Catheter robot system, control method thereof, and computer-readable storage medium

Abstract

The present disclosure relates to a catheter robot system and a control method thereof, a computer readable storage medium, the system comprising: a mechanical arm comprising an adjusting arm and a holding arm; a translation joint arranged on the holding arm; a manipulator arranged on the translation joint; and a control system configured to: acquire an actual position of a guide connected to a patient in a reference coordinate system; determine an insertion axis of an insertion port based on the actual position; acquire a first target distance of the manipulator from the insertion port along the insertion axis; control the manipulator to move to a first target position; and in response to the manipulator moving to the first target position, constrain a position degree of freedom of the mechanical arm, so that the translation joint can only move around the first target position, to facilitate adjusting the translation joint to be substantially parallel to the insertion axis while keeping the first target position. Through the embodiment, preoperative preparation can be facilitated and completed quickly.

Description

Technical Field

[0001] This disclosure relates to the field of medical devices, and in particular to a catheter robot system and its control method, and a computer-readable storage medium. Background Technology

[0002] Minimally invasive medical techniques primarily aim to reduce damage to patient tissues during medical procedures, offering advantages such as less trauma, less pain, and faster recovery. These techniques can be performed through natural openings in the patient's anatomical structure or surgical incisions, allowing catheters to be guided to the target tissue location under controller control. The catheters are typically flexible and / or steerable, slender devices that can be inserted into anatomical openings and navigated towards the target area within the patient's anatomy.

[0003] In existing technologies, catheters are typically guided into the patient's anatomical orifice via a guide connected to the patient. To prevent the guide from shifting and affecting the surgery, it is usually fixed to the operating table where the patient lies. During preoperative preparation, the guide is first fixed to the operating table, and the insertion channel of the guide is connected to the patient's anatomical orifice. Then, the trolley for mounting the catheter is moved to the planned position to meet the basic requirements of the operating table's position on the trolley. Next, the manipulator in the trolley for mounting the catheter is manually moved to align with the insertion port of the insertion channel, and the manipulator is moved to the appropriate position for the installation of the catheter on the manipulator and insertion into the insertion channel.

[0004] However, to achieve the goal of aligning the manipulator with the insertion port and moving the manipulator to the appropriate position, it usually depends on the operator's experience. Even experienced operators often cannot complete the above operations quickly in one go because it is difficult to keep the manipulator aligned with the insertion port while moving the manipulator, which is not conducive to saving manpower and time. Summary of the Invention

[0005] Therefore, it is necessary to provide a catheter robot system with a high degree of automation in preoperative preparation, which can conveniently and quickly complete preoperative preparation, as well as its control method and computer-readable storage medium.

[0006] On one hand, this disclosure provides a catheter robot system, including:

[0007] A robotic arm includes an adjusting arm and a holding arm disposed at the end of the adjusting arm, the adjusting arm being used to adjust the position and posture of the holding arm;

[0008] A translational joint is provided on the mechanical arm;

[0009] A manipulator, disposed at the translational joint and movable relative to the translational joint, is used for mounting and manipulating catheter instruments; and

[0010] The control system, connected to the robotic arm and the manipulator, is configured to:

[0011] Obtain the actual position of the guide used for connection to the patient in the reference coordinate system;

[0012] Based on the actual position, the insertion axis of the guide at the insertion port is determined;

[0013] Obtain the desired first target distance between the manipulator and the insertion port on the insertion axis;

[0014] Control the manipulator to move to the first target position;

[0015] In response to the manipulator moving to the first target position, the positional degrees of freedom of the robotic arm are constrained so that the translational joint can only move around the first target position, so as to maintain the first target position while facilitating the adjustment of the translational joint to be substantially parallel to the insertion axis.

[0016] On the other hand, this disclosure provides a control method for a catheter robot system, the catheter robot system comprising:

[0017] robotic arm; and

[0018] A manipulator, located at the end of the robotic arm, is used to install and manipulate catheter instruments;

[0019] The control method includes:

[0020] Obtain the actual position of the guide used for connection to the patient in the reference coordinate system;

[0021] Based on the actual position, the insertion axis of the guide at the insertion port is determined;

[0022] Obtain the desired first target distance between the manipulator and the insertion port on the insertion axis;

[0023] Control the manipulator to move to the first target position;

[0024] In response to the manipulator moving to the first target position, the positional degrees of freedom of the robotic arm are constrained so that the translational joint can only move around the first target position, so as to maintain the first target position while facilitating the adjustment of the translational joint to be substantially parallel to the insertion axis.

[0025] On the other hand, this disclosure provides a computer-readable storage medium storing a computer program configured to be loaded by a processor and to execute steps implementing the alignment method as described in any of the above embodiments.

[0026] The catheter robot system and its control method, as well as the computer-readable storage medium disclosed herein, have the following characteristics:

[0027] Beneficial effects:

[0028] The insertion axis of the guide can be determined by positioning the guide in space, and the position of the manipulator on the insertion axis can be determined based on the obtained target distance. Then, the manipulator can be automatically moved to the target position, and the translational joint on which the manipulator is installed can only move around the target position, which can facilitate and quickly complete the preoperative preparation. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the structure of an embodiment of the catheter robot system disclosed herein;

[0030] Figure 2 for Figure 1 The diagram shows a structural schematic of an embodiment of the trolley in the catheter robot system.

[0031] Figure 3 for Figure 1 A schematic diagram of another embodiment of the trolley in the catheter robot system shown;

[0032] Figure 4 for Figure 1 A schematic diagram of another embodiment of the trolley in the catheter robot system shown;

[0033] Figure 5 The catheter device provided is an embodiment of the catheter robot system disclosed herein;

[0034] Figure 6 The catheter device provided is an embodiment of the catheter robot system disclosed herein;

[0035] Figure 7 This is a flowchart of an embodiment of the control method for the catheter robot system disclosed herein;

[0036] Figure 8 This is a flowchart of another embodiment of the control method for the catheter robot system disclosed herein;

[0037] Figure 9 This is a schematic diagram illustrating the positioning process of an embodiment of the catheter robot system disclosed herein.

[0038] Figure 10 This is a schematic diagram illustrating the principle that the distal end of the catheter of the catheter device disclosed herein is aligned with the protrusion of the guide.

[0039] Figure 11 This is a schematic diagram illustrating the principle of aligning the distal end of the catheter of the catheter device disclosed herein with the insertion port of the guide.

[0040] Figure 12 This is a schematic diagram of an embodiment where the length of the catheter device disclosed herein is not suitable for the manipulator to be in the default position.

[0041] Figure 13 This is a schematic diagram of another embodiment of the catheter device of this disclosure where the length is not suitable for the manipulator to be in the default position.

[0042] Figure 14 This is a flowchart of another embodiment of the control method for the catheter robot system disclosed herein;

[0043] Figure 15 This is a flowchart of another embodiment of the control method for the catheter robot system disclosed herein;

[0044] Figure 16 This is a schematic diagram showing the alignment of the external and internal catheter instruments of this disclosure at the protrusion of the guide.

[0045] Figure 17 This is a schematic diagram showing the alignment of the external and internal catheter instruments of this disclosure at the insertion port of the guide.

[0046] Figure 18 This is a flowchart of another embodiment of the control method for the catheter robot system disclosed herein;

[0047] Figure 19 This is a flowchart of another embodiment of the control method for the catheter robot system disclosed herein;

[0048] Figure 20 This is a flowchart of another embodiment of the control method for the catheter robot system disclosed herein;

[0049] Figure 21 This is a schematic diagram of the structure of a control system in a catheter robot system according to an embodiment of the present disclosure. Detailed Implementation

[0050] To facilitate understanding of this disclosure, a more complete description will be given below with reference to the accompanying drawings. Preferred embodiments of this disclosure are shown in the drawings. However, this disclosure can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to enable a more thorough and complete understanding of the disclosure.

[0051] It should be noted that when an element is referred to as being "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intervening element. When an element is considered to be "coupled" to another element, it can be directly coupled to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this disclosure are for illustrative purposes only and do not represent the only possible embodiments. The terms "end" and "proximal" used in this disclosure are directional terms commonly used in the field of interventional medical devices, where "end" refers to the end away from the operator during surgery, and "proximal" refers to the end closer to the operator during surgery. The terms "first / second," etc., used in this disclosure refer to a component or two or more components having common characteristics.

[0052] Unless otherwise defined, all technical and scientific terms used in this disclosure have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. The terminology used in this disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of this disclosure. The term "and / or" as used in this disclosure includes any and all combinations of one or more of the associated listed items.

[0053] Figure 1 An embodiment of the catheterization robot system 1000 provided in this disclosure is shown. The catheterization robot system 1000 includes an imaging cart 100, a trolley 200 connected to the imaging cart 100, a user input device 300, a catheter device 400 that can be attached to the trolley 200, a sensor system 500 connected to the trolley 200, and a control system 600600 for controlling the catheter device 400, the user input device 300, the sensor system 500, and the imaging cart 100. The user input device 300 can be wired or wirelessly connected to the trolley 200. When the operator performs various procedures on a patient near the trolley 200, they can trigger control commands by operating the user input device 300, which, driven by the trolley 200, controls the catheter device 400 to move forward, retract, bend, and turn.

[0054] The imaging cart 100 and user input device 300 can typically be defined as the master end, primarily for physician operation; the trolley 200, catheter instruments 400, and sensor system 500 can typically be defined as the slave end, primarily for performing surgical procedures on the patient. The master and slave ends can be located in the same operating room; alternatively, they can be located in different operating rooms, such as two operating rooms within the same hospital or two operating rooms in different hospitals, and can be connected via remote communication technology.

[0055] The trolley 200 can typically be moved to the side of the operating table for mounting and manipulating the catheter instrument 400, and for controlling the movement of the catheter instrument 400 under control commands. These movements include at least one of vertical lifting, horizontal translation, non-vertical movement, and non-horizontal movement, thereby providing a better preoperative preparation position and / or posture for the operation of the catheter instrument 400. The control commands can be triggered by the operator through the user input device 300, or by the operator directly clicking or pressing buttons on the trolley 200, or by the operator directly dragging relevant components of the trolley 200 (such as the robotic arm 230 described later). Of course, in other embodiments, the control commands can also be voice control or other similar commands.

[0056] The trolley 200 typically includes a base 210, a manipulator assembly connected to the base 210, and the manipulator assembly includes a robotic arm 230 connected to the base 210 and a manipulator 250 disposed at the end of the robotic arm 230. The manipulator 250 is used to engage with the catheter instrument 400, i.e., for mounting and manipulating the catheter instrument 400. More specifically, the manipulator 250 is provided with a power unit 240, and the catheter instrument 400 is mounted and manipulated via the power unit 240.

[0057] During surgery, the base 210 is typically locked, and the operator can control the position and / or orientation of the catheter instrument 400 by manipulating the manipulator assembly. Specifically, the operator can control the position of the distal end of the catheter instrument 400 by controlling the overall position of the manipulator 250, thereby enabling insertion, i.e., feeding motion, by controlling the position of the distal end of the catheter instrument 400; the operator can also control the bending and turning (i.e., orientation) of the distal end of the catheter instrument 400 by controlling the power unit 240 in the manipulator 250.

[0058] In some embodiments, such as Figures 2 to 4 As shown, the robotic arm 230 may include at least one, and the manipulator 250 disposed at the end of the robotic arm 230 may also include at least one.

[0059] For example, such as Figure 3 and Figure 4 As shown, the robotic arm 230 may include one, and the manipulator 250 disposed at the end of the robotic arm 230 may include one or two. The robotic arm 230 may include multiple joint assemblies, which can provide multiple degrees of freedom, including positional degrees of freedom and orientation degrees of freedom.

