delivery module;

[0062] Specifically, the interventional surgical instrument is a catheter. The interventional surgical robot can deliver the catheter using a bending delivery mode and a straightening delivery mode. After the catheter is installed, the tension state of the catheter installed between the first delivery module and the second delivery module is detected. The tension state includes a straightening state and a bending state. The tension state of the catheter determines which of the two modes to use for catheter delivery, and the two modes can also be switched based on the tension state of the catheter. In the straightening state, the catheter between the first delivery module and the second delivery module is straight; in the bending state, the catheter between the first delivery module and the second delivery module is not straight and can be bent.

[0063] S402. If the stretched state of the catheter is a bent state, then control the first delivery module to enter the bent delivery mode to deliver the catheter.

[0064] Specifically, if the catheter is detected to be in a bent state, the first delivery module can be controlled to enter the bent delivery mode, in which only the first delivery module participates in the delivery of the catheter.

[0065] S403. If the catheter is in a taut state, then control the first delivery module, the robotic arm, and the telescopic delivery module to enter the taut delivery mode to deliver the catheter.

[0066] Specifically, if the catheter is detected to be in a taut state, the first delivery module, the robotic arm, and the telescopic delivery module will be controlled to enter the taut delivery mode. In the taut delivery mode, the first delivery module, the robotic arm, and the telescopic delivery module will work together to deliver the catheter.

[0067] By detecting the tension state of the catheter, it can automatically switch between two delivery modes: a bent delivery mode and a straight delivery mode, thereby improving the reliability of catheter delivery.

[0068] Based on the above embodiments, further, controlling the first delivery module, the robotic arm, and the telescopic delivery module to enter the taut delivery mode for catheter delivery includes:

[0069] The first delivery module is controlled to move the catheter in a first direction, the robotic arm is controlled to move the second delivery module closer to the first delivery module, and the telescopic delivery module is controlled to shorten the distance between the first end and the second end to deliver the catheter.

[0070] Specifically, the first delivery module is controlled to move the catheter in a first direction, while the robotic arm is controlled to move the second delivery module closer to the first delivery module. Simultaneously, the telescopic delivery module is controlled to reduce the distance between the first and second ends, allowing the catheter to extend forward from the first delivery module, thus delivering the catheter. The direction of movement of the telescopic delivery module is parallel to the direction of tautness of the catheter. During catheter delivery, the position of the first delivery module remains fixed.

[0071] For example, if a command for a propulsion distance y is received from the main control unit, the second motor of the first delivery module 2-1, the lead screw motor of the telescopic delivery module 2-3, and the robotic arm 1 can be controlled to move simultaneously. The second motor of the first delivery module 2-1 drives the propulsion roller to rotate, causing the conduit to move a distance y relative to the first delivery module 2-1 along the first direction; the lead screw motor of the telescopic delivery module 2-3 drives the lead screw to move, changing the distance between the first delivery module 2-1 and the second delivery module 2-2, causing the second delivery module 2-2 to move a distance y towards the first delivery module 2-1; the robotic arm 1 drives the second delivery module 2-2 to move a distance y along the first direction, thereby completing the delivery of the conduit. Here, the value of y can be positive or negative, with the sign representing the direction of movement.

[0072] Based on the above embodiments, further, controlling the first delivery module to move the catheter in the first direction includes:

[0073] By controlling the second motor to drive the propulsion roller to rotate, the guide tube moves in the first direction.

[0074] Based on the above embodiments, further, controlling the robotic arm to move the second delivery module toward the direction closer to the first delivery module includes:

[0075] 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.

[0076] 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 module, and the movement distance is the same as the movement distance of the telescopic delivery module.

[0077] Based on the above embodiments, further, controlling the telescopic delivery device to shorten the distance between the first end and the second end includes:

[0078] The movement of the lead screw is controlled by the lead screw motor, causing the second end to move closer to the first end.

[0079] Based on the above embodiments, the first delivery module 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, as... Figure 5 As shown, controlling the first delivery module to enter the curved delivery mode to deliver the catheter includes:

[0080] S501. The clamping wheel is rotated by the first motor to clamp the conduit;

[0081] 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.

[0082] S502. The second motor controls the rotation of the propulsion roller to move the guide tube in the first direction.

[0083] 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 module. The first direction is parallel to the movement direction of the telescopic delivery module.

