Interventional surgical robot system and movement control method thereof

Abstract

The invention discloses an interventional operation robot system and a movement control method thereof. The movement control method of the interventional surgery robot system comprises the following steps that a mechanical arm is controlled to move, so that a sheath connecting piece of a slave end driver is connected with a sheath tube. And the connecting position coordinates of the mechanical arm when the sheath connecting piece is connected with the sheath tube are obtained. And according to the connecting position coordinates of the mechanical arm, the reference coordinates of the sheath inlet of the sheath tube are calculated. And controlling the slave end driver to rotate by taking the reference coordinate of the sheath inlet as a circle center. The movement range of the slave end driver is limited to rotate with the sheath inlet as the circle center, it is guaranteed that the sheath inlet of a puncture point cannot move in the interventional operation process, and a patient is prevented from being injured. And the slave end driver and the instrument connected with the slave end driver cannot deviate from a safe operation area due to excessive rotation, so that the safety of an interventional operation is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical equipment, and in particular to an interventional surgery robot system and a movement control method thereof. Background Art

[0002] Interventional surgery is a minimally invasive surgical method that uses interventional devices such as puncture needles, catheters, and guidewires to diagnose and treat diseases under the guidance of medical imaging equipment. Interventional surgery uses the body's existing channels (such as blood vessels, bile ducts, trachea, etc.) or tiny channels established by percutaneous puncture to deliver specific instruments to the lesion site for operation.

[0003] When performing interventional surgery through an interventional surgical robot system, the placement of the slave end driver will be adjusted as needed. During the adjustment process, the slave end driver drives the instrument inserted into the sheath to move, and the sheath connector of the slave end driver drives the sheath to move. The moving sheath is likely to pull the wound at the sheath entrance, increasing the risk of infection and thus reducing the safety of the interventional surgery. Summary of the invention

[0004] The main purpose of the present invention is to provide an interventional surgical robot system and a movement control method thereof, aiming to solve the technical problem that during the adjustment process, the sheath connector of the slave end driver drives the sheath tube to move, which easily pulls the wound at the sheath entrance and increases the risk of infection.

[0005] In order to achieve the above-mentioned object of the invention, the first aspect of the present invention proposes a movement control method of an interventional surgery robot system.

[0006] A method for controlling movement of an interventional surgery robot system, the interventional surgery robot system comprising a connected mechanical arm and a slave end driver, comprising the following steps:

[0007] Controlling the movement of the mechanical arm so that the sheath connector of the slave end driver is connected to the sheath tube;

[0008] Acquire the connection position coordinates of the robotic arm when the sheath connector is connected to the sheath tube;

[0009] Calculating the reference coordinates of the sheath entrance of the sheath tube according to the connection position coordinates of the robotic arm;

[0010] The slave end driver is controlled to rotate with the reference coordinate of the sheath entrance as the center.

[0011] In one embodiment, the step of obtaining the connection position coordinates of the robotic arm when the sheath connector is connected to the sheath tube comprises:

[0012] Setting the coordinates of the robot arm in the initial state as the origin coordinates;

[0013] Controlling the movement of the robotic arm;

[0014] Acquiring movement data of the robotic arm;

[0015] The connection position coordinates of the robot arm are calculated according to the origin coordinates and the movement data.

[0016] In one embodiment, the step of calculating the reference coordinates of the sheath entrance of the sheath tube according to the connection position coordinates of the robot arm comprises:

[0017] Obtaining the straight-line distance from the sheath entry port to the slave end driver;

[0018] The reference coordinates of the sheathing port are calculated according to the connection position coordinates of the robot arm and the straight-line distance.

[0019] In one embodiment, the step of controlling the slave end driver to rotate with the reference coordinate of the sheathing port as the center comprises:

[0020] Determining whether the straight-line distance is greater than a preset distance;

[0021] If so, a prompt message is issued;

[0022] If not, continue to obtain the straight-line distance from the sheath entrance to the slave end driver.

[0023] In one embodiment, the step of controlling the movement of the robotic arm so that the sheath connector of the slave end driver is connected to the sheath tube comprises:

[0024] Based on the real-time coordinates of the robotic arm, calculating the angle between the bottom surface of the slave end driver and the horizontal plane;

[0025] The angle formed when the robot arm moves is controlled to be smaller than a preset angle value; and / or,

[0026] Based on the real-time coordinates of the robotic arm, the height value between the lowest point of the slave end driver and the operating table is calculated;

[0027] The height value formed when controlling the mechanical arm to move is greater than a preset height value.