[0060] For example, such as Figure 3As shown, when there is only one manipulator 250, the robotic arm 230 includes an adjusting arm 2301 and a holding arm 2302 disposed at the end of the adjusting arm 2301. A translational joint is provided on the holding arm 2302, and the manipulator 250 is disposed on this translational joint and can move relative to it. By controlling the joint assembly in the adjusting arm 2301, the position and / or orientation of the holding arm 2302 can be controlled, thereby controlling the position and / or orientation of the translational joint. By independently controlling the translational joint, the position of the manipulator 250 relative to the translational joint can be controlled, facilitating the feeding motion of the catheter instrument 400.

[0061] For example, such as Figure 4 As shown, when there are two manipulators 250, the robotic arm 230 includes an adjusting arm 2301 and a holding arm 2302 disposed at the end of the adjusting arm 2301. The holding arm 2302 has two translational joints, and the different manipulators 250 are respectively disposed at different translational joints. These two translational joints are arranged side-by-side, i.e., parallel and spaced apart. Simultaneously, the two manipulators 250 are spaced apart along the extension direction of the translational joint's axis of movement. By controlling the joint components in the adjusting arm 2301, the position and / or orientation of the two translational joints can be synchronously controlled, thereby synchronously influencing the position and / or orientation of the two manipulators 250. By controlling the two translational joints, the position of the two manipulators 250 can be controlled, facilitating the feeding movement of the ends of the two catheter instruments 400 engaged with different manipulators 250. During the feeding movement, the adjusting arm 2301 can be locked. Typically, the catheter device 400 includes an external catheter device 420 and an internal catheter device 410, with the internal catheter device 410 inserted and passing through the external catheter device 420. Two manipulators 250 can be synchronously controlled to move in the same direction along the translational joint axis, achieving synchronized feeding movements of the external catheter device 420 and the internal catheter device 410. In the insertion direction, when the external catheter device 420 reaches its maximum insertion depth, the movement of the manipulator 250 with the external catheter device 420 can be locked, and the manipulator 250 with the internal catheter device 410 can be individually controlled to continue moving along the translational axis, further controlling the insertion of the internal catheter device 410.

[0062] For example, such as Figure 2As shown, the robotic arm 230 may include two, and the manipulator 250 may also include two, with different manipulators 250 respectively disposed at the ends of different robotic arms 230. Unlike the structure where two manipulators 250 are disposed on a single robotic arm 230, these two robotic arms 230 do not require translation joints; instead, the manipulators 250 are directly disposed at the ends of the robotic arms 230. The ends of the robotic arms 230 can be controlled to move along a straight line, driving the manipulators 250 to move along a straight line, thereby achieving the feed motion. Typically, the catheter device 400 includes an outer catheter device 420 and an inner catheter device 410, with the inner catheter device 410 inserted into and passing through the outer catheter device 420 for use. The ends of the two robotic arms 230 can be synchronously controlled to move in the same direction along a straight line, achieving synchronous feed motion of the outer catheter device 420 and the inner catheter device 410 mounted on the manipulators 250. In the insertion direction, when the external catheter device 420 reaches the maximum insertion depth, the movement of the manipulator 250 with the external catheter device 420 can be locked, and the manipulator 250 with the internal catheter device 410 can be controlled to continue moving in a straight line to further control the insertion of the internal catheter device 410.

[0063] The internal catheter instrument 410 is an essential surgical tool, primarily used for performing procedures such as imaging, biopsy, and lesion resection. The external catheter instrument 420 mainly supports the internal catheter instrument 410 and enhances its bending and steering capabilities. In some embodiments, the external catheter instrument 420 is not mandatory, and the internal catheter instrument 410 can be used alone, as shown in the trolley 200, where only the internal catheter instrument 410 is required. In some scenarios, the internal catheter instrument 410 can be used alone without the external catheter instrument 420 in the trolley 200 shown in Figures 1 and 2. In the trolley 200 shown in Figure 1, only the robotic arm 230, a translational joint, and a manipulator 250 are needed. In the trolley 200 shown in Figure 2, only a robotic arm 230 and its manipulator 250 are needed.

[0064] Combination Figure 1 and Figure 2 Referring to the diagram, the trolley 200 includes two robotic arms 230 and two manipulators 250, with the manipulator 250 directly mounted at the end of the robotic arm 230. For example... Figure 2As shown, the trolley 200 may further include a sliding seat 220 that translates along the base 210210, with two robotic arms 230 fixedly connected to the sliding seat 220. For example, the sliding seat 220 may translate relative to the base 210210 in the vertical direction (up-down translation), or in the plane of the paper (left-right translation), or in a direction perpendicular to the plane of the paper (forward-backward translation). The robotic arms 230 may include multiple links connected at joints, providing multiple degrees of freedom for the robotic arms 230. The number of these degrees of freedom may be, for example, five or more. Typically, a joint and the link connected to the end of that joint can be defined as a joint assembly. For example, the robotic arm 230 includes seven links, which, together with adjacent joints, constitute seven corresponding degrees of freedom. In other embodiments, the robotic arm 230 may have fewer than five degrees of freedom, as long as the usage requirements are met.

[0065] The two robotic arms 230 can have the same or different structures. One robotic arm 230 is used to engage the inner catheter device 410, and the other robotic arm 230 is used to engage the outer catheter device 420. During installation, the outer catheter device 420 can be installed first. After the outer catheter device 420 is installed, the catheter of the inner catheter device 410 is inserted into the lumen of the catheter of the outer catheter device 420.

[0066] The sensor system 500 has one or more subsystems for receiving information about the catheter device 400. The subsystems may include: a position sensor system; and / or a shape sensor system for determining at least one of the position, orientation, velocity, rate, pose, and shape of the distal end of the catheter device 400 and / or along one or more segments of the catheter that may constitute the catheter device 400; and a visualization system for capturing images from a camera at the distal end of the catheter device 400.

[0067] The imaging vehicle 100 may be equipped with a display system 110, etc. The display system 110 is used to display images of the surgical site and catheter instruments 400 generated by subsystems of the sensor system 500. It can also display real-time images of the surgical site and catheter instruments 400 captured by a visualization system. Image data from imaging technologies such as computed tomography (CT), magnetic resonance imaging (MRI), optical coherence tomography (OCT), and ultrasound can also be used to present images of the surgical site recorded preoperatively or intraoperatively. Preoperative or intraoperative image data can be presented as two-dimensional, three-dimensional, or four-dimensional (e.g., time-based or rate-based information) images and / or as images from models created based on preoperative or intraoperative image datasets. Virtual navigation images can also be displayed. In the virtual navigation image, the actual position of the catheter instruments 400 is registered with the preoperative image to present a virtual image of the catheter instruments 400 within the surgical site to the operator from the outside.

[0068] The control system 600600 includes at least one memory and at least one processor communicatively connected to the robotic arm 230. It is understood that the control system 600600 can be integrated into the trolley 200 or the imaging cart 100, or it can be set up independently. The control system 600600 can support wireless communication protocols such as IEEE 802.11, IrDA, Bluetooth, HomeRF, DECT, and wireless telemetry. The control system 600600 can transmit one or more signals instructing the catheter device 400 to move, which is then moved by the power unit 240. The catheter device 400 can extend to the surgical site within the body through an opening in the patient's natural body cavity or a surgical incision.

[0069] Furthermore, the control system 600600 may include a mechanical control system 600 (not shown in the figure) and an image processing system (not shown in the figure). The mechanical control system 600 is used to control the movement of the catheter instrument 400, and therefore can be integrated into the trolley 200. The image processing system is used to plan the virtual navigation path, and therefore can be integrated into the imaging vehicle 100. Of course, the various subsystems of the control system 600600 are not limited to the specific cases listed above, and can be reasonably set according to the actual situation. Among them, the image processing system can image the surgical site based on images of the surgical site recorded before or during the operation, using the above-mentioned imaging technology. The image processing system can also combine manual input to convert the recorded images into two-dimensional or three-dimensional synthetic images of parts or the entire anatomical organ or segment. During the virtual navigation procedure, the sensor system 500 can be used to calculate the position of the catheter instrument 400 relative to the patient's anatomical structure. This position can be used to generate external tracking images and internal virtual images of the patient's anatomical structure, realizing the registration of the actual position of the catheter instrument 400 with the preoperative image, thereby presenting a virtual image of the catheter instrument 400 within the surgical site to the operator from the outside.

[0070] The internal catheter device 410 and the external catheter device 420 have largely the same structure, each having a slender and flexible internal catheter 41 and external catheter 42, respectively. The diameter of the external catheter 42 is slightly larger than that of the internal catheter 41, allowing the internal catheter 41 to pass through the lumen of the external catheter 42 and providing support for the internal catheter 41. This allows the internal catheter 41 to reach the first target location within the patient's body, facilitating tissue or cell sampling from that location. The catheter device 400 typically requires the use of an insertion guide 270, which is fixed to the operating table and connected to the patient's anatomical openings such as the mouth, nose, anus, or other natural cavities or surgical incisions. The guide 270 includes an insertion channel for guiding the insertion of the catheter device 400.

[0071] Certain movements of the user input device 300 can cause corresponding movements of the catheter instrument 400. For example, when the operator moves the direction lever of the user input device 300 up or down, the movement of the direction lever can be mapped to a corresponding pitch movement of the end of the catheter instrument 400; when the operator moves the direction lever of the user input device 300 left or right, the movement of the direction lever can be mapped to a corresponding yaw movement of the end of the catheter instrument 400. In this embodiment, the user input device 300 can control the end of the catheter instrument 400 to move within a 360° spatial range.

[0072] Figure 5 and Figure 6 A catheter device 400 according to an embodiment of this disclosure is shown. The catheter device 400 is configured to engage with a power unit 240 of a robotic arm 230. The catheter device 400 includes a device housing 45 configured to engage with the power unit 240 and a catheter 48 connected to the device housing 45. "Engagement" refers to a state where, when the device housing 45 is installed in the power unit 240, the driving force of the power unit 240 can be transmitted to the device housing 45, enabling the catheter 48 to move normally. For example, under the driving force of the power unit 240, the end of the catheter 48 can bend or change direction.

[0073] The instrument box 45 includes multiple drive wheels 451 configured to be driven by a power unit 240 and multiple drive wires 452. The power unit 240 includes multiple drive motors 241, and the drive motors 241, drive wheels 451, and drive wires 452 are arranged in a one-to-one correspondence. Each drive wheel 451 is configured to engage with a corresponding drive motor 241. That is, when the instrument box 45 is installed on the power unit 240, the corresponding drive motor 241 can drive the drive wheel 451 to rotate, and the corresponding drive wire 452 is wound on the drive wheel 451. The movable part of the corresponding drive wire 452, that is, the part not wound on the drive wheel 451, extends into the catheter 48, extends along the length of the catheter 48, and is finally fixed to the end of the catheter.

[0074] In this disclosure, the end, also referred to as the distal end or head, refers to the end away from the instrument box 45; the anterior end, also referred to as the proximal end or tail, refers to the end close to the instrument box 45.

[0075] A portion of the conduit 48, including its distal end, is a controllable segment 49, the distal end of which is the distal end of the conduit 48. The controllable segment 49 can be a joint assembly with high stiffness in the extension direction and low stiffness in the bending direction, capable of bending under the control of the drive wire 452, thereby achieving the steering of the conduit 48. In some embodiments, this joint assembly may be referred to as a snake skeleton.

[0076] In some embodiments, see Figure 7 This disclosure provides a control method for a catheterization robot, which can quickly complete preoperative preparation operations. This control method can be configured to be executed by a control system, and includes:

[0077] Step S101: Obtain the actual position of the guide in the reference coordinate system.

[0078] Step S102: Based on the actual position, determine the insertion axis of the guide at the insertion port.

[0079] Step S103: Obtain the first target distance of the desired manipulator from the insertion port on the insertion axis.

