Interventional surgical robotic system and method of mobile control thereof

Abstract

This invention discloses an interventional surgical robot system and its movement control method. The movement control method for the interventional surgical robot system includes the following steps: controlling the movement of a robotic arm to connect the sheath connector of the slave-end actuator to the sheath tube; obtaining the connection coordinates of the robotic arm when the sheath connector is connected to the sheath tube; calculating the reference coordinates of the sheath inlet based on the connection coordinates of the robotic arm; and controlling the slave-end actuator to rotate around the reference coordinates of the sheath inlet. The movement range of the slave-end actuator is limited to rotation around the sheath inlet, ensuring that the sheath inlet at the puncture point does not move during the interventional procedure, thus avoiding injury to the patient. The slave-end actuator and its connected instruments will not deviate from the safe operating area due to excessive rotation, improving the safety of the interventional procedure.

Description

Technical Field

[0001] This invention relates to the technical field of medical devices, and in particular to interventional surgical robot systems and their movement control methods. Background Technology

[0002] Interventional surgery is a minimally invasive surgical procedure that uses interventional instruments such as needles, catheters, and guidewires to diagnose and treat diseases under the guidance of medical imaging equipment. Interventional surgery utilizes existing channels in the body (such as blood vessels, bile ducts, and trachea) or tiny channels created through percutaneous puncture to deliver specific instruments to the lesion site for manipulation.

[0003] When performing interventional surgery using an interventional surgical robot system, the position of the slave actuator is adjusted as needed. During the adjustment process, the slave actuator moves the instruments inserted into the sheath, and the sheath connector of the slave actuator moves the sheath. The moving sheath can easily pull on the wound at the sheath inlet, increasing the risk of infection and thus reducing the safety of the interventional surgery. Summary of the Invention

[0004] The main objective of this invention is to provide an interventional surgical robot system and its movement control method, aiming to solve the technical problem that during the adjustment process, the sheath connector of the end driver drives the sheath tube to move, which can easily pull on the wound at the sheath opening and increase the risk of infection.

[0005] To achieve the above-mentioned objectives, the first aspect of this invention proposes a method for controlling the movement of an interventional surgical robot system.

[0006] A method for controlling the movement of an interventional surgical robot system, the interventional surgical robot system including a connected robotic arm and a slave actuator, comprising the following steps:

[0007] Control the movement of the robotic arm to connect the sheath connector of the slave-end driver to the sheath tube;

[0008] The specific steps for obtaining the connection coordinates of the robotic arm when the sheath connector is connected to the sheath tube include:

[0009] The coordinates of the robotic arm in its initial state are set as the origin coordinates;

[0010] Control the movement of the robotic arm;

[0011] Acquire the movement data of the robotic arm;

[0012] The connection position coordinates of the robotic arm are calculated based on the origin coordinates and the movement data.

[0013] Based on the connection coordinates of the robotic arm, the reference coordinates of the sheath inlet are calculated. Specific steps include:

[0014] Obtain the straight-line distance from the sheath inlet to the slave driver;

[0015] The reference coordinates of the sheath inlet are calculated based on the connection position coordinates of the robotic arm and the straight-line distance.

[0016] The slave driver is controlled to rotate around the reference coordinates of the inlet sheath.

[0017] In one embodiment, the step of controlling the slave driver to rotate about the reference coordinate of the inlet port includes:

[0018] Determine whether the straight-line distance is greater than a preset distance;

[0019] If so, a prompt message will be issued;

[0020] If not, continue to obtain the straight-line distance from the sheath port to the slave driver.

[0021] In one embodiment, the step of controlling the movement of the robotic arm to connect the sheath connector of the slave-end driver to the sheath tube includes:

[0022] Based on the real-time coordinates of the robotic arm, the angle between the bottom surface of the slave driver and the horizontal plane is calculated.

[0023] The included angle formed when the robotic arm moves is less than a preset angle value; and / or,

[0024] Based on the real-time coordinates of the robotic arm, the height difference between the lowest point of the slave driver and the operating table is calculated.

[0025] The height difference formed when the robotic arm is moved is greater than a preset height difference.

[0026] In one embodiment, the step of controlling the slave driver to rotate about the reference coordinate of the inlet port includes:

[0027] Based on the real-time coordinates of the robotic arm, the angle between the bottom surface of the slave driver and the horizontal plane is calculated.