[0028] In one embodiment, the step of controlling the slave end driver to rotate with the reference coordinate of the sheathing port as the center comprises:

[0029] Based on the real-time coordinates of the robotic arm, calculating the angle between the bottom surface of the slave end driver and the horizontal plane;

[0030] The angle formed when the robot arm moves is controlled to be smaller than a preset angle value; and / or,

[0031] Based on the real-time coordinates of the robotic arm, the height value between the lowest point of the slave end driver and the operating table is calculated;

[0032] The height value formed when controlling the mechanical arm to move is greater than a preset height value; and / or

[0033] Based on the real-time coordinates of the robotic arm, calculating the real-time coordinates of the sheath entry port corresponding to the current position of the robotic arm;

[0034] The real-time coordinates of the sheath entry port of the robot arm are controlled to be consistent with the reference coordinates of the sheath entry port.

[0035] In one embodiment, after the step of controlling the slave end driver to rotate with the reference coordinate of the sheathing port as the center, the step further includes:

[0036] Detecting whether the sheath tube is detached from the sheath connector;

[0037] If yes, release the control of the slave end driver to rotate with the reference coordinate of the sheath inlet as the center;

[0038] If not, a prompt is issued to detach the sheath tube from the sheath connector.

[0039] In one embodiment, after the step of releasing the slave end driver from rotating with the reference coordinate of the sheathing port as the center, the step further includes:

[0040] Detecting whether there is an instrument at the sheath entry port;

[0041] If not, driving the slave end driver and the robotic arm away from the sheath entry port;

[0042] If so, the slave end driver and the robotic arm are restricted to be away from the sheath entry port.

[0043] In one of the embodiments, when the slave end drive and the mechanical arm are manually driven to move, the following steps are included:

[0044] Obtaining the motion state of the robotic arm;

[0045] Calculating the magnitude and direction of the driving force that the robotic arm needs to generate according to the motion state of the robotic arm;

[0046] The driving force is applied to the robot arm.

[0047] A second aspect of the present invention provides an interventional surgery robot system, which is applied to the above-mentioned movement control method.

[0048] Beneficial effects:

[0049] The mobile control method of the interventional surgical robot system of the present invention includes the following steps: controlling the movement of the robotic arm so that the sheath connector of the slave end driver is connected to the sheath tube. Obtaining the connection position coordinates of the robotic arm when the sheath connector is connected to the sheath tube. Calculating the reference coordinates of the sheath entrance port of the sheath tube based on the connection position coordinates of the robotic arm. Controlling the slave end driver to rotate with the reference coordinates of the sheath entrance port as the center. The motion range of the slave end driver is limited to rotation with the sheath entrance port as the center, ensuring that during the interventional surgery, the sheath entrance port of the puncture point will not move excessively to avoid injury to the patient. The slave end driver and the instrument connected to it will not deviate from the safe operating area due to excessive rotation, avoiding pulling or other damage to the wound by the slave end driver and the instrument, thereby reducing the risk of wound infection and improving the safety of interventional surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 It is a flow chart of a movement control method of an interventional surgery robot system according to an embodiment of the present invention.

[0051] Figure 2 It is a schematic structural diagram of an interventional surgery robot system according to an embodiment of the present invention.

[0052] Figure 3 It is a schematic structural diagram from another angle of an interventional surgery robot system according to an embodiment of the present invention.

[0053] Figure 4 yes Figure 2 Enlarged view of point B in the middle.

[0054] in:

[0055] 10. Slave end driver; 11. Carriage; 20. Robotic arm; 30. Sheath connector; 40. Sheath tube; 41. Sheath entry port; 50. Operating table.

[0056] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0057] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0058] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0059] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0060] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0061] like Figures 1 to 4 As shown, in some embodiments, a method for controlling movement of an interventional surgical robot system, the interventional surgical robot system comprising a connected robotic arm 20 and a slave end driver 10, comprises the following steps:

[0062] S100 , controlling the robot arm 20 to move so that the sheath connector 30 of the slave end driver 10 is connected to the sheath tube 40 .

[0063] S200 , obtaining the connection position coordinates of the robot arm 20 when the sheath connector 30 is connected to the sheath tube 40 .

[0064] S300 , calculating the reference coordinates of the sheath entrance 41 of the sheath tube 40 according to the connection position coordinates of the robot arm 20 .

[0065] S400 , controlling the slave end driver 10 to rotate with the reference coordinate of the sheath port 41 as the center.

[0066] Specifically, the sheath port 41 is a specific entrance portion formed on the human body surface or internal tissue for the sheath tube 40 to enter. The straight-line distance from the sheath port 41 to the slave end driver 10 is specifically the distance from the sheath port 41 to the trolley 11 of the slave end driver 10.

[0067] It should be noted that the range of motion of the slave end driver 10 is limited to rotation around the sheath port 41, ensuring that the sheath port 41 of the puncture point will not move excessively during the interventional procedure to avoid injury to the patient. The slave end driver 10 and the instrument connected thereto will not deviate from the safe operating area due to excessive rotation or movement, thereby preventing the slave end driver 10 and the instrument from pulling or otherwise damaging the wound, thereby reducing the risk of wound infection and improving the safety of the interventional procedure.

