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

Abstract

The present disclosure relates to a catheter robot system and a control method thereof, a computer readable storage medium, the system comprising: a first and a second manipulator; a first and a second mechanical arm; a control system configured to: in response to the first manipulator moving to a first target position and the second manipulator moving to a second target position, acquire an initial installation sequence; determine a first catheter instrument based on the initial installation sequence; determine a first target position among the first and second target positions based on the first catheter instrument; in the presence of the first catheter instrument satisfying the first target position, determine a first manipulator among the first and second manipulators, and control an indicator corresponding to the first catheter instrument to indicate; and in response to installation of the first catheter instrument, in the presence of a second catheter instrument satisfying a second target position, control an indicator corresponding to the second catheter instrument to indicate. Through the implementation, the operator can quickly select a catheter instrument suitable for the current position of the manipulator from multiple catheter instruments for installation, which is conducive to improving the efficiency of preoperative preparation.

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

[0002] Minimally invasive medical techniques are mainly used to reduce damage to patient tissue during medical procedures, and have the advantages of small trauma, light pain, and fast recovery. Such minimally invasive techniques can be performed through natural orifices or surgical incisions in patient anatomy to enable catheter instruments to reach target tissue locations under the control of a controller. Catheter instruments are usually flexible and / or steerable elongate devices that can be inserted into anatomical passageways and navigated toward target regions within patient anatomy.

[0003] In the prior art, a guide is usually used to guide the insertion of a catheter instrument into an anatomical passageway of a patient. To prevent the guide from moving and affecting the operation, the guide is usually fixed on an operating bed on which the patient lies. During preoperative preparation, the guide is first fixed on the operating bed and the insertion channel of the guide is connected to the anatomical passageway of the patient. Then, a trolley on which the catheter instrument is mounted is moved to a planned position to meet the basic requirements of the operating bed for the position of the trolley. Then, a manipulator for mounting the catheter instrument in the trolley is manually moved to align with the insertion port of the insertion channel and to move the manipulator to a suitable position for mounting and inserting the catheter instrument into the insertion channel.

[0004] However, since multiple catheter instruments with different lengths are usually prepared for use or standby for use in an operation before the operation, even if the manipulator is moved to a default suitable position, it is difficult for an operator to quickly select a suitable catheter instrument from the multiple catheter instruments to be mounted on the manipulator at the position. Instead, the multiple catheter instruments need to be mounted on the manipulator one by one to determine which catheter instrument is suitable for being mounted on the manipulator at the position. Therefore, it is often difficult to quickly complete the preoperative preparation. SUMMARY

[0005] Therefore, it is necessary to provide a catheter robot system and a control method thereof, and a computer readable storage medium, which can facilitate an operator to quickly select a catheter instrument suitable for the current position of a manipulator from multiple catheter instruments to be mounted on the manipulator.

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

[0007] a second manipulator for mounting and manipulating an inner catheter instrument;

[0008] a first mechanical arm having a distal end connected to the first manipulator;

[0009] a second manipulator, a second mechanical 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 mechanical arm and the second mechanical arm, configured to:

[0011] in response to the first manipulator moving to a first target position and the second manipulator moving to a second target position, the first target position and the second target position being located on an insertion axis of an insertion port of a guide device connected to a patient, obtaining an initial installation sequence of the inner catheter device and the outer catheter device, the initial installation sequence including a sequence of first installing the outer catheter device and then installing the inner catheter device, or a sequence of first installing the inner catheter device and then installing the outer catheter device; when the outer catheter device is first installed, the first installed catheter device is the outer catheter device and the second installed catheter device is the inner catheter device; when the inner catheter device is first installed, the first installed catheter device is the inner catheter device and the second installed catheter device is the outer catheter device;

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

[0013] determining the first target position and the second target position corresponding to the first installed target position based on the first installed catheter device;

[0014] when there is the first installed catheter device that meets the first installed target position for installation, determining the first manipulator and the second manipulator corresponding to the first installed manipulator based on the first installed catheter device, and controlling an indicator corresponding to the first installed manipulator and an indicator corresponding to a storage position of the first installed catheter device to perform first indication;

[0015] in response to installation of the first installed catheter device on the first installed manipulator, detecting whether there is a second installed catheter device that meets a second installed target position for installation;

[0016] when there is the second installed catheter device that meets the second installed target position for installation, controlling an indicator corresponding to a second installed manipulator and an indicator corresponding to a storage position of the second installed catheter device to perform second indication.

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

[0018] a first manipulator for installing and manipulating an outer catheter device;

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

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

[0021] a second manipulator, 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 a first target position and the second manipulator moving to a second target position, an initial installation sequence of the inner catheter instrument and the outer catheter instrument is obtained, the first target position and the second target position are located on an insertion axis of an insertion port of a guide device connected to a patient, and the initial installation sequence comprises a sequence of first installing the outer catheter instrument and then installing the inner catheter instrument, or a sequence of first installing the inner catheter instrument and then installing the outer catheter instrument; when the outer catheter instrument is first installed, the first installed catheter instrument is the outer catheter instrument and the second installed catheter instrument is the inner catheter instrument; when the inner catheter instrument is first installed, the first installed catheter instrument is the inner catheter instrument and the second installed catheter instrument is the outer catheter instrument;

[0024] The first installed catheter instrument is determined based on the initial installation sequence.

[0025] The first target position and the second target position corresponding to the first installed target position are determined based on the first installed catheter instrument.

[0026] When the first installed catheter instrument satisfying the first installed target position for installation exists, the first installed manipulator corresponding to the first installed catheter instrument is determined based on the first installed catheter instrument, and a first indication is performed on an indicator corresponding to the first installed manipulator and an indicator corresponding to a storage position of the first installed catheter instrument.

[0027] In response to installation of the first installed catheter instrument on the first installed manipulator, it is detected whether a second installed catheter instrument satisfying a second installed target position for installation exists.

[0028] When the second installed catheter instrument satisfying the second installed target position for installation exists, a second indication is performed on an indicator corresponding to a second installed manipulator and an indicator corresponding to a storage position of the second installed catheter instrument.

[0029] In another aspect, the disclosure provides a computer readable storage medium storing a computer program configured to be loaded and executed by a processor to implement the steps of the alignment method according to any one of the above embodiments.

[0030] The catheter robot system and the control method thereof and the computer readable storage medium of the disclosure have the following beneficial effects

[0031] Advantages:

[0032] By detecting whether there is a catheter device suitable for installation at the current position of the manipulator, and controlling the indicator associated with the catheter device when a suitable catheter device is detected, including controlling the manipulator corresponding to the installation of the catheter device and the indicator corresponding to the position of the catheter device, the operator can quickly select the catheter device suitable for the current position of the manipulator from multiple catheter devices for installation. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the structure of an embodiment of the catheter robot system disclosed herein;

[0034] Figure 2 for Figure 1 The diagram shows a structural schematic of an embodiment of the trolley in the catheter robot system.

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

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

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

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

[0039] Figure 7 This is a flowchart of an embodiment of the control method for the catheter robot system disclosed herein;

[0040] Figure 8 This is a flowchart of another embodiment of the control method for the catheter robot system disclosed herein;

[0041] Figure 9 This is a schematic diagram illustrating the positioning process of an embodiment of the catheter robot system disclosed herein.

[0042] Figure 10 This is a schematic diagram illustrating the principle that the distal end of the catheter of the catheter device disclosed herein is aligned with the protrusion of the guide.

[0043] Figure 11 This is a schematic diagram illustrating the principle of aligning the distal end of the catheter of the catheter device disclosed herein with the insertion port of the guide.

[0044] Figure 12 This is a schematic diagram of an embodiment where the length of the catheter device disclosed herein is not suitable for the manipulator to be in the default position.

[0045] Figure 13 State diagram for another embodiment of the catheter instrument of the present disclosure with the manipulator in a default position;

[0046] Figure 14 Flowchart for another embodiment of the control method of the catheter robot system of the present disclosure;

[0047] Figure 15 Flowchart for another embodiment of the control method of the catheter robot system of the present disclosure;

[0048] Figure 16 State diagram for the outer catheter instrument and the inner catheter instrument of the present disclosure aligned at the exit port of the introducer;

[0049] Figure 17 State diagram for the outer catheter instrument and the inner catheter instrument of the present disclosure aligned at the entry port of the introducer;

[0050] Figure 18 Flowchart for another embodiment of the control method of the catheter robot system of the present disclosure;

[0051] Figure 19 Flowchart for another embodiment of the control method of the catheter robot system of the present disclosure;

[0052] Figure 20 Flowchart for another embodiment of the control method of the catheter robot system of the present disclosure;

[0053] Figure 21 Structure diagram for an embodiment of the control system in the catheter robot system of 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 fully below with reference to the accompanying drawings. In the drawings, preferred embodiments of the present disclosure are shown. However, the present disclosure can be implemented in many different forms and is not limited to the embodiments described in the present disclosure. Rather, the purpose of providing these embodiments is to make the disclosure of the present disclosure more thorough and comprehensive.

[0055] It is to be noted that when an element as claimed is "provided on" another element, it can be directly on the other element or there can be intervening elements. When an element is considered to be "connected" to another element it can be directly connected to the other element or there can be intervening elements. When an element is considered to be "coupled" to another element it can be directly coupled to the other element or there can be intervening elements. The terms "vertical", "horizontal", "left", "right" and similar expressions used in the present disclosure are for illustrative purposes only and do not indicate the only implementation. The terms "tip", "proximal" used in the present disclosure are terms of orientation commonly used in the field of interventional medical devices, wherein "tip" means the end distal to the operator during a procedure and "proximal" means the end proximal to the operator during a procedure. The terms "first / second" and the like used in the present disclosure indicate one component and two or more components having common characteristics.

[0056] Unless otherwise defined, all technical and scientific terms used in the present disclosure have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. The terminology used in the present disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the present disclosure. The use of the terms "and / or" in the present disclosure includes any and all combinations of one or more of the associated listed items.

[0057] Figure 1 A catheter robot system 1000 provided by an embodiment of the present disclosure is shown. The catheter robot system 1000 includes an image cart 100, a trolley 200 and a user input device 300 connected to the image cart 100 respectively, a catheter instrument 400 which can be engaged to the trolley 200, a sensor system 500 connected to the trolley 200, and a control system 600 for realizing control among the catheter instrument 400, the user input device 300, the sensor system 500 and the image cart 100, etc. Among them, the user input device 300 can be connected to the trolley 200 in wired or wireless manner. When an operator performs various procedures on a patient beside the trolley 200, the operator can trigger control instructions by operating the user input device 300, and the catheter instrument 400 is controlled to advance, retract and bend and turn, etc. by driving of the trolley 200.