[0028] The included angle formed when the robotic arm moves is less than a preset angle value; and / or,

[0029] Based on the real-time coordinates of the robotic arm, the height difference between the lowest point of the slave driver and the operating table is calculated.

[0030] The height difference formed when the robotic arm moves is greater than a preset height difference; and / or

[0031] Based on the real-time coordinates of the robotic arm, the real-time coordinates of the sheath inlet corresponding to the current position of the robotic arm are calculated.

[0032] The real-time coordinates of the sheath inlet of the control arm are consistent with the reference coordinates of the sheath inlet.

[0033] In one embodiment, after the step of controlling the slave driver to rotate about the reference coordinate of the inlet, the method further includes:

[0034] Detect whether the sheath tube has detached from the sheath connector;

[0035] If so, then release the control of the slave driver to rotate around the reference coordinate of the sheath opening as the center;

[0036] If not, a prompt will be issued to detach the sheath from the sheath connector.

[0037] In one embodiment, after the step of releasing the slave driver from rotating about the reference coordinate of the inlet port, the method further includes:

[0038] Check whether there is a device at the insertion port;

[0039] If not, then drive the slave driver and the robotic arm away from the inlet;

[0040] If so, then the slave driver and the robotic arm are restricted from moving away from the inlet.

[0041] In one embodiment, when the slave driver and the robotic arm are manually driven to move, the following steps are included:

[0042] Obtain the motion state of the robotic arm;

[0043] Based on the motion state of the robotic arm, the magnitude and direction of the driving force that the robotic arm needs to generate are calculated;

[0044] The driving force is applied to the robotic arm.

[0045] A second aspect of this invention provides an interventional surgical robot system applied to the aforementioned motion control method. Beneficial effects

[0046] 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 to connect the sheath connector of the slave driver 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 inlet of the sheath tube based on the connection position coordinates of the robotic arm; and controlling the slave driver to rotate around the reference coordinates of the inlet. The range of motion of the slave driver is limited to rotation around the inlet, ensuring that the inlet of the puncture point does not move excessively during the interventional procedure, thus avoiding injury to the patient. The slave driver and its connected instruments will not deviate from the safe operating area due to excessive rotation, avoiding pulling or other damage to the wound by the slave driver and instruments, thereby reducing the risk of wound infection and improving the safety of the interventional procedure. Attached Figure Description

[0047] Figure 1 This is a flowchart of a motion control method for an interventional surgical robot system according to an embodiment of the present invention.

[0048] Figure 2 This is a schematic diagram of the structure of an interventional surgical robot system according to an embodiment of the present invention.

[0049] Figure 3 This is a schematic diagram of the interventional surgical robot system according to an embodiment of the present invention from another angle.

[0050] Figure 4 yes Figure 2 Enlarged view of point B in the middle.

[0051] in:

[0052] 10. Slave driver; 11. Cart; 20. Robotic arm; 30. Sheath connector; 40. Sheath tube; 41. Sheath inlet; 50. Operating table.

[0053] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0054] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0055] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0056] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, a direct connection, or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0057] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0058] like Figures 1 to 4 As shown, in some embodiments, a method for controlling the movement of an interventional surgical robot system, the interventional surgical robot system including a connected robotic arm 20 and a slave driver 10, includes the following steps:

[0059] S100, control the movement of the robotic arm 20 so that the sheath connector 30 of the slave driver 10 is connected to the sheath tube 40.

[0060] S200: Obtain the connection coordinates of the robotic arm 20 when the sheath connector 30 is connected to the sheath tube 40.

[0061] S300. Based on the connection coordinates of the robotic arm 20, calculate the reference coordinates of the inlet 41 of the sheath tube 40.

[0062] S400, control the slave driver 10 to rotate around the reference coordinate of the sheath port 41.

[0063] Specifically, the inlet 41 is a specific entrance portion formed on the surface or internal tissue of the human body for the sheath 40 to enter. The straight-line distance from the inlet 41 to the slave actuator 10 is specifically the distance from the inlet 41 to the trolley 11 of the slave actuator 10.

[0064] It should be noted that the range of motion of the slave actuator 10 is limited to rotation around the insertion port 41, ensuring that the insertion port 41 at the puncture point does not move excessively during the interventional procedure, thus avoiding injury to the patient. The slave actuator 10 and its connected instruments will not deviate from the safe operating area due to excessive rotation or movement, preventing the slave actuator 10 and instruments from causing pulling or other damage to the wound, thereby reducing the risk of wound infection and improving the safety of the interventional procedure.