[0068] As in the above step S100: the robot arm 20 is controlled to move so that the sheath connector 30 of the slave end driver 10 is connected to the sheath tube 40. This step is a pre-operative adjustment step.

[0069] Specifically, the step S100 of controlling the robot arm 20 to move so that the sheath connector of the slave end driver 10 is connected to the sheath tube 40 includes:

[0070] S110 , based on the real-time coordinates of the robot arm 20 , calculate the angle between the bottom surface of the slave end driver 10 and the horizontal plane.

[0071] S120, controlling the angle formed when the robot arm 20 moves to be smaller than a preset angle value.

[0072] It should be noted that the angle A between the bottom surface of the slave end driver 10 and the horizontal plane is calculated based on the real-time coordinates of the robot arm 20. Angle A is not allowed to exceed the preset angle value, otherwise it will cause the interventional surgical robot system and the overall tilt angle of the instrument to be too large, resulting in large resistance to the instrument, making it difficult to control the operation of the instrument in the body, causing a large deviation between the actual motion trajectory and the expected path, and affecting the effect of the interventional surgery. This step can limit the angle range, allow the instrument to work under a reasonable stress state, extend the service life of the instrument, improve the reliability of the instrument during interventional surgery, and reduce surgical risks caused by instrument failure.

[0073] Before the operation, the acquired angle data is compared with the preset angle value. This step is a real-time dynamic process. During the interventional surgery, if the position of the slave end driver 10 changes, a new angle calculation and comparison will be triggered immediately. If the calculated angle is always less than the preset angle value, it means that the movement of the slave end driver 10 is within a safe and reasonable range, and the interventional surgery can continue according to the predetermined plan. At this time, the control system allows the slave end driver 10 to continue the corresponding movement according to the operating instructions of the medical staff or the preset program, such as adjusting the position and rotation angle of the robot arm 20, so as to complete the precise operation of the interventional surgical instrument.

[0074] By limiting the angle within the preset range, surgical problems caused by excessive tilt of the slave end driver 10 can be effectively prevented. Such as excessive resistance of the catheter guidewire of the surgical instrument, traction damage to blood vessels or tissues, instrument breakage or detachment, etc. When the angle approaches or reaches the preset angle value, the system can take early warning measures to remind medical staff to pay attention to the operation. When the angle exceeds the preset angle value, the system will immediately activate the corresponding safety control strategy, such as limiting the movement of the slave end driver 10 and adjusting the movement direction of the slave end driver 10 to return it to the safe angle range.

[0075] Specifically, the step S100 of controlling the robot arm 20 to move so that the sheath connector 30 of the slave end driver 10 is connected to the sheath tube 40 includes:

[0076] S130 , the real-time coordinates of the robot arm 20 , and the height value between the lowest point of the slave end driver 10 and the operating table 50 is calculated.

[0077] S140 , controlling the robot arm 20 to move so that the height value formed is smaller than the preset height value L1 .

[0078] It should be noted that this step can prevent the bottom of the end driver 10 from pressing on parts of the human body.

[0079] The preset height value L1 can be the distance between the sheath entrance 41 and the operating table 50. The determination of the preset height value L1 needs to take into account the normal anatomical structure of the human body and the space requirements for surgical operations. Different interventional surgeries involve different surgical sites. For example, cardiovascular interventional surgeries mostly access the femoral artery or radial artery, and neurointerventional surgeries may access the carotid artery or femoral vein. The above-mentioned sites have different relative height positions in the human body, and during the interventional surgery, sufficient space is required to ensure smooth entry and exit and operation of the instruments. At the same time, the determination of the preset height value L1 also needs to take into account the structural characteristics of the interventional surgical robot itself, including the size, shape and range of motion of the slave end driver 10.

[0080] The height value between the lowest point of the slave end driver and the operating bed 50 is calculated, and a distance sensor or position detection device can be installed at the lowest point of the operating bed 50 and the slave end driver 10. For example, the height value can be calculated by the spatial coordinates of the robot arm, or a laser rangefinder or ultrasonic sensor can be used to measure the vertical distance from the sheath port 41 (or a fixed reference point related to the sheath port 41) to the surface of the operating bed 50. The distance sensor converts the measured distance data into an electrical signal and transmits it to the control system.

[0081] After the measured height data is transmitted to the control system, it will go through a series of data processing steps. The first is data cleaning and filtering to remove possible noise and interference signals to improve data accuracy. Then, according to the preset coordinate system and calculation method, the data measured by the sensor is converted into a height value in the same reference system as the preset height value L1. The processed height value will serve as the basis for subsequent judgment and control.