[0058] The image cart 100 and the user input device 300 can be generally defined as master end, mainly for a doctor to operate; the trolley 200, the catheter instrument 400 and the sensor system 500 can be generally defined as slave end, mainly for a patient to be operated. 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 of the same hospital or two operating rooms of different hospitals, and the two operating rooms can be connected in communication through remote communication technology.

[0059] The cart 200 can be generally moved to the side of the operating bed for installing and manipulating the catheter instrument 400, and controlling the catheter instrument 400 to move under control instructions, which include at least one of vertical direction lifting, horizontal direction translation, non-vertical direction movement, and non-horizontal direction movement, so as to provide a better preoperative preparation position and / or posture for the operation of the catheter instrument 400. The control instructions can be triggered by the operator through operating the user input device 300, or triggered by the operator directly by clicking or pressing the keys arranged on the cart 200, or triggered by the operator directly dragging the relevant components (such as the mechanical arm 230 described below) of the cart 200. Of course, in other embodiments, the control instructions can also be voice control instructions and the like.

[0060] The cart 200 can generally include a base 210, a manipulator assembly connected with the base 210, the manipulator assembly including a mechanical arm 230 connected with the base 210, and a manipulator 250 arranged at the end of the mechanical arm 230. The manipulator 250 is used to engage with the catheter instrument 400, i.e., to install and manipulate the catheter instrument 400. More specifically, the manipulator 250 is provided with a power part 240, and the catheter instrument 400 is installed and manipulated by the power part 240.

[0061] During the operation, the base 210 is generally 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 movement, can be realized by controlling the position of the end of the catheter instrument 400; the operator can control the bending and turning (i.e., the posture) of the end of the catheter instrument 400 by controlling the power part 240 in the manipulator 250.

[0062] Some embodiments, as shown in Figures 2 to 4 The mechanical arm 230 can include at least one, and the manipulator 250 arranged at the end of the mechanical arm 230 can also include at least one.

[0063] For example, as shown in Figure 3 and Figure 4 The mechanical arm 230 can include one, and the manipulator 250 arranged at the end of the mechanical arm 230 can include one or two. The mechanical arm 230 can include a plurality of joint assemblies, and the plurality of joint assemblies can provide a plurality of degrees of freedom, which can include position degrees of freedom and posture degrees of freedom.

[0064] For example, as shown in Figure 3As shown, when the manipulator 250 is one, the mechanical arm 230 comprises an adjusting arm 2301 and a holding arm 2302 arranged at the end of the adjusting arm 2301, and a translation joint is arranged on the holding arm 2302, and the manipulator 250 is arranged on the translation joint and can move relative to the translation joint. The position and / or posture of the holding arm 2302 can be controlled by controlling the joint assembly in the adjusting arm 2301, and the position and / or posture of the translation joint can be controlled, and the position of the manipulator 250 relative to the translation joint can be controlled by independently controlling the translation joint, which facilitates the feeding movement of the catheter instrument 400.

[0065] For example, as shown in FIG. 1, the mechanical arm 230 comprises an adjusting arm 2301 and a holding arm 2302 arranged at the end of the adjusting arm 2301, and a translation joint is arranged on the holding arm 2302, and the manipulator 250 is arranged on the translation joint and can move relative to the translation joint. The position and / or posture of the holding arm 2302 can be controlled by controlling the joint assembly in the adjusting arm 2301, and the position and / or posture of the translation joint can be controlled, and the position of the manipulator 250 relative to the translation joint can be controlled by independently controlling the translation joint, which facilitates the feeding movement of the catheter instrument 400. Figure 4 As shown, when the manipulator 250 is two, the mechanical arm 230 comprises an adjusting arm 2301 and a holding arm 2302 arranged at the end of the adjusting arm 2301, and two translation joints are arranged on the holding arm 2302, and different manipulators 250 are arranged on different translation joints. The two translation joints are arranged side by side, i.e. parallel and spaced apart, and the two manipulators 250 are arranged in front of and behind each other along the extension direction of the movement axis of the translation joints. The positions and / or postures of the two translation joints can be synchronously controlled by controlling the joint assembly in the adjusting arm 2301, and the positions and / or postures of the two manipulators 250 can be synchronously affected. The positions of the two manipulators 250 can be controlled by controlling the two translation joints, which facilitates the feeding movement of the two catheter instruments 400 coupled to the two manipulators 250, and the adjusting arm 2301 can be locked during the feeding movement. Generally, the catheter instrument 400 comprises an outer catheter instrument 420 and an inner catheter instrument 410, and the inner catheter instrument 410 is inserted through and used by the outer catheter instrument 420. The two manipulators 250 can be synchronously controlled to move in the same direction along the movement axis of the translation joints, and the synchronous feeding movement of the outer catheter instrument 420 and the inner catheter instrument 410 can be achieved. In the insertion direction, when the outer catheter instrument 420 reaches the maximum insertion depth, the movement of the manipulator 250 coupled to the outer catheter instrument 420 can be locked, and the manipulator 250 coupled to the inner catheter instrument 410 can be independently controlled to move along the movement axis to further control the insertion of the inner catheter instrument 410.

[0066] For example, as shown in FIG. 1, the mechanical arm 230 comprises an adjusting arm 2301 and a holding arm 2302 arranged at the end of the adjusting arm 2301, and a translation joint is arranged on the holding arm 2302, and the manipulator 250 is arranged on the translation joint and can move relative to the translation joint. The position and / or posture of the holding arm 2302 can be controlled by controlling the joint assembly in the adjusting arm 2301, and the position and / or posture of the translation joint can be controlled, and the position of the manipulator 250 relative to the translation joint can be controlled by independently controlling the translation joint, which facilitates the feeding movement of the catheter instrument 400. Figure 2As shown, the mechanical arms 230 can include two, and the manipulators 250 can also include two, with different manipulators 250 respectively arranged at the ends of different mechanical arms 230. Unlike the structure of arranging two manipulators 250 on one mechanical arm 230, the two mechanical arms 230 can be directly arranged with the manipulators 250 at the ends of the mechanical arms 230 without arranging the translation joints. The ends of the mechanical arms 230 can be controlled to move along a straight line, driving the manipulators 250 to move along the 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 used through the outer catheter instrument 420. The ends of the two mechanical arms 230 can be synchronously controlled to move along a straight line in the same direction, realizing the synchronous feeding motion of the outer catheter instrument 420 and the inner catheter instrument 410 arranged on the manipulators 250. In the insertion direction, when the outer catheter instrument 420 reaches the maximum insertion depth, the movement of the manipulator 250 arranged with the outer catheter instrument 420 can be locked, and the manipulator 250 arranged with the inner catheter instrument 410 can be separately controlled to continue to move along the straight line, so as to further control the insertion of the inner catheter instrument 410.

[0067] The inner catheter instrument 410 is a necessary tool for surgery, and is mainly used to implement 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 steering capability of the inner catheter 41. In some embodiments, the outer catheter instrument 420 is not necessary, and the inner catheter instrument 410 can be used alone, as shown in the trolley 200, only the inner catheter instrument 410 is needed to be used. In the trolley 200 shown in FIG. and FIG., the inner catheter instrument 410 can also be used alone without being used in cooperation with the outer catheter instrument 420 in some scenarios. In the trolley 200 shown in FIG., only the mechanical arm 230, the translation joint and the manipulator 250 are needed to be used, and in the trolley 200 shown in FIG., only the mechanical arm 230 and the manipulator 250 arranged thereon are needed to be used.

[0068] In combination Figure 1 and Figure 2 Referring to the trolley 200, the mechanical arms 230 and the manipulators 250 included therein are two respectively, and the manipulators 250 are directly arranged at the ends of the mechanical arms 230. As shown in FIG. Figure 2As shown, the trolley 200 can also include a sliding base 220 that translates along the base 210 210, to which the two robotic arms 230 are fixedly connected. For example, the sliding base 220 can translate in the vertical direction (up and down), or in the paper plane (left and right), or in a direction perpendicular to the paper plane (forward and backward) relative to the base 210 210. The robotic arms 230 can include a plurality of links coupled at joints, which provide the robotic arms 230 with a plurality of degrees of freedom, which can be, for example, more than five, and typically one joint and the link connected to the end of the joint can be defined as one joint assembly. For example, the robotic arms 230 include seven links, which with the adjacent joints form seven degrees of freedom, respectively. In other embodiments, the robotic arms 230 can have less than five degrees of freedom, as long as the use requirements are met.

[0069] The two robotic arms 230 can be identical or different in structure, one robotic arm 230 is used to engage the inner catheter instrument 410, and the other robotic arm 230 is used to engage the outer catheter instrument 420. When installed, the outer catheter instrument 420 can be installed first, and when the outer catheter instrument 420 is installed, the catheter of the inner catheter instrument 410 is inserted into the cavity of the catheter of the outer catheter instrument 420.

[0070] The sensor system 500 has one or more subsystems for receiving information about the catheter instrument 400. The subsystems can include: a position sensor system; and / or a shape sensor system for determining at least one of the position, pose, velocity, speed, pose, and shape of the end of the catheter instrument 400 and / or along one or more segments of the catheter that can constitute the catheter instrument 400; and a visualization system for capturing images from a camera at the end of the catheter instrument 400.

[0071] The imaging trolley 100 can be provided with a display system 110, etc. The display system 110 is used to display images of the surgical site and the catheter instrument 400 generated by the subsystems of the sensor system 500. Real-time images of the surgical site and the catheter instrument 400 captured by the visualization system can also be displayed. Image data from imaging techniques such as computed tomography (CT), magnetic resonance imaging (MRI), optical coherence tomography (OCT), and ultrasound, etc. can also be used to present images of the preoperative or intraoperative recorded surgical site, which can be presented as two-dimensional, three-dimensional or four-dimensional (e.g., time-based or velocity-based information) images and / or as images from models created from preoperative or intraoperative image data sets, and virtual navigation images can also be displayed. In the virtual navigation images, the actual position of the catheter instrument 400 is registered with the preoperative images to present the virtual image of the catheter instrument 400 within 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 can be appreciated that the control system 600600 can be integrated into the cart 200 or the imaging cart 100, or can be independently provided. The control system 600600 can support wireless communication protocols, such as IEEE 802.11, IrDA, Bluetooth, HomeRF, DECT, and wireless telemetry, etc. The control system 600600 can transmit one or more signals instructing the catheter instrument 400 to move, which are used to move the catheter instrument 400 by the powered section 240. The catheter instrument 400 can extend into a surgical site in the body via an opening of a natural orifice of the patient or a surgical incision.

