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

Abstract

The invention relates to a catheter robot system, a control method thereof and a computer readable storage medium. The system comprises a first manipulator and a second manipulator; first and second mechanical arms; the control system is used for obtaining an initial installation sequence in response to the fact that the first manipulator moves to the first target position and the second manipulator moves to the second target position; determining pre-arranged catheter instruments based on the initial mounting sequence; determining a pre-set target position in the first target position and the second target position based on the pre-set catheter instrument; when the pre-arranged catheter instrument meeting the pre-arranged target position exists, determining a pre-arranged manipulator in the first manipulator and the second manipulator, and controlling each indicator corresponding to the pre-arranged catheter instrument to indicate; and in response to the installation of the pre-arranged catheter instrument, when the post-arranged catheter instrument meeting the post-arranged target position exists, controlling each indicator corresponding to the post-arranged catheter instrument to indicate. By means of the implementation mode, an operator can conveniently and rapidly select the catheter instrument suitable for the current position of the manipulator from the multiple catheter instruments for installation, and the preoperative preparation efficiency can be improved.

Description

Technical Field

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

[0002] Minimally invasive medical technology is mainly aimed at reducing the damage to patient tissues during medical procedures, and has the advantages of less trauma, less pain, and faster recovery. This minimally invasive technology can be performed through natural orifices or surgical incisions in the patient's anatomical structure, so that the catheter instrument can reach the target tissue location under the control of a controller. The catheter instrument is usually a flexible and / or steerable elongated device that can be inserted into an anatomical through hole and navigated toward the target area within the patient's anatomical structure.

[0003] In the prior art, the catheter instrument is usually inserted into the patient's anatomical through hole through an introducer connected to the patient. In order to prevent the introducer from moving and affecting the operation, the introducer usually needs to be fixed on the operating table where the patient lies. During preoperative preparation, the introducer is first fixed to the operating table and the insertion channel of the introducer is connected to the patient's anatomical through hole. Then, the trolley for installing the catheter instrument is moved to the planned position to meet the basic requirements of the operating table for the position of the trolley. Then, the manipulator for installing the catheter instrument in the trolley is manually moved to align with the insertion port of the insertion channel and the manipulator is moved to a suitable position for the installation of the catheter instrument on the manipulator and insertion into the insertion channel.

[0004] However, since multiple catheter instruments of possibly inconsistent lengths are usually prepared before surgery for use or as backup for surgery, even if the manipulator is moved to the default appropriate position, it is difficult for the operator to quickly select a suitable catheter instrument from the multiple catheter instruments to install on the manipulator at that position. Instead, it may be necessary to separately install multiple catheter instruments on the manipulator to determine which catheter instrument is suitable for installation on the manipulator at that position. Therefore, it is often difficult to quickly complete preoperative preparations. Summary of the invention

[0005] Based on this, it is necessary to provide a catheter robot system and a control method and a computer-readable storage medium that can facilitate an operator to quickly select a catheter instrument suitable for the current position of a manipulator from multiple catheter instruments for installation.

[0006] In one aspect, the present disclosure provides a catheter robotic system, comprising: a first manipulator for mounting and manipulating an external catheter instrument;

[0007] a second manipulator for installing and manipulating the inner catheter device;

[0008] a first robotic arm, a distal end of which is connected to the first manipulator;

[0009] A second robotic arm, a distal end of which is connected to the second manipulator; and

[0010] a control system connected to the first manipulator, the second manipulator, the first robotic arm, and the second robotic arm, configured to:

[0011] In response to the first manipulator moving to the first target position and the second manipulator moving to the second target position, an initial installation sequence of the inner catheter instrument and the outer catheter instrument is acquired, the first target position and the second target position being located on the insertion axis of the insertion port of the introducer connected to the patient, the initial installation sequence comprising a sequence of first setting the outer catheter instrument and then setting the inner catheter instrument, or a sequence of first setting the inner catheter instrument and then setting the outer catheter instrument; when the outer catheter instrument is set first, the catheter instrument set first is the outer catheter instrument and the catheter instrument set later is the inner catheter instrument; when the inner catheter instrument is set first, the catheter instrument set first is the inner catheter instrument and the catheter instrument set later is the outer catheter instrument;

[0012] determining the pre-installed catheter device based on the initial installation sequence;

[0013] Determine, based on the pre-set catheter device, a pre-set target position corresponding to the first target position and the second target position;

[0014] When there is a pre-set catheter device that satisfies the pre-set target position for installation, determining the pre-set manipulator corresponding to the first manipulator and the second manipulator based on the pre-set catheter device, and controlling the indicator corresponding to the pre-set manipulator and the indicator corresponding to the storage position of the pre-set catheter device to perform a first indication;

[0015] In response to the installation of the pre-set catheter instrument on the pre-set manipulator, detecting whether there is a post-set catheter instrument that satisfies the post-set target position for installation;

[0016] When there is the subsequent catheter instrument that satisfies the subsequent target position for installation, the indicator corresponding to the subsequent manipulator and the indicator corresponding to the storage position of the subsequent catheter instrument are controlled to perform a second indication.

[0017] In another aspect, the present disclosure provides a control method for a catheter robot system, the catheter robot system comprising:

[0018] a first manipulator for mounting and manipulating an external catheter device;

[0019] a second manipulator for installing and manipulating the inner catheter device;

[0020] A first robotic arm, a distal end of which is connected to the first manipulator; and

[0021] a second robotic arm, a distal end of which is connected to the second manipulator;

[0022] The control method comprises:

[0023] In response to the first manipulator moving to the first target position and the second manipulator moving to the second target position, an initial installation sequence of the inner catheter instrument and the outer catheter instrument is acquired, the first target position and the second target position being located on the insertion axis of the insertion port of the introducer connected to the patient, the initial installation sequence comprising a sequence of first setting the outer catheter instrument and then setting the inner catheter instrument, or a sequence of first setting the inner catheter instrument and then setting the outer catheter instrument; when the outer catheter instrument is set first, the catheter instrument set first is the outer catheter instrument and the catheter instrument set later is the inner catheter instrument; when the inner catheter instrument is set first, the catheter instrument set first is the inner catheter instrument and the catheter instrument set later is the outer catheter instrument;

[0024] determining the pre-installed catheter device based on the initial installation sequence;

[0025] Determine, based on the pre-set catheter device, a pre-set target position corresponding to the first target position and the second target position;

[0026] When there is a pre-set catheter device that satisfies the pre-set target position for installation, determining the pre-set manipulator corresponding to the first manipulator and the second manipulator based on the pre-set catheter device, and controlling the indicator corresponding to the pre-set manipulator and the indicator corresponding to the storage position of the pre-set catheter device to perform a first indication;

[0027] In response to the installation of the pre-set catheter instrument on the pre-set manipulator, detecting whether there is a post-set catheter instrument that satisfies the post-set target position for installation;

[0028] When there is the subsequent catheter instrument that satisfies the subsequent target position for installation, the indicator corresponding to the subsequent manipulator and the indicator corresponding to the storage position of the subsequent catheter instrument are controlled to perform a second indication.

[0029] On the other hand, the present disclosure provides a computer-readable storage medium storing a computer program, wherein the computer program is configured to be loaded by a processor and executed to implement the steps of the alignment method as described in any one of the above embodiments.

[0030] The catheter robot system and control method thereof, and computer readable storage medium disclosed herein have the following features:

[0031] Beneficial effects:

[0032] By detecting whether there is a catheter instrument that meets the installation requirements at the current position of the manipulator, and when detecting that there is a catheter instrument that meets the installation requirements at the current position, controlling an indicator associated with the catheter instrument to indicate, including controlling the manipulator corresponding to the catheter instrument for installation and the indicator corresponding to the position of the catheter instrument to indicate, the operator can quickly select a catheter instrument suitable for the current position of the manipulator from multiple catheter instruments for installation. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a structural schematic diagram of an embodiment of the catheter robot system disclosed in the present invention;

[0034] Figure 2 for Figure 1 A schematic structural diagram of an embodiment of a trolley in a catheter robot system shown;

[0035] Figure 3 for Figure 1 A schematic structural diagram of another embodiment of a trolley in a catheter robot system;

[0036] Figure 4 for Figure 1 A schematic structural diagram of another embodiment of a trolley in a catheter robot system;

[0037] Figure 5 A catheter device provided by an embodiment of the catheter robot system disclosed herein;

[0038] Figure 6 A catheter device provided by an embodiment of the catheter robot system disclosed herein;

[0039] Figure 7 This is a flow chart of an embodiment of a control method of a catheter robot system disclosed in the present invention;

[0040] Figure 8 A flow chart of another embodiment of the control method of the catheter robot system disclosed in the present invention;

[0041] Fig. 9 A schematic diagram of a positioning process of an embodiment of a catheter robot system disclosed herein;

[0042] Fig.10 It is a schematic diagram of the principle that the end of the catheter of the catheter device disclosed in the present invention is aligned with the extension port of the introducer;

[0043] Fig.11 It is a schematic diagram of the principle that the end of the catheter of the catheter device disclosed in the present invention is aligned with the insertion port of the introducer;

[0044] Fig.12 It is a schematic diagram of a state of an embodiment in which the length of the catheter device of the present disclosure is not suitable for the manipulator to be located at a default position;

[0045] Fig.13 It is a schematic diagram of another embodiment of the state in which the length of the catheter device of the present disclosure is not suitable for the manipulator to be located at the default position;

[0046] Fig.14 A flow chart of another embodiment of the control method of the catheter robot system disclosed in the present invention;

[0047] Fig.15 A flow chart of another embodiment of the control method of the catheter robot system disclosed in the present invention;

[0048] Fig.16 It is a schematic diagram of a state in which the outer catheter device and the inner catheter device of the present invention are aligned at the extension port of the introducer;

[0049] Fig.17 It is a schematic diagram of a state in which an outer catheter device and an inner catheter device of the present invention are aligned at an insertion port of an introducer;

[0050] Fig.18 A flow chart of another embodiment of the control method of the catheter robot system disclosed in the present invention;

[0051] Fig.19 A flow chart of another embodiment of the control method of the catheter robot system disclosed in the present invention;

[0052] Fig. 20 A flow chart of another embodiment of the control method of the catheter robot system disclosed in the present invention;

[0053] Fig.21 It is a schematic structural diagram of an embodiment of a control system in a catheter robot system according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0054] In order to facilitate the understanding of the present disclosure, the present disclosure will be described more comprehensively below with reference to the relevant drawings. The preferred embodiments of the present disclosure are given in the drawings. However, the present disclosure can be implemented in many different forms and is not limited to the embodiments described in the present disclosure. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present disclosure more thoroughly and comprehensively understood.

[0055] It should be noted that when an element is referred to as being "disposed on" another element, it may be directly on the other element or there may also be a centered element. When an element is considered to be "connected" to another element, it may be directly connected to the other element or there may be a centered element at the same time. When an element is considered to be "coupled" to another element, it may be directly coupled to the other element or there may be a centered element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used in this disclosure are only for illustrative purposes and do not represent the only implementation method. The terms "end" and "proximal end" used in this disclosure are used as directional words, which are commonly used terms in the field of interventional medical devices, wherein the "end" refers to the end away from the operator during surgery, and the "proximal end" refers to the end close to the operator during surgery. The terms "first / second" and the like used in this disclosure represent a component and a class of more than two components with common characteristics.

[0056] Unless otherwise defined, all technical and scientific terms used in this disclosure have the same meaning as those commonly understood by those skilled in the art to which this disclosure belongs. The terms used in this disclosure are only for the purpose of describing specific embodiments and are not intended to limit this disclosure. The term "and / or" used in this disclosure includes any and all combinations of one or more of the related listed items.