[0082] During the interventional surgery, as the slave end driver 10 moves and the patient's physical condition changes, the height value between the lowest point of the slave end driver 10 and the operating table will change. If the height value between the lowest point of the slave end driver 10 and the operating table is greater than the preset height value L1, it means that the slave end driver 10 is in a safe position in the vertical direction and the interventional surgery can proceed normally. At this time, the slave end driver 10 can be allowed to move and adjust in other directions according to the requirements of the interventional surgery operation to complete the precise operation of the interventional surgical instrument.

[0083] When the height value is close to or equal to the preset height value L1, the system will start the early warning mechanism to remind medical staff to pay attention to the position of the slave end driver 10 to prevent the slave end driver 10 from continuing to descend and pressing on the human body. If the height value is less than the preset height value L1, the system can take emergency safety control measures. Emergency safety control measures can include stopping the further movement of the slave end driver 10 in the vertical direction, or even reverse driving it to rise a certain distance to ensure that the slave end driver maintains a safe distance from the human body.

[0084] As in step S200, the connection position coordinates of the robot arm 20 when the sheath connector 30 is connected to the sheath tube 40 are obtained. In interventional surgery, the spatial position relationship of multiple elements such as the robot arm 20, the slave end driver 10, the operating table 50, the patient, and various instruments is involved. In order to accurately define the relative motion and position between multiple elements, a unified coordinate system needs to be established.

[0085] Specifically, the step S200 of calculating the reference coordinates of the sheath inlet 41 of the sheath tube 40 according to the connection position coordinates of the robot arm 20 includes:

[0086] S210, setting the coordinates of the robot arm 20 in the initial state as the origin coordinates.

[0087] S220, controlling the robot arm 20 to move;

[0088] S230, obtaining movement data of the robot arm 20;

[0089] S240, calculating the connection position coordinates of the robot arm 20 according to the origin coordinates and the movement data.

[0090] That is, the coordinates of the robot arm 20 in the initial state are preset as the origin coordinates (0.0.0). The initial state of the robot arm 20 may be the state of just starting up. The origin coordinates (0.0.0) provide a fixed reference point for the entire coordinate system.

[0091] Each joint of the robot arm 20 and the rotary joint of the slave driver 10 is equipped with an encoder. The encoder collects the movement data of each joint, and pre-sets the designated position where the robot arm 20 is connected to the operating table 50 as the origin coordinate (0.0.0). When each joint rotates and swings at different angles, the data of each joint is integrated, and the current spatial coordinate value (X1.Y1.Z1) of the sheath port 41 is calculated through an algorithm.

[0092] For example, the robot 20 has three linear movable joints in the X-axis direction, the Y-axis direction, and the Z-axis direction. Each joint is provided with a linear encoder. Assume that the resolution of the linear encoder is 0.01 mm. When the robot 20 moves in the X-axis direction, the linear encoder records the displacement of the X-axis joint. For example, to move the end effector of the robot 20 to the position X=10 mm, the controller sends a command to let the X-axis motor drive the joint to move. The linear encoder feeds back the moving distance in real time. When it is displayed as 10.00 mm, it means that the end effector has reached the target position in the X-axis direction.

[0093] As in the above step S300 : according to the connection position coordinates of the robot arm 20 , the reference coordinates of the sheath entrance 41 of the sheath tube 40 are calculated.

[0094] Specifically, the step S300 of calculating the reference coordinates of the sheath inlet 41 of the sheath tube 40 according to the connection position coordinates of the robot arm 20 includes:

[0095] S310 , obtaining the straight-line distance L2 from the sheath inlet 41 to the slave end driver 10 .

[0096] S320 , calculating the reference coordinates of the sheath entrance 41 according to the connection position coordinates of the robot arm 20 and the straight-line distance L2 .

[0097] It should be noted that a laser distance measuring sensor or an ultrasonic sensor is installed at one end of the slave end driver 10 toward the sheath entrance 41 , so as to obtain a straight-line distance L2 from the sheath entrance 41 to the slave end driver 10 .

[0098] The calculation of the reference coordinates of the sheath port 41 provides precise guidance for the instruments of the interventional surgery to enter the human body through the sheath tube 40. In interventional surgery, the interventional surgical instruments must accurately enter the specific lesion site in the body through the sheath port 41, otherwise the surrounding tissue may be damaged or the target position may not be reached. For example, in cardiovascular interventional surgery, the catheter needs to accurately enter the blood vessel from the sheath port 41 and follow the blood vessel path to the coronary artery stenosis for treatment. Accurately calculating the reference coordinates of the sheath port 41 enables the robotic arm 20 to accurately align the catheter with the sheath port 41 for insertion, thereby improving the accuracy and safety of the interventional surgical instruments entering the human body, reducing complications caused by improper instrument insertion, such as vascular perforation, tissue damage, etc., thereby improving the success rate of interventional surgery.