[0073] Further, the control system 600600 can include a mechanical control system 600 (not shown in the figure) for controlling the movement of the catheter instrument 400, and thus can be integrated into the cart 200, and an image processing system (not shown in the figure) for planning a virtual navigation path, and thus can be integrated into the imaging cart 100. Of course, the various subsystems of the control system 600600 are not limited to the specific cases listed above, but can be reasonably arranged according to actual conditions. The image processing system can use the imaging techniques described above to image the surgical site based on images of the surgical site recorded before or during surgery. The image processing system can also convert the recorded images into two-dimensional or three-dimensional composite images of part or the entire anatomical organ or section in combination with manual input. 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 external tracking images and internal virtual images of the patient's anatomical structure, to achieve registration of the actual position of the catheter instrument 400 with the preoperative images, so that the virtual images of the catheter instrument 400 within the surgical site can be presented to the operator from the outside.

[0074] The internal catheter instrument 410 and the external catheter instrument 420 have substantially the same structure, and each has an elongated flexible internal catheter 41 and an external catheter 42, wherein the diameter of the external catheter 42 is slightly larger than that of the internal catheter 41, so that the internal catheter 41 can pass through the lumen of the external catheter 42 and provide support for the internal catheter 41, so that the internal catheter 41 can reach a first target position in the patient's body to facilitate tissue or cell sampling or other operations from the first target position. The catheter instrument 400 usually needs to be inserted into a guide 270 fixed to a surgical bed and connected to the entrance of a natural orifice of the patient's anatomy, such as the mouth, nose, anus, or surgical incision, and the guide 270 includes an insertion channel for guiding the insertion of the catheter instrument 400.

[0075] Some movements of the user input device 300 can cause corresponding movements of the catheter instrument 400. For example, when the operator moves the direction dial of the user input device 300 up or down, the movement of the direction dial of the user input device 300 can be mapped to a corresponding pitch movement of the tip of the catheter instrument 400; when the operator moves the direction dial of the user input device 300 left or right, the movement of the direction dial of the user input device 300 can be mapped to a corresponding yaw movement of the tip of the catheter instrument 400. In the present embodiment, the user input device 300 can control the tip of the catheter instrument 400 to move in a 360° spatial range.

[0076] Figure 5 and Figure 6 A catheter instrument 400 provided by an embodiment of the present disclosure is shown. The catheter instrument 400 is configured to be engaged with the powered part 240 of the robotic arm 230, and the catheter instrument 400 includes an instrument box 45 configured to be engaged with the powered part 240 and a catheter 48 connected with the instrument box 45. Here, “engaged” refers to a state in which, when the instrument box 45 is mounted to the powered part 240, the driving force of the powered part 240 can be transmitted to the instrument box 45 and can cause the catheter 48 to normally move. For example, under the action of the driving force of the powered part 240, the tip of the catheter 48 can be bent and turned, etc.

[0077] The instrument box 45 includes a plurality of driving wheels 451 configured to be driven by the powered part 240 and a plurality of driving wires 452, and the powered part 240 includes a plurality of driving motors 241, and the driving motors 241, the driving wheels 451 and the driving wires 452 are one-to-one correspondingly arranged. Each driving wheel 451 is configured to be engaged with a corresponding driving motor 241, that is, when the instrument box 45 is mounted to the powered part 240, the corresponding driving motor 241 can drive the driving wheel 451 to rotate, and the corresponding driving wire 452 is wound on the driving wheel 451, and the active part of the corresponding driving wire 452, that is, the part 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 tip of the catheter.

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

[0079] A part of the catheter 48 including the tip is a controllable section 49, and the tip of the controllable section 49 is the tip of the catheter 48. The controllable section 49 can be a joint assembly, which has high rigidity in the extension direction and low rigidity in the bending direction, and can be bent under the control of the driving wire 452, so as to realize the turning of the catheter 48. In some embodiments, the joint assembly can be referred to as a snake bone.

[0080] In some embodiments, referring to Figure 7 The present disclosure provides a control method of a catheter robot, which can quickly complete preoperative preparation operation. The control method can be configured to be executed by a control system, and the control method comprises the following steps:

[0081] In step S101, an actual position of the guide in a reference coordinate system is obtained.

[0082] In step S102, an insertion axis of the guide at the insertion port is determined based on the actual position.

[0083] In step S103, a first target distance of the desired manipulator from the insertion port on the insertion axis is obtained.

[0084] In step S104, a first target position of the manipulator on the insertion axis of the insertion port is determined based on the first target distance.

[0085] In step S105, the manipulator is controlled 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 also be described in the reference coordinate system, and the first target position of the manipulator 250 on the insertion axis can also be described in the reference coordinate system. That is, each of the above positions can be described in the reference coordinate system, for example, the reference coordinate system can be the base coordinate system of the catheter robot trolley 200, which can reduce the conversion of the coordinate system and facilitate the control of the manipulator 250.

[0087] Through the steps S101-S105, the insertion axis can be determined by positioning the guide 270 in space, and the position of the manipulator 250 on the insertion axis can be determined based on the obtained target distance, and then the manipulator 250 is automatically moved to the target position, which can improve 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 by 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 positional 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 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 positional relationship of the two in the same coordinate system, and then facilitate the motion control of the manipulator 250 in the trolley 200 relative to the guide 270.

[0089] In some embodiments, such as Figures 2 to 4 As shown, to achieve positioning of the guide 270, the duct robot system 1000 may further include a positioning system 260 connected to the control system 600. This positioning system 260 may include one or more of an image vision positioning system 260, an electromagnetic wave positioning system 260, and a mechanical wave positioning system 260. These types of positioning systems 260 can remotely position the guide 270 without operator intervention. For example, the image vision positioning system 260 may include a stereo vision sensor. Another example is the electromagnetic wave positioning system 260, which may include an infrared positioning system 260, a radar positioning system 260, or a laser positioning system 260. Yet another example is the mechanical wave positioning system 260, which may include an ultrasonic positioning system 260.

[0090] The positioning system 260 can be selected to perform positioning in a limited number of directions, such as one or a few directions, but this is usually inefficient. To improve positioning efficiency, the positioning system 260 can be selected to perform area positioning, which can perform positioning within a specific area rather than in a limited number of directions. This area can be, for example, a sector or a rectangular area. Taking a sector as an example, the central angle of the sector can be, for example, between 60° and 180°, such as 120°, to cover a larger area.

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

[0092] When the positioning system 260 is an electromagnetic wave positioning system 260, because electromagnetic waves have strong directionality, in order to achieve area positioning, it is necessary to select an electromagnetic wave positioning system 260 with structural or methodological design capable of area positioning. For example, for an infrared positioning system 260 or a laser positioning system 260, a limited number of infrared beams or laser beams emitted by a limited number of transmitting units can be uniformly diffused by using an optical structure such as a light diffuser to achieve light diffusion at a large angle, thereby achieving area positioning.

[0093] In some embodiments, the positioning system 260 can also be a positioning system 260 capable of positioning in a limited number of directions. Without considering the positioning efficiency, to achieve area positioning, the positioning system 260 can be designed to be capable of at least one of rotation and translation, so as to achieve area positioning. Further, the positioning system 260 capable of area positioning can also be selected, and the positioning system 260 can be designed to be capable of at least one of rotation and translation, so as to achieve a larger range of positioning. For example, to achieve rotation of the positioning system 260, a rotatable driving mechanism can be provided for the positioning system 260 to drive the positioning system 260 to rotate. For example, to achieve translation of the positioning system 260, a translatable driving mechanism can 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 provided on the trolley 200, or can be provided independently of the trolley 200. Regardless, 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 guide 270 can be positioned by using the three-point positioning principle. The position of the guide 270 can be represented by at least two positioning points provided on the guide 270. For example, when the two positioning points include a first positioning point and a second positioning point. The positioning system 260 can serve as a third positioning point. In some embodiments, the multiple positioning points on the guide 270 can be provided on the end face of the insertion port 2701 of the guide 270, which is usually the face where the catheter instrument 400 starts to be inserted. Of course, the multiple positioning points on the guide 270 can also be provided on other external surfaces of the guide 270, as long as they can facilitate positioning.

[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 at this time. Therefore, with reference to Figure 8 The control method of the present disclosure further includes a positioning process, which includes:

[0097] In step S10, the positioning system is controlled to move.

[0098] In step S11, when the positioning system is positioned to the first positioning point and the second positioning point, the first positioning position of the positioning system is obtained, and 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 are obtained.

[0099] Step S12, the control positioning system in the first positioning point, the second positioning point and the positioning system in the plane formed by the first positioning position moves.

[0100] Step S13, when the positioning system is positioned to the first positioning point and the second positioning point, the second positioning position of the positioning system is acquired, and 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 are acquired.

[0101] Step S14, the actual position of the first positioning point 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 point in the reference coordinate system is determined 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, the position of the guide 270 in the reference coordinate system is also determined. In the step S13, in the three-point positioning principle, the first positioning position and the second positioning position of the third positioning point in the reference coordinate system constitute two positioning points, and 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, and 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] In combination Figure 9 Referring to the guide 270 provided with the first positioning point B and the second positioning point C, the positioning system 260 as the third positioning point includes the third positioning point A1 scanning to the first positioning point B and the second positioning point C for the first time, and the third positioning point A2 scanning to the first positioning point B and the second positioning point C for the second time. 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 first positioning point B 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, the second positioning point C can be positioned. 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, in the same height plane.

[0104] In some embodiments, the first positioning location, the second positioning location, the first positioning point and the second positioning point can be configured to be located in the same plane to simplify the calculation, because in a three-dimensional space, the positions of all the positioning points involved in the positioning in one of the coordinate axes are known, and only the positions of the positioning points in 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 location, the second positioning location, the first positioning point and the second positioning point can also be configured not to be located in the same plane, in which case, by configuring other one or more positioning locations of the third positioning point, by constructing a distance equation in the three-dimensional space, the positions of the first positioning point and the second positioning point can also be determined.

[0106] In addition, the first positioning point and the second positioning point can also be positioned based on more positioning locations, to verify the positions of the first positioning point and the second positioning point determined in steps S11-S13. When the verification is passed (e.g., the error is less than a threshold value), the positions of the first positioning point and the second positioning point can be determined to be available. For example, continuing to refer to Figure 9 The first positioning point B and the second positioning point C can be positioned again at the third positioning point A3, and used as verification.