[0057] Figure 1 The catheter robot system 1000 provided by an embodiment of the present disclosure is shown. The catheter robot system 1000 includes an imaging cart 100, a trolley 200 and a user input device 300 respectively connected to the imaging cart 100, a catheter instrument 400 that can be coupled to the trolley 200, a sensor system 500 connected to the trolley 200, and a control system 600600 for realizing control between the catheter instrument 400, the user input device 300, the sensor system 500 and the imaging cart 100. Among them, the user input device 300 can be connected to the trolley 200 by wire or wirelessly. When the operator performs various procedures on the patient next to the trolley 200, the control command can be triggered by operating the user input device 300, and the catheter instrument 400 can be controlled to advance, retract, bend and turn, etc. through the drive of the trolley 200.

[0058] The imaging vehicle 100 and the user input device 300 can generally be defined as the master end, which is mainly operated by doctors; the trolley 200, the catheter device 400 and the sensor system 500 can generally be defined as the slave end, which mainly performs surgical operations on patients. The master end and the slave end can be placed in the same operating room; the master end and the slave end can also be placed in different operating rooms, which can be two operating rooms in the same hospital or two operating rooms in different hospitals, and the two can be connected by remote communication technology.

[0059] The trolley 200 can usually be moved to the side of the operating table to install and operate the catheter instrument 400, and control the movement of the catheter instrument 400 under the control command, which includes at least one of lifting and lowering in the vertical direction, translating in the horizontal direction, moving in a non-vertical direction, and moving in a non-horizontal direction, so as to provide a better preoperative preparation position and / or posture for the operation of the catheter instrument 400. Among them, the control command can be a command triggered by the operator by operating the user input device 300, or a command triggered by the operator directly clicking or pressing a button set on the trolley 200, or a command triggered by the operator directly dragging the relevant components of the trolley 200 (such as the mechanical arm 230 described later). Of course, in other embodiments, the control command can also be a voice control command.

[0060] The trolley 200 may generally include a base 210, a manipulator assembly connected to the base 210, and the manipulator assembly includes a mechanical arm 230 connected to the base 210, and a manipulator 250 disposed at the end of the mechanical arm 230. The manipulator 250 is used to engage with the catheter instrument 400, that is, to install and manipulate the catheter instrument 400. More specifically, the manipulator 250 is provided with a power unit 240, and the catheter instrument 400 is installed and manipulated by the power unit 240.

[0061] During surgery, the base 210 is usually locked, and the operator can control the position and / or posture of the catheter instrument 400 by controlling the manipulator assembly. The operator can control the position of the end of the catheter instrument 400 by controlling the position of the manipulator 250 as a whole, and the insertion action, i.e., the feeding motion, can be achieved by controlling the position of the end of the catheter instrument 400; the operator can control the bending and steering (i.e., posture) of the end of the catheter instrument 400 by controlling the power unit 240 in the manipulator 250.

[0062] In some embodiments, such as Figures 2 to 4 As shown, the robot arm 230 may include at least one, and the manipulator 250 disposed at the end of the robot arm 230 may also include at least one.

[0063] For example, Figure 3 and Figure 4 As shown, the robot arm 230 may include one, and the manipulator 250 disposed at the end of the robot arm 230 may include one or two. The robot arm 230 may include multiple joint components, and the multiple joint components may provide multiple degrees of freedom, which may include positional degrees of freedom and posture degrees of freedom.

[0064] For example, Figure 3As shown, when there is only one manipulator 250, the mechanical arm 230 includes an adjustment arm 2301 and a mechanical arm 2302 disposed at the end of the adjustment arm 2301, and a translation joint is disposed on the mechanical arm 2302, and the manipulator 250 is disposed on the translation joint and can move relative to the translation joint. By controlling the joint assembly in the adjustment arm 2301, the position and / or posture of the mechanical arm 2302 can be controlled, thereby controlling the position and / or posture of the translation joint. By independently controlling the translation joint, the position of the manipulator 250 relative to the translation joint can be controlled, which is conducive to realizing the feeding movement of the catheter device 400.

[0065] For example, Figure 4 As shown, when there are two manipulators 250, the mechanical arm 230 includes an adjustment arm 2301 and a mechanical arm 2302 disposed at the end of the adjustment arm 2301, and the mechanical arm 2302 is provided with two translation joints, and different manipulators 250 are respectively arranged at different translation joints. The two translation joints are arranged in parallel, that is, arranged in parallel and spaced apart. At the same time, the two manipulators 250 are arranged in front and back spaced apart along the extension direction of the moving axis of the translation joint. By controlling the joint assembly in the adjustment arm 2301, the position and / or posture of the two translation joints can be synchronously controlled, thereby synchronously affecting the position and / or posture of the two manipulators 250. By controlling the two translation joints, the position of the two manipulators 250 can be controlled, which is conducive to realizing the feeding movement of the ends of the two catheter instruments 400 engaged with different manipulators 250, wherein the adjustment arm 2301 can be locked during the feeding movement. Typically, the catheter instrument 400 includes an outer catheter instrument 420 and an inner catheter instrument 410, and the inner catheter instrument 410 is inserted and passed through the outer catheter instrument 420 for use. The two manipulators 250 can be synchronously controlled to move in the same direction along the moving axis of the translation joint to achieve synchronous feeding movement of the outer catheter instrument 420 and the inner catheter instrument 410. In the insertion direction, when the outer catheter instrument 420 reaches the maximum insertion depth, the movement of the manipulator 250 equipped with the outer catheter instrument 420 can be locked, and the manipulator 250 equipped with the inner catheter instrument 410 can be independently controlled to continue to move along the moving axis to further control the insertion of the inner catheter instrument 410.

[0066] For example, Figure 2As shown, the mechanical arm 230 may include two, and the manipulator 250 may also include two, and different manipulators 250 are respectively arranged at the ends of different mechanical arms 230. Different from the structure in which two manipulators 250 are arranged on one mechanical arm 230, the two mechanical arms 230 can directly arrange the manipulator 250 at the ends of the mechanical arms 230 without arranging a translation joint. The ends of the mechanical arms 230 can be controlled to move along a straight line, driving the manipulator 250 to move along a straight line, thereby realizing the feeding motion. Generally, the catheter instrument 400 includes an outer catheter instrument 420 and an inner catheter instrument 410, and the inner catheter instrument 410 is inserted and passed through the outer catheter instrument 420 for use. The ends of the two mechanical arms 230 can be synchronously controlled to move in the same direction along a straight line, realizing the synchronous feeding motion of the outer catheter instrument 420 and the inner catheter instrument 410 installed on the manipulator 250. In the insertion direction, when the outer catheter instrument 420 reaches the maximum insertion depth, the movement of the manipulator 250 installed with the outer catheter instrument 420 can be locked, and the manipulator 250 installed with the inner catheter instrument 410 can be independently controlled to continue to move along a straight line to further control the insertion of the inner catheter instrument 410.

[0067] Among them, the inner catheter instrument 410 is a necessary tool for surgery, mainly used to perform surgery, such as imaging, biopsy, lesion resection, etc., and the outer catheter instrument 420 is mainly used to support the inner catheter instrument 410 and improve the bending and turning ability of the inner catheter 41. In some embodiments, the outer catheter instrument 420 is not necessary, and it is also feasible to use the inner catheter instrument 410 alone. In the trolley 200 shown in the figure, only the inner catheter instrument 410 needs to be used. In some scenarios, the trolley 200 shown in the figure and the figure, the inner catheter instrument 410 can also be used alone without the use of the outer catheter instrument 420. In the trolley 200 shown in the figure, only the mechanical arm 230, the translation joint and a manipulator 250 need to be used. In the trolley 200 shown in the figure, only a mechanical arm 230 and a manipulator 250 arranged thereon need to be used.

[0068] Combination Figure 1 and Figure 2 As shown, the trolley 200 includes two mechanical arms 230 and two manipulators 250, and the manipulator 250 is directly disposed at the end of the mechanical arm 230. Figure 2As shown, the trolley 200 may also include a sliding seat body 220 that translates along the base 210210, and two mechanical arms 230 are fixedly connected to the sliding seat body 220. For example, the sliding seat body 220 can translate in the vertical direction relative to the base 210210 (up and down translation), or translate in the direction of the paper (left and right translation), or translate in the direction perpendicular to the paper (front and back translation). The mechanical arm 230 may include a plurality of connecting rods connected at the joints, and the plurality of connecting rods provide a plurality of degrees of freedom for the mechanical arm 230. The number of these degrees of freedom may be, for example, more than five. Usually, a joint and a connecting rod connected to the end of the joint may be defined as a joint assembly. Exemplarily, the mechanical arm 230 includes seven connecting rods, and the seven connecting rods and the adjacent joints constitute the corresponding seven degrees of freedom. In other embodiments, the mechanical arm 230 may also have less than five degrees of freedom, as long as the use requirements are met.

[0069] The structures of the two mechanical arms 230 can be the same or different, one mechanical arm 230 is used to engage the inner catheter device 410, and the other mechanical arm 230 is used to engage the outer catheter device 420. During installation, the outer catheter device 420 can be installed first, and when 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.

[0070] 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, posture, speed, velocity, position, and shape of the tip 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 tip of the catheter device 400.

[0071] The imaging vehicle 100 may be provided with a display system 110 and the like. The display system 110 is used to display images of the surgical site and the catheter instrument 400 generated by the subsystem of the sensor system 500. Real-time images of the surgical site and the catheter instrument 400 captured by the visualization system may also be displayed. Images of the surgical site recorded before or during surgery may also be presented using image data from imaging techniques such as computed tomography (CT), magnetic resonance imaging (MRI), optical coherence tomography (OCT), and ultrasound, etc. The preoperative or intraoperative image data may be presented as a two-dimensional, three-dimensional, or four-dimensional (such as time-based or rate-based information) image and / or presented as an image from a model created based on a preoperative or intraoperative image data set, and a virtual navigation image may also be displayed. In the virtual navigation image, the actual position of the catheter instrument 400 is registered with the preoperative image to present a virtual image of the catheter instrument 400 in the surgical site to the operator from the outside.

[0072] The control system 600600 includes at least one memory and at least one processor in communication with the robotic arm 230. It is understood that the control system 600600 can be integrated into the trolley 200 or the imaging trolley 100, or can be independently provided. The control system 600600 can support wireless communication protocols such as IEEE802.11, IrDA, Bluetooth, HomeRF, DECT, and wireless telemetry. The control system 600600 can transmit one or more signals instructing the catheter device 400 to move the catheter device 400 by the power unit 240. The catheter device 400 can extend to the surgical site in the body through the opening of the patient's natural cavity or surgical incision.

[0073] Further, 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), wherein 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 situations listed above, and can also be reasonably set according to actual conditions. Among them, the image processing system can image the surgical site based on the image of the surgical site recorded before or during the operation, using the above imaging technology. The image processing system can also combine manual input to convert the recorded image into a two-dimensional or three-dimensional composite image of a part 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, which can be used to generate an external tracking image and an internal virtual image of the patient's anatomical structure, so as to achieve the actual position of the catheter instrument 400 and the preoperative image registration, so that the virtual image of the catheter instrument 400 in the surgical site can be presented to the operator from the outside.

[0074] The inner catheter device 410 and the outer catheter device 420 have substantially the same structural composition, and respectively have an inner catheter 41 and an outer catheter 42 that are slender and flexible, wherein the outer catheter 42 has a diameter slightly larger than the inner catheter 41, so that the inner catheter 41 can pass through the lumen of the outer catheter 42 and provide support for the inner catheter 41, so that the inner catheter 41 can reach the first target location in the patient's body, so as to facilitate operations such as tissue or cell sampling from the first target location. The catheter device 400 usually needs to be used with an insertion guide 270, which is fixed to the operating table and connected to the patient's anatomical through hole such as the mouth, nose, anus, and other natural cavity entrances or surgical incisions. The guide 270 includes an insertion channel for guiding the insertion of the catheter device 400.