[0099] The reference coordinates of the sheath port 41 facilitate planning the operation path of the interventional surgical instrument in the body. Based on the reference coordinates of the sheath port 41 and the relative position of the lesion, combined with preoperative imaging data, medical staff can accurately control the robotic arm 20 to make the interventional surgical instrument reach the target along a safe and effective path, avoid getting lost or misoperated in the body after passing through the sheath port 41, protect the surrounding important neural structures, and improve the accuracy and treatment effect of the interventional surgery.

[0100] As in the above step S400 : the slave end driver 10 is controlled to rotate with the reference coordinate of the sheathing port 41 as the center.

[0101] It should be noted that, by determining the reference coordinates of the sheathing port 41 , the rotation range of the slave end driver 10 is limited, so as to accurately define the movable range of the slave end driver 10 .

[0102] Specifically, angle sensors are installed at the joints of the slave end driver 10 to accurately measure the rotation angle of the joints. These angle sensors can be based on photoelectric principles, electromagnetic induction principles or other sensing technologies, and can convert the angular displacement of the joints into electrical signals and transmit them to the control system. If it is detected that the rotation of the slave end driver 10 causes its position to exceed the circle centered at the sheath port 41, a prompt message is issued or a feedback control mechanism is started. According to a pre-set control strategy, the driving current or voltage of the joints of the slave end driver 10 is adjusted to change the rotation speed or direction of the joints, so that the slave end driver 10 returns to a safe rotation range.

[0103] Specifically, the step S400 of controlling the slave end driver 10 to rotate with the reference coordinate of the sheathing port 41 as the center includes:

[0104] S410: Determine whether the straight-line distance L2 is greater than a preset distance.

[0105] S420: If yes, issue a prompt message.

[0106] S430 , if not, continue to obtain the straight-line distance L2 from the sheath entrance 41 to the slave end driver 10 .

[0107] It should be noted that a position sensor (such as a laser range finder, an ultrasonic sensor, etc.) is installed on the slave end driver 10 to directly measure the distance between the slave end driver 10 and the sheath port 41. During the operation, the real-time data provided by the position sensor is used to determine whether the slave end driver 10 is within the preset distance. If the straight-line distance L2 is greater than the preset distance, the slave end driver moves significantly and a prompt message is issued.

[0108] Among them, the prompt information issued by the interventional surgery robot system can be divided into different types to meet different warning needs. Visual prompt information can include displaying eye-catching warning icons, text prompts or color changes on the display screen of the interventional surgery console. For example, when the slave end driver 10 approaches the boundary of the safe range, the icon of the corresponding area on the display screen may flash, the color changes to red, etc., to attract the visual attention of medical staff. Auditory prompt information can be a specific alarm sound, such as a continuous beep or voice prompt, to inform medical staff of abnormal movement of the slave end driver 10.

[0109] Specifically, the step S400 of controlling the slave end driver 10 to rotate with the reference coordinate of the sheathing port 41 as the center includes:

[0110] S441. Based on the real-time coordinates of the robot arm 20, calculate the angle between the bottom surface of the slave end driver 10 and the horizontal plane.

[0111] S442, controlling the angle formed when the robot arm 20 moves to be smaller than a preset angle value.

[0112] It should be noted that this step is an adjustment step during the operation, and its effect is the same as that of S110 and S120, and will not be described in detail here.

[0113] Specifically, the step S400 of controlling the slave end driver 10 to rotate with the reference coordinate of the sheathing port 41 as the center includes:

[0114] S451. Based on the real-time coordinates of the robot arm 20, calculate the height value between the lowest point of the slave end driver 10 and the operating table 50.

[0115] S452, controlling the height value formed when the robot arm 20 moves is greater than a preset height value.

[0116] It should be noted that this step is an adjustment step during the operation, and its function and effect are the same as those of S130 and S140, and will not be repeated here.

[0117] Specifically, the step S400 of controlling the slave end driver 10 to rotate with the reference coordinate of the sheathing port 41 as the center includes:

[0118] S461 . Based on the real-time coordinates of the robot arm 20 , calculate the real-time coordinates of the sheathing port 41 corresponding to the current position of the robot arm 20 .

[0119] S462 , controlling the real-time coordinates of the sheath entrance port 41 of the robot arm 20 to be consistent with the reference coordinates of the sheath entrance port 41 .

[0120] It should be noted that the real-time coordinates of the sheath port 40 corresponding to the current position of the robotic arm 20 are calculated based on the real-time coordinates of the robotic arm 20 and the straight-line distance L2 from the sheath port 40 to the slave end driver 10. When the real-time coordinates of the sheath port 40 of the robotic arm 20 are consistent with the reference coordinates of the sheath port 40, the slave end driver 10 rotates with the reference coordinates of the sheath port 40 as the center. When the real-time coordinates of the sheath port 40 of the robotic arm 20 deviate from the reference coordinates of the sheath port 40, the slave end driver 10 may deviate from the reference coordinates of the sheath port 40 and rotate in a circle. At this time, the robotic arm 20 needs to be adjusted so that the real-time coordinates of the sheath port 40 of the robotic arm 20 are consistent with the reference coordinates of the sheath port 40, and then the slave end driver 10 is controlled to rotate with the reference coordinates of the sheath port 40 as the center. This step ensures that the slave end driver 10 always rotates with the reference coordinate of the sheath port 40 as the center by controlling the real-time coordinate of the sheath port 40 corresponding to the current position of the robot arm 20 to be consistent with the reference coordinate of the sheath port 40 .