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

[0108] In some embodiments, as shown in Figure 10 The positioning points on the guide 270 can be composed of positioning units 2703 provided on the guide 270 and matched with the positioning system 260, in which one positioning point corresponds to one positioning unit 2703. For example, when the positioning system 260 is an electromagnetic wave positioning system, the positioning units 2703 provided on the guide 270 can be positioning units having reflecting performance for electromagnetic waves. For another example, for infrared positioning systems and laser positioning systems, the positioning units 2703 can be reflective stickers.

[0109] In some embodiments, the positioning system 260 can be selected to have area positioning capability, and can be arranged in the manipulator assembly in the trolley 200. For example, since the manipulator 250 usually has a larger and more flexible range of motion, the positioning system 260 can be arranged in the manipulator 250, so that the positioning system 260 can be controlled to perform area positioning in a larger and more flexible space by controlling the motion of the manipulator 250.

[0110] For example, the two positioning points on the guide 270 can be arranged on the end face of the insertion port 2701, and 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 on which the two positioning points are located lies in the Cartesian space, and the direction in which the line connecting the two positioning points extends in the Cartesian space.

[0111] In some embodiments, it is assumed that the Cartesian space includes a first coordinate system including a first axis, a second axis and a third axis that are orthogonal to each other, and when the plane on which the end face on which the two positioning units 2703 are located lies is the plane formed by the first axis and the third axis, and the line connecting the two positioning units 2703 lies in the first axis, it can be determined that the plane on which the positioning area of the positioning system 260 lies is the plane formed by the first axis and the second axis. Furthermore, the positioning system 260 can be controlled to move along the direction of 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 can be achieved.

[0112] In some embodiments, it is assumed that the Cartesian space includes a first coordinate system including a first axis, a second axis and a third axis that are orthogonal to each other, and when the plane on which the end face on which the two positioning units 2703 are located lies is the plane formed by the first axis and the third axis, and the line connecting the two positioning units 2703 lies in the first axis, it can be determined that the plane on which the positioning area of the positioning system 260 lies is the plane formed by the first axis and the second axis. Furthermore, the positioning system 260 can be controlled to move along the direction of 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 can be achieved.

[0113] It is assumed that the Cartesian space includes a fixed coordinate system including an XYZ axis coordinate system, for example, the X axis points to the left-right direction along the paper, the Y axis points to the direction perpendicular to the paper, and the Z axis points 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 can be the X axis, the second axis can be the Y axis, and the third axis can be the Z axis; or,

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

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

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

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

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

[0121] In some embodiments, the insertion port 2701 can be generally upward (along the Z axis), leftward (along the X axis), rightward (along the X axis), forward (along the Y axis), or backward (along the Y axis) to facilitate insertion of the catheter instrument 400. Of course, the insertion port 2701 can also have a certain inclination angle. The orientation of the insertion port 2701 and the plane in which the end face is located can also be determined. For ease of 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 axis:

[0122] If the line connecting the two positioning units 2703 is on the X axis, it can be determined that the plane in which the positioning area of the positioning system 260 is located is the plane formed by the XY axis. By controlling the positioning system 260 to move along the Z axis direction, the plane formed by the XZ axis can be scanned in the Cartesian space, and finally the positioning of the two positioning points can be achieved;

[0123] If the line connecting the two positioning units 2703 is on the Z axis, it can be determined that the plane in which the positioning area of the positioning system 260 is located is the plane formed by the YZ axis. By controlling the positioning system 260 to move along the X axis direction, the plane formed by the XZ axis can be scanned in the Cartesian space, and finally the positioning of the two positioning points can be achieved.

[0124] In some embodiments, after the guide 270 is fixed, the configuration information of the two positioning units 2703 can be used to determine the target plane in which the positioning area of the positioning system 260 is located and the target motion path of the target plane. When the positioning system 260 is arranged on the manipulator 250, the motion of the positioning area of the positioning system 260 to the target plane and the movement of the target plane according to the target motion path can be achieved by controlling the motion of the manipulator 250. The configuration information of the two positioning units 2703 can include the plane in which the end faces of the two positioning units 2703 are arranged and the direction of the line connecting the two positioning units 2703.

[0125] In some embodiments, the target plane and the target motion path corresponding to the configuration information of the two positioning units 2703 can be configured in combination with the features of the trolley 200 and the positioning system 260 arranged thereon. In some embodiments, the target plane and the target motion path corresponding to each of the one or more configuration information determined for the two positioning units 2703 can be preset respectively. During the preoperative preparation, the guide 270 is fixed in a condition that the two positioning units 2703 can meet one of the configuration information. The operator can determine the target plane and the target motion path matching the configuration information of the two positioning units 2703 obtained by means such as visual observation through the user input device 300 or other input devices. Then the control system 600 controls the positioning area to reach the target plane and moves the positioning area based on the target motion path based on the determined target plane and target motion path. For example, when the configuration information is that the plane in which the end face where the two positioning units 2703 are located is the plane constituted by the XZ axis, and the line connecting the two positioning units 2703 is on the X axis, the target plane can be determined as the plane constituted by the XY axis, and the target motion path can be determined as the motion path moving along the Z axis direction, wherein the movement can be reciprocating movement.

[0126] In some embodiments, for the trolley 200 as shown in the figures and the figure, the installation of the catheter instrument 400 can be one-sided installation, that is, the installation can only be performed in one direction. The positioning system 260 can be arranged on the manipulator 250 in combination with the movement features 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 arranged perpendicular to the movement direction of the manipulator 250 at the translation joint.

[0127] For example, when the plane in which the end face where the two positioning units 2703 are located is the plane constituted by the first axis and the third axis, and the line connecting the two positioning units 2703 is on the first axis, the target plane can be determined as the plane constituted by the first axis and the second axis, and the target motion path can be determined as the path moving along the third axis. Then, the movement of the mechanical arm 230 can be controlled so that the translation joint is in a state parallel to the third axis, at this time, the positioning area is also in a state of the target plane, that is, the positioning area is the plane constituted by the first axis and the second axis. Then, the movement of the manipulator 250 relative to the translation joint is controlled, that is, the movement of the positioning area along the third axis is controlled, and then the scanning of the plane constituted by the first axis and the second axis is realized, so that the positioning of the two positioning units 2703 is realized.

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

[0129] For example, when the translation of the sliding base 210 relative to the base 210 is up and down translation (along the Z axis), if the plane in which the end faces of the two positioning units 2703 lie is the plane formed by the X axis and the Z axis, and the line between the two positioning units 2703 is along the X axis, it can be determined that the target plane is the plane formed by the X axis and the Y axis, and it can be determined that the target movement path is a path along the Z axis. For another example, when the translation of the sliding base 210 relative to the base 210 is forward and backward translation (along the Y axis), if the plane in which the end faces of the two positioning units 2703 lie is the plane formed by the X axis and the Z axis, and the line between the two positioning units 2703 is along the Z axis, it can be determined that the target plane is the plane formed by the X axis and the Z axis, and it can be determined that the target movement path is a path along the Y axis.

[0130] In some embodiments, for the trolley 200 as shown, the installation of the catheter instrument 400 can be double-sided installation, i.e., installation can be performed in two directions. One or two positioning systems 260 can be provided on the manipulator 250 to identify whether the first side installation or the second side installation. When the positioning system 260 is provided as one, the positioning system 260 can be fixedly provided relative to the manipulator 250 to achieve 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 provided relative to the manipulator 250 to achieve positioning to the first side or the second side based on the rotation of the positioning system 260. When the positioning system 260 is provided as two, the two positioning systems 260 can be provided on the two manipulators 250 and arranged back to back, or the two positioning systems 260 can be provided on one manipulator 250 and arranged back to back to achieve positioning to the first side or the second side. Wherein, when the positioning system 260 is positioned to 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 to the positioning unit 2703 on the second side, it can be considered that the second side installation is identified. Identifying the first side installation or the second side installation is used to determine which one of the manipulators 250 is used for the outer catheter instrument 420, and the other manipulator 250 is used for installation of the inner catheter instrument 410.

[0131] In some embodiments, the insertion axis of the insertion port 2701 of the guide 270 can be determined based on the actual positions of the first and second positioning points in the reference coordinate system, which represent the position of the guide 270. The insertion port 2701 is the port through which the catheter instrument 400 is inserted into the guide 270. The insertion port 2701 is aligned with the catheter instrument 400 in the flat state, which can facilitate the insertion of the catheter instrument 400 and prevent the catheter instrument 400 from being scratched at the insertion port 2701 and reduce the resistance of the feeding movement of the catheter instrument 400. The alignment of the insertion port 2701 with the catheter instrument 400 in the flat state can be further characterized as the insertion axis of the insertion port 2701 substantially coincides with the axis of the catheter instrument 400 in the flat state. The flat state of the catheter instrument 400 generally refers to the state of the guide tube (such as the inner guide tube 41 or the outer guide tube 42) in the flat state, i.e., in the initial zero position state. Since the catheter instrument 400 is mounted on the manipulator 250, the guide tube of the catheter instrument 400 can also be considered to be drawn from the manipulator 250. Therefore, when the insertion port 2701 is aligned with the catheter instrument 400 in the flat state, the manipulator 250 is actually also aligned with the insertion port 2701, and at this time, the manipulator 250 is also located on or substantially on the insertion axis. Further, when the manipulator 250 is not equipped with the catheter instrument 400, the manipulator 250 can be aligned with the insertion port 2701. To realize the feeding movement of the catheter instrument 400, the manipulator 250 can generally move in the direction of the insertion axis.

[0132] In some embodiments, a line connecting the first and second positioning points of the guide 270 can be defined as a first axis, and the plane in which the insertion port 2701 is located can be substantially determined by determining the first axis. The first axis and the insertion axis of the insertion port 2701 generally 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 calibration or the like. In the reference coordinate system, after the positions of the first and second positioning points are determined, the first axis is also determined. Based on the first axis and the positional relationship between the first axis and the insertion axis of the insertion port 2701, the insertion axis of the insertion port 2701 can be determined.

[0133] For example, to simplify the calculation, the first and second positioning points can be symmetrically arranged on both sides of the insertion axis of the insertion port 2701 when designing the first and second positioning points. At this time, the insertion axis corresponds to the perpendicular bisector of the first axis, and the extension direction of the perpendicular bisector is generally the direction of the normal vector of the plane in which the insertion port 2701 is located, i.e., the feeding direction of the catheter instrument 400.