[0065] As described in step S100 above: control the movement of the robotic arm 20 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.

[0066] Specifically, step S100, which involves controlling the movement of the robotic arm 20 to connect the sheath connector of the slave-end driver 10 to the sheath tube 40, includes:

[0067] S110. Based on the real-time coordinates of the robotic arm 20, the angle between the bottom surface of the slave driver 10 and the horizontal plane is calculated.

[0068] S120, the included angle formed when the robotic arm 20 moves is less than the preset angle value.

[0069] It should be noted that, based on the real-time coordinates of the robotic arm 20, the angle A between the bottom surface of the slave-end driver 10 and the horizontal plane is calculated. Angle A must not exceed a preset value; otherwise, it will cause excessive tilting of the interventional surgical robot system and instruments, resulting in high resistance to the instruments, making it difficult to control their operation within the body, and causing a significant deviation between the actual movement trajectory and the expected path, thus affecting the outcome of the interventional surgery. This step limits the angle range, ensuring the instruments operate under reasonable stress, extending their lifespan, improving the reliability of instrument use during interventional surgery, and reducing surgical risks caused by instrument malfunction.

[0070] Before the procedure, the acquired angle data is compared with a preset angle value; this step is a real-time, dynamic process. During the interventional procedure, any change in the position of the slave actuator 10 immediately triggers a new angle calculation and comparison. If the calculated angle is consistently less than the preset angle value, it indicates that the movement of the slave actuator 10 is within a safe and reasonable range, and the interventional procedure can continue according to the predetermined plan. At this time, the control system allows the slave actuator 10 to continue its corresponding movements according to the operating instructions of medical personnel or preset programs, such as adjusting the position and rotation angle of the robotic arm 20, to complete the precise operation of the interventional surgical instruments.

[0071] By limiting the angle within a preset range, surgical problems caused by excessive tilting of the slave actuator 10 are effectively prevented. These problems include excessive resistance from surgical instruments, catheters, and guidewires; traction damage to blood vessels or tissues; and instrument breakage or dislodgement. 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 actuator 10 or adjusting the movement direction of the slave actuator 10 to return it to a safe angle range.

[0072] Specifically, step S100, which involves controlling the movement of the robotic arm 20 to connect the sheath connector 30 of the slave-end driver 10 to the sheath tube 40, includes:

[0073] The real-time coordinates of S130 and robotic arm 20 are used to calculate the height difference between the lowest point of slave driver 10 and operating table 50.

[0074] S140, The height difference formed when the robotic arm 20 moves is less than the preset height difference L1.

[0075] It should be noted that this step can prevent the bottom of the end driver 10 from pressing against the human body.

[0076] The preset height difference L1 can be the distance between the insertion port 41 and the operating table 50. Determining the preset height difference L1 requires consideration of 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 often use the femoral or radial artery approach, while neurointerventional surgeries may use the carotid or femoral vein approach. These sites have different relative height positions within the human body, and sufficient space is required during interventional surgery to ensure smooth instrument entry, exit, and operation. Furthermore, determining the preset height difference L1 also needs to consider the structural characteristics of the interventional surgical robot itself, including the size, shape, and range of motion of the slave actuator 10.

[0077] The height difference between the lowest point of the slave driver and the operating table 50 is calculated. Distance sensors or position detection devices can be installed at the lowest points of the operating table 50 and the slave driver 10. For example, the height difference can be calculated using the spatial coordinates of the robotic arm, or a laser rangefinder or ultrasonic sensor can be used to measure the vertical distance from the sheath opening 41 (or a fixed reference point associated with the sheath opening 41) to the surface of the operating table 50. The distance sensor converts the measured distance data into an electrical signal and transmits it to the control system.

[0078] After the measured height difference data is transmitted to the control system, it undergoes a series of data processing steps. First, the data is cleaned and filtered to remove potential noise and interference signals, improving accuracy. Then, based on a pre-defined coordinate system and calculation method, the sensor-measured data is converted into a height difference value in the same reference frame as the preset height difference value L1. This processed height difference value will serve as the basis for subsequent judgments and control.

[0079] During interventional surgery, the height difference between the lowest point of the slave actuator 10 and the operating table changes as the slave actuator 10 moves and the patient's physical condition changes. If the height difference between the lowest point of the slave actuator 10 and the operating table is greater than the preset height difference L1, it indicates that the slave actuator 10 is in a safe position in the vertical direction, and the interventional surgery can proceed normally. At this time, the slave actuator 10 can be allowed to move and adjust in other directions according to the needs of the interventional surgery operation to complete the precise operation of the interventional surgical instruments.