[0121] In some embodiments, after the step S400 of controlling the slave end driver 10 to rotate with the reference coordinate of the sheathing port 41 as the center, the following steps are further included:

[0122] S471 , detecting whether the sheath tube 40 is detached from the sheath connector 30 .

[0123] S472: If yes, release the control of the slave end driver 10 rotating with the coordinates of the sheath port 41 as the center.

[0124] S473: If not, a prompt is issued to detach the sheath tube 40 from the sheath connector 30.

[0125] It should be noted that, after the interventional surgery is completed, the sheath connector 30 is first detached from the sheath, and the corresponding catheter, guide wire and other instruments are pulled out.

[0126] When it is detected that the sheath tube 40 is detached from the sheath connector 30, the rotation range limit of the slave end driver 10 is released. At this time, the interventional surgical instrument is no longer connected to the human body through the sheath tube 40, and the movement of the slave end driver 10 no longer directly affects the safety of the surgical site. Therefore, the rotation range limit of the slave end driver 10 previously set to protect the surgical site can be released. The control system will adjust the limit value of the joint movement of the slave end driver 10 so that it can rotate, move, and perform other operations in a wider space, so that medical staff can more conveniently perform subsequent operations, such as moving the slave end driver 10 to a safe location for storage or equipment maintenance.

[0127] When the interventional surgery is over or the instrument needs to be replaced, if the sheath 40 is not detached from the sheath connector 30 in time, it may cause equipment damage or safety accidents, or even medical accidents. For example, if the sheath 40 is still connected during the movement of the slave end driver 10, the sheath 40 or the surgical site may be damaged due to accidental pulling. The prompt information can prompt medical staff to complete the sheath 40 detachment operation in time to ensure the safety of the interventional surgery process.

[0128] In some embodiments, after the step S400 of controlling the slave end driver 10 to rotate with the reference coordinate of the sheathing port 41 as the center, the following steps are further included:

[0129] S481, check whether there is an instrument at the sheath inlet 41.

[0130] S482 , if not, drive the slave end driver 10 and the robot arm 20 away from the sheath port 41 .

[0131] S483. If yes, restrict the slave end driver 10 and the robot arm 20 to stay away from the sheath port 41.

[0132] When it is determined that the sheath tube 40 has been separated from the sheath connector 30, the rotation range of the slave end driver 10 is released with the coordinates of the sheath port 41 as the center, and the straight line distance is greater than the safety distance L2, and then it is detected whether there are no instruments or consumables in the relevant area. When it is determined that there is no instrument at the sheath port 41, the slave end driver 10 and the robot arm 20 are driven away from the sheath port 41.

[0133] Specifically, when the slave end driver 10 and the robot arm 20 are manually driven to move, the following steps are included:

[0134] S491, obtaining the motion state of the robot arm 20.

[0135] S492. Calculate the size and direction of the driving force that the robot arm 20 needs to generate according to the motion state of the robot arm 20.

[0136] S493 , applying driving force to the robot arm 20 .

[0137] Specifically, when the slave end driver 10 and the robot arm 20 are manually driven to move, the following steps are included:

[0138] S494, obtaining the driving force of the robot arm 20.

[0139] S492: Detect whether the driving force of the robot arm 20 is less than a safety threshold.

[0140] S496: If not, a prompt message is issued.

[0141] S497: If yes, continue to apply driving force to the robot arm 20.

[0142] The mechanical arm 20 is installed before the interventional surgery and adjusted and moved during the interventional surgery. Due to the large size and mass of the mechanical arm 20, medical staff need to use a lot of force to move the mechanical arm 20, which increases the burden on medical staff. This step can not only reduce the burden on medical staff, improve the efficiency of operation and installation, but also protect the safety of patients.

[0143] Medical staff applies external force to the robotic arm 20 according to the requirements of the interventional surgery, and sensors (such as force sensors, etc.) on the robotic arm 20 can sense the external force information in real time, including parameters such as the magnitude, direction, and duration of the force.

[0144] The original signal collected by the sensor may contain interference factors such as noise, which need to be filtered to remove these interferences and improve the quality and accuracy of the signal. At the same time, since the original signal may be weak, it needs to be amplified for subsequent analysis and calculation. The analog signal after filtering and amplification is converted into a digital signal through an analog-to-digital converter so that it can be processed by the digital circuits and algorithms in the control system.