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

[0135] The first target distance should not be too large. If the first target distance is too large, the distance between the manipulator 250 and the insertion port 2701 is too far, and it is obvious that the catheter of the catheter instrument 400 can not have enough length 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 is moved to the first target distance of the insertion axis, the operator can install the catheter instrument 400 through two installation sequences. In the first installation sequence, the catheter of the catheter instrument 400 is first inserted into the guide 270 through the insertion port 2701, and then the instrument box of the catheter instrument 400 is installed on the manipulator 250. In the second installation sequence, the instrument box of the catheter instrument 400 is first installed on the manipulator 250, and then the catheter of the catheter instrument 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 too close. First, 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. Second, 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, nor can it provide a master-slave mapping relationship between the catheter instrument 400 and the input device to achieve the feed and steering control of the distal end of the catheter. The entire insertion of the catheter is in a blind and uncontrolled state, and because the length of the catheter needs to be accommodated in the guide 270 and / or the patient's anatomy, the excess length of the catheter can easily cause the catheter to be inserted into the anatomy, and such reckless insertion can easily pose a great safety risk. In addition, even in the second installation sequence, the above two aspects also exist, for example, relative to the first installation sequence, because the insertion of the catheter is related to the feed motion 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 motion of the manipulator 250, and still needs to rely on the manual insertion of the operator, so at least there is a problem that the insertion of the catheter is uncontrolled, which further affects safety.

[0138] In some embodiments, the guide 270 further comprises an exit port 2702, which is generally configured to be connected to the anatomical passageway of the patient. The path between the entry port 2701 and the exit port 2702 can be straight, or curved, or a mixture of straight and curved. In some embodiments, the path is straight at the entry port 2701. The length of the path between the entry port 2701 and the exit port 2702 is generally known, and the minimum of the first target distance, i.e., the minimum target distance, can be determined based on the length of the catheter of the catheter instrument 400 and the length of the path between the entry port 2701 and the exit port 2702, e.g., the difference between the two. The maximum of the first target distance, i.e., the maximum target distance, can be determined based on the length of the catheter of the catheter instrument 400, e.g., the length of the catheter.

[0139] In some embodiments, the first target distance can be configured to be the maximum target distance. When the instrument cassette of the catheter instrument 400 is mounted to the manipulator 250 and the catheter of the catheter instrument 400 is inserted from the entry port 2701, the tip of the catheter substantially reaches the entry port 2701 of the guide 270, and the feeding motion and the bending steering motion of the catheter can be precisely controlled under the vision starting from the entry port 2701.

[0140] In some embodiments, the first target distance can be configured to be the minimum target distance. When the instrument cassette of the catheter instrument 400 is mounted to the manipulator 250 and the catheter of the catheter instrument 400 is inserted from the entry port 2701, the tip of the catheter substantially reaches the exit port 2702 of the guide 270, and the operator can directly control the feeding and steering of the catheter under the vision starting from the exit port 2702, since the exit port 2702 of the guide 270 abuts or is adjacent to the anatomical passageway of the patient. This can save the time for the operator to control the insertion of the catheter between the entry port 2701 and the exit port 2702 of the guide 270, and can significantly improve the efficiency of the surgery, compared to the case where the first target distance is configured to be the maximum target distance and the operator needs to control the feeding and steering of the catheter starting from the entry port 2701 of the guide 270.

[0141] In some embodiments, it is generally suitable to configure the first target distance to be any distance in the interval (including the endpoints) of the minimum target distance and the maximum target distance. 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 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, such as the relative positional relationship between the positioning system 260 and the reference coordinate system, the length of 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 in the memory of the control system 600.

[0143] In some embodiments, the first target distance can be configured as an initial value. For example, the initial value can be determined by statistical analysis. The minimum target distance and the maximum target distance of each catheter instrument 400 that can be used and has a similar length can be obtained respectively. The maximum minimum target distance is determined from the plurality of minimum target distances, and the minimum maximum target distance is determined from the plurality of maximum target distances. Then, the initial value is determined based on the maximum minimum target distance and the minimum maximum target distance. For example, the minimum target distance and the maximum target distance of any one of the plurality of catheter instruments 400 that have a similar length can be determined, and the initial value can be determined 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 interval of the minimum target distance and the maximum target distance.

[0144] When the first target distance is the 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, a default position of the insertion axis of the insertion port 2701 of the guide 270 is used to move the manipulator 250, which is suitable for the installation of a plurality of catheter instruments 400 having substantially the same length. However, the control method of the present disclosure is also expected to be compatible with the installation and use of some catheter instruments 400 having specific lengths. For convenience of description, the catheter instruments 400 having substantially the same length suitable for 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 generally significantly different from the length of the second type of catheter instruments and the third type of catheter instruments.

[0145] As shown in FIG. 1, Figure 10 Figure 11 As shown in FIG. 1, Figure 10 A schematic view of the principle of aligning the end of the catheter of the catheter instrument of the present disclosure with the extension port of the guide, Figure 11Fig. 1 is a schematic diagram showing the principle of aligning the tip of a catheter of a catheter instrument with the insertion port of a guide. For the first type of catheter instrument, assuming that the first target distance is expressed as L, and assuming that the length of the first type of catheter instrument is LI, and the length of the insertion port 2701 to the exit port 2702 of the guide 270 is L0, it is known that, for the installation of the first type of catheter instrument, the first target distance should satisfy the relationship: LI - L0≤ L ≤ LI. Wherein, LI - L0represents the minimum target distance, and LI represents the maximum target distance.

[0146] Wherein, the manipulator 250 is in the default position at 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 is too small to achieve the installation of the second type of catheter instrument, or, for the third type of catheter instrument, the length of the manipulator 250 to the exit port 2702 of the guide 270 is too small to achieve the installation of the third type of catheter instrument.

[0147] As shown in Fig. 2, Figure 12 As shown in Fig. 2, Figure 12 Fig. 3 is a schematic diagram showing the state of an embodiment of the catheter instrument of the present disclosure whose length is not suitable for the manipulator to be in the default position. For example, for the second type of catheter instrument, assuming that the length of the second type of catheter instrument is L2 (L2 < LI), if L2 < L, it indicates that the first target distance L determined based on the length LI of the first type of catheter instrument is not suitable for the installation of the second type of catheter instrument, because the length of the manipulator 250 from the insertion port 2701 is too small, the catheter of the second type of catheter instrument cannot be inserted into the insertion port 2701 while the instrument box thereof is engaged to the manipulator 250 in the default position at the first target distance on the insertion axis of the insertion port 2701.

[0148] As shown in Fig. 4, Figure 13 As shown in Fig. 4, Figure 13Fig. 6 is a state diagram of another embodiment of the catheter instrument of the present disclosure, in which the length of the catheter instrument is not suitable for the default position of the manipulator. For example, for the third type of catheter instrument, it is assumed that the length of the third type of catheter instrument is L3(L3>L1), and if L3>L+L0, it indicates that the first target distance L determined based on the length L1 of the first type of catheter instrument is not suitable for the third type of catheter instrument, and the instrument box of the third type of catheter instrument will be installed into the manipulator 250 in the default position at the first target distance on the insertion axis of the insertion port 2701, and the catheter of the third type of catheter instrument will be extended from the extension port 2702, or the catheter of the third type of catheter instrument will be connected to the manipulator 250 in the default position at the first target distance on the insertion axis of the insertion port 2701 when it reaches the extension port 2702 without being extended from the extension port 2702.

[0149] In some embodiments, the catheter instrument to be installed can not be distinguished as the first type of catheter instrument, the second type of catheter instrument, or the third type of catheter instrument, as long as the length of the catheter instrument to be installed meets the minimum installation requirement. The minimum installation requirement includes that the length of the catheter instrument to be installed is between the first target distance and the safe distance, and the safe distance is the sum of the first target distance and the length between the insertion port 2701 and the extension port 2702 of the guide 270. For ease of understanding, it is assumed that the length of the catheter instrument to be installed is L', and it is only required to satisfy the relationship: L≤L'≤L+L0, where L+L0 represents the safe length.

[0150] In some embodiments, if L' < L or L' > L+L0, it indicates that the current position of the manipulator 250 is not suitable for the installation of the catheter instrument to be installed. 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 instrument 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 instrument to be installed. For ease of understanding, the re-determined target distance is the second target distance.

[0151] In some embodiments, as shown in Fig. 7, after the step S105, the control method of the present disclosure can further include: Figure 14

[0152] Step S106: obtaining the length of the catheter instrument to be installed.

[0153] Step S107: detecting whether the length of the catheter instrument to be installed is between the first target distance and the safe distance. ​

[0154] If the length of the catheter instrument to be installed is not between the first target distance and the safe distance, step S108 is performed; otherwise, step S111 is performed.

[0155] In step S108, a second target distance is determined based on the length of the catheter instrument to be installed.

[0156] The principle of determining the second target distance is basically the same as that of determining the first target distance, which will not be repeated here.

[0157] In step S109, a second target position of the manipulator on the insertion axis of the insertion port is determined based on the second target distance.

[0158] In step S110, the manipulator is controlled to move to the second target position.

[0159] In step S111, the installation of the catheter instrument is prompted by the prompting device.

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

[0161] When the length of the catheter instrument to be installed is between the first target distance and the safe distance, it is not necessary to readjust the position of the manipulator 250, which can avoid unnecessary adjustment and save the preparation time of the operation.

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

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

[0164] In step S106, the length of the catheter instrument to be installed can be obtained in various ways.

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

[0166] For example, the manipulator 250 can be provided with a reading unit configured to read attribute information of the catheter instrument 400, and the instrument case of the catheter instrument 400 can be provided with a storage unit configured to store the attribute information of the catheter instrument 400. The reading unit can read the attribute information of the catheter instrument 400 from the storage unit and send it to the control system 600. The attribute information can include, but is not limited to, at least one of the identity information, the length, and the type of the catheter instrument 400. The type of the catheter instrument 400 can include, for example, the inner catheter instrument 410 and the outer catheter instrument 420. The length of the catheter instrument 400 can be obtained by the reading unit. The reading unit can include at least one of a contact reading unit and a non-contact reading unit. For example, when the reading unit includes a contact reading unit, the reading unit can be in contact with the storage unit to achieve the reading function when the instrument case of the catheter instrument 400 is engaged with the manipulator 250. For another example, when the reading unit includes a non-contact reading unit and the storage unit includes an electronic tag configured to cooperate with the reading unit, the reading unit can achieve the reading function when the instrument case of the catheter instrument 400 is within a certain range of the manipulator 250, without the need to engage the instrument case with the manipulator 250. For example, the non-contact reading unit can be an NFC module, and the storage unit can be an NFC tag. For another example, the non-contact reading unit can be an RFID module, and the storage unit can be an RFID tag. The first installation sequence is more suitable for the case of using the non-contact reading unit than the second installation sequence.