[0080] When the height difference approaches or equals the preset height difference L1, the system will activate an early warning mechanism to alert medical personnel to the position of the slave actuator 10, preventing it from continuing to descend and crushing the human body. If the height difference is less than the preset height difference L1, the system can take emergency safety control measures. These measures may include stopping the slave actuator 10 from moving further in the vertical direction, or even reversing its direction to rise a certain distance to ensure a safe distance between the slave actuator and the human body.

[0081] As described in step S200 above: Obtain the connection coordinates of the robotic arm 20 when the sheath connector 30 is connected to the sheath tube 40. In interventional surgery, the spatial relationships of multiple elements are involved, including the robotic arm 20, the slave actuator 10, the operating table 50, the patient, and various instruments. To accurately define the relative motion and position between these multiple elements, a unified coordinate system needs to be established.

[0082] Specifically, step S200, which calculates the reference coordinates of the inlet 41 of the sheath tube 40 based on the connection coordinates of the robotic arm 20, includes:

[0083] S210. Set the coordinates of the robotic arm 20 in its initial state as the origin coordinates.

[0084] S220, control the movement of robotic arm 20;

[0085] S230, Obtain the movement data of the robotic arm 20;

[0086] S240. Calculate the connection coordinates of the robotic arm 20 based on the origin coordinates and movement data.

[0087] That is, the coordinates of the robotic arm 20 in its initial state are preset to the origin coordinates (0.0.0). The initial state of the robotic arm 20 can be the state when it is just turned on and started. The origin coordinates (0.0.0) provide a fixed reference point for the entire coordinate system.

[0088] Each joint of the robotic arm 20 and the rotary joint of the slave driver 10 are equipped with an encoder. The encoder collects the movement data of each joint, and the designated position where the robotic arm 20 is connected to the operating table 50 is preset as the origin coordinate (0.0.0). When each joint rotates and swings at different angles, the data of each joint is combined and the algorithm calculates the current spatial coordinate value (X1.Y1.Z1) of the inlet 41.

[0089] For example, robotic arm 20 has three linear motion joints in the X, Y, and Z axes. Each joint is equipped with a linear encoder. Assume the linear encoder resolution is 0.01 mm. When robotic arm 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 robotic arm 20 to a position X = 10 mm, the controller sends a command to the X-axis motor to drive the joint movement. The linear encoder provides real-time feedback on the distance moved; when it displays 10.00 mm, it indicates that the end effector has reached the target position in the X-axis direction.

[0090] As in step S300 above: calculate the reference coordinates of the inlet 41 of the sheath tube 40 based on the connection coordinates of the robotic arm 20.

[0091] Specifically, step S300, which calculates the reference coordinates of the inlet 41 of the sheath tube 40 based on the connection coordinates of the robotic arm 20, includes:

[0092] S310, Obtain the straight-line distance L2 from the sheath port 41 to the slave driver 10.

[0093] S320. Based on the connection position coordinates of the robotic arm 20 and the straight-line distance L2, calculate the reference coordinates of the sheath opening 41.

[0094] It should be noted that a laser rangefinder or ultrasonic sensor is installed at the end of the slave driver 10 facing the sheath opening 41, so as to obtain the straight-line distance L2 from the sheath opening 41 to the slave driver 10.

[0095] The calculation of the reference coordinates of the insertion port 41 provides precise guidance for the insertion of interventional instruments through the sheath 40 into the body. In interventional procedures, instruments must be precisely inserted through the insertion port 41 to reach specific lesion sites; otherwise, surrounding tissues may be damaged or the target location may not be reached. For example, in cardiovascular interventional procedures, the catheter needs to be accurately inserted into the blood vessel through the insertion port 41 and follow the vascular pathway to reach the coronary artery stenosis for treatment. Precise calculation of the reference coordinates of the insertion port 41 allows the robotic arm 20 to accurately align the catheter with the insertion port 41 for insertion, improving the accuracy and safety of interventional instrument insertion into the body, reducing complications caused by improper instrument insertion, such as vascular perforation and tissue damage, thereby increasing the success rate of interventional procedures.