[0075] Certain movements of the user input device 300 may cause corresponding movements of the catheter instrument 400. For example, when the operator operates the direction lever of the user input device 300 to move upward or downward, the movement of the direction lever of the user input device 300 may be mapped to the corresponding pitch movement of the end of the catheter instrument 400; when the operator operates the direction lever of the user input device 300 to move left or right, the movement of the direction lever of the user input device 300 may be mapped to the corresponding yaw movement of the end of the catheter instrument 400. In this embodiment, the user input device 300 may control the end of the catheter instrument 400 to move within a 360° spatial range.

[0076] Figure 5 and Figure 6 1 shows a catheter instrument 400 provided by an embodiment of the present disclosure. The catheter instrument 400 is configured to engage with the power unit 240 of the mechanical arm 230, and the catheter instrument 400 includes an instrument box 45 configured to engage with the power unit 240 and a catheter 48 connected to the instrument box 45. Wherein, "engagement" refers to a state in which when the instrument box 45 is installed in the power unit 240, the driving force of the power unit 240 can be transmitted to the instrument box 45 and the catheter 48 can move normally. For example, under the driving force of the power unit 240, the end of the catheter 48 can be bent and turned, etc.

[0077] The instrument box 45 includes a plurality of driving wheels 451 and a plurality of driving wires 452 configured to be driven by the power unit 240. The power unit 240 includes a plurality of driving motors 241. The driving motors 241, the driving wheels 451 and the driving wires 452 are arranged in a one-to-one correspondence. Each driving wheel 451 is configured to engage with a corresponding driving motor 241, that is, when the instrument box 45 is installed to the power unit 240, the corresponding driving motor 241 can drive the driving wheel 451 to rotate, and the driving wheel 451 is wound with a corresponding driving wire 452. The active portion of the corresponding driving wire 452, that is, the portion not wound on the driving wheel 451, extends into the catheter 48, extends along the length direction of the catheter 48 and is finally fixed to the end of the catheter.

[0078] The end in the present disclosure may also be referred to as the distal end or the head, which refers to the end away from the instrument box 45 ; the front end may also be referred to as the proximal end or the tail, which refers to the end close to the instrument box 45 .

[0079] A portion of the catheter 48 including the end is a controllable section 49, and the end of the controllable section 49 is the end of the catheter 48. The controllable section 49 may be a joint component, which has high rigidity in the extension direction and low rigidity in the bending direction, and may bend under the control of the drive wire 452, thereby achieving the steering of the catheter 48. In some embodiments, the joint component may be referred to as a snake bone.

[0080] In some embodiments, see Figure 7 The present disclosure provides a control method for a catheter robot, which can quickly complete preoperative preparation operations. The control method can be configured to be executed by a control system, and the control method includes:

[0081] Step S101, obtaining the actual position of the guide in the reference coordinate system.

[0082] Step S102, based on the actual position, determining the insertion axis of the guide in the insertion port.

[0083] Step S103, obtaining a first target distance between the desired manipulator and the insertion port on the insertion axis.

[0084] Step S104: determining a first target position of the manipulator on the insertion axis of the insertion port based on the first target distance.

[0085] Step S105, controlling the manipulator to move to the first target position.

[0086] Since the actual position of the guide 270 is described in the reference coordinate system, the insertion axis determined based on the actual position can naturally be described in the reference coordinate system, and the first target position of the manipulator 250 on the insertion axis can naturally be described in the reference coordinate system. That is, the above positions can all be described in the reference coordinate system. For example, the reference coordinate system can be the base coordinate system of the trolley 200 in the catheter robot, which can reduce the conversion of the coordinate system and facilitate the control of the manipulator 250.

[0087] 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 acquired target distance, and the manipulator 250 can be automatically moved to the target position, thereby improving the efficiency of preoperative preparation.

[0088] In the 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, and a known relative position relationship cannot be established between the two, which is not conducive to the motion control of the manipulator 250 in the trolley 200 relative to the guide 270 and thus to achieve preoperative preparation. Therefore, in the above step S101, the guide 270 can be positioned to obtain the actual position of the guide 270 in the reference coordinate system, so as to establish the relative position relationship between the two in the same coordinate system, thereby facilitating the motion control of the manipulator 250 in the trolley 200 in association with the guide 270.

[0089] In some embodiments, such as Figures 2 to 4 As shown, in order to achieve the positioning of the guide 270, the catheter robot system 1000 may also include a positioning system 260 connected to the control system 600. The 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, and during the positioning process, there is no need for an operator to participate in the operation. For example, the image vision positioning system 260 may include a stereo vision sensor. For another example, the electromagnetic wave positioning system 260 may include an infrared positioning system 260, a radar positioning system 260, or a laser positioning system 260. For another example, the mechanical wave positioning system 260 may include an ultrasonic positioning system 260.

[0090] The positioning system 260 can be selected to be able to perform positioning in a limited number of directions, such as positioning in one or several directions, but the efficiency is usually low. In order to improve the positioning efficiency, the positioning system 260 can be selected to be a positioning system 260 capable of regional positioning, which can perform positioning in an area rather than positioning in a limited number of directions. The area can be, for example, a sector area or a rectangular area. Taking the sector area as an example, the central angle of the sector area can be, for example, between 60° and 180°, such as 120°, to cover a larger area.

[0091] When the positioning system 260 selects the image vision positioning system 260 or the mechanical wave positioning system 260, it can perform regional positioning due to its positioning principle.

[0092] When the positioning system 260 uses an electromagnetic wave positioning system 260, since electromagnetic waves have strong directivity, in order to achieve regional positioning, it is necessary to use an electromagnetic wave positioning system 260 with a structural design or method design capable of regional positioning. For example, for an infrared positioning system 260 or a laser positioning system 260, a limited number of infrared light beams or laser light beams emitted by a limited number of transmitting units can be uniformly diffused by using an optical structure such as a light homogenizer to achieve light diffusion at a larger angle, thereby achieving regional positioning.

[0093] In some embodiments, the positioning system 260 may also be a positioning system 260 that can be positioned in a limited number of directions. When the positioning efficiency issue is not considered, in order to achieve regional positioning, the positioning system 260 may be designed to be capable of at least one of rotation and translation, thereby achieving regional positioning. Furthermore, a positioning system 260 that can perform regional positioning may also be selected, and the positioning system 260 may be designed to be capable of at least one of rotation and translation, to achieve positioning in a larger range. For example, in order to achieve the rotation of the positioning system 260, a drivable rotation mechanism may be provided for the positioning system 260 to drive the positioning system 260 to rotate. For example, in order to achieve the translation of the positioning system 260, a drivable translation mechanism may be provided for the positioning system 260 to drive the positioning system 260 to translate.

[0094] In some embodiments, the positioning system 260 can be set on the trolley 200 or can be set 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 the like.

[0095] In some embodiments, the three-point positioning principle can be used to position the guide 270. The position of the guide 270 can be characterized by at least two positioning points set on the guide 270. For example, when the positioning points include two, 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 set on the end face of its insertion port 2701, which is usually the face where the catheter device 400 is inserted. Of course, multiple positioning points on the guide 270 can also be set on other outer surfaces of the guide 270, as long as positioning is convenient.

[0096] 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 positioning point and the third positioning point are both unknown, the positions of the first positioning point and the second positioning point in the reference coordinate system cannot be determined based on the three-point positioning principle. Figure 8 The control method of the present disclosure further includes a positioning process, which includes:

[0097] Step S10, controlling the positioning system to move.

[0098] 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.

[0099] Step S12, controlling the positioning system to move within a plane formed by the first positioning point, the second positioning point and the positioning system at the first positioning position.

[0100] 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.

[0101] Step S14, determining 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 determining 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.

[0102] When the positions of the first positioning point and the second positioning point in the reference coordinate system are determined, it is equivalent to that the position of the guide 270 in the reference coordinate system has also been determined. In the step S13, in the three-point positioning principle, the third positioning point in the first positioning position and the second positioning position of the reference coordinate system constitute two positioning points. Based on the first distance and the third distance, the actual position of the first positioning point in the reference coordinate system can be determined. Similarly, based on the second distance and the fourth distance, the actual position of the second positioning point in the reference coordinate system can be determined.

[0103] Combination Fig. 9 Referring to the guide 270, a first positioning point B and a second positioning point C are provided, and the third positioning point used by the positioning system 260 includes a third positioning point A1 scanned to the first positioning point B and the second positioning point C for the first time, and a third positioning point A2 scanned to the first positioning point B and the second positioning point C for the second time. 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 located at the same height.

[0104] In some embodiments, the first positioning position, the second positioning position, the first positioning point and the second positioning point can be configured to be located in the same plane to simplify calculations. This is because in three-dimensional space, the positions of all positioning points involved in positioning on one of the coordinate axes are known, and only their positions on the other two coordinate axes need to be determined. By constructing a distance equation in the plane, the positions of the first positioning point and the second positioning point can be determined.

[0105] In some embodiments, the first positioning position, the second positioning position, the first positioning point and the second positioning point may also be configured to be not located in the same plane. In this case, the positions of the first positioning point and the second positioning point may be determined by configuring one or more other positioning positions of the third positioning point and constructing a distance equation in the three-dimensional space.

[0106] Exemplarily, the first positioning point and the second positioning point may be positioned based on more positioning positions to verify the positions of the first positioning point and the second positioning point determined in steps S11 to S13. When the verification is passed (such as the error is less than a threshold), it is determined that the positions of the first positioning point and the second positioning point are available. For example, continue to refer to Fig. 9 , the first positioning point B and the second positioning point C can be positioned again at the third positioning point A3 and used for verification.

[0107] In some embodiments, the positioning points on the guide 270 may be formed by at least one of the structural features and pattern features of the guide 270. For example, these positioning points may be formed by structural features such as protrusions or grooves provided on the guide 270. For another example, these positioning points may be formed by pattern features such as circular patterns or triangular patterns provided on the guide 270. This is more suitable for the image vision positioning system 260 to perform image vision positioning.

[0108] In some embodiments, such as Fig.10 As shown, the positioning point on the guide 270 can be composed of a positioning unit 2703 provided on the guide 270 and used in conjunction 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 having a reflective property for electromagnetic waves. Exemplarily, for an infrared positioning system and a laser positioning system, the positioning unit 2703 can be a reflective sticker.

[0109] In some embodiments, a positioning system 260 with regional positioning capability may be selected, and the positioning system 260 may be disposed in a manipulator assembly in the trolley 200. Exemplarily, since the manipulator 250 generally 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 be capable of regional positioning in a larger and more flexible space by controlling the motion of the manipulator 250.

[0110] Exemplarily, the two positioning points on the guide 270 can be set on the end face of its insertion port 2701. The way in which the positioning system 260 should position the two positioning points can be determined based on the plane in which the end face of the two positioning points is located in the Cartesian space, and the direction (i.e., the extension direction) of the line between the two positioning points in the Cartesian space.

[0111] In some embodiments, assuming that the Cartesian space includes a first coordinate system, the first coordinate system includes a first axis, a second axis, and a third axis that are orthogonal to each other, when the plane where 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 between the two positioning units 2703 is on the first axis, it can be determined that the plane where the positioning area of ​​the positioning system 260 is located 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, the plane formed by the first axis and the third axis can be scanned in the Cartesian space, and finally the positioning of the two positioning points is achieved.