[0167] For example, the catheter robot system 1000 can further include a tray configured to accommodate the catheter instrument 400. The tray can be provided with a sensing switch and a reading unit connected to the control system 600, respectively. The instrument case of the catheter instrument 400 can be provided with a storage unit configured to store the attribute information of the catheter instrument 400. The sensing switch can be configured to sense the removal of the catheter instrument 400 from the tray. The removal of the catheter instrument 400 from the tray can generally indicate the intention of the operator 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. The control system 600 obtains the length of the catheter instrument 400 from the attribute information. The reading unit can 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 can further comprise, after obtaining the length of the catheter instrument 400 to be installed, determining, in the surgery stage, instead of the pre-surgery stage or the post-surgery stage, the maximum amplitude of the retraction of the manipulator 250 along the insertion axis of the insertion port 2701 based on the obtained length, and limiting the retraction of the manipulator 250 along the insertion axis of the insertion port 2701 based on the maximum amplitude. This can prevent the tip of the catheter instrument 400 from being separated from the insertion port 2701 when the catheter instrument 400 is retracted. For example, the maximum retraction amplitude can be determined to be substantially equal to the length of the catheter instrument 400 to be installed, such as the same or slightly smaller.

[0169] In some embodiments, the first target distance can also not adopt the initial value, but be determined in real time and accurately according to the length of the catheter instrument 400 to be installed, so that the readjustment such as steps S106-S110 is not needed, and one-time adjustment is achieved. It is only needed to obtain the length of the catheter instrument 400 to be installed by the method of any of the above embodiments before step S103, which will not be repeated here.

[0170] The above embodiments are applicable to the trolley 200 in which the position of the manipulator 250 can be adjusted by the mechanical arm 230. For example, in the trolley 200 shown in the figures, in the use scenario of a single catheter instrument 400 (such as the 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 embodiments can be directly applicable. 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 the 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 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), two manipulators 250 need to be aligned with the insertion port 2701 of the guide 270 and adjusted to suitable installation positions respectively, which can be improved based on the principles or methods adopted in the above embodiments to meet the application.

[0171] In some embodiments, as shown in Figure 15 In some embodiments, as shown in

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

[0173] Step S202, determining an insertion axis of the insertion port based on the actual position.

[0174] Step S203, obtaining a first target distance of the desired first manipulator from the insertion port along the insertion axis, and obtaining a second target distance of the desired second manipulator from the insertion port along the insertion axis.

[0175] Suppose the first manipulator 2501 is a manipulator 250 for installing the outer catheter instrument 420, and the second manipulator 2502 is a manipulator 250 for installing the inner catheter instrument 410. Generally, the first manipulator 2501 is closer to the guide 270 than the second manipulator 2502.

[0176] The obtaining rule of the first target distance is generally the same as that of the second target distance, so that the end of the outer catheter 42 of the outer catheter instrument 420 installed on the first manipulator 2501 is substantially aligned with the end of the inner catheter 41 of the inner catheter instrument 410 installed on the second manipulator 2502 at any same position in the interval from the insertion port 2701 to the extension port 2702 of the guide 270. For the convenience of understanding, for example, as shown in Figure 16 , 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, as shown in Figure 17 , 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 instrument 420, and the second target distance is determined in combination with the length of the inner catheter instrument 410. Wherein, the length of the catheter instrument 400 of the present disclosure can generally refer to the length of the catheter, for example, the length of the outer catheter instrument 420 can refer to the length of the outer catheter 42, and the length of the inner catheter instrument 410 can refer to the length of the inner catheter 41.

[0177] In some embodiments, when the inner catheter instrument 410 is used, the end of the inner catheter 41 can at least extend the target length of 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 hole, and the corresponding case is that the end of the outer catheter 42 and the end of the inner catheter 41 are substantially aligned at the outlet 2702 of the introducer 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 inlet 2701 and the outlet 2702 of the introducer 270, the target length is generally greater than the minimum value, because the target length at this time should also include the length from the position thereof to the outlet 2702.

[0179] In step S204, a first target position of the first manipulator on the insertion axis of the inlet is determined based on the first target distance, and a second target position of the second manipulator on the insertion axis of the inlet is determined based on the second target distance.

[0180] In step S205, 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.

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

[0182] In some embodiments, the first target distance in the step S203 needs to be determined based on the length of the catheter instrument 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 instrument 400 to be installed on the second manipulator 2502. The method for obtaining the first target distance and the second target distance in the step S203 can refer to the method for obtaining the first target distance in the step S103. In short, each target distance needs to be between the minimum target distance and the maximum target distance of the corresponding catheter instrument 400, for example, assuming that each target distance is expressed as L, and assuming that the known length of the corresponding catheter instrument 400 is L1, and the known length from the inlet 2701 to the outlet 2702 of the introducer 270 is L0, it can be known that, in order to adapt to the installation of the corresponding catheter instrument, each target distance should satisfy the relationship: L1-L0≤L≤L1. Wherein, 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 the step S203 can adopt initial values, and each initial value can be stored in the memory of the control system 600. In terms of reasonableness, since the length of the inner catheter instrument 410 is generally greater than the length of the outer catheter instrument 420, the initial value of the second target distance should be greater than the initial value of the first target distance. Wherein, the initial value of the first target distance and the initial value of the second target distance can be determined according to the same rule, which includes that the distal end of the outer catheter 42 and the distal end of the inner catheter 41 can be substantially 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 reference 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 a plurality of outer catheter instruments 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 a plurality of inner catheter instruments 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 a plurality of outer catheter instruments 420, and the initial value of the second target distance can be determined based on the initial value of the first target distance, such as adding a preset offset value to the initial value of the first target distance to determine the initial value of the second 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 a plurality of inner catheter instruments 410, and the initial value of the first target distance can be determined based on the initial value of the second target distance, such as subtracting a preset offset value from the initial value of the second target distance to determine the initial value of the first target distance. The offset value can also be stored in the memory of the control system 600 for determination of the corresponding target distance.

[0185] In some embodiments, referring to Figure 18 In the case that the first target distance or the second target distance adopts the initial value, after the step S205, the method can further include:

[0186] In the case that the first target distance or the second target distance adopts the initial value, after the step S205, the method can further include:

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

[0188] In step S207, the preceding catheter instrument is used to determine the preceding target position among the first target position and the second target position associated therewith.

[0189] The preceding target position can generally be determined based on the type of the preceding catheter instrument 400. For example, when the preceding catheter instrument 400 is the outer catheter instrument 420, the preceding target position is the first target position. For another example, when the preceding catheter instrument 400 is the inner catheter instrument 410, the preceding target position is the second target position. After the preceding target position is determined, the subsequent target position can be determined naturally.

[0190] In step S208, it is detected whether there is a preceding catheter instrument that meets the preceding target position for installation.

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

[0192] In step S209, the preceding catheter instrument is used to determine the preceding manipulator among the first manipulator and the second manipulator associated therewith, and control the indicator associated with the preceding manipulator and the indicator associated with the storage position of the preceding catheter instrument to perform first indication.

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

[0194] The first manipulator 2501 and the second manipulator 2502 are respectively provided with indicators. The catheter instruments 400 are usually stored in trays, one tray storing one catheter instrument 400 or multiple catheter instruments 400, one tray storing one catheter instrument 400, each tray being provided with one indicator, and multiple catheter instruments 400 being stored in one tray, each tray being provided with multiple indicators corresponding to the storage positions of the catheter instruments 400. Each indicator is connected to the control system 600, and the connection can include wired or wireless connection.

[0195] The first indication is associated with the indication of the first manipulator 2501 and the indication of the first catheter instrument 400 to be installed at the first target position. The indication of the first manipulator 2501 and the indication of the first catheter instrument 400 to be installed at the first target position can usually be the same, so that the correct first catheter instrument 400 can be quickly found through the same indication of the first manipulator 2501 and the first catheter instrument 400, and the operator is prompted to install the correct first catheter instrument 400 to the first manipulator 2501, thereby accelerating the installation of the first catheter instrument 400.

[0196] In step S210, in response to the installation of the first catheter instrument on the first manipulator, it is detected whether there is a second catheter instrument to be installed at a second target position.

[0197] The prerequisite for the second target position includes that the distal end of the inner catheter 41 is substantially aligned with the distal end of the outer catheter 42.

[0198] The step S210 can control the indicator of the first manipulator 2501 to perform another indication when the first catheter instrument 400 is installed on the first manipulator 2501, indicating the correct installation of the first catheter instrument 400 on the first manipulator 2501.

[0199] When it is detected that there is a second catheter instrument to be installed at the second target position, the step S210 is performed.

[0200] In step S211, the indicator associated with the second manipulator and the indicator associated with the storage position of the second catheter instrument are controlled to perform a second indication.

[0201] The second indication is associated with the indication of the second manipulator 2502 and the indication of the second catheter instrument 400 to be installed at the second target position. The indication of the second manipulator 2502 and the indication of the second catheter instrument 400 to be installed at the second target position can usually be the same, so that the correct second catheter instrument 400 can be quickly found through the same indication associated with the second manipulator 2502 and the second catheter instrument 400, and the operator is prompted to install the correct second catheter instrument 400 to the second manipulator 2502, thereby accelerating the installation of the second catheter instrument 400.

[0202] Step S212, controlling the indicator associated with the pre-set manipulator to indicate a third indication of any pre-set catheter instrument selected.

[0203] The steps S206-S211 are performed, since the pre-set catheter instrument 400 adapted to the pre-set target position for installation and the post-set catheter instrument 400 adapted to the post-set target position for installation can be found, and further, the positions of the pre-set manipulator 2501 and the post-set manipulator 2502 do not need to be adjusted.

[0204] In some embodiments, the step S210, when detecting that there is no post-set catheter instrument satisfying the post-set target position, performs step S213.

[0205] Step S213, detecting whether there is a target post-set catheter instrument satisfying a pre-set condition.

[0206] The step S213, when detecting that there is a target post-set catheter instrument satisfying the pre-set condition, performs step S214; otherwise, performs step S215.

[0207] The pre-set condition can include that the difference between the length of the post-set catheter instrument 400 and the length of the pre-set catheter instrument 400 installed in the pre-set manipulator 2501 is at least greater than a target length, which can include the length that the end of the inner catheter 41 can extend out of the end of the outer catheter 42. For example, to prevent the post-set manipulator 2502 from colliding with the pre-set manipulator 2501 when controlling the inner catheter 41 to be inserted, the difference should be greater than the target length.

[0208] Step S214, controlling the indicator associated with the storage position of the target post-set catheter instrument to perform a fourth indication.