[0084] For example, if a command for a propulsion distance x is received from the main control unit, the second motor of the first delivery module 2-1 can be controlled to operate. The second motor drives the propulsion roller 2-1-2 to rotate, causing the conduit to move a distance x relative to the first delivery module 2-1 in the first direction. This completes the delivery of the conduit in the curved delivery mode. The value of x can be positive or negative, and the sign represents the direction of movement.

[0085] Figure 6 This is a flowchart illustrating the operation method of the interventional surgical instrument of the interventional surgical robot provided in the sixth embodiment of the present invention, as shown below. Figure 6As shown, based on the above embodiments, the interventional surgical robot operation method of the present invention further includes:

[0086] S601. If the catheter is in a taut state, control the first delivery module to release the catheter;

[0087] Specifically, catheter delivery is stopped when catheter rotation is required. If the catheter is detected to be in a taut state, the first delivery module can be controlled to release the catheter.

[0088] S602, Control the second delivery module to drive the catheter to rotate.

[0089] Specifically, since the end of the catheter is fixed in the second delivery module, the controller can control the second delivery module to drive the end of the catheter to rotate, thereby realizing the rotation of the catheter.

[0090] 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.

[0091] For example, in the straightening delivery mode, if a rotation angle z is received from the main control terminal, the first motor of the first delivery module 2-1 is controlled to rotate, causing the clamping wheel 2-1-1 to move to the first preset position to release the conduit. This releases the conduit into the gap between the clamping wheel 2-1-1 and the push roller 2-1-2, preventing damage to the conduit during rotation and simultaneously synchronizing the rotation to the distal end of the conduit. Then, the rotation motor of the second delivery module 2-2 drives the rotation fixing component 2-2-1 to rotate, causing the conduit to rotate by the angle z. After rotation, the first motor of the first delivery module 2-1 resumes rotation, causing the clamping wheel 2-1-1 to rotate to the second preset position to clamp the conduit, thus completing the rotation of the conduit.

[0092] Based on the above embodiments, the delivery device further includes a first delivery module, a second delivery module, and a telescopic delivery module. The first delivery module is fixed to a first end of the telescopic delivery module, the second end of the telescopic delivery module is fixed to the second delivery module, the second delivery module is fixed to the end of the robotic arm, and the interventional surgical instrument is a catheter; correspondingly, as... Figure 7 As shown, controlling the end effector of the robotic arm to move linearly and coordinate with the action of the delivery device to operate the interventional surgical instrument includes:

[0093] S701. Detect the tensile state of the conduit installed between the first delivery module and the second delivery module;

[0094] Specifically, the interventional surgical instrument is a catheter. The tension state of the catheter installed between the first delivery module and the second delivery module is detected.

[0095] S702. If the catheter is in a taut state and the second end of the telescopic delivery module is not at a preset limit position, then control the first delivery module to move the catheter in the second direction, control the robotic arm to drive the second delivery module to move away from the first delivery module, and control the telescopic delivery module 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.

[0096] 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 module is not at a preset limit position, the first delivery module can be controlled to move the catheter in a second direction, while the robotic arm is controlled to move the second delivery module away from the first delivery module. Simultaneously, the telescopic delivery module is controlled to increase the distance between the first and second ends, allowing the catheter to be retracted from the first delivery module. The second direction is opposite to the first direction. The preset limit position is the furthest distance the second end of the telescopic delivery module can move from the first end.

[0097] Based on the above embodiments, the catheter delivery method for interventional surgical robots provided in this embodiment of the invention further includes:

[0098] If the second end of the telescopic delivery module moves to a preset limit position, the robotic arm and the telescopic delivery module are controlled to stop moving, and the first delivery module is controlled to continue moving the conduit along the second direction.

[0099] Specifically, during the retraction of the catheter, if the second end of the telescopic delivery module reaches a preset limit position, the telescopic delivery module can no longer increase the distance between the first and second delivery modules. It will then stop moving, and the robotic arm will also stop moving. However, the first delivery module can continue to move the catheter along the second direction. At this point, since the distance between the first and second delivery modules no longer increases, the catheter between them is no longer taut.

[0100] Based on the above embodiments, further, such as Figure 1 , Figure 3 and Figure 8As shown, the delivery device 2 includes a first delivery module 2-1, a second delivery module 2-2, and a telescopic delivery module 2-3. The first delivery module 2-1 is fixed to the first end of the telescopic delivery module 2-3, the second end of the telescopic delivery module 2-3 is fixed to the second delivery module 2-2, and the second delivery module 2-2 is fixed to the end of the robotic arm 1.