[0112] When the positioning system 260 is controlled to move along the third axis and scans two positioning points, the position of the positioning system 260 on the third axis can be maintained, and the positioning system 260 can be controlled to change its position on the plane formed by the first axis and the second axis, and the two positioning points can be re-scanned. Further, the positioning of the two positioning points can be achieved based on the distance measurement information obtained by scanning the positioning points twice at the same time and the position information of the positioning system 260.

[0113] Assume that the Cartesian space includes a fixed coordinate system, and the fixed coordinate system includes an XYZ axis coordinate system, for example, the X axis refers to the left-right direction along the paper, the Y axis refers to the direction perpendicular to the paper, and the Z axis refers to the vertical direction. The first coordinate system can be a coordinate system obtained by translating or rotating the fixed coordinate system. In some embodiments, the reference coordinate system can be the fixed coordinate system.

[0114] For ease of understanding, it is assumed that the first coordinate system is a coordinate system obtained by translating the fixed coordinate system. The first axis, the second axis, and the third axis in the first coordinate system correspond to one of the X axis, the Y axis, and the Z axis, respectively. For example:

[0115] The first axis may be an X-axis, the second axis may be a Y-axis, and the third axis may be a Z-axis; or,

[0116] The first axis may be an X-axis, the second axis may be a Z-axis, and the third axis may be a Y-axis; or,

[0117] The first axis may be a Y axis, the second axis may be an X axis, and the third axis may be a Z axis; or,

[0118] The first axis may be a Y axis, the second axis may be a Z axis, and the third axis may be an X axis; or,

[0119] The first axis may be a Z axis, the second axis may be an X axis, and the third axis may be a Y axis; or,

[0120] The first axis may be a Z axis, the second axis may be a Y axis, and the third axis may be an X axis.

[0121] In some embodiments, the insertion port 2701 can be generally arranged to face upward (along the Z axis), to face left (along the X axis), to face right (along the X axis), to face forward (along the Y axis), or to face backward (along the Y axis) to facilitate insertion of the catheter device 400. Of course, the orientation of the insertion port 2701 can also have a certain inclination angle. When the orientation of the insertion port 2701 is determined, the plane in which its end face is located can also be determined. For further understanding, it is assumed that when the plane in which the end faces of the two positioning units 2703 are located is the plane formed by the XZ axes:

[0122] If the line between the two positioning units 2703 is on the X axis, it can be determined that the plane where the positioning area of ​​the positioning system 260 is located is the plane formed by the XY axis. The positioning system 260 is controlled to move along the Z axis, that is, the plane formed by the XZ axis can be scanned in the Cartesian space, and finally the positioning of the two positioning points is realized;

[0123] If the line between the two positioning units 2703 is on the Z axis, it can be determined that the plane where the positioning area of ​​the positioning system 260 is located is the plane formed by the YZ axis. The positioning system 260 is controlled to move along the X axis, that is, the plane formed by the XZ axis can be scanned in the Cartesian space, and finally the positioning of the two positioning points is realized.

[0124] In some embodiments, after the guide 270 is fixed, the target plane where the positioning area of ​​the desired positioning system 260 is located and the target motion path of the target plane can be determined according to 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 the target plane can be moved according to the target motion 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 connection line between the two positioning units 2703.

[0125] In some embodiments, the target plane and target motion path corresponding to the configuration information of the two positioning units 2703 can be configured in combination with the characteristics of the trolley 200 and the positioning system 260 disposed thereon. In some embodiments, the target plane and target motion path corresponding to each 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 so that the two positioning units 2703 can meet one of the configuration information. The operator can determine the target plane and target motion path matching the configuration information based on the configuration information of the two positioning units 2703 obtained by means such as visual means, such as through the user input device 300 or other input devices. Then the control system 600 controls the positioning area to reach the target plane based on the determined target plane and target motion path and moves the positioning area based on the target motion path. For example, when the configuration information is that the plane where the end faces of the two positioning units 2703 are located is the plane formed by the XZ axes, and the line between the two positioning units 2703 is on the X axis, it can be determined that the target plane is the plane formed by the XY axes, and the target motion path is the motion path moving along the Z axis direction, wherein the movement can be a reciprocating motion.

[0126] In some embodiments, for the trolley 200 shown in the figure and the figure, the installation of the catheter device 400 can be unilateral, that is, it can only be installed in one direction. The positioning system 260 can be set on the manipulator 250 in combination with the movement characteristics of the manipulator 250 relative to the translation joint. For example, the plane where the positioning area of ​​the positioning system 260 is located can be set perpendicular to the movement direction of the manipulator 250 in the translation joint.

[0127] For example, in the case where the plane where 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 between the two positioning units 2703 is on the first axis, the target plane can be determined to be the plane formed by the first axis and the second axis, and the target motion path can be determined to be the path moving along the third axis. Furthermore, the robot arm 230 can be controlled to move so that the translation joint is parallel to the third axis. At this time, the positioning area is also in the state of the target plane, that is, the positioning area is the plane formed by the first axis and the second axis. Then, the manipulator 250 is controlled to move relative to the translation joint, so that the positioning area can be controlled to move along the third axis and then scan the plane formed by the first axis and the second axis, thereby realizing the positioning of the two positioning units 2703.

[0128] In some embodiments, for the trolley 200 shown in the figure, the positioning system 260 can also be set on the manipulator 250. For example, the plane where the positioning area of ​​the positioning system 260 is located can be set perpendicular to the direction in which the sliding base 210 translates relative to the base 210.

[0129] For example, when the translation of the sliding base 210 relative to the base 210 is an up-and-down translation (along the Z axis), the target plane can be determined to be a plane formed by the X axis and the Z axis, and the line connecting the two positioning units 2703 is on the X axis. The target motion path can be determined to be a path along the Z axis. For another example, when the translation of the sliding base 210 relative to the base 210 is a forward-and-backward translation (along the Y axis), the target plane can be determined to be a plane formed by the X axis and the Z axis, and the target motion path can be determined to be a path along the Y axis, corresponding to the situation where the plane of the end faces of the two positioning units 2703 is on the X axis and the Z axis, and the line connecting the two positioning units 2703 is on the Z axis.

[0130] In some embodiments, for the trolley 200 shown in the figure, the installation of the catheter instrument 400 can be bilateral installation, that is, it can be installed in two directions. One or two positioning systems 260 can be set on the manipulator 250 to identify whether it is installed on the first side or the second side. When the positioning system 260 is set as one, the positioning system 260 can be fixed relative to the manipulator 250 to achieve the positioning of the positioning system 260 to the first side or the second side based on the rotation of the manipulator 250; the positioning system 260 can also be rotatably set relative to the manipulator 250 to achieve the positioning to the first side or the second side based on the rotation of the positioning system 260. When the positioning system 260 is set as two, the two positioning systems 260 can be respectively set on the two manipulators 250 and set back to each other, or the two positioning systems 260 can be set on one manipulator 250 and set back to each other to achieve positioning to the first side or the second side. When the positioning system 260 is positioned at the positioning unit 2703 on the first side, it can be considered that the first-side installation is identified, and when the positioning system 260 is positioned at the positioning unit 2703 on the second side, it can be considered that the second-side installation is identified. The first-side installation or the second-side installation is identified to determine which manipulator 250 is used for the outer catheter device 420 and the other manipulator 250 is used to install the inner catheter device 410.

[0131] In some embodiments, in the 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 positioning point and the second positioning point representing the position of the guide 270 in the reference coordinate system. The insertion port 2701 is the port for the catheter device 400 to be inserted into the guide 270. The insertion port 2701 is aligned with the catheter device 400 in a straight state, which can facilitate the insertion of the catheter device 400 on the one hand, and prevent the catheter device 400 from being scratched at the insertion port 2701 and reduce the resistance of the feeding movement of the catheter device 400 on the other hand. The alignment of the insertion port 2701 with the catheter device 400 in a straight state can be further characterized as the insertion axis of the insertion port 2701 substantially coinciding with the axis of the catheter device 400 in a straight state. The straight state of the catheter device 400 usually refers to the guide tube (such as the inner catheter 41 or the outer catheter 42) being in a straight state, that is, in an initial zero position state. Since the catheter device 400 is mounted on the manipulator 250, the catheter of the catheter device 400 can also be considered to be led out from the manipulator 250. Therefore, when the insertion port 2701 is aligned with the catheter device 400 in a straight state, the manipulator 250 is actually 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 with the help of the manipulator 250. In order to realize the feeding movement of the catheter device 400, the manipulator 250 can usually move along the direction of the insertion axis.

[0132] In some embodiments, the line between the first positioning point and the second positioning point of the guide 270 can be defined as the first axis, and the plane where the insertion port 2701 is located can be basically determined by determining the first axis. The first axis and the insertion axis of the insertion port 2701 usually have a known positional relationship, which can be expressed as a slope relationship, for example, and the positional relationship can be determined in advance by methods such as calibration. In the reference coordinate system, after the positions of the first positioning point and the second positioning point are determined, the first axis is also determined, and 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.

[0133] For example, to simplify calculation, when designing the first positioning point and the second positioning point, the first positioning point and the second positioning point 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 extending direction of the perpendicular bisector is usually the direction of the normal vector of the plane where the insertion port 2701 is located, that is, the feeding direction of the catheter device 400.

[0134] In some embodiments, in step S103 , the minimum requirement that the first target distance obtained needs to meet may be that when the instrument box of the catheter instrument 400 is installed on the manipulator 250 , the catheter of the catheter instrument 400 can be inserted into the insertion port 2701 .

[0135] 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 is too far. Obviously, the catheter of the catheter device 400 may not be long enough to be inserted into the insertion port 2701.

[0136] Of course, the first target distance should not be too small, but should be appropriate. Specifically, after the manipulator 250 moves to the first target distance of the insertion axis, the operator can install the catheter device 400 through two installation sequences. In the first installation sequence, the catheter of the catheter device 400 is first inserted into the guide 270 through the insertion port 2701, and then the instrument box of the catheter device 400 is installed in the manipulator 250. In the second installation sequence, the instrument box of the catheter device 400 is first installed in the manipulator 250, and then the catheter of the catheter device 400 is inserted into the guide 270 through the insertion port 2701.

[0137] If the first target distance is too small, the distance between the manipulator 250 and the insertion port 2701 is very close. On the one hand, there is not enough space between the manipulator 250 and the insertion port 2701 to insert the catheter of the catheter instrument 400 into the insertion port 2701; on the other hand, in the first installation sequence, the instrument box of the catheter instrument 400 has not yet established a connection with the manipulator 250, so the catheter instrument 400 cannot provide a field of view or a master-slave mapping relationship between the catheter instrument 400 and the input device to achieve feeding and steering control of the end of the catheter. The entire insertion of the catheter is in a blind and uncontrolled state. Moreover, since the length of the catheter needs to be accommodated in the guide 270 and / or the patient's anatomical structure, the excess length of the catheter can easily lead to the insertion of the catheter into the anatomical structure. Such a rash insertion can easily create a great safety risk. In addition, even in the second installation sequence, the above two problems still exist. For example, relative to the first installation sequence, since the insertion of the catheter is related to the feeding 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 needs to rely on the manual insertion of the operator. Therefore, there is at least a problem that the insertion of the catheter is uncontrolled, thereby affecting safety.

[0138] In some embodiments, the guide 270 also includes an extension port 2702, which is generally used to connect to the patient's anatomical through hole. The path between the insertion port 2701 and the extension port 2702 can be a straight line or a curve, and of course, a mixture of straight lines and curves. Among them, at the insertion port 2701, it is generally a straight line. The length from the insertion port 2701 to the extension port 2702 is generally known, and the minimum value of the first target distance, that is, 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 value of the first target distance, that is, 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.