[0080] Step S104: Based on the first target distance, determine the first target position of the manipulator on the insertion axis of the insertion port.

[0081] Step S105: Control the manipulator to move to the first target position.

[0082] Since the actual position of the guide 270 is described in the reference coordinate system, the insertion axis determined based on this actual position can also be described in the reference coordinate system, and the first target position of the manipulator 250 on the insertion axis can also be described in the reference coordinate system. That is, all the above positions can be described in this reference coordinate system. For example, this reference coordinate system can be the base coordinate system of the trolley 200 in the conduit robot, which can reduce coordinate system transformation and facilitate the control of the manipulator 250.

[0083] Through steps S101 to S105, the insertion axis can be determined by positioning the guide 270 in space, and the position of the manipulator 250 on the insertion axis can be determined based on the obtained target distance. Then, the manipulator 250 can be automatically moved to the target position, which can improve the efficiency of preoperative preparation.

[0084] In a reference coordinate system, the position of the manipulator 250 is usually known. For example, when the reference coordinate system is the base coordinate system of the trolley 200, the position of the manipulator 250 can be obtained through forward kinematics. However, since the guide 270 is usually arranged independently of the trolley 200, the position of the guide 270 in the reference coordinate system is unknown to the trolley 200. A known relative positional relationship cannot be established between the two, which is detrimental to the motion control of the manipulator 250 in the trolley 200 relative to the guide 270 for preoperative preparation. Therefore, in step S101 above, the guide 270 can be positioned to obtain its actual position in the reference coordinate system, thereby establishing a relative positional relationship between the two in the same coordinate system. This facilitates the motion control of the manipulator 250 in the trolley 200 associated with the guide 270.

[0085] In some embodiments, such as Figures 2 to 4 As shown, to achieve positioning of the guide 270, the duct robot system 1000 may further include a positioning system 260 connected to the control system 600. This positioning system 260 may include one or more of an image vision positioning system 260, an electromagnetic wave positioning system 260, and a mechanical wave positioning system 260. These types of positioning systems 260 can remotely position the guide 270 without operator intervention. For example, the image vision positioning system 260 may include a stereo vision sensor. Another example is the electromagnetic wave positioning system 260, which may include an infrared positioning system 260, a radar positioning system 260, or a laser positioning system 260. Yet another example is the mechanical wave positioning system 260, which may include an ultrasonic positioning system 260.

[0086] The positioning system 260 can be selected to perform positioning in a limited number of directions, such as one or a few directions, but this is usually inefficient. To improve positioning efficiency, the positioning system 260 can be selected to perform area positioning, which can perform positioning within a specific area rather than in a limited number of directions. This area can be, for example, a sector or a rectangular area. Taking a sector as an example, the central angle of the sector can be, for example, between 60° and 180°, such as 120°, to cover a larger area.

[0087] When the positioning system 260 selects either the image vision positioning system 260 or the mechanical wave positioning system 260, it can perform area positioning due to its positioning principle.

[0088] When the positioning system 260 is an electromagnetic wave positioning system 260, because electromagnetic waves have strong directionality, in order to achieve area positioning, it is necessary to select an electromagnetic wave positioning system 260 with structural or methodological design capable of area positioning. For example, for an infrared positioning system 260 or a laser positioning system 260, a limited number of infrared beams or laser beams emitted by a limited number of transmitting units can be uniformly diffused by using an optical structure such as a light diffuser to achieve light diffusion at a large angle, thereby achieving area positioning.

[0089] In some embodiments, the positioning system 260 may also be a positioning system 260 capable of positioning in a limited number of directions. Without considering positioning efficiency, to achieve area positioning, the positioning system 260 can be designed to be capable of at least one of rotation and translation. Furthermore, a positioning system 260 capable of area positioning can be selected, and it can be designed to be capable of at least one of rotation and translation to achieve positioning over a larger range. For example, to achieve rotation of the positioning system 260, a driveable rotation mechanism can be provided to drive the positioning system 260 to rotate. For example, to achieve translation of the positioning system 260, a driveable translation mechanism can be provided to drive the positioning system 260 to translate.

[0090] In some embodiments, the positioning system 260 may be set on the trolley 200 or independently of the trolley 200. In any case, the positional relationship between the positioning system 260 and the reference coordinate system is known. For example, the positional relationship can be determined in advance by calibration or other means.

[0091] In some embodiments, the guide 270 can be positioned using a three-point positioning principle. The position of the guide 270 can be characterized by at least two positioning points disposed on the guide 270. For example, if there are two positioning points, the two positioning points may include a first positioning point and a second positioning point. The positioning system 260 can serve as a third positioning point. In some embodiments, multiple positioning points on the guide 270 can be disposed on the end face of its insertion port 2701, which is typically the face from which the receiving catheter instrument 400 begins to be inserted. Of course, multiple positioning points on the guide 270 can also be disposed on other outer surfaces of the guide 270, as long as positioning is convenient.

[0092] In some embodiments, the positioning system 260 can obtain the distance between the third positioning point and the first positioning point, and the distance between the third positioning point and the second positioning point. Although the position of the third positioning point in the reference coordinate system is known, since the positions of the second and third positioning points are both unknown, the positions of the first and second positioning points in the reference coordinate system cannot be determined based on the three-point positioning principle. Therefore, see [reference needed]. Figure 8 The control method disclosed herein also includes a positioning process, which includes:

[0093] Step S10: Control the positioning system to move.

[0094] Step S11: When the positioning system locates the first positioning point and the second positioning point, obtain the first positioning position of the positioning system, and obtain the first distance between the positioning system and the first positioning point, and the second distance between the positioning system and the second positioning point.

[0095] Step S12: Control the positioning system to move within the plane formed by the first positioning point, the second positioning point, and the first positioning position.

[0096] Step S13: When the positioning system locates the first positioning point and the second positioning point, obtain the second positioning position of the positioning system, and obtain the third distance between the positioning system and the first positioning point, and the fourth distance between the positioning system and the second positioning point.

[0097] Step S14: Determine the actual position of the first positioning point in the reference coordinate system based on the first positioning position, the second positioning position, the first distance, and the third distance; and determine the actual position of the second positioning point in the reference coordinate system based on the first positioning position, the second positioning position, the second distance, and the fourth distance.

[0098] When the positions of the first and second positioning points in the reference coordinate system are determined, it is equivalent to the position of the guide 270 in the reference coordinate system also being determined. In step S13, according to the three-point positioning principle, the third positioning point constitutes two positioning points at the first and second positioning positions in the reference coordinate system. Based on the first and third distances, the actual position of the first positioning point in the reference coordinate system can be determined. Similarly, based on the second and fourth distances, the actual position of the second positioning point in the reference coordinate system can be determined.

[0099] Combination Figure 9 Referring to the guide 270, a first positioning point B and a second positioning point C are provided. The positioning system 260 serves as a third positioning point, including a third positioning point A1 that is scanned to the first positioning point B and the second positioning point C in the first scan, and a third positioning point A2 that is scanned to the first positioning point B and the second positioning point C in the second scan. The first positioning point B can be positioned based on the third positioning point A1, the third positioning point A2, the distance a1 between the third positioning point A1 and the first positioning point B, and the distance a3 between the third positioning point A2 and the first positioning point B. The second positioning point C can be positioned based on the third positioning point A1, the third positioning point A2, the distance a2 between the third positioning point A1 and the second positioning point C, and the distance a4 between the third positioning point A2 and the second positioning point C. After the first positioning point B and the second positioning point C are positioned, the insertion axis E1E2 can be determined. In this example, the first positioning point B, the second positioning point C, the third positioning point A1, and the third positioning point A2 are located in the same plane, for example, all in a plane at the same height.

[0100] In some embodiments, the first positioning location, the second positioning location, the first positioning point, and the second positioning point can be configured to lie in the same plane to simplify calculations. This is because in three-dimensional space, the positions of all positioning points involved in the positioning process on one of the coordinate axes are known; it is only necessary to determine their positions on the other two coordinate axes. The positions of the first and second positioning points can be determined by constructing a distance equation within the plane.

[0101] In some embodiments, the first positioning position, the second positioning position, the first positioning point, and the second positioning point may also be configured not to be located in the same plane. In this case, the positions of the first positioning point and the second positioning point can also be determined by configuring one or more other positioning positions of the third positioning point and by constructing a distance equation in three-dimensional space.

[0102] For example, the first and second positioning points can be located based on more positioning locations to verify the positions of the first and second positioning points determined in steps S11 to S13. The positions of the first and second positioning points can be determined to be usable when the verification is passed (e.g., the error is less than a threshold). For example, see [link to relevant documentation]. Figure 9 The first positioning point B and the second positioning point C can be repositioned at the third positioning point A3, and used for verification.

[0103] In some embodiments, the positioning points on the guide 270 can be formed by at least one of the structural features and pattern features of the guide 270. For example, these positioning points can be formed by structural features such as protrusions or grooves provided on the guide 270, or by pattern features such as circular or triangular patterns provided on the guide 270. This is more suitable for image visual positioning system 260 to perform image visual positioning.

[0104] In some embodiments, such as Figure 10 As shown, the positioning points on the guide 270 can be composed of positioning units 2703 provided on the guide 270 for use with the positioning system 260, wherein one positioning point corresponds to one positioning unit 2703. For example, when the positioning system 260 is an electromagnetic wave positioning system, the positioning unit 2703 provided on the guide 270 can be a positioning unit with reflective properties to electromagnetic waves. For example, for infrared positioning systems and laser positioning systems, the positioning unit 2703 can be a reflective sticker.

[0105] In some embodiments, a positioning system 260 with regional positioning capabilities may be selected, and the positioning system 260 may be disposed in the manipulator assembly in the trolley 200. For example, since the manipulator 250 typically has a larger and more flexible range of motion, the positioning system 260 may be disposed in the manipulator 250 so that the positioning system 260 can perform regional positioning in a larger and more flexible space by controlling the movement of the manipulator 250.

[0106] For example, two positioning points on the guide 270 can be set on the end face of its insertion port 2701. The positioning system 260 can determine how to position the two positioning points based on the plane in Cartesian space where the end face of the two positioning points is located, and the direction of the line connecting the two positioning points in Cartesian space (i.e., the direction of extension).

[0107] In some embodiments, it is assumed that the Cartesian space includes a first coordinate system comprising a first axis, a second axis, and a third axis that are orthogonal to each other. When the plane on which the end faces of the two positioning units 2703 are located is the plane formed by the first axis and the third axis, and the line connecting the two positioning units 2703 is the first axis, it can be determined that the plane containing the positioning area of ​​the positioning system 260 is the plane formed by the first axis and the second axis. Furthermore, the positioning system 260 can be controlled to move along the third axis, that is, it can scan the plane formed by the first axis and the third axis in the Cartesian space, ultimately achieving the positioning of the two positioning points.

[0108] Specifically, when the positioning system 260 moves along the third axis and scans two positioning points, it can maintain its position on the third axis and change its position in the plane formed by the first and second axes to rescan the two positioning points. Furthermore, based on the ranging information obtained from the two simultaneous scans of the positioning points and the position information of the positioning system 260, the positioning of the two positioning points can be achieved.

[0109] Assume that Cartesian space includes a fixed coordinate system, which includes an XYZ axis coordinate system. For example, the X-axis points along the left-right direction of the paper, the Y-axis points perpendicular to the paper, and the Z-axis points vertically. The first coordinate system can be a coordinate system obtained by translation or rotation of the fixed coordinate system. In some embodiments, the reference coordinate system can be this fixed coordinate system.

[0110] For ease of understanding, assume the first coordinate system is a coordinate system obtained by translation of a fixed coordinate system. The first, second, and third axes of the first coordinate system correspond to one of the X, Y, and Z axes, respectively. For example:

[0111] The first axis can be the X-axis, the second axis can be the Y-axis, and the third axis can be the Z-axis; or...