[0101] The first delivery module 2-1 includes a first motor, a second motor, a clamping wheel 2-1-1, and a pushing roller 2-1-2. The first motor controls the rotation of the clamping wheel 2-1-1, and the second motor controls the rotation of the pushing roller 2-1-2. By rotating the clamping wheel 2-1-1 with the first motor, the distance between the clamping wheel 2-1-1 and the pushing roller 2-1-2 is adjusted to achieve the clamping and releasing of the first surgical instrument.

[0102] The second delivery module 2-2 includes a rotary motor, a rotary fixing assembly 2-2-1, and a delivery component 2-2-2. The end of the first surgical instrument 3-1 is fixed in the rotary fixing assembly 2-2-1. The rotary motor can drive the rotary fixing assembly 2-2-1 to rotate, thereby rotating the first surgical instrument 3-1. The rotary fixing assembly 2-2-1 can be implemented using a Y-valve. The specific structure of the Y-valve is prior art, and it can include a fixed part and a rotating part with a rotatable connection.

[0103] The delivery assembly 2-2-2 includes a driving wheel 2-2-2-1, a driven wheel 2-2-2-2, and their respective motors. The motor corresponding to the driving wheel 2-2-2-1 drives the driving wheel 2-2-2-1 to rotate. The motor corresponding to the driven wheel 2-2-2-2 drives the driven wheel 2-2-2-2 to rotate. The driving wheel 2-2-2-1 is a concentric wheel, and the driven wheel 2-2-2-2 is an eccentric wheel. A second surgical instrument 3-2 is positioned between the driving wheel 2-2-2-1 and the driven wheel 2-2-2-2. The driven wheel 2-2-2-2 moves closer to or further away from the driving wheel 2-2-2-1 by rotating. When the driven wheel 2-2-2-2 approaches the driving wheel 2-2-2-1, it can clamp the second surgical instrument 3-2, and then the driving wheel 2-2-2-1 rotates to deliver the second surgical instrument 3-2. When the driven wheel 2-2-2-2 moves away from the driving wheel 2-2-2-1, the second surgical instrument 3-2 can be released, and the delivery of the second surgical instrument 3-2 can be stopped.

[0104] The driving wheel 2-2-2-1 and the driven wheel 2-2-2-2 can also move in opposite directions to rotate the second surgical instrument 3-2. The driving wheel 2-2-2-1 and the driven wheel 2-2-2-2 can move in a direction perpendicular to the delivery direction, tangentially rubbing against each other in opposite vertical directions to achieve the rotation of the clamped second surgical instrument 3-2. The vertical movement of the driving wheel 2-2-2-1 and the driven wheel 2-2-2-2 is achieved by corresponding drive mechanisms.

[0105] The second delivery module 2-2 may further include a clamping assembly 2-2-3. The clamping assembly 2-2-3 is used to clamp the second surgical instrument 3-2. The clamping assembly 2-2-3 may include a clamping wheel 2-2-3-1 and a clamping block 2-2-3-2. The clamping wheel 2-2-3-1 may be an eccentric wheel. The clamping block 2-2-3-2 may be a rectangular block. The second surgical instrument 3-2 is located between the clamping wheel 2-2-3-1 and the clamping block 2-2-3-2. The clamping wheel 2-2-3-1 can move closer to or further away from the clamping block 2-2-3-2, thereby enabling the clamping assembly 2-2-3 to clamp or release the second surgical instrument 3-2. When the clamping wheel 2-2-3-1 is close to the clamping block 2-2-3-2, the clamping wheel 2-2-3-1 can cooperate with the clamping block 2-2-3-2 to clamp the second surgical instrument 3-2. The second surgical instrument 3-2 can be released when the clamping wheel 2-2-3-1 is away from the clamping block 2-2-3-2. The clamping wheel 2-2-3-1 is connected to a motor. The motor drives the clamping wheel 2-2-3-1 to rotate, adjusting the distance between the clamping wheel 2-2-3-1 and the clamping block 2-2-3-2, thereby clamping or releasing the second surgical instrument 3-2.

[0106] As an example, the delivery assembly 2-2-2 may include one driving wheel 2-2-2-1 and two driven wheels 2-2-2-2. The two driven wheels 2-2-2-2 may be located on either side of the driving wheel 2-2-2-1. Thus, the delivery assembly 2-2-2 may include two delivery channels X, enabling dual-channel delivery of the second surgical instrument 3-2. A clamping assembly 2-2-3 corresponding to each delivery channel X is provided behind it along the delivery direction of that delivery channel X. The second surgical instrument 3-2 in each delivery channel X passes through the clamping assembly 2-2-3 corresponding to that delivery channel X. Thus, each clamping assembly 2-2-3 can clamp or release the second surgical instrument 3-2 in its corresponding delivery channel X.