[0139] In some embodiments, the first target distance can be configured as the maximum target distance. When the instrument box of the catheter device 400 is mounted on the manipulator 250 and the catheter of the catheter device 400 is inserted from the insertion port 2701, the end of the catheter substantially reaches the insertion port 2701 of the guide 270, and the feeding movement and bending and turning movement of the catheter can be precisely controlled from the insertion port 2701 under the visual field.

[0140] 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 on the manipulator 250 and the catheter of the catheter instrument 400 is inserted from the insertion port 2701, the end of the catheter basically reaches the extension port 2702 of the guide 270. Since the extension port 2702 of the guide 270 abuts or is adjacent to the anatomical through hole of the patient, the operator can directly start from the extension port 2702 and quickly control the feeding and steering of the catheter under the field of vision. Compared with the first target distance being configured as the maximum target distance, which requires the operator to control the feeding and steering of the catheter from the insertion port 2701 of the guide 270, it can save the operator's time for controlling the insertion of the catheter from the insertion port 2701 of the guide 270 to the extension port 2702, and can significantly improve the efficiency of the operation.

[0141] In some embodiments, it is usually appropriate to configure the first target distance to be any distance in the interval between the minimum target distance and the maximum target distance (including the endpoints). The first target distance can be automatically configured from the interval according to a preset rule. For example, the first target distance can be configured to be the minimum target distance. For example, the first target distance can be configured to be the maximum target distance. For another example, the first target distance can be configured to be the average of the minimum target distance and the maximum target distance. Of course, it can also be any other suitable value.

[0142] In some embodiments, various known parameters of the present disclosure, for example, the relative position 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 the control system 600 in advance, such as stored in the memory of the control system 600.

[0143] In some embodiments, the first target distance can be configured as an initial value. Exemplarily, the initial value can be determined by statistical analysis, and the minimum target distance and the maximum target distance of each of multiple catheter devices 400 that may be used and have similar lengths can be obtained respectively, and a minimum target distance with the largest length is determined from the multiple minimum target distances, and a maximum target distance with the smallest length is determined from the multiple maximum target distances, and then the initial value is determined based on the minimum target distance with the largest length and the maximum target distance with the smallest length. Exemplarily, it is also possible to select one of the multiple catheter devices 400 with similar lengths, determine its minimum target distance and maximum target distance, and determine the initial value based on the minimum target distance and the maximum target distance. The initial value of the first target distance can be configured as any value in the minimum target distance and maximum target distance interval.

[0144] When the first target distance is an initial value, the initial value can be stored in the memory of the control system 600. In the step S103, the initial value can be read 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, so as to be applicable to the installation of a plurality of catheter instruments 400 of substantially the same length. However, the control method disclosed in the present invention is also expected to be compatible with the installation and use of some catheter instruments 400 of specific lengths. For the convenience of explanation, the catheter instruments 400 of substantially the same length applicable to the initial value can be named as the first type of catheter instruments, the catheter instruments 400 having a shorter length relative to the first type of catheter instruments can be named as the second type of catheter instruments, and the catheter instruments 400 having a longer length relative to the first type of catheter instruments can be named as the third type of catheter instruments. The length of the first type of catheter instruments is usually significantly different from the lengths of the second type of catheter instruments and the third type of catheter instruments.

[0145] like Fig.10 Fig.11 As shown, Fig.10 This is a schematic diagram of the principle that the end of the catheter of the catheter device disclosed in the present invention is aligned with the extension port of the introducer. Fig.11The schematic diagram of the principle of aligning the end of the catheter of the catheter device of the present disclosure with the insertion port of the introducer. For the first type of catheter device, assuming that the first target distance is expressed as L, and assuming that the known length of the first type of catheter device is L1, and the known length from the insertion port 2701 to the extension port 2702 of the introducer 270 is L0, it can be seen that in order to adapt to the installation of the first type of catheter device, the first target distance should satisfy the relationship: L1-L0≤L≤L1. Among them, L1-L0 represents the minimum target distance, and L1 represents the maximum target distance.

[0146] Among them, the manipulator 250 is in a default position of the first target distance on the insertion axis of the insertion port 2701. Although it is suitable for the installation of the first type of catheter instrument, for the second type of catheter instrument, the length between the manipulator 250 and the insertion port 2701 may be too small to achieve the installation of the second type of catheter instrument. Alternatively, for the third type of catheter instrument, the length from the manipulator 250 to the extension port 2702 of the guide 270 is too small to achieve the installation of the third type of catheter instrument.

[0147] like Fig.12 As shown, Fig.12 The figure is a state diagram of an embodiment of the catheter device of the present disclosure that the length is not suitable for the manipulator to be in the default position. Exemplarily, for the second type of catheter device, assuming that 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 not suitable for the installation of the second type of catheter device, because the length of the manipulator 250 from the insertion port 2701 is too small, the catheter of the second type of catheter device cannot be inserted into the insertion port 2701 and its instrument box cannot be engaged to the manipulator 250 at the default position of the first target distance on the insertion axis of the insertion port 2701.

[0148] like Fig.13 As shown, Fig.13Schematic diagram of another embodiment of the state that the length of the catheter device of the present disclosure is not suitable for the manipulator to be in the default position. Exemplarily, for the third type of catheter device, assuming that 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 not suitable for the installation of the third type of catheter device, because the length of the manipulator 250 from the extension port 2702 of the guide 270 is too small, when the instrument box of the third type of catheter device is installed to the manipulator 250 at the default position of the first target distance on the insertion axis of the insertion port 2701, its catheter will extend from the extension port 2702, or, when the catheter of the third type of catheter device reaches the extension port 2702 and does not extend from the extension port 2702, its instrument box is connected to the manipulator 250 at the default position of the first target distance on the insertion axis of the insertion port 2701.

[0149] In some embodiments, it is not necessary to distinguish whether the catheter device 400 to be installed is a first-class catheter device, a second-class catheter device, or a third-class catheter device, as long as the length of the catheter device 400 to be installed meets the minimum installation requirements. The minimum installation requirements include that the length of the catheter device 400 to be installed is between the first target distance and the safety distance, and the safety distance is the sum of the first target distance and the length between the insertion port 2701 and the extension port 2702 of the introducer 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 only needs to satisfy the relationship: L≤L'≤L+L0, where L+L0 represents the safety length.

[0150] In some embodiments, if L'<L or L'>L+L0, it indicates that the manipulator 250 is not suitable for the installation of the catheter device 400 to be installed at the current position. In this case, the target distance of the manipulator 250 on the insertion axis of the insertion port 2701 can be re-determined according to 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 of the catheter device 400 to be installed. For ease of understanding, the re-determined target distance is the second target distance.

[0151] In some embodiments, such as Fig.14 As shown, in the case where the first target distance adopts the initial value, after step S105, the control method of the present disclosure may further include:

[0152] Step S106, obtaining the length of the catheter device to be installed.

[0153] Step S107, detecting whether the length of the catheter device to be installed is between the first target distance and the safety distance.

[0154] When the length of the catheter device 400 to be installed is not between the first target distance and the safety distance, step S108 is executed; otherwise, step S111 is executed.

[0155] Step S108: determining a second target distance based on the length of the catheter device to be installed.

[0156] 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 elaborated here.

[0157] Step S109: determining a second target position of the manipulator on the insertion axis of the insertion port based on the second target distance.

[0158] Step S110, controlling the manipulator to move to a second target position.

[0159] Step S111, controlling the prompting device to prompt installation of the catheter instrument.

[0160] For example, the user input device 300 and / or the manipulator 250 is provided with a prompt device connected to the control system 600 , and the prompt device may include at least one of a user interface, an indicator light, a speaker, and the like.

[0161] When the length of the catheter device 400 to be installed is between the first target distance and the safety distance, there is no need to readjust the position of the manipulator 250, thereby avoiding unnecessary adjustments and saving surgery preparation time.

[0162] Through the steps S106 to S110 , the manipulator 250 can be readjusted to a suitable position to meet the installation requirements of the unspecified catheter device 400 to be installed.

[0163] In step S105 or step S110, the corresponding target position can be resolved into the corresponding target joint variable of the joint component in the manipulator component through inverse kinematics, and the movement of the joint component in the manipulator component can be controlled according to the target joint variable.

[0164] In step S106, the length of the catheter device to be installed can be obtained in a variety of ways.

[0165] Exemplarily, the length of the catheter device 400 to be installed can be obtained through the user input device 300. For example, the identity information of the catheter device 400 can be input, and the length of the catheter device 400 can be matched based on the identity information. For another example, the length of the catheter device 400 can be directly input.

[0166] Exemplarily, the manipulator 250 may be provided with a reading unit for reading the attribute information of the catheter instrument 400, and the instrument box of the catheter instrument 400 may be provided with a storage unit for storing the attribute information of the catheter instrument 400. The reading unit may read the attribute information of the catheter instrument 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 identity information, length, and type of the catheter instrument 400, and the type of the catheter instrument 400 may include, for example, the inner catheter instrument 410 and the outer catheter instrument 420. The length of the catheter instrument 400 may 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, when the instrument box of the catheter instrument 400 is coupled to the manipulator 250, the reading unit contacts the storage unit to realize the reading function. For 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 may be realized when the instrument box of the catheter instrument 400 is adjacent to the manipulator 250 within a certain range, and the reading function may be realized without coupling the instrument box to the manipulator 250. The contactless reading unit may be, for example, an NFC module, and the corresponding storage unit may be an NFC tag; the contactless reading unit may be, for example, an RFID module, and the corresponding storage unit may be an RFID tag. The first installation sequence is more suitable for the case where a contactless reading unit is used than the second installation sequence.

[0167] Exemplarily, the catheter robot system 1000 may further include a tray for storing the catheter instrument 400, the tray is provided with a sensing switch and a reading unit respectively connected to the control system 600, and the instrument box of the catheter instrument 400 may be provided with a storage unit for storing the attribute information of the catheter instrument 400. The sensing switch is used to sense the removal of the catheter instrument 400 from the tray, and the removal of the catheter instrument 400 from the tray may generally indicate the operator's intention to install the catheter instrument 400 on the manipulator 250. When the removal of the catheter instrument 400 is sensed, the reading unit reads the attribute information of the catheter instrument 400 from the storage unit and sends it to the control system 600, and the control system 600 obtains the length of the catheter instrument 400 in the attribute information. The reading unit may be, for example, a non-contact reading unit. By obtaining the length of the catheter instrument 400 when the catheter instrument 400 is removed from the tray, the manipulator 250 can be adjusted to a suitable installation position earlier.

[0168] In some embodiments, the control method of the present disclosure may further include, after obtaining the length of the catheter device 400 to be installed, determining the maximum amplitude of the manipulator 250 to be withdrawn on the insertion axis of the insertion port 2701 based on the obtained length during the surgical stage, rather than the preoperative stage or the postoperative stage, and limiting the withdrawal of the manipulator 250 on the insertion axis of the insertion port 2701 based on the maximum amplitude. It is possible to prevent the end of the catheter device 400 from being separated from the insertion port 2701 when withdrawing the catheter device 400. Exemplarily, the maximum withdrawal amplitude may be determined to be substantially equivalent to the length of the catheter device 400 to be installed, such as being the same as or slightly smaller.

[0169] In some embodiments, the first target distance may not use the initial value, but may be determined accurately in real time according to the length of the catheter device 400 to be installed, so that there is no need to readjust the steps S106 to S110, and the adjustment can be achieved in one go. It is only necessary to obtain the length of the catheter device 400 to be installed by the method described in any of the above embodiments before the step S103, and no further details will be given here.