[0096] The reference coordinates of the insertion port 41 facilitate the planning of the operating path of interventional surgical instruments within the body. Medical staff can use the reference coordinates of the insertion port 41 and the relative position of the lesion site, combined with preoperative imaging data, to precisely control the robotic arm 20 so that the interventional surgical instruments reach the target along a safe and effective path. This avoids the instruments getting lost or misoperating within the body after passing through the insertion port 41, protects surrounding important nerve structures, and improves the precision and therapeutic effect of interventional surgery.

[0097] As described in step S400 above: control the slave driver 10 to rotate around the reference coordinate of the sheath opening 41 as the center.

[0098] It should be noted that by determining the reference coordinates of the sheath opening 41, the rotation range of the slave driver 10 is defined, so as to accurately define the movable range of the slave driver 10.

[0099] Specifically, an angle sensor is installed at the joint of the slave actuator 10 to accurately measure the rotation angle of the joint. These angle sensors can be based on photoelectric principles, electromagnetic induction principles, or other sensing technologies, and can convert the angular displacement of the joint into an electrical signal and transmit it to the control system. If the rotation of the slave actuator 10 causes its position to exceed the center of the circle with the sheath opening 41 as the center, a prompt message is issued or a feedback control mechanism is activated. According to a preset control strategy, the rotation speed or direction of the joint is changed by adjusting the drive current or voltage of the slave actuator 10 joint, so that the slave actuator 10 returns to a safe rotation range.

[0100] Specifically, the step S400 of controlling the slave driver 10 to rotate around the reference coordinate of the sheath opening 41 includes:

[0101] S410. Determine whether the straight-line distance L2 is greater than the preset distance.

[0102] S420. If yes, then issue a prompt message.

[0103] S430. If not, continue to obtain the straight-line distance L2 from the sheath port 41 to the slave driver 10.

[0104] It should be noted that a position sensor (such as a laser rangefinder or ultrasonic sensor) is installed on the slave driver 10 to directly measure the distance between the slave driver 10 and the inlet 41. During surgery, based on the real-time data provided by the position sensor, it is determined whether the slave driver 10 is within a preset distance. If this straight-line distance L2 is greater than the preset distance, the slave driver will move significantly and issue a warning message.

[0105] The alerts issued by the interventional surgical robot system can be categorized into different types to meet various warning needs. Visual alerts may include displaying prominent warning icons, text prompts, or color changes on the screen of the interventional surgical console. For example, when the slave driver 10 approaches the boundary of the safety range, the icon in the corresponding area on the screen may flash and change color to red to attract the visual attention of medical staff. Auditory alerts may involve emitting specific alarm sounds, such as continuous beeps or voice prompts, to inform medical staff of any abnormal movement of the slave driver 10.

[0106] Specifically, the step S400 of controlling the slave driver 10 to rotate around the reference coordinate of the sheath opening 41 includes:

[0107] S441. Based on the real-time coordinates of the robotic arm 20, calculate the angle between the bottom surface of the slave driver 10 and the horizontal plane.

[0108] S442, The included angle formed when the robotic arm 20 moves is less than the preset angle value.

[0109] It should be noted that this step is an adjustment step during surgery, and its effect is the same as that of S110 and S120, so it will not be described again here.

[0110] Specifically, the step S400 of controlling the slave driver 10 to rotate around the reference coordinate of the sheath opening 41 includes:

[0111] S451. Based on the real-time coordinates of the robotic arm 20, calculate the height difference between the lowest point of the slave driver 10 and the operating table 50.

[0112] S452, The height difference formed when the robotic arm 20 moves is greater than the preset height difference.

[0113] It should be noted that this step is an adjustment step during surgery, and its function and effect are the same as those of S130 and S140, so it will not be described again here.

[0114] Specifically, the step S400 of controlling the slave driver 10 to rotate around the reference coordinate of the sheath opening 41 includes:

[0115] S461. Based on the real-time coordinates of the robotic arm 20, calculate the real-time coordinates of the sheath opening 41 corresponding to the current position of the robotic arm 20.

[0116] S462, The real-time coordinates of the sheath opening 41 of the control robot arm 20 are consistent with the reference coordinates of the sheath opening 41.

