Vascular intervention surgical robot system

Abstract

The invention relates to a vascular interventional surgery robot system. The vascular intervention surgery robot system comprises a first control handle used for executing linear motion and rotary motion; the magnetic guiding device comprises a linear motion mechanism and an arc-shaped motion mechanism; the control unit is in communication connection with the first control handle and the magnetic guiding device. Wherein the control unit is configured to control the linear motion mechanism of the magnetic guiding device to move to change the magnetic field of the magnetic guiding device so as to drag the far end of the guide wire when the first control handle executes the linear motion; when the first control handle executes the rotation motion, the arc-shaped motion mechanism of the magnetic guiding device is controlled to move to change the magnetic field of the magnetic guiding device so as to deflect the far end of the guide wire. By the adoption of the vascular interventional surgery robot system, the arc-shaped movement mechanism and the linear movement mechanism can be controlled to move through movement of the first control handle, movement of the guide wire is flexibly controlled, the surgery difficulty can be lowered, and the surgery efficiency can be improved.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and in particular to a vascular interventional surgery robot system. Background Art

[0002] The vascular interventional surgery robot is a highly safe device that assists doctors in performing interventional procedures. It mimics the traditional surgical procedures of doctors, combining digital subtraction angiography and image navigation to deliver and twist guidewires, positioning them at the lesion for repair and treatment.

[0003] However, for small blood vessels and locations with small curvature of vascular paths, the force / torque applied by the delivery device at the proximal end of the guidewire / catheter cannot be completely transmitted to its distal end along the flexible guidewire / catheter. The existing guidewire / catheter pushing method is difficult to adapt to the complex vascular paths in the body. Summary of the Invention

[0004] Based on this, it is necessary to provide a vascular interventional surgical robot system to address the above technical problems, so as to realize the master-slave isomorphic control of the distal movement of the guidewire / catheter to adapt to the movement within the complex vascular pathways in the body.

[0005] The present application provides a vascular interventional surgery robot system, comprising:

[0006] a first control handle for performing linear and rotational motions;

[0007] A magnetic guide device, including a linear motion mechanism and an arc motion mechanism; and

[0008] A control unit, wherein the control unit is communicatively connected to the first control handle and the magnetic guide device respectively; wherein the control unit is configured to:

[0009] When the first control handle performs linear motion, the linear motion mechanism of the magnetic guide device is controlled to move to change the magnetic field of the magnetic guide device to drag the distal end of the guide wire, so that the distal end of the guide wire moves;

[0010] When the first control handle performs a rotational motion, the arc motion mechanism of the magnetic guide device is controlled to move to change the magnetic field of the magnetic guide device to deflect the distal end of the guide wire, so that the distal end of the guide wire bends.

[0011] In one embodiment, the arc motion mechanism comprises:

[0012] A magnetic component for generating a magnetic field;

[0013] a first arc-shaped slide rail, wherein the magnetic component is provided on the inner surface of the first arc-shaped slide rail;

[0014] A supporting mechanism, configured to support the first arc-shaped slide rail;

[0015] The second driving mechanism is slidably connected to the first arc-shaped slide rail, and the second driving mechanism is used to drive the first arc-shaped slide rail to rotate relative to the supporting mechanism.

[0016] In one embodiment, the arc motion mechanism further comprises:

[0017] a second arc-shaped slide rail, arranged on the inner surface of the first arc-shaped slide rail;

[0018] A sliding component is slidably connected to the second arc-shaped slide rail, the sliding component is used to slide along the second arc-shaped slide rail, and the magnetic component is arranged on the sliding component.

[0019] In one embodiment, the magnetic assembly includes a plurality of electromagnets, and the plurality of electromagnets are spaced apart and arranged on the inner surface of the first arc-shaped slide rail.

[0020] In one embodiment, the control unit is further configured to:

[0021] When the first control handle performs a rotational motion, the target electromagnet is controlled to be energized to generate a magnetic field, wherein the target electromagnet is one of the plurality of electromagnets.

[0022] In one embodiment, the first control handle further includes a conductive sheet and a switch, and the control unit is connected to the switch. When the conductive sheet contacts and conducts with the target arc-shaped conductor in the switch, the control unit controls the target electromagnet corresponding to the target arc-shaped conductor to energize and generate a magnetic field, wherein each arc-shaped conductor corresponds to each electromagnet one by one.

[0023] In one embodiment, the linear motion mechanism includes a linear motion mechanism body and a first driving mechanism;

[0024] The first driving mechanism is provided on the main body of the linear motion mechanism, and is connected to the arcuate motion mechanism, and is used to drive the arcuate motion mechanism to perform linear translation.

[0025] In one embodiment, the first control handle includes a first hand-held element, and the first hand-held element is used for forced rotation and / or forced linear movement; wherein,

[0026] The control unit is further configured to:

[0027] Acquiring angular displacement information of the first handheld element due to forced rotation and / or linear displacement information of the first handheld element due to forced linear motion;

[0028] controlling the rotation angle of the arc motion mechanism according to the angular displacement information of the first hand-held element to change the magnetic field of the magnetic guide device and deflect the distal end of the guide wire;

[0029] The linear translation distance of the linear motion mechanism is controlled according to the linear displacement information to change the magnetic field of the magnetic guide device and drag the distal end of the guide wire.