[0112] The first axis can be the X-axis, the second axis can be the Z-axis, and the third axis can be the Y-axis; or...

[0113] The first axis can be the Y-axis, the second axis can be the X-axis, and the third axis can be the Z-axis; or...

[0114] The first axis can be the Y-axis, the second axis can be the Z-axis, and the third axis can be the X-axis; or...

[0115] The first axis can be the Z-axis, the second axis can be the X-axis, and the third axis can be the Y-axis; or...

[0116] The first axis can be the Z-axis, the second axis can be the Y-axis, and the third axis can be the X-axis.

[0117] In some embodiments, the insertion port 2701 can typically be positioned upwards (along the Z-axis), to the left (along the X-axis), to the right (along the X-axis), forwards (along the Y-axis), or backwards (along the Y-axis) to facilitate the insertion of the catheter instrument 400. Of course, the orientation of the insertion port 2701 can also have a certain tilt angle. The orientation of the insertion port 2701 is determined, and the plane on which its end face lies can also be determined. For ease of further understanding, let's assume that the plane on which the end faces of the two positioning units 2703 lie is a plane formed by the X and Z axes:

[0118] If the line connecting the two positioning units 2703 lies on the X-axis, the plane containing the positioning area of ​​the positioning system 260 can be determined to be the plane formed by the X and Y axes. By controlling the positioning system 260 to move along the Z-axis, it can scan the plane formed by the X and Z axes in Cartesian space, ultimately achieving the positioning of the two positioning points.

[0119] If the line connecting the two positioning units 2703 lies on the Z-axis, the plane containing the positioning area of ​​the positioning system 260 can be determined to be the plane formed by the Y and Z axes. By controlling the positioning system 260 to move along the X-axis, it can scan the plane formed by the X and Z axes in Cartesian space, ultimately achieving the positioning of the two positioning points.

[0120] In some embodiments, after the guide 270 is fixed, the target plane where the desired positioning area of ​​the positioning system 260 is located and the target movement path of the target plane can be determined based on the configuration information of the two positioning units 2703. When the positioning system 260 is set on the manipulator 250, the positioning area of ​​the positioning system 260 can be controlled to move to the target plane and move the target plane according to the target movement path by controlling the movement of the manipulator 250. The configuration information of the two positioning units 2703 may include the plane where the end faces of the two positioning units 2703 are located and the direction of the line connecting the two positioning units 2703.

[0121] In some embodiments, the target plane and target movement path corresponding to the configuration information of the two positioning units 2703 can be configured by combining the characteristics of the trolley 200 and the positioning system 260 mounted on it. In some embodiments, the target plane and target movement path corresponding to each type of configuration information can be preset based on one or more configuration information determined for the two positioning units 2703. During preoperative preparation, the guide 270 is fixed in such a way that the two positioning units 2703 can meet one of the configuration information requirements. The operator can determine the target plane and target movement path matching the configuration information based on the configuration information of the two positioning units 2703 obtained by means such as visual inspection, through a user input device 300 or other input device. Then, the control system 600 controls the positioning area to reach the target plane and moves the positioning area based on the determined target plane and target movement path. For example, if the configuration information is that the plane where the end faces of the two positioning units 2703 are located is a plane formed by the X and Z axes, and the line connecting the two positioning units 2703 is on the X axis, then the target plane can be determined to be a plane formed by the X and Y axes, and the target motion path is a motion path moving along the Z axis direction, wherein the movement can be a reciprocating movement.

[0122] In some embodiments, for the trolley 200 shown in Figures 1 and 2, the installation of the catheter instrument 400 can be unilateral, meaning it can only be installed in one direction. The positioning system 260 can be positioned on the manipulator 250 relative to the translational joint, taking into account the movement characteristics of the manipulator 250 relative to the translational joint. For example, the plane containing the positioning area of ​​the positioning system 260 can be positioned perpendicular to the movement direction of the manipulator 250 in the translational joint.

[0123] For example, if the plane containing the end faces of the two positioning units 2703 is a plane formed by the first and third axes, and the line connecting the two positioning units 2703 is along the first axis, the target plane can be determined to be a plane formed by the first and second axes, and the target motion path can be determined to be a path along the third axis. Furthermore, the robotic arm 230 can be controlled to move so that the translation joint is parallel to the third axis. At this time, the positioning area also forms the target plane, i.e., the positioning area is a plane formed by the first and second axes. Then, by controlling the manipulator 250 to move relative to the translation joint, the positioning area can be controlled to move along the third axis to scan the plane formed by the first and second axes, thereby achieving the positioning of the two positioning units 2703.

[0124] In some embodiments, for the trolley 200 shown in the figure, the positioning system 260 can also be disposed on the manipulator 250. For example, the plane in which the positioning area of ​​the positioning system 260 is located can be set in a direction perpendicular to the sliding base 210 and translating relative to the base 210.

[0125] For example, when the sliding base 210 translates relative to the base 210 vertically (along the Z-axis), it corresponds to the case where the plane where the end faces of the two positioning units 2703 are located is the plane formed by the X-axis and Z-axis, and the line connecting the two positioning units 2703 is on the X-axis. Therefore, the target plane can be determined to be the plane formed by the X-axis and Y-axis, and the target movement path can be determined to be a path along the Z-axis. Similarly, when the sliding base 210 translates relative to the base 210 forward and backward (along the Y-axis), it corresponds to the case where the plane where the end faces of the two positioning units 2703 are located is the plane formed by the X-axis and Z-axis, and the line connecting the two positioning units 2703 is on the Z-axis. Therefore, the target plane can be determined to be the plane formed by the X-axis and Z-axis, and the target movement path can be determined to be a path along the Y-axis.

[0126] In some embodiments, for the trolley 200 shown in the figure, the installation of the catheter instrument 400 can be bilateral, that is, it can be installed in two directions. One or two positioning systems 260 can be provided on the manipulator 250 to identify whether it is a first-side installation or a second-side installation. When one positioning system 260 is provided, the positioning system 260 can be fixed relative to the manipulator 250, so that the positioning system 260 is positioned towards the first side or the second side based on the rotation of the manipulator 250; the positioning system 260 can also be rotated relative to the manipulator 250, so that the positioning system 260 is positioned towards the first side or the second side based on the rotation of the positioning system 260. When two positioning systems 260 are provided, the two positioning systems 260 can be respectively provided on two manipulators 250 and arranged back to back, or the two positioning systems 260 can be provided on one manipulator 250 and arranged back to back, so as to achieve positioning towards the first side or the second side. Specifically, when the positioning system 260 locates the positioning unit 2703 on the first side, it can be considered that the first-side installation has been identified; when the positioning system 260 locates the positioning unit 2703 on the second side, it can be considered that the second-side installation has been identified. Identifying the first-side installation or the second-side installation is used to determine which manipulator 250 is used for the external catheter instrument 420 and which manipulator 250 is used for the installation of the internal catheter instrument 410.

[0127] In some embodiments, in step S102, the insertion axis of the guide 270 at the insertion port 2701 can be determined based on the actual positions of the first and second positioning points, which characterize the position of the guide 270, in the reference coordinate system. The insertion port 2701 is the port through which the catheter device 400 is inserted into the guide 270. Aligning the insertion port 2701 with the catheter device 400 in its straight state facilitates insertion and prevents scratching of the catheter device 400 at the insertion port 2701, while also reducing resistance to the feed movement of the catheter device 400. Alignment of the insertion port 2701 with the catheter device 400 in its straight state can be further characterized as the insertion axis of the insertion port 2701 essentially coinciding with the axis of the catheter device 400 in its straight state. The straight state of the catheter device 400 typically refers to the guide tube (such as the inner catheter 41 or the outer catheter 42) being in a straight state, i.e., in its initial zero-position state. Since the catheter device 400 is mounted on the manipulator 250, and the catheter of the catheter device 400 can also be considered to extend from the manipulator 250, when the insertion port 2701 is aligned with the catheter device 400 in its straight state, the manipulator 250 is also effectively aligned with the insertion port 2701. At this time, the manipulator 250 is also located or substantially located on the insertion axis. Furthermore, when the manipulator 250 is not equipped with the catheter device 400, it can be aligned with the insertion port 2701 by means of the manipulator 250. To achieve the feed movement of the catheter device 400, the manipulator 250 can generally move along the direction of this insertion axis.

[0128] In some embodiments, the line connecting the first and second positioning points of the guide 270 can be defined as the first axis. By determining this first axis, the plane containing the insertion port 2701 can be substantially determined. The first axis and the insertion axis of the insertion port 2701 typically have a known positional relationship, which can be expressed as a slope relationship, for example, and can be determined in advance by means of calibration. In the reference coordinate system, after the positions of the first and second positioning points are determined, the first axis is also determined. Based on the first axis and the positional relationship between the first axis and the insertion axis of the insertion port 2701, the insertion axis of the insertion port 2701 can be determined.

[0129] For example, to simplify calculations, when designing the first and second positioning points, they can be symmetrically arranged on both sides of the insertion axis of the insertion port 2701. In this case, the insertion axis is equivalent to the perpendicular bisector of the first axis, wherein the extension direction of the perpendicular bisector is usually the direction of the normal vector of the plane where the insertion port 2701 is located, which is also the feed direction of the catheter instrument 400.

[0130] In some embodiments, in step S103, the minimum requirement for the first target distance to be obtained may be that when the instrument box of the catheter instrument 400 is mounted on the manipulator 250, the catheter of the catheter instrument 400 can be inserted into the insertion port 2701.

[0131] The first target distance should not be too large. If it is too large, the distance between the manipulator 250 and the insertion port 2701 will be too far. Obviously, the catheter of the catheter device 400 may not have enough length to be inserted into the insertion port 2701.

[0132] Of course, the first target distance should not be too small, but rather appropriate. Specifically, after the manipulator 250 moves to the first target distance of the insertion axis, the operator can install the catheter instrument 400 in two installation sequences. In the first installation sequence, the catheter of the catheter instrument 400 is first inserted into the guide 270 through the insertion port 2701, and then the instrument box of the catheter instrument 400 is installed into the manipulator 250. In the second installation sequence, the instrument box of the catheter instrument 400 is first installed into the manipulator 250, and then the catheter of the catheter instrument 400 is inserted into the guide 270 through the insertion port 2701.

[0133] If the initial target distance is too small, and the distance between the manipulator 250 and the insertion port 2701 is very close, firstly, there is not enough space between the manipulator 250 and the insertion port 2701 to insert the catheter of the catheter device 400 into the insertion port 2701; secondly, in the first installation sequence, the device box of the catheter device 400 has not yet established a connection with the manipulator 250, so the catheter device 400 cannot provide a field of view, nor can it provide a master-slave mapping relationship between the catheter device 400 and the input device to realize the feeding and turning control of the catheter tip. The entire insertion of the catheter is in a blind insertion and uncontrolled state. Furthermore, since the length of the catheter needs to be contained within the guide 270 and / or the patient's anatomical structure, the excess length of the catheter can easily lead to the catheter being inserted into the anatomical structure. Such hasty insertion can easily generate great safety risks. Furthermore, even in the second installation sequence, the above two problems still exist. For example, compared to the first installation sequence, since the insertion of the catheter is related to the feed movement of the manipulator 250 along the insertion axis, when the distance between the manipulator 250 and the insertion port 2701 is too close, the insertion of the catheter cannot be achieved by controlling the movement of the manipulator 250 and still depends on the manual insertion of the operator. Therefore, at least there is a problem that the insertion of the catheter is uncontrolled, which affects safety.