[0117] It should be noted that the real-time coordinates of the robotic arm 20 and the straight-line distance L2 from the sheath opening 40 to the slave driver 10 are used to calculate the real-time coordinates of the sheath opening 40 corresponding to the current position of the robotic arm 20. When the real-time coordinates of the sheath opening 40 of the robotic arm 20 are consistent with the reference coordinates of the sheath opening 40, the slave driver 10 rotates around the reference coordinates of the sheath opening 40. When there is a deviation between the real-time coordinates of the sheath opening 40 of the robotic arm 20 and the reference coordinates of the sheath opening 40, the slave driver 10 may deviate from the reference coordinates of the sheath opening 40 and rotate in a circle. In this case, the robotic arm 20 needs to be adjusted so that the real-time coordinates of the sheath opening 40 of the robotic arm 20 are consistent with the reference coordinates of the sheath opening 40, thereby controlling the slave driver 10 to rotate around the reference coordinates of the sheath opening 40. This step ensures that the slave driver 10 always rotates with the reference coordinates of the sheath opening 40 as the center by controlling the real-time coordinates of the sheath opening 40 corresponding to the current position of the robotic arm 20.

[0118] In some embodiments, after step S400 of controlling the slave driver 10 to rotate around the reference coordinate of the sheath opening 41, the method further includes:

[0119] S471. Check whether the sheath tube 40 is detached from the sheath connector 30.

[0120] S472. If so, then release the control of the slave driver 10 to rotate around the coordinates of the sheath port 41.

[0121] S473. If not, issue a prompt to disengage the sheath 40 from the sheath connector 30.

[0122] It should be noted that after the interventional procedure is completed, the sheath connector 30 should be detached from the sheath, and the corresponding catheter, guidewire, and other instruments should be removed.

[0123] Once the sheath 40 is detected to have disengaged from the sheath connector 30, the rotation range restriction of the slave actuator 10 is released. At this point, the interventional surgical instrument is no longer connected to the body through the sheath 40, and the movement of the slave actuator 10 no longer directly affects the safety of the surgical site. Therefore, the rotation range restriction of the slave actuator 10 previously set to protect the surgical site can be released. The control system will adjust the limit values ​​for the joint movement of the slave actuator 10, allowing it to rotate and move within a wider range, making it easier for medical staff to perform subsequent operations, such as moving the slave actuator 10 to a safe location for storage or performing equipment maintenance.

[0124] In situations such as the completion of interventional procedures or the need to change instruments, failure to promptly detach the sheath 40 from the sheath connector 30 may lead to equipment damage, safety accidents, or even medical malpractice. For example, if the sheath 40 remains connected during the movement of the slave actuator 10, accidental pulling may damage the sheath 40 or the surgical site. The prompting information helps medical personnel to promptly detach the sheath 40, ensuring the safety of the interventional procedure.

[0125] In some embodiments, after step S400 of controlling the slave driver 10 to rotate around the reference coordinate of the sheath opening 41, the method further includes:

[0126] S481. Check if there are any instruments at the sheath inlet 41.

[0127] S482. If not, drive the slave driver 10 and the robotic arm 20 away from the sheath opening 41.

[0128] S483, If so, then restrict the slave driver 10 and the robotic arm 20 from moving away from the sheath port 41.

[0129] Once it is determined that the sheath 40 has disengaged from the sheath connector 30, and the control of the rotation range of the slave driver 10 with the coordinates of the sheath inlet 41 as the center and the straight-line distance greater than the safety distance L2 is released, it is checked whether there are any instruments or consumables in the relevant area. When it is determined that there are no instruments in the sheath inlet 41, the slave driver 10 and the robotic arm 20 are driven away from the sheath inlet 41.

[0130] Specifically, when manually driving the slave-end driver 10 and the robotic arm 20 to move, the following steps are included:

[0131] S491. Obtain the motion state of the robotic arm 20.

[0132] S492. Based on the motion state of the robotic arm 20, calculate the magnitude and direction of the driving force that the robotic arm 20 needs to generate.

[0133] S493, Apply driving force to robotic arm 20.

[0134] Specifically, when manually driving the slave-end driver 10 and the robotic arm 20 to move, the following steps are included:

[0135] S494. Obtain the driving force of the robotic arm 20.

[0136] S492. Detect whether the driving force of the robotic arm 20 is less than the safety threshold.

[0137] S496. If not, issue a prompt message.

[0138] S497. If so, continue to apply driving force to the robotic arm 20.

[0139] The installation, adjustment, and movement of the robotic arm 20 before and during interventional surgery are crucial. Due to the large size and weight of the robotic arm 20, medical staff need to exert considerable force to move it, increasing their workload. This step not only reduces the burden on medical staff and improves the efficiency of the installation process but also protects patient safety.

[0140] Medical staff apply external force to the robotic arm 20 according to the needs of the interventional surgery. Sensors on the robotic arm 20 (such as force sensors) can sense this external force information in real time, including parameters such as the magnitude, direction and duration of the force.