[0107] During use, the driven wheel 2-2-2-2 and the driving wheel 2-2-2-1 cooperate to deliver the second surgical instrument 3-2 located in the corresponding delivery channel X; and the clamping assembly 2-2-3 corresponding to the delivery channel X releases the second surgical instrument 3-2 in the delivery channel X to ensure the smooth delivery of the second surgical instrument 3-2. At the same time, the other driven wheels 2-2-2-2 move away from the driving wheel 2-2-2-1, and the other clamping assemblies 2-2-3 clamp the second surgical instruments 3-2 in the other delivery channels X.

[0108] The telescopic delivery module 2-3 includes a lead screw and a lead screw motor. The lead screw motor controls the movement of the lead screw to adjust the distance between the first delivery module 2-1 and the second delivery module 2-2.

[0109] Based on the above embodiments, the delivery device further includes a first delivery module, a second delivery module, and a telescopic delivery module. The first delivery module is fixed to a first end of the telescopic delivery module, the second end of the telescopic delivery module is fixed to the second delivery module, and the second delivery module is fixed to the end of the robotic arm. The interventional surgical instrument includes a first surgical instrument and a second surgical instrument; correspondingly, as... Figure 9 As shown, controlling the end effector of the robotic arm to move linearly and coordinate with the action of the delivery device to operate the interventional surgical instrument includes:

[0110] S901. If the operation mode is single-action mode, the first delivery module, the robotic arm, and the telescopic delivery module are controlled to cooperate in delivering the first surgical instrument along the first direction, and the second delivery module is controlled to move the second surgical instrument along the second direction to keep the position of the second surgical instrument unchanged; wherein, the first direction and the second direction are opposite.

[0111] Specifically, the interventional surgical instruments include a first surgical instrument and a second surgical instrument. The operating modes of the interventional surgical instruments can be indicated by control commands, including a single-action mode and a linked mode. In the single-action mode, the first surgical instrument is delivered while the position of the second surgical instrument remains unchanged. In the linked mode, the first and second surgical instruments move synchronously. The first surgical instrument is mounted on a first delivery module and a second delivery module; the second surgical instrument is mounted on the second delivery module. For example, the first surgical instrument may be a catheter, and the second surgical instrument may be a guidewire, a balloon, or a stent.

[0112] If the operating mode is single-action mode, then the first delivery module, the robotic arm, and the telescopic delivery module are controlled to collaboratively deliver the first surgical instrument along a first direction. Since the second delivery module is fixed to the robotic arm, the robotic arm moves during the delivery of the first surgical instrument, changing the position of the second surgical instrument. Therefore, while delivering the first surgical instrument, the second delivery module is controlled to move the second surgical instrument along a second direction, thereby maintaining the position of the second surgical instrument unchanged and achieving single-action of the first surgical instrument. The first direction and the second direction are opposite.

[0113] If a command to deliver a distance 'a' in single-action mode is received from the main control unit, the second motor of the first delivery module 2-1, the lead screw motor of the telescopic delivery module 2-3, and the robotic arm 1 can be controlled to coordinate their actions to deliver the first surgical instrument 3-1 along the first direction, and the second delivery module 2-2 can be controlled to move the second surgical instrument 3-2 along the second direction to keep the position of the second surgical instrument 3-2 unchanged. The second motor of the first delivery module 2-1 drives the propulsion roller 2-1-2 to rotate, causing the first surgical instrument 3-1 to move a distance 'a' relative to the first delivery module 2-1 along the first direction; the lead screw motor of the telescopic delivery module 2-3 drives the lead screw to move, changing the distance between the first delivery module 2-1 and the second delivery module 2-2, causing the second delivery module 2-2 to move a distance 'a' towards the first delivery module 2-1; the robotic arm 1 drives the second delivery module 2-2 to move a distance 'a' along the first direction, thereby completing the delivery of the first surgical instrument 3-1. The delivery component 2-2-2 of the second delivery module 2-2 moves the second surgical instrument 3-2 along the second direction. Before the second surgical instrument 3-2 is moved, the driven wheel 2-2-2-2 rotates to the position where it clamps the second surgical instrument 3-2, and the driving wheel 2-2-2-1 rotates to deliver the second surgical instrument 3-2. Understandably, during the movement of the second surgical instrument 3-2, the clamping assembly 2-2-3 releases the second surgical instrument 3-2.