[0134] In some embodiments, the guide 270 also includes an extension 2702, which is typically used to connect to an anatomical through-hole in the patient. The path between the insertion port 2701 and the extension port 2702 can be a straight line, a curve, or a combination of both. Typically, at the insertion port 2701, it is a straight line. The length from the insertion port 2701 to the extension port 2702 is generally known. The minimum first target distance, i.e., the minimum target distance, can be determined based on the length of the catheter of the catheter device 400 and the length from the insertion port 2701 to the extension port 2702, for example, it can be the difference between the two. The maximum first target distance, i.e., the maximum target distance, can be determined based on the length of the catheter of the catheter device 400, for example, it can be the length of the catheter.

[0135] In some embodiments, the first target distance can be configured as the maximum target distance. When the instrument box of the catheter instrument 400 is installed to the manipulator 250 and the catheter of the catheter instrument 400 is inserted through the insertion port 2701, the end of the catheter basically reaches the insertion port 2701 of the guide 270, and the feeding and bending movements of the catheter can be precisely controlled from the insertion port 2701 under the field of view.

[0136] In some embodiments, the first target distance can be configured as the minimum target distance. When the instrument box of the catheter instrument 400 is installed onto the manipulator 250 and the catheter of the catheter instrument 400 is inserted through the insertion port 2701, the end of the catheter essentially reaches the protrusion port 2702 of the guide 270. Since the protrusion port 2702 of the guide 270 is positioned close to or adjacent to the patient's anatomical through-hole, the operator can directly start from the protrusion port 2702 and quickly control the feeding and turning of the catheter within the field of vision. Compared to when the first target distance is configured as the maximum target distance, which requires the operator to control the feeding and turning of the catheter from the insertion port 2701 of the guide 270, this can save the time the operator spends controlling the insertion of the catheter from the insertion port 2701 to the protrusion port 2702 of the guide 270, and can significantly improve surgical efficiency.

[0137] In some embodiments, configuring the first target distance as any distance within the interval between the minimum and maximum target distances (including the endpoints) is generally suitable. The first target distance can be automatically configured from this interval according to preset rules. For example, the first target distance can be configured as the minimum target distance. For example, the first target distance can be configured as the maximum target distance. Yet another example is that the first target distance can be configured as the average of the minimum and maximum target distances. Of course, any other suitable value is also possible.

[0138] In some embodiments, various known parameters of this disclosure, such as the relative positional relationship between the positioning system 260 and the reference coordinate system, and the length from the insertion port 2701 to the extension port 2702 of the guide 270, can be stored in advance in the control system 600, such as in the memory of the control system 600.

[0139] In some embodiments, the first target distance can be configured as an initial value. For example, this initial value can be determined through statistical analysis. This can be achieved by obtaining the minimum and maximum target distances of multiple potentially used catheter devices 400 of similar length, determining the longest minimum target distance from the multiple minimum target distances, and determining the shortest maximum target distance from the multiple maximum target distances, and then determining the initial value based on the longest and shortest minimum target distances. Alternatively, one catheter device 400 of similar length can be selected, its minimum and maximum target distances can be determined, and the initial value can be determined based on these minimum and maximum target distances. The initial value of the first target distance can be configured as any value within the range of the minimum and maximum target distances.

[0140] When the first target distance is an initial value, this initial value can be stored in the memory of the control system 600. Step S103 involves reading this initial value from the memory as the first target distance. In some embodiments, when the first target distance is the initial value, it is used to move the manipulator 250 to a default position on the insertion axis of the insertion port 2701 to accommodate the installation of various catheter devices 400 of substantially the same length. However, the control method of this disclosure also aims to be compatible with the installation and use of catheter devices 400 of specific lengths. For ease of explanation, catheter devices 400 of substantially the same length suitable for the initial value can be designated as first-class catheter devices; catheter devices 400 of shorter length than first-class catheter devices can be designated as second-class catheter devices; and catheter devices 400 of longer length than first-class catheter devices can be designated as third-class catheter devices. The length of the first-class catheter devices is typically significantly different from the lengths of the second-class and third-class catheter devices.

[0141] like Figure 10 Figure 11 As shown, Figure 10 This is a schematic diagram illustrating the principle that the distal end of the catheter in the catheter device of this disclosure is aligned with the protrusion of the guide. Figure 11This is a schematic diagram illustrating the principle of aligning the distal end of the catheter of the disclosed catheter device with the insertion port of the guide. For the first type of catheter device, assuming the first target distance is expressed as L, and assuming the known length of the first type of catheter device is L1, and the known length from the insertion port 2701 to the protrusion port 2702 of the guide 270 is L0, it can be seen that, to accommodate the installation of the first type of catheter device, the first target distance should satisfy the relationship: L1-L0≤L≤L1. Where L1-L0 represents the minimum target distance, and L1 represents the maximum target distance.

[0142] The manipulator 250 is in the default position at the first target distance on the insertion axis of the insertion port 2701. Although this is suitable for the installation of first-class catheter devices, for second-class catheter devices, the length between the manipulator 250 and the insertion port 2701 may be too small to install the second-class catheter device. Alternatively, for third-class catheter devices, the length from the manipulator 250 to the protrusion 2702 of the guide 270 may be too small to install the third-class catheter device.

[0143] like Figure 12 As shown, Figure 12 This is a schematic diagram illustrating a state in an embodiment where the length of the catheter device disclosed herein is unsuitable for the manipulator to be in the default position. For example, for a second type of catheter device, assuming the known length of the second type of catheter device is L2 (L2 < L1), if L2 < L, it indicates that the first target distance L determined based on the length L1 of the first type of catheter device is unsuitable for the installation of the second type of catheter device. Because the distance between the manipulator 250 and the insertion port 2701 is too small, the catheter of the second type of catheter device cannot be inserted into the insertion port 2701 while simultaneously engaging its device housing with the manipulator 250, which is in the default position at the first target distance on the insertion axis of the insertion port 2701.

[0144] like Figure 13 As shown, Figure 13This is a schematic diagram of another embodiment where the length of the catheter device disclosed herein is unsuitable for the manipulator to be in the default position. For example, for a third type of catheter device, assuming the known length of the third type of catheter device is L3 (L3 > L1), if L3 > L + L0, it indicates that the first target distance L determined based on the length L1 of the first type of catheter device is also unsuitable for the installation of the third type of catheter device. Because the distance between the manipulator 250 and the protrusion 2702 of the guide 270 is too small, when the device case of the third type of catheter device is installed to the manipulator 250 in the default position at the first target distance on the insertion axis of the insertion port 2701, its catheter will protrude from the protrusion 2702. Alternatively, when the catheter of the third type of catheter device reaches the protrusion 2702 but does not protrude from the protrusion 2702, its device case is engaged to the manipulator 250 in the default position at the first target distance on the insertion axis of the insertion port 2701.

[0145] In some embodiments, it is not necessary to distinguish whether the catheter device 400 to be installed is a Class I, Class II, or Class III catheter device, as long as the length of the catheter device 400 to be installed meets the minimum installation requirement. This minimum installation requirement includes that the length of the catheter device 400 to be installed is between a first target distance and a safe distance, where the safe distance is the sum of the first target distance and the length between the insertion port 2701 and the extension port 2702 of the guide 270. For ease of understanding, it can be assumed that the known length of the catheter device 400 to be installed is L', and it is sufficient that the relationship L ≤ L' ≤ L + L0 is satisfied, where L + L0 represents the safe length.

[0146] In some embodiments, if L' < L or L' > L + L0, it indicates that the manipulator 250 is not suitable for installing the catheter device 400 in its current position. In this case, the target distance of the manipulator 250 on the insertion axis of the insertion port 2701 can usually be re-determined based on the actual length of the catheter device 400 to be installed, and the current position of the manipulator 250 can be adjusted according to the re-determined target position to meet the installation requirements of the catheter device 400. For ease of understanding, the re-determined target distance is referred to as the second target distance.

[0147] In some embodiments, such as Figure 14 As shown, when the first target distance uses an initial value, after step S105, the control method of this disclosure may further include:

[0148] Step S106: Obtain the length of the catheter device to be installed.

[0149] Step S107: Detect whether the length of the catheter device to be installed is between the first target distance and the safe distance.

[0150] If the length of the catheter device 400 to be installed is not between the first target distance and the safe distance, step S108 is executed; otherwise, step S111 is executed.

[0151] Step S108: Determine the second target distance based on the length of the catheter device to be installed.

[0152] The principles for determining the distance to the second target are basically the same as those for determining the distance to the first target, and will not be repeated here.

[0153] Step S109: Based on the second target distance, determine the second target position of the manipulator on the insertion axis of the insertion port.

[0154] Step S110: Control the manipulator to move to the second target position.

[0155] Step S111: The control prompt device prompts the installation of catheter instruments.

[0156] For example, the user input device 300 and / or the manipulator 250 are provided with a prompting device connected to the control system 600, which may include at least one of a user interface, indicator lights, a speaker, etc.

[0157] When the length of the catheter instrument 400 to be installed is between the first target distance and the safe distance, there is no need to readjust the position of the manipulator 250, which avoids unnecessary adjustments and saves surgical preparation time.

[0158] Through steps S106 to S110, the manipulator 250 can be readjusted to a suitable position to accommodate the installation of unspecified catheter instruments 400.

[0159] In step S105 or step S110, the corresponding target position can be resolved into the corresponding target joint variables of the joint components in the manipulator assembly through inverse kinematics, and the movement of the joint components in the manipulator assembly can be controlled according to the target joint variables.

[0160] The length of the catheter instrument to be installed can be obtained in a variety of ways in step S106.

[0161] For example, the length of the catheter device 400 to be installed can be obtained through the user input device 300. For instance, the identification information of the catheter device 400 can be entered, and the length of the catheter device 400 can be determined based on the identification information. Alternatively, the length of the catheter device 400 can be entered directly.

[0162] For example, the manipulator 250 may be equipped with a reading unit for reading attribute information of the catheter device 400, and the device holder of the catheter device 400 may be equipped with a storage unit for storing the attribute information of the catheter device 400. The reading unit can read the attribute information of the catheter device 400 from the storage unit and send it to the control system 600. The attribute information includes, but is not limited to, at least one of the following: the identification information, length, and type of the catheter device 400. The type of the catheter device 400 may include, for example, the internal catheter device 410 and the external catheter device 420. The length of the catheter device 400 can be obtained by the reading unit. The reading unit may include at least one of a contact reading unit and a non-contact reading unit. For example, when the reading unit includes a contact reading unit, the reading unit can contact the storage unit to achieve the reading function when the device holder of the catheter device 400 is engaged with the manipulator 250. As another example, when the reading unit includes a non-contact reading unit and the storage unit includes an electronic tag used in conjunction with the reading unit, the reading function can be achieved when the device holder of the catheter device 400 is within a certain range of the manipulator 250, without needing to engage the device holder with the manipulator 250. The contactless reading unit can be, for example, an NFC module, and the corresponding storage unit can be an NFC tag; alternatively, the contactless reading unit can be an RFID module, and the corresponding storage unit can be an RFID tag. The first installation sequence is more suitable for situations using contactless reading units compared to the second installation sequence.

[0163] For example, the catheter robot system 1000 may further include a tray for storing catheter instruments 400. The tray is equipped with a sensor switch and a reading unit respectively connected to the control system 600. The instrument box of the catheter instruments 400 may be equipped with a storage unit for storing attribute information of the catheter instruments 400. The sensor switch is used to sense the removal of the catheter instruments 400 from the tray. Removing the catheter instruments 400 from the tray typically indicates that the operator intends to install the catheter instruments 400 on the manipulator 250. When the removal of the catheter instruments 400 is sensed, the reading unit reads the attribute information of the catheter instruments 400 from the storage unit and sends it to the control system 600. The control system 600 obtains the length of the catheter instruments 400 from the attribute information. This reading unit may be, for example, a non-contact reading unit. By obtaining the length of the catheter instruments 400 when they are removed from the tray, the manipulator 250 can be adjusted to the appropriate installation position earlier.