[0141] The raw signals acquired by sensors may contain noise and other interference, requiring filtering to remove these interferences and improve signal quality and accuracy. Simultaneously, since the raw signals may be weak, they need to be amplified for subsequent analysis and calculation. The filtered and amplified analog signals are then converted into digital signals by an analog-to-digital converter, enabling them to be processed by digital circuits and algorithms in the control system.

[0142] The algorithm, based on a hybrid force and position control, comprehensively considers the external force applied by medical personnel and the current position information of the robotic arm 20. Based on this information, the algorithm calculates the magnitude and direction of the assistance that the robotic arm 20 should provide to achieve assisted following operation.

[0143] During the assisted following process, key parameters such as the amount of assistance, speed, position, and trajectory of the robotic arm 20 are continuously monitored. By comparing these parameters with pre-set safety thresholds, it is determined whether the current operation is within a safe range. These safety thresholds include maximum assistance, maximum speed, and maximum displacement angle, and are determined based on factors such as interventional surgery safety requirements and the performance of the robotic arm 20.

[0144] Based on the results calculated by the control algorithm module, the control system outputs commands to the motor driver and the actuator of the robotic arm 20, driving the robotic arm 20 to move according to the predetermined assistance mode. If, during 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 robotic arm 20 from moving, or limit the assistance to prevent dangerous situations caused by excessive assistance, thereby ensuring the safety of the interventional surgery procedure.

[0145] Specifically, encoders installed within the joints of the robotic arm 20 are used to accurately measure the angular changes of the joints, thereby obtaining the position and motion state of the robotic arm 20. The displacement, acceleration, and angle signals collected by the encoders are digitized by the signal processing module. Based on a pre-set assistance ratio, the magnitude and direction of the assistance that the robotic arm 20 should provide are calculated. Simultaneously, safety checks are performed based on sensors and the environment, such as maximum assistance, maximum speed, and maximum angle. Through algorithms and control modules, commands are output to the motor driver and the actuator of the robotic arm 20. When the assistance of the robotic arm 20 approaches or exceeds these thresholds, an alarm signal is issued, and emergency braking or assistance limitation may be implemented.

[0146] like Figures 1 to 4 As shown, in some embodiments, an interventional surgical robot system is applied to the above-described interventional surgical robot system motion control method. The interventional surgical robot system includes a slave driver 10, a robotic arm 20, and a sheath connector 30. The slave driver 10 is connected to the robotic arm 20 and the sheath connector 30 respectively. The robotic arm 20 is used to drive the slave driver 10 to move, and the sheath connector 30 is used to connect the sheath tube 40.

[0147] Specifically, the carriage 11 of the end driver 10 is connected to the sheath connector 30. The carriage 11 is a carrier that carries and controls the interventional surgical instruments. The carriage 11 controls the delivery and rotation of the interventional surgical instruments.

[0148] Specifically, before the interventional procedure, the position and angle of the robotic arm 20 and the slave actuator 10 can be adjusted so that the sheath connector 30 of the slave actuator 10 is connected to the sheath 40. That is, the preparatory work before the interventional procedure: after the medical staff inserts the femoral artery approach into the sheath 40, they move the robotic arm 20 and the slave actuator 10 so that the sheath connector 30 of the slave actuator 10 is aligned with the inserted sheath 40.

[0149] Specifically, the robotic arm 20 and the slave actuator 10 can have multiple joints. These joints can rotate flexibly in different directions, achieving multi-degree-of-freedom motion. Each joint is equipped with sensors (such as angle sensors and position encoders) to accurately measure its motion state. Motion states include angle changes and displacement. The motion state information of the robotic arm 20 and the slave actuator 10 can be fed back to the control system to achieve precise control of the position and attitude of the robotic arm 20 and the slave actuator 10.

[0150] Specifically, when adjusting the positions of the robotic arm 20 and the slave actuator 10, the target position coordinates that the robotic arm 20 and the slave actuator 10 need to reach are calculated according to a pre-set program or the operating instructions of medical personnel. The slave actuator 10 moves in three-dimensional space and accurately positions the sheath connector 30 of the slave actuator 10 to the connection position of the sheath 40. For example, in cardiovascular interventional surgery, the slave actuator 10 can precisely move the sheath connector 30 to a position that matches the sheath 40 at the femoral or radial artery.