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

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

[0211] The fifth indication is used to indicate that the pre-set catheter instrument 400 needs to be removed from the pre-set manipulator 2501 and replaced with another pre-set catheter instrument 400. This is because there is no post-set catheter instrument 400 that can be used without adjusting the pre-set target position. That is, in this case, the first pre-set target position needs to be adjusted, and the pre-set catheter instrument 400 currently installed in the pre-set manipulator 2501 will become incorrect.

[0212] In some embodiments, each indicator can be an LED module, which can provide at least one indication of color, flicker, brightness, and pattern. For example, the first indicator and the second indicator can be the same or different. For example, the first indicator and the second indicator can be indicated with the same color and / or brightness. Yet another example is that the first indicator and the second indicator can be indicated with different colors and / or brightness.

[0213] Different indicators can typically be different to represent different information. For example, for the indicator of the pre-installed manipulator 2501, a first color, such as yellow, can be used to indicate that the pre-installed manipulator 2501 is ready for installation (this first color can be associated with the position of the pre-installed catheter device 400 in the tray); a second color, such as green, can be used to indicate that the pre-installed catheter device 400 is correctly installed on the pre-installed manipulator 2501; and a third color, such as red, can be used to indicate that the pre-installed catheter device 400 needs to be removed for adjustment of the pre-installed target position. When more states need to be indicated, more colors or combinations such as flashing, brightness, and patterns can be used.

[0214] In some embodiments, after step S211, or step S213, in response to the installation of the subsequent catheter instrument 400 on the subsequent manipulator 2502, the indicators of the preceding manipulator 2501 and the subsequent manipulator 2502 are controlled to provide further indications to indicate that preoperative preparation is complete and surgery can proceed. Alternatively, other methods such as voice prompts or user interface displays on the user input device 300 may also be used for prompting.

[0215] In some embodiments, such as Figure 19 As shown, if the first target distance or the second target distance uses an initial value, after step S205, the following may also be included:

[0216] Step S306: Obtain the length of the pre-installed catheter device to be installed.

[0217] The pre-installed catheter device 400 is the catheter device 400 to be installed first, which can be an external catheter device 420 or an internal catheter device 410. For example, the pre-installed catheter device 400 to be installed can be the pre-installed catheter device 400 selected after step S212 or step S215.

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

[0219] For example, when the preliminary catheter instrument 400 is the outer catheter instrument 420, the preliminary target distance is the first target distance, and the preliminary safety distance is the sum of the first target distance and the length of the insertion port 2701 to the extension port 2702 of the guide 270. For another example, when the preliminary catheter instrument 400 is the inner catheter instrument 410, the preliminary target distance is the second target distance, and the preliminary safety distance is the sum of the second target distance and the length of the insertion port 2701 to the extension port 2702 of the guide 270. That is, the preliminary safety distance is the sum of the preliminary target distance and the length of the insertion port 2701 to the extension port 2702 of the guide 270.

[0220] The step S307, when the length of the preliminary catheter instrument is not between the preliminary target distance and the preliminary safety distance, executes the step S308; otherwise, executes the step S311.

[0221] The step S308 corrects the preliminary target distance based on the length of the preliminary catheter instrument to obtain a corrected preliminary target distance.

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

[0223] The step S309 corrects the preliminary target position of the preliminary manipulator on the insertion axis of the insertion port based on the corrected preliminary target distance to obtain a corrected preliminary target position.

[0224] The step S310 controls the preliminary manipulator to move to the corrected preliminary target position.

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

[0226] The step S311 controls the indicator associated with the preliminary manipulator to indicate the installation of the preliminary catheter instrument.

[0227] The step S312 acquires the length of the subsequent catheter instrument to be installed.

[0228] The step S313 detects whether the length of the subsequent catheter instrument is between the subsequent target distance and a subsequent safety distance.

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

[0230] The step S313, when the length of the subsequent catheter instrument is not between the subsequent target distance and the subsequent safety distance, executes the step S314; otherwise, executes the step S316.

[0231] Step S314: Correct the rear target distance based on the length of the rear catheter instrument, and obtain a corrected rear target distance.

[0232] The principle of obtaining the corrected rear target distance in step S314 is basically the same as that of determining the first target distance in step S103.

[0233] Step S315: Correct the rear target position of the rear manipulator on the insertion axis of the insertion port based on the corrected rear target distance, and obtain a corrected rear target position.

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

[0235] Step S316: Control the rear manipulator to move to the corrected rear target position.

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

[0237] In some embodiments, the length of the front catheter instrument 400 can be less than the front target distance, or greater than the front safety distance, and of course can also be between the front target distance and the front safety distance. The length of the rear catheter instrument 400 can be less than the rear target distance, or greater than the rear safety distance, and of course can also be between the rear target distance and the rear safety distance.

[0238] When the length of the front catheter instrument 400 is less than the front target distance or greater than the front safety distance, it is usually necessary to correct the front target distance and re-adjust the front target position. When the length of the rear catheter instrument 400 is less than the rear target distance or greater than the rear safety distance, it is usually necessary to correct the rear target distance and re-adjust the rear target position.

[0239] When considering re-adjusting the front target position or the rear target position, it is usually considered together in combination with whether there is a possibility of collision between the front manipulator 2501 and the rear manipulator 2502.

[0240] If the length of the front catheter instrument 400 needs to be adjusted based on the position of the front manipulator 2501:

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

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

[0243] The movement range of the post-set manipulator 2502 can be greater than, equal to, or less than that of the pre-set manipulator 2501, as long as collision can be avoided. Among them, the post-set manipulator 2502 can generally move synchronously with the movement of the pre-set manipulator 2501.

[0244] After the position of the pre-set manipulator 2501 does not need to be adjusted or the adjustment is completed, and based on the length of the post-set catheter instrument 400, the position of the post-set manipulator 2502 needs to be adjusted:

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

[0246] (2) If there is a possibility of collision, for example, the post-set manipulator 2502 moves towards the pre-set manipulator 2501 and reaches the collision distance threshold, since the pre-set manipulator 2501 may have completed the installation of the pre-set catheter instrument 400, in order to avoid repeated adjustment of the pre-set manipulator 2501, the position of the post-set manipulator 2502 can generally not be adjusted for the time being, and an indicator associated with the post-set manipulator 2502 is controlled to indicate. The indication can be used to indicate the replacement of the post-set catheter instrument 400 for installation; or, an indicator associated with the storage position of the target post-set catheter instrument 400 is controlled to indicate, and the indication is used to quickly find the correct post-set catheter instrument 400.

[0247] In the trolley 200 shown in Figure 2 and Figure 3 , the feeding movement of the catheter instrument 400 is generally achieved by controlling the manipulator 250 to translate relative to the translation joint. This requires the manipulator 250 to be located on the insertion axis of the insertion port 2701, and the translation joint to be parallel to the insertion axis. Based on kinematics, the manipulator 250 can be automatically controlled to move to the insertion axis of the insertion port 2701, but it is not easy to automatically control the translation joint to be parallel to the insertion axis due to the lack of means to detect the relative attitude relationship between the insertion axis and the translation joint. Some embodiments, as shown in Figure 20 , applicable to the trolley 200 shown in Figure 3 and Figure 4 , the control method of the present disclosure can further comprise:

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

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

[0250] Step S403, obtaining a first target distance of the desired manipulator from the insertion port along the insertion axis.

[0251] Step S404, determining a first target position of the manipulator along 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 enable the manipulator 250 to be located on the insertion axis of the insertion port.

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

[0255] In the step S406, the first target position can be understood as a remote center of motion. In combination with the step S405, the first target position can be understood as a remote center of motion of the manipulator 250. Figure 3 Or Figure 4 Referring to the step S406, the constraint that the translational joint can only move around the first target position can be achieved by limiting the position freedom of the mechanical arm 230, such as the adjusting arm 2301, so that the translational joint can only rotate around the first target position while keeping the manipulator 250 always at the first target position. The rotation of the translational joint around the first target position can adjust the attitude of the translational joint to be substantially parallel to the insertion axis. In some embodiments, in response to the translational joint being substantially parallel to the insertion axis, all the freedoms of the adjusting arm 2301 can be constrained (i.e. locked or limited) to prevent the translational joint from being moved or rotated.

[0256] In some embodiments, the mechanical arm 230 can generally include sufficient position freedom and attitude freedom to facilitate the pose adjustment of the manipulator 250. For example, the position freedom can include three, respectively, the left-right translational freedom in the paper plane direction, the vertical translational freedom in the paper plane direction, and the front-back translational freedom perpendicular to the paper plane direction; the attitude freedom can include three, respectively, the pitch freedom, the yaw freedom, and the roll freedom.

[0257] In some embodiments, the step S406 can be performed after the step S405. Figure 3In the trolley 200 as shown, only one manipulator 250 can be arranged on the prismatic joint. In response to obtaining that the prismatic joint is substantially parallel to the insertion axis, the operator can be instructed to install the catheter instrument 400, for example, by means of an indicator associated with the manipulator 250, for example, by means of a user interface of the user input device 300. Wherein whether the prismatic joint is substantially parallel to the insertion axis can be obtained by input of the operator, for example, the input can be triggering of a certain button, or a voice instruction, etc.

[0258] In the trolley 200 as shown, Figure 4 In the trolley 200 as shown, the prismatic joint includes two and is arranged in parallel and spaced apart, and different manipulators 250 are arranged on different prismatic 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 the steps S403-S405 can be any one of the two manipulators 250, for example, it can be the manipulator 250 used to engage the outer catheter instrument 420. Wherein when any one of the manipulators 250 is located on the insertion axis and its corresponding prismatic joint is substantially parallel to the insertion axis, the other manipulator 250 is also substantially located on the insertion axis and its corresponding prismatic joint is substantially parallel to the insertion axis. For the trolley 200 as shown, Figure 4 Figure 20 After the prismatic joint is substantially parallel to the insertion axis, the control method of the present disclosure can further include, on the basis of the steps S401-S406:

[0259] Step S407, obtaining a second target distance of the other manipulator from the insertion port on the insertion axis.

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

[0261] Step S409, controlling the other manipulator to move to the second target position.

[0262] In the step S405, the movement of the manipulator 250 can be by means of the movement of the entire mechanical arm 230, including by means of the movement of the prismatic joint. In the step S409, the movement of the other manipulator 250 is usually only by means of the movement of the prismatic joint.

[0263] In addition, when each of the manipulators 250 is located on the insertion axis and the prismatic joint is substantially parallel to the insertion axis, it indicates that the preoperative preparation except for installing the catheter instrument 400 is completed. Subsequent control of the manipulator 250 to feed on the insertion axis can be achieved by controlling the prismatic joint.