[0164] In some embodiments, the control method of this disclosure may further include, after obtaining the length of the catheter device 400 to be installed, during the surgical phase, rather than the preoperative or postoperative phase, determining, based on the obtained length, the maximum retraction amplitude of the manipulator 250 along the insertion axis of the insertion port 2701, and limiting the retraction of the manipulator 250 along the insertion axis of the insertion port 2701 based on the maximum amplitude. This prevents the tip of the catheter device 400 from disengaging from the insertion port 2701 when the catheter device 400 is retracted. Exemplarily, the maximum retraction amplitude may be determined to be substantially equivalent to, such as the same as or slightly smaller than, the length of the catheter device 400 to be installed.

[0165] In some embodiments, the first target distance may not use the initial value, but is determined in real time and accurately based on the length of the catheter device 400 to be installed, thus eliminating the need for readjustment as described in steps S106 to S110, achieving a one-time adjustment. It is sufficient to obtain the length of the catheter device 400 to be installed before step S103 using the method described in any of the above embodiments; this will not be repeated here.

[0166] The above embodiments are applicable to trolleys 200 in which the position of the manipulator 250 can be adjusted by the robotic arm 230. For example, in the trolley 200 shown in the figure, in the scenario of using a single catheter instrument 400 (such as an internal catheter instrument 410), it is only necessary to align one manipulator 250 with the insertion port 2701 of the guide 270 and adjust it to a suitable installation position, and the above embodiments can be directly applied. For example, in the trolley 200 shown in Figures 1 and 2, which includes two manipulators 250, in the scenario of using a single catheter device 400 (such as an internal catheter device 410), it is only necessary to align one manipulator 250 with the insertion port 2701 of the guide 270 and adjust it to a suitable installation position, and the above embodiment can be directly applied. In the scenario of using two catheter devices 400 (the internal catheter 41 of the internal catheter device 410 is inserted into the external catheter 42 of the external catheter device 420), it is necessary to align the two manipulators 250 with the insertion port 2701 of the guide 270 respectively and adjust them to a suitable installation position. This can be improved based on the principles or methods adopted in the above embodiments to meet the applicability requirements.

[0167] In some embodiments, such as Figure 15 As shown, when different manipulators 250 are controlled by different robotic arms 230 and the manipulators 250 are not mounted on translational joints, and when the manipulators 250 include a first manipulator 2501 and a second manipulator 2502, and one of the first manipulator 2501 and the second manipulator 2502 is used to install an external catheter device 420 and the other is used to install an internal catheter device 410, this disclosure can also provide a control method, which includes:

[0168] Step S201: Obtain the actual position of the guide in the reference coordinate system.

[0169] Step S202: Based on the actual position, determine the insertion axis of the guide at the insertion port.

[0170] Step S203: Obtain the first target distance between the desired first manipulator and the insertion port on the insertion axis, and obtain the second target distance between the desired second manipulator and the insertion port on the insertion axis.

[0171] Assume that the first manipulator 2501 is the manipulator 250 for installing the external catheter instrument 420, and the second manipulator 2502 is the manipulator 250 for installing the internal catheter instrument 410. Typically, the first manipulator 2501 is closer to the guide 270 than the second manipulator 2502.

[0172] The rules for obtaining the first target distance are generally the same as those for obtaining the second target distance, so that the end of the external catheter 42 of the external catheter instrument 420 installed in the first manipulator 2501 and the end of the internal catheter 41 of the internal catheter instrument 410 installed in the second manipulator 2502 are substantially aligned at any identical position within the interval from the insertion port 2701 to the protrusion port 2702 of the guide 270. For ease of understanding, for example, as Figure 16 As shown, the protrusion 2702 can be selected as the alignment position of the end of the external catheter 42 and the end of the internal catheter 41; or, as... Figure 17 As shown, the insertion port 2701 can be selected as the alignment position of the end of the external catheter 42 and the end of the internal catheter 41. Based on this alignment position, and in conjunction with the length of the external catheter device 420, a first target distance is determined, and in conjunction with the length of the internal catheter device 410, a second target distance is determined. The length of the catheter device 400 in this disclosure can generally refer to the length of the catheter; for example, the length of the external catheter device 420 can refer to the length of the external catheter 42, and the length of the internal catheter device 410 can refer to the length of the internal catheter 41.

[0173] In some embodiments, when using the internal catheter device 410, the distal end of the internal catheter 41 extends at least a target length beyond the distal end of the external catheter 42. The difference between the second target distance and the first target distance may be at least greater than this target length.

[0174] The minimum target length includes the length from the target surgical site on the patient's anatomy to the anatomical opening. This corresponds to the situation where the ends of the external catheter 42 and the internal catheter 41 are substantially aligned at the protrusion 2702 of the guide 270. When the ends of the external catheter 42 and the internal catheter 41 are substantially aligned at other locations between the insertion port 2701 and the protrusion 2702 of the guide 270, the target length is usually greater than this minimum value, because in this case, the target length should also include the length from the alignment position to the protrusion 2702.

[0175] Step S204: Based on the first target distance, determine the first target position of the first manipulator on the insertion axis of the insertion port, and based on the second target distance, determine the second target position of the second manipulator on the insertion axis of the insertion port.

[0176] Step S205: Control the first manipulator to move to the first target position, and control the second manipulator to move to the second target position.

[0177] After step S205, the entire surgical preparation process is completed by installing the internal and external catheter instruments 420 onto their respective manipulators 250. In some embodiments, the external catheter instrument 420 may be installed first, followed by the internal catheter instrument 410. In some embodiments, the internal catheter instrument 410 may be installed first, followed by the external catheter instrument 420.

[0178] In some embodiments, the first target distance in step S203 needs to be determined based on the length of the catheter device 400 to be installed on the first manipulator 2501, and the second target distance needs to be determined based on the length of the catheter device 400 to be installed on the second manipulator 2502. The method for obtaining the first and second target distances in step S203 can refer to the method for obtaining the first target distance in step S103. In short, each target distance needs to be between the minimum and maximum target distances of the corresponding catheter device 400. For example, assuming each target distance is expressed as L, and assuming the known length of the corresponding catheter device 400 is L1, and the known length from the insertion port 2701 to the extension port 2702 of the guide 270 is L0, it can be seen that, to accommodate the installation of the corresponding catheter device, each target distance should satisfy the relationship: L1-L0≤L≤L1. Where L1-L0 represents the minimum target distance, and L1 represents the maximum target distance.

[0179] In some embodiments, the first target distance and the second target distance in step S203 can be initial values, which can be stored in the memory of the control system 600. For rational purposes, since the length of the internal catheter device 410 is generally greater than the length of the external catheter device 420, the initial value of the second target distance should be greater than the initial value of the first target distance. The initial values ​​of the first and second target distances can be determined according to the same rule, which includes that the ends of the external catheter 42 and the internal catheter 41 are substantially aligned at any identical position within the interval from the insertion port 2701 to the protrusion port 2702 of the guide 270; that is, the basis for calculating each initial value is the same.

[0180] For example, the initial value of the first target distance can be determined based on the minimum and maximum target distances of multiple external catheter devices 420, and the initial value of the second target distance can be determined based on the minimum and maximum target distances of multiple internal catheter devices 410. Alternatively, the initial value of the first target distance can be determined based on the minimum and maximum target distances of the multiple external catheter devices 420, and the initial value of the second target distance can be determined based on this initial value; for example, adding a preset offset value to the initial value of the first target distance will determine the initial value of the second target distance. Similarly, the initial value of the second target distance can be determined based on the minimum and maximum target distances of the multiple internal catheter devices 410, and the initial value of the second target distance can be determined based on this initial value; for example, subtracting a preset offset value from the initial value of the second target distance will determine the initial value of the first target distance. The offset value can also be stored in the memory of the control system 600 for determining the corresponding target distance.

[0181] In some embodiments, see Figure 18 If the first target distance or the second target distance uses an initial value, then after step S205, the following may be included:

[0182] Step S206: In response to the first manipulator moving to the first target position and the second manipulator moving to the second target position, the initial installation sequence of the internal and external catheter instruments is obtained, and the first catheter instrument is determined based on the initial installation sequence.

[0183] The internal catheter device 410 and the external catheter device 420 may include an initial installation sequence, which may include installing the external catheter device 420 first and then the internal catheter device 410, or vice versa. For ease of description, under the initial installation sequence, the catheter device 400 that is expected to be installed first can be defined as the "pre-installed catheter device 400," and the catheter device 400 that is expected to be installed later can be defined as the "post-installed catheter device 400." The initial installation sequence may be stored in the memory of the control system 600, or it may be set in real time according to the operator's habits.

[0184] Step S207: Determine the pre-defined target position associated with the first target position and the second target position based on the pre-defined catheter instrument.

[0185] The initial target location can usually be determined based on the type of the initial catheter device 400. For example, if the initial catheter device 400 is an external catheter device 420, the initial target location is the first target location. As another example, if the initial catheter device 400 is an internal catheter device 410, the initial target location is the second target location. After determining the initial target location, the subsequent target location can naturally be determined.

[0186] Step S208: Detect whether there is a pre-set catheter device that meets the pre-set target location for installation.

[0187] The control system 600 can acquire attribute information of all the catheter devices 400 stored in the system. Based on the type and length of the catheter devices 400 in the attribute information, it can determine whether there are any pre-set catheter devices 400 that can be installed at a pre-set target location, and it can also determine whether there are any post-set catheter devices 400 that can be installed at a post-set target location. In step S208, if a pre-set catheter device 400 that can be installed at a pre-set target location is detected, step S209 is executed; otherwise, step S212 is executed.

[0188] Step S209: Based on the pre-set catheter device, determine the pre-set manipulator associated with the first manipulator and the second manipulator, and control the indicator associated with the pre-set manipulator and the indicator associated with the storage location of the pre-set catheter device to give a first indication.

[0189] The pre-set manipulator 2501 can be determined based on the type of the pre-set catheter device 400. For example, when the pre-set catheter device 400 is an external catheter device 420, the pre-set manipulator 2501 is the first manipulator 2501. As another example, when the pre-set catheter device 400 is an internal catheter device 410, the pre-set manipulator 2501 is the second manipulator 2502.

[0190] For example, the first manipulator 2501 and the second manipulator 2502 are each provided with an indicator. The catheter instruments 400 are typically stored on trays, with one or more catheter instruments 400 stored on one tray. When one catheter instrument 400 is stored on one tray, each tray is provided with one indicator; when multiple catheter instruments 400 are stored on one tray, each tray is provided with multiple indicators corresponding to the storage location of each catheter instrument 400. Each indicator is connected to the control system 600, and such connection can include wired or wireless connections.

[0191] The first indication is associated with the pre-set manipulator 2501 and the pre-set catheter device 400 installed to meet the pre-set target position. The indications of the pre-set manipulator 2501 and the pre-set catheter device 400 installed to meet the pre-set target position can usually be the same. By using the same indications of the pre-set manipulator 2501 and the pre-set catheter device 400, the correct pre-set catheter device 400 can be quickly located, and the operator can be prompted to install the correct pre-set catheter device 400 onto the pre-set manipulator 2501, thereby speeding up the installation of the pre-set catheter device 400.

[0192] Step S210: In response to the installation of the pre-set catheter device on the pre-set manipulator, detect whether there is a post-set catheter device that meets the post-set target position for installation.

[0193] The prerequisite for meeting the target position is that the end of the internal catheter 41 is basically aligned with the end of the external catheter 42.

[0194] In step S210, when the pre-installed catheter device 400 is installed on the pre-installed manipulator 2501, the indicator of the pre-installed manipulator 2501 can be controlled to give another indication, indicating that the pre-installed catheter device 400 is correctly installed on the pre-installed manipulator 2501.