[0114] S902. If the operation mode is a linkage mode, the first delivery module, the robotic arm and the telescopic delivery module are controlled to cooperate in delivering the first surgical instrument along the first direction, and the second delivery module is controlled to perform a linkage action on the second surgical instrument so that the second surgical instrument is delivered synchronously with the first surgical instrument.

[0115] Specifically, if the operation mode is the linkage mode, then the first delivery module, the robotic arm, and the telescopic delivery module are controlled to deliver the first surgical instrument in a coordinated manner along the first direction. Since the second delivery module is fixed on the robotic arm, during the delivery of the first surgical instrument, the robotic arm will move and drive the second delivery module to move synchronously. In order to deliver the second surgical instrument set on the second delivery module synchronously, the second delivery module will be controlled to perform a linkage action on the second surgical instrument. The linkage action may include clamping the second surgical instrument so that the second surgical instrument moves together with the second delivery module.

[0116] If a command for a delivery distance b in linkage mode is received from the main control unit, the first delivery module 2-1, the robotic arm 1, and the telescopic delivery module 2-3 are controlled to collaboratively deliver the first surgical instrument 3-1 along the first direction, and the second delivery module 2-2 is controlled to perform a linkage action on the second surgical instrument 3-2 to achieve synchronous delivery of the first surgical instrument 3-1 and the second surgical instrument 3-2. The second motor of the first delivery module 2-1 drives the propulsion roller 2-1-2 to rotate, causing the first surgical instrument 3-1 to move a distance b relative to the first delivery module 2-1 along the first direction; the lead screw motor of the telescopic delivery module 2-3 drives the lead screw to move, changing the distance between the first delivery module 2-1 and the second delivery module 2-2, causing the second delivery module 2-2 to move a distance b toward the first delivery module 2-1; the robotic arm 1 drives the second delivery module 2-2 to move a distance b along the first direction, thereby realizing the delivery of the first surgical instrument 3-1. During the delivery of the first surgical instrument 3-1, the movement of the robotic arm 1 will drive the second delivery module 2-2 to move synchronously. In order to deliver the second surgical instrument 3-2, which is mounted on the second delivery module 2-2, synchronous delivery will be achieved by rotating the driven wheel 2-2-2-2 to clamp the second surgical instrument 3-2 while the driving wheel remains stationary.

[0117] By combining robotic arms and delivery devices, individual and simultaneous control of multiple interventional surgical instruments can be achieved.

[0118] Based on the above embodiments, further, controlling the robotic arm to move the delivery device to the target position includes:

[0119] Move and / or rotate the robotic arm in keyboard control mode to move the delivery device to the target position.

[0120] Specifically, the robotic arm can be moved and / or rotated in keyboard control mode to move the delivery device to the target position.

[0121] For example, such as Figure 3As shown, the movement of the robotic arm 1 is controlled by the keyboard 8 on the second delivery module 2-2 of the delivery device 2.

[0122] Based on the above embodiments, further, controlling the robotic arm to move the delivery device to the target position includes:

[0123] Based on the coordinates of the target position included in the control instructions, the robotic arm is controlled to move the delivery device to the target position.

[0124] Specifically, control commands including the coordinates of the target position can be sent from the control terminal to control the movement of the robotic arm, causing the delivery device to move to the target position.

[0125] Based on the above embodiments, the robotic arm can be further controlled to move in any direction and angle using a drag-and-drop mode, making the operation of the robotic arm more convenient and flexible.

[0126] Based on the above embodiments, the interventional surgical robot operation method provided in this embodiment of the invention further includes:

[0127] The robotic arm and delivery device are stopped according to the emergency stop command.

[0128] Specifically, in an emergency, an emergency stop command can be triggered by pressing the emergency stop button to stop the robotic arm and the delivery device. The emergency stop button can be located on the main control unit and / or the delivery device, depending on actual needs; this embodiment of the invention does not impose any limitations.

[0129] 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.

[0130] 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, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0131] 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, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0132] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0133] 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.