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

[0265] In some embodiments, in the trolley 200 shown in Figure 3 and Figure 4 The first target distance or the second target distance can also be an initial value in the trolley 200 shown in

[0266] In other embodiments, the positioning unit 2703 on the guide 270 can be only one, and the positioning system 260 disposed on the manipulator 250 can identify the position of the guide 270 under certain conditions. When the positioning system 260 is disposed 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 being in the same straight line usually needs the assistance of the operator to achieve. 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, which is obtained by the positioning system 260 positioning the positioning unit 2703. 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 for installation of the catheter instrument 400, which can be referred to the foregoing.

[0267] In some embodiments, as shown in Figure 21 The control system 600600 can include a processor 501, a communications interface 502, a memory 503, and a communications bus 504.

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

[0269] The communications interface 502 is configured to communicate with network elements such as various sensors or motors or electromagnetic valves or other clients or servers.

[0270] The processor 501 is configured to execute the program 505, and specifically can execute the related steps in the above method embodiments.

[0271] Specifically, the program 505 can include program code including computer operation instructions.

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

[0273] The memory 503 is configured to store a program 505. The memory 503 can include a high-speed RAM memory, and can further include a non-volatile memory, such as at least one disk memory.

[0274] The program 505 can be specifically configured to cause the processor 501 to perform the control method according to any one of the above embodiments.

[0275] In some embodiments, the present disclosure further provides a computer readable storage medium, having stored thereon a computer program, which, when executed by the processor, implements the control method according to any one of the above embodiments.

[0276] Any combination of the above-described technical features of the embodiments can be made. In order to make the description concise, all possible combinations of the technical features in the above-described embodiments are not described, however, as long as the combination of the technical features does not exist, it should be considered that it is within the scope of the present disclosure.

[0277] The above-described embodiments only express several implementation manners of the present disclosure, and the description is relatively specific and detailed, but it should not be understood as a limitation on the scope of the patent. It should be noted that, for those skilled in the art, without departing from the concept of the present disclosure, a number of modifications and improvements can be made, which are all within the protection scope of the present disclosure. Therefore, the protection scope of the patent of the present disclosure should be subject to the appended claims.

Claims

1. A catheter robot system, characterized by The system comprises: a first manipulator for mounting and manipulating an outer catheter instrument; a second manipulator for mounting and manipulating an inner catheter instrument; a first mechanical arm connected to the first manipulator at a distal end; a second mechanical arm connected to the second manipulator at a distal end; and a control system connected to the first manipulator, the second manipulator, the first mechanical arm and the second mechanical arm, and configured to: obtain an initial mounting sequence of the inner catheter instrument and the outer catheter instrument in response to the first manipulator moving to a first target position and the second manipulator moving to a second target position, the first target position and the second target position being located on an insertion axis of an insertion port of a guide device connected to a patient, the initial mounting 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, the first setting catheter instrument being the outer catheter instrument and the second setting catheter instrument being the inner catheter instrument when the outer catheter instrument is first set, the first setting catheter instrument being the inner catheter instrument and the second setting catheter instrument being the outer catheter instrument when the inner catheter instrument is first set; determine the first setting catheter instrument based on the initial mounting sequence; determine a first setting target position corresponding to the first setting catheter instrument among the first target position and the second target position based on the first setting catheter instrument; determine a first setting manipulator corresponding to the first setting catheter instrument among the first manipulator and the second manipulator based on the first setting catheter instrument when there is the first setting catheter instrument satisfying the first setting target position for mounting, and control an indicator corresponding to the first setting manipulator and an indicator corresponding to a storage position of the first setting catheter instrument to make a first indication; detect whether there is a second setting catheter instrument satisfying a second setting target position for mounting in response to the first setting catheter instrument being mounted on the first setting manipulator; control an indicator corresponding to a second setting manipulator and an indicator corresponding to a storage position of the second setting catheter instrument to make a second indication when there is the second setting catheter instrument satisfying the second setting target position for mounting. The control system is further configured to:

2. The catheter robot system according to claim 1, characterized in that, control an indicator associated with the first setting manipulator to make a third indication when there is no first setting catheter instrument satisfying the first setting target position for mounting, the third indication indicating that any first setting catheter instrument can be selected. The control system is further configured to:

3. The catheter robot system according to claim 1, wherein, detect whether there is a target second setting catheter instrument satisfying a preset condition when there is no second setting catheter instrument satisfying the second setting target position for mounting, the preset condition comprising a difference between a length of the second setting catheter instrument and a length of the first setting catheter instrument being at least greater than a target length, the target length comprising a length that a distal end of an inner catheter of the inner catheter instrument can extend out of a distal end of an outer catheter of the outer catheter instrument; control an indicator corresponding to a storage position of the target second setting catheter instrument to make a fourth indication when there is the target second setting catheter instrument satisfying the preset condition. ​ controlling the indicator of the pre-set manipulator to give a fifth indication, the fifth indication being for indicating to replace the pre-set catheterization instrument, in absence of the target after-set catheterization instrument satisfying the pre-set condition.

4. The catheter robot system according to claim 2 or 3, characterized in that, The control system is further configured to: obtain a length of the pre-set catheterization instrument to be installed; detect whether the length of the pre-set catheterization instrument is between a pre-set target distance and a pre-set safety distance, the pre-set target distance being a distance between the pre-set target position and the insertion port, the pre-set safety distance being a sum of the pre-set target distance and a length of the insertion port to an exit port of the guide; in absence of the length of the pre-set catheterization instrument being between the pre-set target distance and the pre-set safety distance, correct the pre-set target distance based on the length of the pre-set catheterization instrument, to obtain a corrected pre-set target distance; correct the pre-set target position of the pre-set manipulator on the insertion axis based on the corrected pre-set target distance, to obtain a corrected pre-set target position; control the pre-set manipulator to move to the corrected pre-set target position.

5. The catheter robot system according to claim 2 or 3, characterized in that, The control system is further configured to: obtain a length of the pre-set catheterization instrument to be installed; detect whether the length of the pre-set catheterization instrument is between a pre-set target distance and a pre-set safety distance, the pre-set target distance being a distance between the pre-set target position and the insertion port, the pre-set safety distance being a sum of the pre-set target distance and a length of the insertion port to an exit port of the guide; in absence of the length of the pre-set catheterization instrument being between the pre-set target distance and the pre-set safety distance, correct the pre-set target distance based on the length of the pre-set catheterization instrument, to obtain a corrected pre-set target distance; correct the pre-set target position of the pre-set manipulator on the insertion axis based on the corrected pre-set target distance, to obtain a corrected pre-set target position; control the pre-set manipulator to move to the corrected pre-set target position.

6. The catheter robot system of claim 1, wherein, The step of obtaining the initial installation sequence of the inner catheterization instrument and the outer catheterization instrument further comprises: obtaining an actual position of a guide for connecting with a patient in a reference coordinate system; determining an insertion axis of the insertion port of the guide based on the actual position; obtaining a first target distance at which the first manipulator is desired to be from the insertion port on the insertion axis, and obtaining a second target distance at which the second manipulator is desired 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; controlling the first manipulator to move to the first target position, and controlling the second manipulator to move to the second target position.

7. The catheter robot system according to claim 6, wherein, The catheter robot system comprises a positioning system connected with 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 comprises 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 position of the first positioning unit and the second positioning unit in the reference coordinate system, the step of acquiring the actual position of the guide connected with the patient in the reference coordinate system comprises: Controlling the positioning system to move; When the positioning system is positioned to the first positioning unit and the second positioning unit, acquiring the first positioning position of the positioning system, and acquiring the first distance between the positioning system and the first positioning unit and the second distance between the positioning system and the second positioning unit; Controlling the positioning system to move in the plane formed by the first positioning unit, the second positioning unit and the first positioning position of the positioning system; When the positioning system is positioned to the first positioning unit and the second positioning unit, acquiring the second positioning position of the positioning system, and acquiring the third distance between the positioning system and the first positioning unit and the fourth distance between the positioning system and the second positioning unit; Based on the first positioning position, the second positioning position, the first distance and the third distance, determining the actual position of the first positioning unit in the reference coordinate system, and based on the first positioning position, the second positioning position, the second distance and the fourth distance, determining the actual position of the second positioning unit in the reference coordinate system.

8. The catheter robot system according to claim 7, wherein, The step of determining the insertion axis of the insertion port based on the actual position comprises: Based on the actual position of the first positioning unit and the actual position of the second positioning unit, determining the connecting line between the first positioning unit and the second positioning unit; Acquiring the known positional relationship between the connecting line and the insertion axis of the insertion port; Based on the connecting line and the positional relationship, determining the insertion axis.

9. The catheter robot system according to claim 6, wherein, The guide comprises an outlet, 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 instrument to be installed and the length between the insertion port and the outlet, and the maximum target distance is the length of the catheter instrument to be installed.

10. A control method of a catheter robot system, characterized by, The catheter robot system comprises: A first manipulator for installing and manipulating an outer catheter instrument; A second manipulator for installing and manipulating an inner catheter instrument; A first mechanical arm connected with the first manipulator at the end; and A second mechanical arm connected with the second manipulator at the end; The control method comprises: In response to the first manipulator moving to a first target position and the second manipulator moving to a second target position, an initial installation sequence of the inner catheter instrument and the outer catheter instrument is obtained, the first target position and the second target position are located on an insertion axis of an insertion port of a guide device connected to a patient, and the initial installation sequence includes a sequence of first arranging the outer catheter instrument and then arranging the inner catheter instrument, or a sequence of first arranging the inner catheter instrument and then arranging the outer catheter instrument; when the outer catheter instrument is arranged first, the first catheter instrument is the outer catheter instrument and the second catheter instrument is the inner catheter instrument; when the inner catheter instrument is arranged first, the first catheter instrument is the inner catheter instrument and the second catheter instrument is the outer catheter instrument; The first catheter instrument is determined based on the initial installation sequence; The first target position and the second target position corresponding to the first catheter instrument are determined based on the first catheter instrument; When the first catheter instrument satisfying the first target position is present, the first manipulator and the second manipulator corresponding to the first catheter instrument are determined based on the first catheter instrument, and a first indication is performed on an indicator corresponding to the first manipulator and an indicator corresponding to a storage position of the first catheter instrument; In response to the first catheter instrument being installed on the first manipulator, it is detected whether a second catheter instrument satisfying a second target position is present; When the second catheter instrument satisfying the second target position is present, a second indication is performed on an indicator corresponding to the second manipulator and an indicator corresponding to a storage position of the second catheter instrument.

11. A computer readable storage medium, characterized in that, The computer readable storage medium stores a computer program, and the computer program is executed by the processor to implement the control method of claim 10.

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