[0170] The above embodiment is applicable to the trolley 200 in which the position of the manipulator 250 can be adjusted by the robot arm 230. For example, in the trolley 200 shown in the figure, in the use scenario of a single catheter instrument 400 (such as an inner 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 embodiment can be directly applied. For another example, in the trolley 200 shown in the figures, two manipulators 250 are included. In the use scenario of a single catheter instrument 400 (such as an inner catheter instrument 410), only one manipulator 250 needs to be aligned with the insertion port 2701 of the guide 270 and adjusted to a suitable installation position, and the above-mentioned embodiment can be directly applied; in the use scenario of two catheter instruments 400 (the inner catheter 41 of the inner catheter instrument 410 is inserted into the outer catheter 42 of the outer catheter instrument 420), the two manipulators 250 need to be respectively aligned with the insertion port 2701 of the guide 270 and respectively adjusted to suitable installation positions. This can be improved on the basis of following the principles or methods adopted in the above-mentioned embodiments to meet the applicability.

[0171] In some embodiments, such as Fig.15 As shown, when different manipulators 250 are controlled by different mechanical arms 230, and the manipulators 250 are not installed on the translation joint, and the manipulator 250 includes 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 the outer catheter device 420, and the other is used to install the inner catheter device 410, the present disclosure can also provide a control method, the control method comprising:

[0172] Step S201, obtaining the actual position of the guide in the reference coordinate system.

[0173] Step S202, based on the actual position, determine the insertion axis of the guide in the insertion port.

[0174] Step S203, obtaining a first target distance between the first manipulator and the insertion port on the insertion axis, and obtaining a second target distance between the second manipulator and the insertion port on the insertion axis.

[0175] Assume that the first manipulator 2501 is the manipulator 250 for installing the outer catheter device 420, and the second manipulator 2502 is the manipulator 250 for installing the inner catheter device 410. Generally, the first manipulator 2501 is closer to the introducer 270 than the second manipulator 2502.

[0176] The acquisition rule of the first target distance is usually the same as the acquisition rule of the second target distance, so that the end of the outer catheter 42 of the outer catheter device 420 installed on the first manipulator 2501 and the end of the inner catheter 41 of the inner catheter device 410 installed on the second manipulator 2502 are basically aligned at any same position in the interval from the insertion port 2701 to the extension port 2702 of the guide 270. For ease of understanding, for example, Fig.16 As shown, the extension port 2702 can be selected as the alignment position of the end of the outer catheter 42 and the end of the inner catheter 41; or Fig.17 As shown, the insertion port 2701 can be selected as the alignment position of the end of the outer catheter 42 and the end of the inner catheter 41. Based on the alignment position, the first target distance is determined in combination with the length of the outer catheter device 420, and the second target distance is determined in combination with the length of the inner catheter device 410. Among them, the length of the catheter device 400 of the present disclosure can generally refer to the length of the catheter, for example, the length of the outer catheter device 420 can refer to the length of the outer catheter 42, and the length of the inner catheter device 410 can refer to the length of the inner catheter 41.

[0177] In some embodiments, when the inner catheter device 410 is used, the end of the inner catheter 41 can extend at least a target length from the end of the outer catheter 42. The difference between the second target distance and the first target distance can be at least greater than the target length.

[0178] The minimum value of the target length includes the length from the target surgical site of the patient's anatomical structure to the anatomical through hole, and the corresponding situation is that the end of the outer catheter 42 and the end of the inner catheter 41 are substantially aligned at the extension port 2702 of the guide 270. When the end of the outer catheter 42 and the end of the inner catheter 41 are substantially aligned at other positions between the insertion port 2701 and the extension port 2702 of the guide 270, the target length is usually greater than the minimum value, because the target length at this time should also include the length from the alignment position to the extension port 2702.

[0179] Step S204, determining a first target position of the first manipulator on the insertion axis of the insertion port based on the first target distance, and determining a second target position of the second manipulator on the insertion axis of the insertion port based on the second target distance.

[0180] Step S205 , controlling the first manipulator to move to the first target position, and controlling the second manipulator to move to the second target position.

[0181] After step S205, the entire surgical preparation process is completed by installing the inner and outer catheter instruments 420 on the corresponding manipulators 250. In some embodiments, the outer catheter instrument 420 may be installed first, and then the inner catheter instrument 410. In some embodiments, the inner catheter instrument 410 may be installed first, and then the outer catheter instrument 420.

[0182] 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 target distance and the second target distance 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 target distance and the maximum target distance of the corresponding catheter device 400. For example, assuming that each target distance is expressed as L, and assuming that 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 known that in order to adapt to the installation of the corresponding tube device, each target distance should satisfy the relationship: L1-L0≤L≤L1. Among them, L1-L0 represents the minimum target distance, and L1 represents the maximum target distance.

[0183] In some embodiments, the first target distance and the second target distance in step S203 may adopt initial values, and each initial value may be stored in the memory of the control system 600. In terms of rationality, since the length of the inner catheter device 410 is usually greater than the length of the outer catheter device 420, the initial value of the second target distance should be greater than the initial value of the first target distance. Among them, the initial value of the first target distance and the initial value of the second target distance may be determined according to the same rule, and the same rule includes that the end of the outer catheter 42 and the end of the inner catheter 41 can be basically aligned at any same position in the interval from the insertion port 2701 to the extension port 2702 of the guide 270, that is, the basis for calculating each initial value is the same.

[0184] For example, the initial value of the first target distance can be determined according to the minimum target distance and the maximum target distance of multiple outer catheter devices 420, and the initial value of the second target distance can be determined according to the minimum target distance and the maximum target distance of multiple inner catheter devices 410. For another example, the initial value of the first target distance can be determined according to the minimum target distance and the maximum target distance of multiple outer catheter devices 420, and the initial value of the second target distance can be determined based on the initial value of the first target distance, for example, the initial value of the second target distance can be determined by adding a preset offset value to the initial value of the first target distance. For another example, the initial value of the second target distance can be determined according to the minimum target distance and the maximum target distance of multiple inner catheter devices 410, and the initial value of the second target distance can be determined based on the initial value of the first target distance, for example, the initial value of the first target distance can be determined by subtracting a preset offset value from the initial value of the second target distance. The offset value can also be stored in the memory of the control system 600 for determination of the corresponding target distance.

[0185] In some embodiments, see Fig.18 In the case where the first target distance or the second target distance adopts an initial value, after step S205, the following may also be included:

[0186] Step S206, in response to the first manipulator moving to the first target position and the second manipulator moving to the second target position, obtaining an initial installation sequence of the inner catheter instrument and the outer catheter instrument, and determining a first-installed catheter instrument based on the initial installation sequence.

[0187] The inner catheter device 410 and the outer catheter device 420 may include an initial installation sequence, and the initial installation sequence may include first installing the outer catheter device 420 and then installing the inner catheter device 410, or may include first installing the inner catheter device 410 and then installing the outer catheter device 420. For ease of description, under the initial installation sequence, the catheter device 400 expected to be installed first may be defined as the first-installed catheter device 400, and the catheter device 400 expected to be installed later may be defined as the second-installed catheter device 400. The initial installation sequence may be stored in the memory of the control system 600, or may be set in real time according to the operator's habits.

[0188] Step S207: determining a pre-set target position associated with the first target position and the second target position based on the pre-set catheter device.

[0189] The pre-set target position can generally be determined based on the type of the pre-set catheter device 400. For example, when the pre-set catheter device 400 is an outer catheter device 420, the pre-set target position is the first target position. For another example, when the pre-set catheter device 400 is an inner catheter device 410, the pre-set target position is the second target position. After determining the pre-set target position, the post-set target position can naturally be determined.

[0190] Step S208, detecting whether there is a pre-set catheter device that meets the pre-set target position for installation.

[0191] The control system 600 can obtain the attribute information of all the stored catheter instruments 400. Based on the type and length of the catheter instruments 400 in the attribute information, it can be determined whether there is a pre-installed catheter instrument 400 that meets the pre-set target position for installation, and it can also be determined whether there is a post-installed catheter instrument 400 that meets the post-set target position for installation. In step S208, when it is detected that there is a pre-installed catheter instrument 400 that meets the pre-set target position for installation, step S209 is executed; otherwise, step S212 is executed.

[0192] Step S209, determining the associated pre-set manipulator between the first manipulator and the second manipulator based on the pre-set catheter instrument, and controlling the indicator associated with the pre-set manipulator and the indicator associated with the storage position of the pre-set catheter instrument to perform a first indication.

[0193] The first manipulator 2501 may be determined based on the type of the first catheter device 400. For example, when the first catheter device 400 is an outer catheter device 420, the first manipulator 2501 is the first manipulator 2501. For another example, when the first catheter device 400 is an inner catheter device 410, the first manipulator 2501 is the second manipulator 2502.

[0194] Exemplarily, the first manipulator 2501 and the second manipulator 2502 are respectively provided with indicators. The catheter instrument 400 is usually stored in a tray, and one tray stores one catheter instrument 400 or multiple catheter instruments 400. When one catheter instrument 400 is stored in one tray, each tray is provided with one indicator, and when multiple catheter instruments 400 are stored in one tray, each tray is provided with multiple indicators to respectively correspond to the storage positions of the catheter instruments 400. Each indicator is connected to the control system 600, and such connection may include a wired or wireless connection.

[0195] The first indication is associated with the indication of the pre-set manipulator 2501 and the pre-set catheter instrument 400 that meets the pre-set target position for installation. The indication of the pre-set manipulator 2501 and the indication of the pre-set catheter instrument 400 that meets the pre-set target position for installation may be generally the same, so that the correct pre-set catheter instrument 400 can be quickly found through the same indication of the pre-set manipulator 2501 and the pre-set catheter instrument 400, and the operator is prompted to install the correct pre-set catheter instrument 400 to the pre-set manipulator 2501, which can speed up the installation of the pre-set catheter instrument 400.

[0196] Step S210, in response to the installation of the pre-set catheter instrument on the pre-set manipulator, detecting whether there is a post-set catheter instrument that meets the post-set target position for installation.

[0197] The prerequisite for satisfying the post-set target position includes that the end of the inner catheter 41 is substantially aligned with the end of the outer catheter 42 .

[0198] In step S210 , when the pre-set catheter device 400 is installed on the pre-set manipulator 2501 , the indicator of the pre-set manipulator 2501 may be controlled to make another indication, indicating that the pre-set catheter device 400 is correctly installed on the pre-set manipulator 2501 .

[0199] In step S210, when it is detected that there is a post-set catheter device that meets the post-set target position, step S211 is executed.

[0200] Step S211, controlling an indicator associated with the subsequent manipulator and an indicator associated with the storage position of the subsequent catheter device to perform a second indication.

[0201] The second indication is associated with the indication of the subsequent manipulator 2502 and the subsequent catheter device 400 that meets the second target position for installation. The indication of the subsequent manipulator 2502 and the indication of the prior catheter device 400 that meets the second target position for installation can usually be the same, so that the correct subsequent catheter device 400 can be quickly found by associating the same indication with the subsequent manipulator 2502 and the subsequent catheter device 400, and the operator is prompted to install the correct subsequent catheter device 400 to the subsequent manipulator 2502, which can speed up the installation of the subsequent catheter device 400.

[0202] Step S212, controlling the indicator associated with the pre-set manipulator to indicate a third indication of arbitrarily selecting a pre-set catheter device.

[0203] By executing steps S206 to S211, a pre-set catheter instrument 400 adapted to be installed at the pre-set target position and a post-set catheter instrument 400 adapted to be installed at the post-set target position can be found, thereby eliminating the need to readjust the positions of the pre-set manipulator 2501 and the post-set manipulator 2502.

[0204] In some embodiments, when it is detected in step S210 that there is no subsequent catheter device that meets the subsequent target position, step S213 is executed.