[0195] In step S210, when a downstream catheter device that meets the downstream target position is detected, step S211 is executed.

[0196] Step S211: Control the indicator associated with the rear manipulator and the indicator associated with the storage location of the rear catheter device to give a second indication.

[0197] The second indication is associated with the subsequent manipulator 2502 and the indication of the subsequent catheter device 400 installed to meet the second target position. The indication of the subsequent manipulator 2502 and the indication of the subsequent catheter device 400 installed to meet the second target position can usually be the same, so that by associating the same indication of the subsequent manipulator 2502 and the subsequent catheter device 400, the correct subsequent catheter device 400 can be quickly located and the operator can be prompted to install the correct subsequent catheter device 400 to the subsequent manipulator 2502, thereby speeding up the installation of the subsequent catheter device 400.

[0198] Step S212: Control the indicator associated with the pre-set manipulator to indicate arbitrarily select a third indicator of a pre-set catheter device.

[0199] The execution of steps S206 to S211 is possible because a pre-installed catheter device 400 adapted to the pre-installed target position and a post-installed catheter device 400 adapted to the post-installed target position can be found, thus eliminating the need to readjust the positions of the pre-installed manipulator 2501 and the post-installed manipulator 2502.

[0200] In some embodiments, step S210 is performed when no subsequent catheter device that satisfies the subsequent target position is detected, followed by step S213.

[0201] Step S213: Detect whether there is a target post-catheter device that meets the preset conditions.

[0202] In step S213, if a target catheter device that meets the preset conditions is detected, step S214 is executed; otherwise, step S215 is executed.

[0203] The preset condition may include a difference between the length of the subsequent catheter device 400 and the length of the prior catheter device 400 installed on the prior manipulator 2501 that is at least greater than a target length. This target length may include the length by which the end of the inner catheter 41 can extend beyond the end of the outer catheter 42. For example, to prevent the subsequent manipulator 2502 from colliding with the prior manipulator 2501 when the inner catheter 41 is inserted, this difference should be greater than the target length.

[0204] Step S214: Control the indicator associated with the storage location of the target-attached catheter device to give a fourth indication.

[0205] The number of target post-catheter devices 400 may include one or more, and step S214 may indicate one or more target post-catheter devices 400 for the operator to select and use at will.

[0206] Step S215: Control the indicator of the pre-set manipulator to give the fifth instruction.

[0207] This fifth instruction indicates that the pre-set catheter device 400 needs to be removed from the pre-set manipulator 2501 and replaced with another pre-set catheter device 400. This is because there is no subsequent catheter device 400 that can be used without adjusting the pre-set target position. That is, in this case, the pre-set target position needs to be adjusted, and the pre-set catheter device 400 currently installed on the pre-set manipulator 2501 will become incorrect.

[0208] In some embodiments, each indicator can be an LED module, which can provide at least one indication of color, flicker, brightness, and pattern. For example, the first indicator and the second indicator can be the same or different. For example, the first indicator and the second indicator can be indicated with the same color and / or brightness. Yet another example is that the first indicator and the second indicator can be indicated with different colors and / or brightness.

[0209] Different indicators can typically be different to represent different information. For example, for the indicator of the pre-installed manipulator 2501, a first color, such as yellow, can be used to indicate that the pre-installed manipulator 2501 is ready for installation (this first color can be associated with the position of the pre-installed catheter device 400 in the tray); a second color, such as green, can be used to indicate that the pre-installed catheter device 400 is correctly installed on the pre-installed manipulator 2501; and a third color, such as red, can be used to indicate that the pre-installed catheter device 400 needs to be removed for adjustment of the pre-installed target position. When more states need to be indicated, more colors or combinations such as flashing, brightness, and patterns can be used.

[0210] In some embodiments, after step S211, or step S213, in response to the installation of the subsequent catheter instrument 400 on the subsequent manipulator 2502, the indicators of the preceding manipulator 2501 and the subsequent manipulator 2502 are controlled to provide further indications to indicate that preoperative preparation is complete and surgery can proceed. Alternatively, other methods such as voice prompts or user interface displays on the user input device 300 may also be used for prompting.

[0211] In some embodiments, such as Figure 19 As shown, if the first target distance or the second target distance uses an initial value, after step S205, the following may also be included:

[0212] Step S306: Obtain the length of the pre-installed catheter device to be installed.

[0213] The pre-installed catheter device 400 is the catheter device 400 to be installed first, which can be an external catheter device 420 or an internal catheter device 410. For example, the pre-installed catheter device 400 to be installed can be the pre-installed catheter device 400 selected after step S212 or step S215.

[0214] Step S307: Detect whether the length of the pre-set catheter device is between the pre-set target distance and the pre-set safety distance.

[0215] For example, if the catheter device 400 is initially set as an external catheter device 420, the target distance is initially set as a first target distance, and the safety distance is initially set as the sum of the first target distance and the length from the insertion port 2701 to the extension port 2702 of the guide 270. As another example, if the catheter device 400 is initially set as an internal catheter device 410, the target distance is initially set as a second target distance, and the safety distance is initially set as the sum of the second target distance and the length from the insertion port 2701 to the extension port 2702 of the guide 270. That is, the safety distance is initially set as the sum of the initially set target distance and the length from the insertion port 2701 to the extension port 2702 of the guide 270.

[0216] In step S307, if the length of the pre-set catheter instrument is not between the pre-set target distance and the pre-set safety distance, then step S308 is executed; otherwise, step S311 is executed.

[0217] Step S308: Based on the length of the pre-set catheter instrument, the pre-set target distance is corrected to obtain the corrected pre-set target distance.

[0218] The principle for obtaining the modified pre-set target distance in step S308 is basically the same as the principle for determining the first target distance in step S103.

[0219] Step S309: Based on the corrected predetermined target distance, correct the predetermined target position of the predetermined manipulator on the insertion axis of the insertion port to obtain the corrected predetermined target position.

[0220] Step S310: Control the preset manipulator to move to the corrected preset target position.

[0221] After step S310, step S311 is executed.

[0222] Step S311: Control the indicator associated with the pre-set manipulator to indicate the installation of the pre-set catheter instrument.

[0223] Step S312: Obtain the length of the post-installation catheter device to be installed.

[0224] Step S313: Detect whether the length of the post-set catheter device is between the post-set target distance and the post-set safety distance.

[0225] The set safety distance is the sum of the set target distance and the length from the insertion port 2701 to the extension port 2702 of the guide 270.

[0226] In step S313, if the length of the subsequent catheter device is not between the subsequent target distance and the subsequent safety distance, step S314 is executed; otherwise, step S316 is executed.

[0227] Step S314: Correct the target distance based on the length of the target catheter device to obtain the corrected target distance.

[0228] The principle for obtaining the modified post-target distance in step S314 is basically the same as the principle for determining the first target distance in step S103.

[0229] Step S315: Based on the corrected target distance, correct the target position of the target actuator on the insertion axis of the insertion port to obtain the corrected target position.

[0230] After step S315, step S316 is executed.

[0231] Step S316: Control the post-setting manipulator to move to the corrected post-setting target position.

[0232] Through steps S306 to S316, the pre-installed manipulator 2501 and the post-installed manipulator 2502 can be gradually moved to suitable target positions for the installation of the pre-installed catheter device 400 and the post-installed catheter device 400, respectively.

[0233] In some embodiments, the length of the pre-set catheter device 400 may be less than the pre-set target distance, greater than the pre-set safety distance, or somewhere in between. The length of the post-set catheter device 400 may be less than the post-set target distance, greater than the post-set safety distance, or somewhere in between.

[0234] When the length of the pre-set catheter instrument 400 is less than the pre-set target distance or greater than the pre-set safety distance, it is usually necessary to correct the pre-set target distance and readjust the pre-set target position. When the length of the subsequent catheter instrument 400 is less than the subsequent target distance or greater than the subsequent safety distance, it is also usually necessary to correct the subsequent target distance and readjust the subsequent target position.

[0235] When considering readjusting the initial or subsequent target position, it is usually advisable to consider whether there is a possibility of collision between the initial manipulator 2501 and the subsequent manipulator 2502.

[0236] Given the pre-set length of the catheter instrument 400, and the need to adjust the position of the manipulator 2501:

[0237] (1) If there is no possibility of collision, for example, if the first set manipulator 2501 moves away from the second set manipulator 2502, or the first set manipulator 2501 moves towards the second set manipulator 2502 and the collision distance threshold is not reached, then only the position of the first set manipulator 2501 needs to be adjusted.

[0238] (2) If there is a possibility of collision, for example, if the first set manipulator 2501 moves towards the second set manipulator 2502 and reaches the collision distance threshold, then when adjusting the position of the first set manipulator 2501, it is also necessary to adjust the position of the second set manipulator 2502 in order to avoid the collision between the two.

[0239] The movement range of the subsequent manipulator 2502 can be greater than, equal to, or less than the movement range of the preceding manipulator 2501, as long as collisions can be avoided. In particular, the subsequent manipulator 2502 can usually move synchronously with the movement of the preceding manipulator 2501.

[0240] If the position of the pre-installed manipulator 2501 does not need adjustment or has been adjusted, and the position of the post-installed manipulator 2502 needs adjustment based on the length of the post-installed catheter instrument 400:

[0241] (1) If there is no possibility of collision, for example, the rear manipulator 2502 moves away from the first manipulator 2501, or the rear manipulator 2502 moves towards the first manipulator 2501 and does not reach the collision distance threshold, then only the position of the rear manipulator 2502 needs to be adjusted.

[0242] (2) If there is a possibility of collision, for example, the rear manipulator 2502 moves toward the primary manipulator 2501 and reaches the collision distance threshold, since the primary manipulator 2501 may have already completed the installation of the primary catheter device 400, in order to avoid repeated adjustments to the primary manipulator 2501, the position of the rear manipulator 2502 can usually not be adjusted temporarily, and the indicator associated with the rear manipulator 2502 can be controlled to indicate that the rear catheter device 400 can be replaced for installation; or, the indicator associated with the storage location of the target rear catheter device 400 can be controlled to indicate that the correct rear catheter device 400 can be quickly found.

[0243] exist Figure 2 and Figure 3 In the illustrated trolley 200, the feed motion of the catheter instrument 400 is typically achieved by controlling the manipulator 250 to translate relative to the translational joint. This requires the manipulator 250 to be located on the insertion axis of the insertion port 2701, and the translational joint to be parallel to the insertion axis. Based on kinematics, the manipulator 250 can be automatically controlled to move to the insertion axis of the insertion port 2701; however, due to the lack of means to detect the relative attitude relationship between the insertion axis and the translational joint, it is not easy to automatically control the translational joint to be parallel to the insertion axis. In some embodiments, such as... Figure 20 As shown, applicable to, Figure 3 and Figure 4 The control method of the trolley 200 shown in this disclosure may further include:

[0244] Step S401: Obtain the actual position of the guide in the reference coordinate system.

[0245] Step S402: Based on the actual position, determine the insertion axis of the guide at the insertion port.

[0246] Step S403: Obtain the first target distance of the desired manipulator from the insertion port on the insertion axis.

[0247] Step S404: Based on the first target distance, determine the first target position of the manipulator on the insertion axis of the insertion port.

[0248] Step S405: Control the manipulator to move to the first target position.

[0249] Step S405 enables the manipulator 250 to be positioned on the insertion axis of the insertion port.

[0250] In step S406, in response to the manipulator moving to the first target position, the translation joint is constrained to move only around the first target position.