[0134] 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 instrument operating device for an interventional surgical robot, comprising an interventional surgical instrument operating method for the interventional surgical robot, characterized in that, The interventional surgical robot includes a robotic arm and a delivery device, the delivery device being mounted at the end of the robotic arm, and the interventional surgical instruments being mounted on the delivery device. The method includes: Control the robotic arm to move the delivery device to the target position; The robotic arm's end-effector moves linearly and coordinates with the delivery device to operate the interventional surgical instrument. The delivery device includes a first delivery module, a second delivery module, and a telescopic delivery module. The first delivery module is fixed to a first end of the telescopic delivery module, and the second end of the telescopic delivery module is fixed to the second delivery module. The first delivery module is fixed to the end of the robotic arm, and the interventional surgical instrument is a catheter. Accordingly, controlling the end of the robotic arm to move linearly and coordinate with the movement of the delivery device to operate the interventional surgical instrument includes: Detect the tensile state of the conduit installed between the first delivery module and the second delivery module; If the catheter is in a stretched state and a bent state, then the first delivery module is controlled to enter the bent delivery mode to deliver the catheter. If the catheter is in a taut state, then the first delivery module, the robotic arm, and the telescopic delivery module are controlled to enter the taut delivery mode to deliver the catheter. The step of controlling the first delivery module, the robotic arm, and the telescopic delivery module to enter the taut delivery mode for catheter delivery includes: The first delivery module is controlled to move the catheter in a first direction, the robotic arm is controlled to drive the second delivery module to move closer to the first delivery module, and the telescopic delivery module is controlled to shorten the distance between the first end and the second end to deliver the catheter. The first delivery module 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 module to enter the curved delivery mode for catheter delivery 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 method further includes: If the catheter is in a taut state, control the first delivery module to release the catheter; The second delivery module is controlled to rotate the catheter.

2. The interventional surgical instrument operating device of the interventional surgical robot according to claim 1, characterized in that, The delivery device includes a first delivery module, a second delivery module, and a telescopic delivery module. The first delivery module is fixed to a first end of the telescopic delivery module, and the second end of the telescopic delivery module is fixed to the second delivery module. The second delivery module is fixed to the end of the robotic arm, and the interventional surgical instrument is a catheter. Accordingly, controlling the end of the robotic arm to move linearly and coordinate with the movement of the delivery device to realize the operation of the interventional surgical instrument includes: Detect the tensile state of the conduit installed between the first delivery module and the second delivery module; If the catheter is in a taut state and the second end of the telescopic delivery module is not at a preset limit position, then the first delivery module is controlled to move the catheter in the second direction, the robotic arm is controlled to move the first delivery module away from the second delivery module, and the telescopic delivery module 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.

3. The interventional surgical instrument operating device of the interventional surgical robot according to claim 1, characterized in that, The delivery device includes a first delivery module, a second delivery module, and a telescopic delivery module. The first delivery module is fixed to a first end of the telescopic delivery module, and the second end of the telescopic delivery module is fixed to the second delivery module. The second delivery module is fixed to the end of the robotic arm. The interventional surgical instrument includes a first surgical instrument and a second surgical instrument. Correspondingly, controlling the end of the robotic arm to move linearly and coordinate with the movement of the delivery device to realize the operation of the interventional surgical instrument includes: If the operation mode is single-action mode, the first delivery module, the robotic arm, and the telescopic delivery module are controlled to cooperate in delivering the first surgical instrument along the first direction, and the second delivery module is controlled to move the second surgical instrument along the second direction to keep the position of the second surgical instrument unchanged; wherein, the first direction and the second direction are opposite. If the operation mode is a linkage mode, the first delivery module, the robotic arm and the telescopic delivery module are controlled to cooperate in delivering the first surgical instrument along the first direction, and the second delivery module is controlled to perform a linkage action on the second surgical instrument so that the second surgical instrument is delivered synchronously with the first surgical instrument.

4. The interventional surgical instrument operating device of the interventional surgical robot according to claim 1, characterized in that, The step of controlling the robotic arm to move the delivery device to the target position includes: Move and / or rotate the robotic arm in keyboard control mode to move the delivery device to the target position.

5. The interventional surgical instrument operating device of the interventional surgical robot according to claim 1, characterized in that, The step of controlling the robotic arm to move the delivery device to the target position includes: Based on the coordinates of the target position included in the control instructions, the robotic arm is controlled to move the delivery device to the target position.

6. The interventional surgical instrument operating device of the interventional surgical robot according to any one of claims 1 to 5, characterized in that, Also includes: The robotic arm and delivery device are stopped according to the emergency stop command.

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