[0151] When adjusting the angle, the joints of the robotic arm 20 and the slave driver 10 adjust the angle of each joint according to the operation command, 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 between the sheath connector 30 and the sheath tube 40.

[0152] Specifically, the interface of the sheath connector 30 is compatible with the interface of the sheath tube 40. The sheath connector 30 and the sheath tube 40 can be connected by snap-fit, threaded, or other methods. After the robotic arm 20 and the slave driver 10 adjust the sheath connector 30 to the appropriate position and angle, applying appropriate pressure or rotation to the sheath connector 30 ensures a tight connection between the sheath connector 30 and the sheath tube 40. The stable connection between the sheath connector 30 and the sheath tube 40 ensures that the instrument can enter the human body through the sheath tube 40.

[0153] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A movement control method of an interventional surgery robot system including a connected mechanical arm and an end effector, characterized by, Includes the following steps: Control the movement of the robotic arm to connect the sheath connector of the slave-end driver to the sheath tube; The specific steps for obtaining the connection coordinates of the robotic arm when the sheath connector is connected to the sheath tube include: The coordinates of the robotic arm in its initial state are set as the origin coordinates; Control the movement of the robotic arm; Acquire the movement data of the robotic arm; The connection position coordinates of the robotic arm are calculated based on the origin coordinates and the movement data. Based on the connection coordinates of the robotic arm, the reference coordinates of the sheath inlet are calculated. Specific steps include: Obtain the straight-line distance from the sheath inlet to the slave driver; The reference coordinates of the sheath inlet are calculated based on the connection position coordinates of the robotic arm and the straight-line distance. The slave driver is controlled to rotate around the reference coordinates of the inlet sheath.

2. The motion control method for the interventional surgical robot system according to claim 1, characterized in that, The step of controlling the slave driver to rotate around the reference coordinate of the inlet sheath includes: Determine whether the straight-line distance is greater than a preset distance; If so, a prompt message will be issued; If not, continue to obtain the straight-line distance from the sheath port to the slave driver.

3. The movement control method of the interventional operating robot system according to claim 1, characterized by, The step of controlling the movement of the robotic arm to connect the sheath connector of the slave-end driver to the sheath tube includes: Based on the real-time coordinates of the robotic arm, the angle between the bottom surface of the slave driver and the horizontal plane is calculated. The included angle formed when the robotic arm moves is less than a preset angle value; and / or, Based on the real-time coordinates of the robotic arm, the height difference between the lowest point of the slave driver and the operating table is calculated. The height difference formed when the robotic arm is moved is greater than a preset height difference.

4. The movement control method of the interventional operating robot system according to claim 1, characterized by, The step of controlling the slave driver to rotate around the reference coordinate of the inlet sheath includes: Based on the real-time coordinates of the robotic arm, the angle between the bottom surface of the slave driver and the horizontal plane is calculated. The included angle formed when the robotic arm moves is less than a preset angle value; and / or, Based on the real-time coordinates of the robotic arm, the height difference between the lowest point of the slave driver and the operating table is calculated. The height difference formed when the robotic arm moves is greater than a preset height difference; and / or Based on the real-time coordinates of the robotic arm, the real-time coordinates of the sheath inlet corresponding to the current position of the robotic arm are calculated. The real-time coordinates of the sheath inlet of the control arm are consistent with the reference coordinates of the sheath inlet.

5. The motion control method for the interventional surgical robot system according to claim 1, characterized in that, The step of controlling the slave driver to rotate around the reference coordinate of the inlet sheath further includes: Detect whether the sheath tube has detached from the sheath connector; If so, then release the control of the slave driver to rotate around the reference coordinate of the sheath opening as the center; If not, a prompt will be issued to detach the sheath from the sheath connector.

6. The movement control method of the interventional operating robot system according to claim 5, characterized by, The step of releasing the slave driver from rotating around the reference coordinate of the inlet sheath further includes: Check whether there is a device at the insertion port; If not, then drive the slave driver and the robotic arm away from the inlet; If so, then the slave driver and the robotic arm are restricted from moving away from the inlet.

7. The movement control method of the interventional operating robot system according to claim 1, characterized by, When the slave driver and the robotic arm are manually driven to move, the following steps are included: Obtain the motion state of the robotic arm; Based on the motion state of the robotic arm, the magnitude and direction of the driving force that the robotic arm needs to generate are calculated; The driving force is applied to the robotic arm.

8. An interventional surgical robot system, applied to the motion control method of the interventional surgical robot system according to any one of claims 1 to 7.

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