[0205] Step S213, detecting whether there is a target post-catheter device that meets the preset conditions.

[0206] In step S213, when it is detected that there is a target post-catheter device that meets the preset conditions, step S214 is executed; otherwise, step S215 is executed.

[0207] The preset condition may include that the difference between the length of the subsequent catheter device 400 and the length of the prior catheter device 400 mounted on the prior manipulator 2501 is at least greater than the target length, and the 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 controlling the insertion of the inner catheter 41, the difference should be greater than the target length.

[0208] Step S214, controlling the indicator associated with the storage position of the target downstream catheter device to perform a fourth indication.

[0209] The number of the target post-catheter device 400 includes one or more. The step S214 can indicate one or more target post-catheter devices 400 for the operator to select and use at will.

[0210] Step S215, controlling the indicator of the previously set manipulator to perform the fifth indication.

[0211] The fifth indication is used to indicate 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 in conjunction with the pre-set target position 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.

[0212] In some embodiments, each indicator may be an LED module, and the LED module may indicate at least one of color, strobe, brightness, and pattern. For example, the first indication and the second indication may be the same or different. For example, the first indication and the second indication may be indicated with the same color and / or brightness. For another example, the first indication and the second indication may be indicated with different colors and / or brightness.

[0213] Different indications may generally be different to indicate different information. For example, for the indicator of the pre-set manipulator 2501, a first color such as yellow may be used to indicate that the pre-set manipulator 2501 is to be installed (the first color may be associated with the position of the pre-set catheter device 400 in the tray), a second color such as green may be used to indicate that the pre-set catheter device 400 is correctly installed in the pre-set manipulator 2501, and a third color such as red may be used to indicate that the pre-set catheter device 400 needs to be removed to adjust the pre-set target position. When more states need to be indicated, more colors or combinations such as strobe, brightness, patterns, etc. may be used for indication.

[0214] In some embodiments, after the step S211 or the step S213, in response to the installation of the subsequent catheter device 400 on the subsequent manipulator 2502, the indicators of the pre-installed manipulator 2501 and the subsequent manipulator 2502 are controlled to make other indications to indicate that the preoperative preparations are completed and the operation can be performed. Of course, other methods such as sound prompts or user interface display of the user input device 300 can also be used for prompting.

[0215] In some embodiments, such as Fig.19 As shown, in the case where the first target distance or the second target distance adopts an initial value, after step S205, the following may also be included:

[0216] Step S306, obtaining the length of the pre-set catheter device to be installed.

[0217] The pre-installed catheter device 400 is a catheter device 400 to be installed first, which may be an outer catheter device 420 or an inner catheter device 410. Exemplarily, the pre-installed catheter device 400 to be installed may be the pre-installed catheter device 400 to be installed selected after step S212 or step S215.

[0218] Step S307, detecting whether the length of the pre-set catheter device is between the pre-set target distance and the pre-set safety distance.

[0219] For example, when the catheter device 400 is first set as the external catheter device 420, the first target distance is set as the first target distance, and the first safety distance is 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. For another example, when the catheter device 400 is first set as the internal catheter device 410, the first target distance is set as the second target distance, and the first safety distance is 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 first safety distance is 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.

[0220] In step S307, when the length of the pre-set catheter device is not between the pre-set target distance and the pre-set safety distance, step S308 is executed; otherwise, step S311 is executed.

[0221] Step S308, correcting the preset target distance based on the preset length of the catheter device to obtain a corrected preset target distance.

[0222] The principle of obtaining the corrected preset target distance in step S308 is substantially the same as the principle of determining the first target distance in step S103.

[0223] Step S309, based on the corrected preset target distance, correct the preset target position of the preset manipulator on the insertion axis of the insertion port to obtain a corrected preset target position.

[0224] Step S310, controlling the preset manipulator to move to the corrected preset target position.

[0225] After step S310, step S311 is executed.

[0226] Step S311, controlling an indicator associated with the pre-set manipulator to indicate installation of the pre-set catheter device.

[0227] Step S312, obtaining the length of the post-installed catheter device to be installed.

[0228] Step S313, detecting whether the length of the post-set catheter device is between the post-set target distance and the post-set safety distance.

[0229] The post-set safety distance is the sum of the post-set target distance and the length from the insertion port 2701 to the extension port 2702 of the guide 270 .

[0230] In step S313, when the length of the post-set catheter device is not between the post-set target distance and the post-set safety distance, step S314 is executed; otherwise, step S316 is executed.

[0231] Step S314, correcting the post-set target distance based on the length of the post-set catheter device to obtain a corrected post-set target distance.

[0232] The principle of obtaining the corrected meta-target distance in step S314 is substantially the same as the principle of determining the first target distance in step S103.

[0233] Step S315 , based on the corrected meta-target distance, correct the meta-target position of the meta-manipulator on the insertion axis of the insertion port to obtain a corrected meta-target position.

[0234] After step S315, step S316 is executed.

[0235] Step S316, controlling the meta-manipulator to move to the corrected meta-target position.

[0236] Through the steps S306 to S316, the pre-installed manipulator 2501 and the post-installed manipulator 2502 can be gradually moved to appropriate target positions for installation of the pre-installed catheter device 400 and the post-installed catheter device 400, respectively.

[0237] In some embodiments, the length of the pre-set catheter device 400 may be less than the pre-set target distance, or greater than the pre-set safety distance, or between the pre-set target distance and the pre-set safety distance. The length of the post-set catheter device 400 may be less than the post-set target distance, or greater than the post-set safety distance, or between the post-set target distance and the post-set safety distance.

[0238] When the length of the pre-set catheter device 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 post-set catheter device 400 is less than the post-set target distance or greater than the post-set safety distance, it is usually necessary to correct the post-set target distance and readjust the post-set target position.

[0239] When considering readjusting the pre-set target position or the post-set target position, it can usually be considered together with whether there is a possibility of collision between the pre-set manipulator 2501 and the post-set manipulator 2502.

[0240] In the case where the position of the pre-set manipulator 2501 needs to be adjusted based on the pre-set length of the catheter device 400:

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

[0242] (2) If there is a possibility of collision, for example, the first manipulator 2501 moves toward the second manipulator 2502 and reaches the collision distance threshold, when adjusting the position of the first manipulator 2501, the position of the second manipulator 2502 also needs to be adjusted to avoid collision between the two;

[0243] The movement range of the subsequent manipulator 2502 can be greater than, equal to, or less than the movement range of the prior manipulator 2501, as long as collision can be avoided. The subsequent manipulator 2502 can usually move synchronously with the movement of the prior manipulator 2501.

[0244] When the position of the pre-set manipulator 2501 does not need to be adjusted or has been adjusted, and the position of the post-set manipulator 2502 needs to be adjusted based on the length of the post-set catheter device 400:

[0245] (1) If there is no possibility of collision, for example, the subsequent manipulator 2502 moves away from the prior manipulator 2501, or the subsequent manipulator 2502 moves toward the prior manipulator 2501 and does not reach the collision distance threshold, then only the position of the subsequent manipulator 2502 needs to be adjusted.

[0246] (2) If there is a possibility of collision, for example, the post-manipulator 2502 moves toward the pre-manipulator 2501 and reaches the collision distance threshold, since the pre-manipulator 2501 may have completed the installation of the pre-catheter instrument 400, in order to avoid repeated adjustments to the pre-manipulator 2501, it is usually not necessary to temporarily adjust the position of the post-manipulator 2502, and control the indicator associated with the post-manipulator 2502 to indicate that the post-catheter instrument 400 should be replaced for installation; or, control the indicator associated with the storage position of the target post-catheter instrument 400 to indicate that the correct post-catheter instrument 400 should be quickly found.

[0247] exist Figure 2 and Figure 3 In the trolley 200 shown, the feeding movement of the catheter instrument 400 is usually achieved by controlling the manipulator 250 to translate relative to the translation joint. This requires that the manipulator 250 is located at the insertion axis of the insertion port 2701, and the translation joint and the insertion axis are parallel to each other. Based on kinematics, the manipulator 250 can be automatically controlled to move to the insertion axis of the insertion port 2701, but due to the lack of means for detecting the relative posture relationship between the insertion axis and the translation joint, it is not easy to automatically control the translation joint and the insertion axis to be parallel to each other. In some embodiments, such as Fig. 20 As shown, it is applicable to Figure 3 and Figure 4 The control method of the present disclosure may further include:

[0248] Step S401, obtaining the actual position of the guide in the reference coordinate system.

[0249] Step S402, based on the actual position, determine the insertion axis of the guide in the insertion port.

[0250] Step S403, obtaining a first target distance between the desired manipulator and the insertion port on the insertion axis.

[0251] Step S404: determining a first target position of the manipulator on the insertion axis of the insertion port based on the first target distance.

[0252] Step S405: controlling the manipulator to move to the first target position.

[0253] The step S405 can position the manipulator 250 at the insertion axis of the insertion port.

[0254] Step S406 , in response to the manipulator moving to the first target position, constraining the translation joint to move only around the first target position.

[0255] In step S406, the first target position can be understood as the remote motion center. Figure 3 or Figure 4 Referring to, constraining the translation joint to move only around the first target position can be achieved by limiting the positional freedom of the mechanical arm 230, such as the adjustment arm 2301, so that the translation joint can only perform rotational movement around the first target position, while keeping the manipulator 250 always in the first target position. The rotation of the translation joint around the first target position can adjust the posture of the translation joint to be basically parallel to the insertion axis. Among them, the operator can drag the mechanical arm 2302 so that the translation joint set on the mechanical arm 2302 is basically parallel to the insertion axis, and can determine whether the translation joint is basically parallel to the insertion axis by visual methods, such as visual methods. In some embodiments, in response to the translation joint being basically parallel to the insertion axis, all degrees of freedom of the adjustment arm 2301 can be constrained (i.e., locked or restricted) to prevent the translation joint from being moved or rotated.

[0256] The mechanical arm 230 may generally include enough positional degrees of freedom and attitude degrees of freedom to facilitate position and attitude adjustment of the manipulator 250. For example, the positional degrees of freedom may include three, namely, left-right translational degrees of freedom in the paper direction, vertical translational degrees of freedom in the paper direction, and front-back translational degrees of freedom in the direction perpendicular to the paper direction; the attitude degrees of freedom may include three, namely, pitching degrees of freedom, yaw degrees of freedom, and rolling degrees of freedom.

[0257] In such Figure 3In the trolley 200 shown, only one manipulator 250 may be provided on the translation joint. In response to obtaining that the translation joint is substantially parallel to the insertion axis, the operator may be instructed to install the catheter device 400, for example, by an indicator associated with the manipulator 250, or by a user interface of the user input device 300. Whether the translation joint is substantially parallel to the insertion axis may be obtained through the operator's input, for example, the input may be a trigger of a certain button, or may be a voice command, etc.

[0258] In such Figure 4 In the trolley 200 shown, there are two translation joints, which are arranged in parallel and spaced apart. Different manipulators 250 are arranged at different translation joints, wherein one manipulator 250 is used to engage the outer catheter instrument 420, and the other manipulator 250 is used to engage the inner catheter instrument 410. The manipulator 250 involved in steps S403 to S405 may be any one of the two manipulators 250, for example, it may be the manipulator 250 used to engage the outer catheter instrument 420. Among them, when any one manipulator 250 is located on the insertion axis and its corresponding translation joint is basically parallel to the insertion axis, the other manipulator 250 is also basically located on the insertion axis, and its corresponding translation joint is basically parallel to the insertion axis. For example, Figure 4 The trolley 200 shown in FIG. Fig. 20 After the translation joint is substantially parallel to the insertion axis, the control method of the present disclosure may further include, based on the steps S401 to S406:

[0259] Step S407, obtaining a second target distance that another manipulator is expected to be from the insertion port on the insertion axis.