[0145] The algorithm based on force and position hybrid control comprehensively considers the external force applied by the medical staff and the current position information of the robot arm 20. Based on this information, the algorithm calculates the magnitude and direction of the power assist that the robot arm 20 should generate to achieve the power assist follow-up operation.

[0146] During the process of assisting the robot 20 to follow the robot, various key parameters are continuously monitored, such as the assisting force, speed, position and motion trajectory of the robot 20, etc. By comparing with the pre-set safety threshold, it is determined whether the current operation is within the safety range. The safety threshold includes the maximum assisting force, the maximum speed, the maximum displacement angle, etc., which are determined based on the safety requirements of the interventional surgery and the performance of the robot 20.

[0147] According to the results calculated by the control algorithm module, the control system outputs instructions to the motor driver and the actuator of the robot arm 20 to drive the robot arm 20 to move in a predetermined power-assisting manner. If during the operation, the monitored parameters approach or exceed the safety threshold, the safety monitoring module will immediately issue an alarm signal to remind the doctor to pay attention to the operation. At the same time, depending on the specific situation, the system may take emergency braking measures to stop the movement of the robot arm 20, or limit the power assistance to prevent dangerous situations caused by excessive power assistance, thereby ensuring the safety of the interventional surgery process.

[0148] Specifically, the encoders provided in the joints of the manipulator 20 are used to accurately measure the angle changes of the joints of the manipulator 20, so as to obtain the position and motion state of the manipulator 20. After the displacement, acceleration, angle and other signals collected by the encoder are digitally processed by the signal processing module, the magnitude and direction of the assist force that the manipulator 20 should generate are calculated according to the preset assist force ratio, and safety detection is performed according to the sensors and the environment. Such as maximum assist force, maximum speed, maximum unique angle, etc. When the assist force following operation of the manipulator 20 approaches or exceeds these thresholds through the algorithm and control module output instructions to the motor driver and the manipulator 20 actuator, an alarm signal will be issued, and emergency braking or assist force limitation may be taken.

[0149] like Figures 1 to 4 As shown, in some embodiments, an interventional surgical robot system is applied to the mobile control method of the above-mentioned interventional surgical robot system, the interventional surgical robot system includes a slave end driver 10, a robotic arm 20 and a sheath connector 30, the slave end driver 10 is respectively connected to the robotic arm 20 and the sheath connector 30, the robotic arm 20 is used to drive the slave end driver 10 to move, and the sheath connector 30 is used to connect the sheath tube 40.

[0150] Specifically, the trolley 11 of the slave end driver 10 is connected to the sheath connector 30. The trolley 11 is a carrier for carrying and controlling the interventional surgical instrument. The trolley 11 controls the delivery and rotation of the interventional surgical instrument.

[0151] Specifically, before the interventional surgery, the position and angle of the robot arm 20 and the slave end driver 10 can be adjusted so that the sheath connector 30 of the slave end driver 10 is connected to the sheath tube 40. That is, the preparation work before the interventional surgery: after the medical staff inserts the femoral artery access into the sheath tube 40, the robot arm 20 and the slave end driver 10 are moved, and the sheath connector 30 of the slave end driver 10 is aligned with the sheath tube 40 that has been placed.

[0152] Specifically, the robot arm 20 and the slave end driver 10 can have multiple joints. Multiple joints can rotate flexibly in different directions to achieve multi-degree-of-freedom movement. Multiple joints are equipped with sensors (such as angle sensors, position encoders, etc.) for accurately measuring the motion state of the joints. The motion state includes angle change, displacement, etc. The motion state information of the robot arm 20 and the slave end driver 10 can be fed back to the control system to achieve precise control of the position and posture of the robot arm 20 and the slave end driver 10.

[0153] Specifically, when adjusting the position of the robot arm 20 and the slave end driver 10, the target position coordinates that the robot arm 20 and the slave end driver 10 need to reach are calculated according to the pre-set program or the operation instructions of the medical staff. The slave end driver 10 moves in three-dimensional space and accurately positions the sheath connector 30 of the slave end driver 10 to the connection position of the sheath tube 40. For example, in cardiovascular intervention surgery, the slave end driver 10 can accurately move the sheath connector 30 to a position that matches the sheath tube 40 at the femoral artery or radial artery.

[0154] When adjusting the angle, the joints of the robot arm 20 and the slave end driver 10 adjust the angle of each joint according to the operation instruction so that the posture of the sheath connector 30 is consistent with the interface direction of the sheath tube 40. This operation requires precise control of the rotation angle of each joint to achieve accurate docking of the sheath connector 30 with the sheath tube 40.