[0251] In step S406, the first target location can be understood as a remote motion center. Combined with... Figure 3 or Figure 4 Referring to the diagram, constraining the translational joint to move only around a first target position can be achieved by limiting the positional degrees of freedom of the robotic arm 230, such as adjusting arm 2301, thereby ensuring that the translational joint can only rotate around the first target position while keeping the manipulator 250 always in the first target position. The rotation of the translational joint around the first target position can adjust its orientation to be substantially parallel to the insertion axis. The operator can drag the holding arm 2302 to make the translational joint on the holding arm 2302 substantially parallel to the insertion axis, and can determine whether the translational joint is substantially parallel to the insertion axis by means such as visual inspection. In some embodiments, in response to the translational joint being substantially parallel to the insertion axis, all degrees of freedom of the adjusting arm 2301 can be constrained (i.e., locked or restricted) to prevent the translational joint from being moved or rotated.

[0252] The robotic arm 230 typically includes a sufficient number of positional and orientation degrees of freedom to facilitate the pose adjustment of the manipulator 250. For example, the positional degrees of freedom may include three: left-right translation in the direction of the paper, vertical translation in the direction of the paper, and forward-backward translation in the direction perpendicular to the paper; the orientation degrees of freedom may include three: pitch, yaw, and roll.

[0253] In such Figure 3In the trolley 200 shown, only one manipulator 250 can be installed on the translation joint. In response to obtaining information that the translation joint is substantially parallel to the insertion axis, the operator can be instructed to install the catheter instrument 400. This can be done, for example, through an indicator associated with the manipulator 250, or, for example, through the user interface of the user input device 300. Whether the translation joint is substantially parallel to the insertion axis can be obtained through operator input, such as triggering a button or a voice command.

[0254] In such Figure 4 In the trolley 200 shown, there are two translation joints arranged in parallel and spaced apart. Different manipulators 250 are disposed at different translation joints. One manipulator 250 is used to engage the external catheter instrument 420, and the other manipulator 250 is used to engage the internal catheter instrument 410. The manipulator 250 involved in steps S403 to S405 can be any one of the two manipulators 250, for example, it can be the manipulator 250 used to engage the external catheter instrument 420. Wherein, when any one manipulator 250 is located on the insertion axis and its corresponding translation joint is substantially parallel to the insertion axis, the other manipulator 250 is also substantially located on the insertion axis and its corresponding translation joint is substantially parallel to the insertion axis. For example, Figure 4 The trolley 200 shown is shown below. Please refer to further details. Figure 20 After the translational joint is substantially parallel to the insertion axis, the control method of this disclosure may further include, based on steps S401 to S406:

[0255] Step S407: Obtain the second target distance between the desired other manipulator and the insertion port on the insertion axis.

[0256] Step S408: Based on the second target distance, determine the second target position of the other manipulator on the insertion axis of the insertion port.

[0257] Step S409: Control another manipulator to move to the second target position.

[0258] In step S405, the movement of manipulator 250 can be achieved by means of the movement of the entire robotic arm 230, including movement by means of translation joints. In step S409, the movement of the other manipulator 250 is typically achieved solely by means of translation joints.

[0259] Furthermore, when all manipulators 250 are located on the insertion axis and the translation joint is substantially parallel to the insertion axis, it indicates that preoperative preparations, excluding the installation of the catheter instrument 400, are complete. Subsequent control of the manipulators 250 along the insertion axis can be achieved by controlling the translation joint.

[0260] After step S409, in response to another manipulator moving to the second target position, the operator can be instructed to install the catheter instrument.

[0261] In some embodiments, in Figure 3 and Figure 4 In the trolley 200 shown, the first target distance or the second target distance can also be an initial value. If the initial value does not match the actual length of the catheter instrument 400 to be installed, please refer to the previous description, which will not be repeated here.

[0262] In other embodiments, only one positioning unit 2703 may be provided on the guide 270. Under certain conditions, the positioning system 260 provided on the manipulator 250 can identify the position of the guide 270. When the positioning system 260 is provided on the manipulator 250, the specific conditions include that both manipulators 250 and the guide 270 are in a straight line. Achieving this alignment usually requires operator assistance. The position of the guide 270 can be reflected by the distance between the manipulator 250 and the guide 270 on this straight line, which is obtained by positioning the positioning unit 2703 using the positioning system 260. Based on this, referring to the foregoing, the manipulator 250 can be moved to the target position on the insertion axis of the insertion port 2701 of the guide 270 for the installation of the catheter instrument 400.

[0263] In some embodiments, such as Figure 21 As shown, the control system 600600 may include: a processor 501, a communication interface 502, a memory 503, and a communication bus 504.

[0264] The processor 501, communication interface 502, and memory 503 communicate with each other through the communication bus 504.

[0265] The communication interface 502 is used to communicate with other network elements such as various sensors, motors, solenoid valves, or other clients or servers.

[0266] The processor 501 is used to execute program 505, which can specifically perform the relevant steps in the above method embodiments.

[0267] Specifically, program 505 may include program code that includes computer operation instructions.

[0268] The processor 501 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), one or more integrated circuits configured to implement embodiments of the present disclosure, or a graphics processing unit (GPU). The control device includes one or more processors, which may be processors of the same type, such as one or more CPUs, or one or more GPUs; or they may be processors of different types, such as one or more CPUs and one or more GPUs.

[0269] Memory 503 is used to store program 505. Memory 503 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0270] Specifically, program 505 can be used to cause processor 501 to execute the control method as described in any of the above embodiments.

[0271] In some embodiments, this disclosure also provides a computer-readable storage medium storing a computer program that, when executed by the processor, implements the control method as described in any of the foregoing embodiments.

[0272] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0273] The embodiments described above are merely illustrative of several implementations of this disclosure, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this disclosure, and these all fall within the protection scope of this disclosure. Therefore, the protection scope of this patent should be determined by the appended claims.

Claims

1. A catheter robot system, characterized in that, include: A robotic arm includes an adjusting arm and a holding arm disposed at the end of the adjusting arm, the adjusting arm being used to adjust the position and posture of the holding arm; Translation joint A is provided on the mechanical arm; Manipulator A, disposed at translation joint A, is movable relative to translation joint A and is used for installing and manipulating catheter instruments; and The control system, connected to the robotic arm and the manipulator A, is configured to: Obtain the actual position of the guide used for connection to the patient in the reference coordinate system; Based on the actual position, the insertion axis of the guide at the insertion port is determined; the insertion channel of the guide includes an insertion port, and the guide also includes an extension port for connecting with the patient's anatomical through-hole; Obtain the desired first target distance between the manipulator A and the insertion port on the insertion axis; Based on the first target distance, determine the first target position of the manipulator A on the insertion axis of the insertion port; Control the manipulator A to move to the first target position; In response to the manipulator A moving to the first target position, the positional degrees of freedom of the robotic arm are constrained so that the translational joint A can only move around the first target position, so as to adjust the translational joint A to be substantially parallel to the insertion axis while maintaining the first target position; The catheter robot system further includes a positioning system connected to the control system. The positioning system is disposed on the manipulator A, and the plane of the positioning area of ​​the positioning system is perpendicular to the movement axis of the manipulator A. The positional relationship between the positioning system and the reference coordinate system is known. The guide includes a first positioning unit and a second positioning unit. The actual position of the guide in the reference coordinate system is characterized by the actual positions of the first positioning unit and the second positioning unit in the reference coordinate system. The step of obtaining the actual position of the guide connected to the patient in the reference coordinate system includes: Control the movement of the positioning system; When the positioning system locates the first positioning unit and the second positioning unit, it obtains the first positioning position of the positioning system, and obtains the first distance between the positioning system and the first positioning unit and the second distance between the positioning system and the second positioning unit; The positioning system is controlled to move within the plane formed by the first positioning unit, the second positioning unit, and the positioning system at the first positioning position; When the positioning system locates the first positioning unit and the second positioning unit, it obtains the second positioning position of the positioning system, and obtains the third distance between the positioning system and the first positioning unit and the fourth distance between the positioning system and the second positioning unit; The actual position of the first positioning unit in the reference coordinate system is determined based on the first positioning position, the second positioning position, the first distance, and the third distance. The actual position of the second positioning unit in the reference coordinate system is determined based on the first positioning position, the second positioning position, the second distance, and the fourth distance.

2. The catheter robot system according to claim 1, characterized in that, The control system is also configured to: In response to the translation joint A being substantially parallel to the insertion axis, all degrees of freedom of the adjusting arm are locked to prevent the translation joint A from being moved or rotated.

3. The catheter robot system according to claim 1, characterized in that, The robotic arm is further provided with another translational joint B, which is arranged parallel to and spaced apart from the translational joint A. The other translational joint B is provided with another manipulator B. The control system is further configured to: In response to the translational joint B being substantially parallel to the insertion axis, a second target distance is obtained from the insertion port on the insertion axis to the other manipulator B; Based on the second target distance, determine the second target position of the other manipulator B on the insertion axis; Control the other manipulator B to move to the second target position.

4. The catheter robot system according to claim 1, characterized in that, The step of determining the insertion axis of the guide at the insertion port based on the actual position includes: Based on the actual positions of the first positioning unit and the second positioning unit, the connection between the first positioning unit and the second positioning unit is determined. Obtain the known positional relationship between the connecting line and the insertion axis of the insertion port; The insertion axis is determined based on the connection line and the positional relationship.

5. The catheter robot system according to claim 1, characterized in that, The first positioning unit and the second positioning unit are disposed on the end face of the insertion port, and the step of controlling the movement of the positioning system includes: In response to the fact that the plane where the end faces of the first positioning unit and the second positioning unit are located is a plane formed by the first axis and the third axis, and the line connecting the first positioning unit and the second positioning unit is on the first axis, and the plane where the positioning area of ​​the positioning system is located is a plane formed by the first axis and the second axis, the moving direction of the positioning system is determined to be along the third axis, and the first axis, the second axis and the third axis are orthogonal to each other. The positioning area of ​​the positioning system is controlled to move along the third axis.

6. The catheter robot system according to claim 1, characterized in that, The first target distance is between the minimum target distance and the maximum target distance. The minimum target distance is the difference between the length of the catheter device to be installed and the length between the insertion port and the extension port. The maximum target distance is the length of the catheter device to be installed.

7. The catheter robot system according to claim 1, characterized in that, The first target distance is a preset initial value, which is determined based on the lengths of multiple catheter devices.

8. The catheter robot system according to claim 7, characterized in that, The control system is also configured to: Obtain the length of the catheter device to be installed; The length of the catheter device to be installed is detected to be between the first target distance and the safe distance, wherein the safe distance is the sum of the first target distance and the length between the insertion port and the extension port; When the length of the catheter device to be installed is not between the first target distance and the safe distance, a second target distance is determined based on the length of the catheter device to be installed; Based on the second target distance, the second target position of the manipulator A on the insertion axis is determined; Control the manipulator A to move to the second target position.

9. The catheter robot system according to claim 8, characterized in that, The catheter device is provided with a storage unit that stores the length of the catheter device. The manipulator A is provided with a reading unit that is connected to the control system. The reading unit is used to read the length of the catheter device when it is engaged with or near the storage unit.

10. The catheter robot system according to claim 9, characterized in that, The reading unit is a non-contact reading unit, and the storage unit is an electronic tag used in conjunction with the reading unit. When the reading unit approaches the storage unit, it reads the length of the catheter device from the storage unit.

11. A control method for a catheter robot system as described in any one of claims 1 to 10, characterized in that, The control method includes: Obtain the actual position of the guide used for connection to the patient in the reference coordinate system; Based on the actual position, the insertion axis of the guide at the insertion port is determined; Obtain the desired first target distance between the manipulator A and the insertion port on the insertion axis; Based on the first target distance, determine the first target position of the manipulator A on the insertion axis; Control the manipulator A to move to the first target position; In response to the manipulator A moving to the first target position, the positional degrees of freedom of the robotic arm are constrained so that the translational joint can only move around the first target position, so as to maintain the first target position while facilitating the adjustment of the translational joint to be substantially parallel to the insertion axis.

12. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the control method as described in claim 11.

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