[0260] Step S408: determining a second target position of another manipulator on the insertion axis of the insertion port based on the second target distance.

[0261] Step S409: controlling another manipulator to move to a second target position.

[0262] In step S405, the movement of the manipulator 250 may be performed by means of the movement of the entire robot arm 230, including the movement of the translation joint. In step S409, the movement of the other manipulator 250 is usually performed only by means of the translation joint.

[0263] In addition, when each manipulator 250 is located on the insertion axis and the translation joint is substantially parallel to the insertion axis, it indicates that the preoperative preparations except for installing the catheter device 400 are completed. The manipulator 250 can be subsequently controlled to feed on the insertion axis by controlling the translation joint.

[0264] After step S409, in response to another manipulator moving to the second target position, the operator may be instructed to install the catheter instrument.

[0265] In some embodiments, Figure 3 and Figure 4 In the trolley 200 shown, the first target distance or the second target distance may also be an initial value. If the initial value does not conform to the actual length of the catheter device 400 to be installed, reference may be made to the previous description, which will not be repeated here.

[0266] In other embodiments, only one positioning unit 2703 on the guide 270 can be provided, and 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 certain conditions include that the two manipulators 250 and the guide 270 are in the same straight line, and the two manipulators 250 and the guide 270 are usually provided with the assistance of an operator. The position of the guide 270 can be reflected by the distance between the manipulator 250 and the guide 270 on the same straight line, and the distance is obtained by positioning the positioning unit 2703 by the positioning system 260. Based on this, the manipulator 250 can be controlled to move to the target position on the insertion axis of the insertion port 2701 of the guide 270, so as to facilitate the installation of the catheter device 400.

[0267] In some embodiments, such as Fig.21 As shown, the control system 600600 may include: a processor (processor) 501, a communication interface (CommunicationsInterface) 502, a memory (memory) 503, and a communication bus 504.

[0268] The processor 501 , the communication interface 502 , and the memory 503 communicate with each other via the communication bus 504 .

[0269] The communication interface 502 is used to communicate with other devices such as various sensors, motors, solenoid valves, or network elements of other clients or servers.

[0270] The processor 501 is used to execute the program 505, and specifically can execute the relevant steps in the above method embodiment.

[0271] Specifically, the program 505 may include program codes, which include computer operation instructions.

[0272] The processor 501 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present disclosure, or a graphics processing unit (GPU). The one or more processors included in the control device may be processors of the same type, such as one or more CPUs, or one or more GPUs; or may be processors of different types, such as one or more CPUs and one or more GPUs.

[0273] The memory 503 is used to store the program 505. The memory 503 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0274] The program 505 can be specifically used to enable the processor 501 to execute the control method described in any of the above embodiments.

[0275] In some embodiments, the present disclosure further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by the processor, the control method as described in any of the above embodiments is implemented.

[0276] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described 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.

[0277] The above-mentioned embodiments only express several implementation methods of the present disclosure, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present disclosure, and these all belong to the protection scope of the present disclosure. Therefore, the protection scope of the patent of the present disclosure shall be subject to the attached claims.

Claims

1. A catheter robot system, characterized in that: include: a first manipulator for mounting and manipulating an external catheter device; a second manipulator for installing and manipulating the inner catheter device; a first robotic arm, a distal end of which is connected to the first manipulator; a second robotic arm, a distal end of which is connected to the second manipulator; and a control system connected to the first manipulator, the second manipulator, the first robotic arm, and the second robotic arm, configured to: In response to the first manipulator moving to the first target position and the second manipulator moving to the second target position, an initial installation sequence of the inner catheter instrument and the outer catheter instrument is acquired, the first target position and the second target position being located on the insertion axis of the insertion port of the introducer connected to the patient, the initial installation sequence comprising a sequence of first setting the outer catheter instrument and then setting the inner catheter instrument, or a sequence of first setting the inner catheter instrument and then setting the outer catheter instrument; when the outer catheter instrument is set first, the catheter instrument set first is the outer catheter instrument and the catheter instrument set later is the inner catheter instrument; when the inner catheter instrument is set first, the catheter instrument set first is the inner catheter instrument and the catheter instrument set later is the outer catheter instrument; determining the pre-installed catheter device based on the initial installation sequence; Determine, based on the pre-set catheter device, a pre-set target position corresponding to the first target position and the second target position; When there is a pre-set catheter device that satisfies the pre-set target position for installation, determining the pre-set manipulator corresponding to the first manipulator and the second manipulator based on the pre-set catheter device, and controlling the indicator corresponding to the pre-set manipulator and the indicator corresponding to the storage position of the pre-set catheter device to perform a first indication; In response to the installation of the pre-set catheter instrument on the pre-set manipulator, detecting whether there is a post-set catheter instrument that satisfies the post-set target position for installation; When there is the subsequent catheter instrument that satisfies the subsequent target position for installation, the indicator corresponding to the subsequent manipulator and the indicator corresponding to the storage position of the subsequent catheter instrument are controlled to perform a second indication.

2. The catheter robot system according to claim 1, characterized in that: The control system is also configured to: When there is no pre-set catheter instrument that satisfies the pre-set target position for installation, the indicator associated with the pre-set manipulator is controlled to make a third indication, and the third indication is used to indicate the random selection of a pre-set catheter instrument.

3. The catheter robot system according to claim 1, characterized in that: The control system is also configured to: When there is no subsequent catheter device that satisfies the subsequent target position for installation, detecting whether there is a target subsequent catheter device that satisfies a preset condition, wherein the preset condition includes that the difference between the length of the subsequent catheter device and the length of the prior catheter device is at least greater than a target length, and the target length includes a length by which the end of the inner catheter of the inner catheter device can extend beyond the end of the outer catheter of the outer catheter device; When the target post-catheter device that meets the preset condition exists, controlling the indicator corresponding to the storage position of the target post-catheter device to perform a fourth indication; When the target subsequent catheter instrument that meets the preset condition does not exist, the indicator of the prior manipulator is controlled to make a fifth indication, where the fifth indication is used to indicate replacement of the prior catheter instrument.

4. The catheter robot system according to claim 2 or 3, characterized in that: The control system is also configured to: Obtaining the length of the pre-set catheter device to be installed; Detecting whether the length of the pre-set catheter device is between a pre-set target distance and a pre-set safety distance, wherein the pre-set target distance is the distance between the pre-set target position and the insertion port, and the pre-set safety distance is the sum of the pre-set target distance and the length from the insertion port to the extension port of the introducer; When the length of the preset catheter device is not between the preset target distance and the preset safety distance, correcting the preset target distance based on the length of the preset catheter device to obtain a corrected preset target distance; Based on the corrected preset target distance, correct the preset target position of the preset manipulator on the insertion axis to obtain a corrected preset target position; The preset manipulator is controlled to move to the corrected preset target position.

5. The catheter robot system according to claim 2 or 3, characterized in that: The control system is also configured to: Obtaining the length of the post-installed catheter device to be installed; Detecting whether the length of the post-set catheter device is between a post-set target distance and a post-set safety distance, wherein the post-set target distance is the distance between the post-set target position and the insertion port, and the post-set safety distance is the sum of the post-set target distance and the length from the insertion port to the extension port of the introducer; When the length of the subsequent catheter device is not between the subsequent target distance and the subsequent safety distance, correcting the subsequent target distance based on the length of the subsequent catheter device to obtain a corrected subsequent target distance; Based on the corrected meta-target distance, correct the meta-target position of the meta-manipulator on the insertion axis to obtain a corrected meta-target position; The meta-manipulator is controlled to move to the corrected meta-target position.

6. The catheter robot system according to claim 1, characterized in that: Before the step of obtaining the initial installation order of the inner catheter device and the outer catheter device, the method further includes: Acquiring the actual position of the guide for connecting with the patient in the reference coordinate system; Based on the actual position, determining an insertion axis of the guide at the insertion port; Acquire a first target distance that the first manipulator is expected to be from the insertion port on the insertion axis, and acquire a second target distance that the second manipulator is expected to be from the insertion port on the insertion axis; determining the first target position of the first manipulator on the insertion axis based on the first target distance, and determining the second target position of the second manipulator on the insertion axis of the insertion port based on the second target distance; The first manipulator is controlled to move to the first target position, and the second manipulator is controlled to move to the second target position.

7. The catheter robot system according to claim 6, characterized in that: The catheter robot system includes a positioning system connected to the control system, the positioning system is arranged on the manipulator, the plane where the positioning area of ​​the positioning system is located is perpendicular to the moving axis of the manipulator, 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, and the step of obtaining the actual position of the guide connected to the patient in the reference coordinate system includes: Controlling the movement of the positioning system; When the positioning system locates the first positioning unit and the second positioning unit, a first positioning position of the positioning system is acquired, and a first distance between the positioning system and the first positioning unit and a second distance between the positioning system and the second positioning unit are acquired; Controlling the positioning system to move within a 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, a second positioning position of the positioning system is acquired, and a third distance between the positioning system and the first positioning unit and a fourth distance between the positioning system and the second positioning unit are acquired; 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, and 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.

8. The catheter robot system according to claim 7, characterized in that: The step of determining the insertion axis of the guide at the insertion port based on the actual position comprises: Determine a connection line between the first positioning unit and the second positioning unit based on an actual position of the first positioning unit and an actual position of the second positioning unit; Acquire a known positional relationship between the connecting line and the insertion axis of the insertion port; Based on the connecting line and the positional relationship, the insertion axis is determined.

9. The catheter robot system according to claim 6, characterized in that: The guide includes an extension port, the first target distance is between a minimum target distance and a 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, and the maximum target distance is the length of the catheter device to be installed.

10. A control method for a catheter robot system, characterized in that: The catheter robot system comprises: a first manipulator for mounting and manipulating an external catheter device; a second manipulator for installing and manipulating the inner catheter device; A first robotic arm, a terminal end of which is connected to the first manipulator; and a second robotic arm, a distal end of which is connected to the second manipulator; The control method comprises: In response to the first manipulator moving to the first target position and the second manipulator moving to the second target position, an initial installation sequence of the inner catheter instrument and the outer catheter instrument is acquired, the first target position and the second target position being located on the insertion axis of the insertion port of the introducer connected to the patient, the initial installation sequence comprising a sequence of first setting the outer catheter instrument and then setting the inner catheter instrument, or a sequence of first setting the inner catheter instrument and then setting the outer catheter instrument; when the outer catheter instrument is set first, the catheter instrument set first is the outer catheter instrument and the catheter instrument set later is the inner catheter instrument; when the inner catheter instrument is set first, the catheter instrument set first is the inner catheter instrument and the catheter instrument set later is the outer catheter instrument; determining the pre-installed catheter device based on the initial installation sequence; Determine, based on the pre-set catheter device, a pre-set target position corresponding to the first target position and the second target position; When there is a pre-set catheter device that satisfies the pre-set target position for installation, determining the pre-set manipulator corresponding to the first manipulator and the second manipulator based on the pre-set catheter device, and controlling the indicator corresponding to the pre-set manipulator and the indicator corresponding to the storage position of the pre-set catheter device to perform a first indication; In response to the installation of the pre-set catheter instrument on the pre-set manipulator, detecting whether there is a post-set catheter instrument that satisfies the post-set target position for installation; When there is the subsequent catheter instrument that satisfies the subsequent target position for installation, the indicator corresponding to the subsequent manipulator and the indicator corresponding to the storage position of the subsequent catheter instrument are controlled to perform a second indication.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by the processor, the control method according to claim 10 is implemented.

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