[0155] Specifically, the interface of the sheath connector 30 is adapted to the interface of the sheath tube 40. The sheath connector 30 and the sheath tube 40 can be connected in a snap-fit, threaded, or other manner. After the robotic arm 20 and the slave end driver 10 adjust the sheath connector 30 to a suitable position and angle, the sheath connector 30 is tightly connected to the sheath tube 40 by applying appropriate pressure or rotating the sheath connector 30. The stable connection between the sheath connector 30 and the sheath tube 40 can ensure that the instrument can enter the human body through the sheath tube 40.

[0156] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for controlling movement of an interventional surgical robot system, the interventional surgical robot system comprising a connected robotic arm and a slave end driver, characterized in that: The following steps are involved: Controlling the movement of the mechanical arm so that the sheath connector of the slave end driver is connected to the sheath tube; Acquire the connection position coordinates of the robotic arm when the sheath connector is connected to the sheath tube; Calculating the reference coordinates of the sheath entrance of the sheath tube according to the connection position coordinates of the robotic arm; The slave end driver is controlled to rotate with the reference coordinate of the sheath entrance as the center.

2. The mobile control method of the interventional surgery robot system according to claim 1, characterized in that: The step of obtaining the connection position coordinates of the robot arm when the sheath connector is connected to the sheath tube comprises: Setting the coordinates of the robot arm in the initial state as the origin coordinates; Controlling the movement of the robotic arm; Acquiring movement data of the robotic arm; The connection position coordinates of the robot arm are calculated according to the origin coordinates and the movement data.

3. The mobile control method of the interventional surgery robot system according to claim 1, characterized in that: The step of calculating the reference coordinates of the sheath entrance of the sheath tube according to the connection position coordinates of the robot arm comprises: Obtaining the straight-line distance from the sheath entry port to the slave end driver; The reference coordinates of the sheathing port are calculated according to the connection position coordinates of the robot arm and the straight-line distance.

4. The method for controlling the movement of an interventional surgical robot system according to claim 3, characterized in that: The step of controlling the slave end driver to rotate with the reference coordinate of the sheathing port as the center comprises: Determining whether the straight-line distance is greater than a preset distance; If so, a prompt message is issued; If not, continue to obtain the straight-line distance from the sheath entrance to the slave end driver.

5. The mobile control method of the interventional surgery robot system according to claim 1, characterized in that: The step of controlling the movement of the mechanical arm so that the sheath connector of the slave end driver is connected to the sheath tube comprises: Based on the real-time coordinates of the robotic arm, calculating the angle between the bottom surface of the slave end driver and the horizontal plane; The angle formed when the robot arm moves is controlled to be smaller than a preset angle value; and / or, Based on the real-time coordinates of the robotic arm, the height value between the lowest point of the slave end driver and the operating table is calculated; The height value formed when controlling the mechanical arm to move is greater than a preset height value.

6. The method for controlling the movement of an interventional surgery robot system according to claim 1, characterized in that: The step of controlling the slave end driver to rotate with the reference coordinate of the sheathing port as the center comprises: Based on the real-time coordinates of the robotic arm, calculating the angle between the bottom surface of the slave end driver and the horizontal plane; The angle formed when the robot arm moves is controlled to be smaller than a preset angle value; and / or, Based on the real-time coordinates of the robotic arm, the height value between the lowest point of the slave end driver and the operating table is calculated; The height value formed when controlling the mechanical arm to move is greater than a preset height value; and / or Based on the real-time coordinates of the robotic arm, calculating the real-time coordinates of the sheath entry port corresponding to the current position of the robotic arm; The real-time coordinates of the sheath entry port of the robot arm are controlled to be consistent with the reference coordinates of the sheath entry port.

7. The method for controlling the movement of an interventional surgical robot system according to claim 1, characterized in that: After the step of controlling the slave end driver to rotate with the reference coordinate of the sheathing port as the center, the method further includes: Detecting whether the sheath tube is detached from the sheath connector; If yes, release the control of the slave end driver to rotate with the reference coordinate of the sheath inlet as the center; If not, a prompt is issued to detach the sheath tube from the sheath connector.

8. The method for controlling the movement of an interventional surgery robot system according to claim 7, characterized in that: After the step of releasing the slave end driver from rotating with the reference coordinate of the sheathing port as the center, the step further includes: Detecting whether there is an instrument at the sheath entry port; If not, driving the slave end driver and the robotic arm away from the sheath entry port; If so, the slave end driver and the robotic arm are restricted to be away from the sheath entry port.

9. The method for controlling the movement of an interventional surgery robot system according to claim 1, characterized in that: When the slave end driver and the mechanical arm are manually driven to move, the following steps are included: Obtaining the motion state of the robotic arm; Calculating the magnitude and direction of the driving force that the robotic arm needs to generate according to the motion state of the robotic arm; The driving force is applied to the robot arm.

10. An interventional surgery robot system, applied to the movement control method of the interventional surgery robot system according to any one of claims 1 to 9.

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