[0030] In one embodiment, the first control handle further includes a first moving portion, the first moving portion including a first detection component and a second detection component, the first detection component is used to detect angular displacement information of the first hand-held element, and the second detection component is used to detect linear displacement information of the first hand-held element;

[0031] The control unit is connected to the first detection component and the second detection component respectively, and the control unit is further configured to:

[0032] The angular displacement information of the first handheld element is obtained through the first detection component, and the linear displacement information of the first handheld element is obtained through the second detection component.

[0033] In one embodiment, the vascular interventional surgical robot system further includes a support platform, the first moving part further includes a first slide rail, the first slide rail is arranged on the support platform, and the first handheld element is slidably connected to the first slide rail.

[0034] In one embodiment, the vascular interventional surgical robot system further includes: a pushing mechanism and a second control handle, wherein the pushing mechanism is used to push the guide wire, and the second control handle and the pushing mechanism are respectively connected to the control unit, and the control unit is further configured to:

[0035] When the second control handle performs linear motion, controlling the pushing mechanism to drive the guide wire to move linearly;

[0036] When the second control handle performs a rotational motion, the pushing mechanism is controlled to drive the guide wire to rotate.

[0037] In one embodiment, the second control handle includes a second handheld element, and the second handheld element is configured to rotate and / or move linearly under force;

[0038] The control unit is further configured to:

[0039] Acquiring angular displacement information of the second hand-held element due to forced rotation and / or linear displacement information of the second hand-held element due to forced linear motion;

[0040] controlling the pushing mechanism to drive the guide wire to rotate according to the angular displacement information of the second hand-held element;

[0041] The distance that the guide wire is driven to move linearly by the pushing mechanism is controlled according to the linear displacement information of the second hand-held element.

[0042] In one embodiment, the pushing mechanism is provided with a resistance sensor, and the resistance sensor is used to detect the resistance information encountered by the guide wire during the pushing process;

[0043] The second control handle includes a feedback assembly connected to the second handheld element;

[0044] The control unit is connected to the resistance sensor and the feedback component respectively, and the control unit is further configured to provide feedback force to the second hand-held element through the feedback component according to the resistance information.

[0045] The above-mentioned vascular interventional surgical robot system, through the control unit, can map the motion information of the first control handle located at the doctor's operating end to the magnetic guide device located at the patient end in the same motion mode, that is, when the first control handle at the doctor's operating end performs linear motion, the control unit controls the linear motion mechanism of the magnetic guide device at the patient end to move in a straight line, forming a magnetic field change, and controls the distal end of the guide wire / catheter to form a linear dragging movement; when the first control handle at the doctor's operating end performs rotational motion, the control unit controls the arc motion mechanism of the magnetic guide device at the patient end to move, forming a magnetic field change, and controls the distal end of the guide wire / catheter to form a deflection movement. Since the operating actions of the doctor's operating end and the execution actions of the magnetic guide device on the patient's end are synchronized, that is, the master-slave isomorphism, the doctor can more intuitively feel the movement state of the guide wire / catheter under the action of the magnetic guide device. On the one hand, the auxiliary movement (linear movement and bending movement) of the distal end of the guide wire / catheter under the guidance of the magnetic field of the magnetic guide device can significantly improve the delivery accuracy of the distal end of the guide wire / catheter in small blood vessels and complex blood vessels. On the other hand, the master-slave isomorphism of operation and control mode makes the operation on the doctor's end simpler and more intuitive, which can significantly reduce the doctor's learning difficulty curve for the vascular interventional surgery robot system of this application and improve the doctor's usage experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 A schematic diagram of the structure of a vascular interventional surgery robot system in one embodiment;

[0047] Figure 2 Schematic diagram of the structure of a magnetic guide device in one embodiment;

[0048] Figure 3 for Figure 2 The application environment diagram of the magnetic guide device shown;

[0049] Figure 4is a schematic structural diagram of a first control handle in one embodiment;

[0050] Figure 5 A schematic diagram of the conduction principle of a switch in one embodiment;

[0051] Figure 6 is a schematic structural diagram of a vascular interventional surgery robot system in another embodiment;

[0052] Figure 7 is a schematic structural diagram of a second control handle in one embodiment;

[0053] Figure 8 A schematic diagram of the layout of a first handheld element and a second handheld element in one embodiment;

[0054] Figure 9 is a schematic diagram of the layout of the first hand-held element and the second hand-held element in another embodiment;

[0055] Figure 10 is a schematic diagram of the layout of the first hand-held element and the second hand-held element in yet another embodiment;

[0056] Figure 11 A schematic structural diagram of a magnetic guide device in another embodiment;

[0057] Figure 12 Schematic diagram of the structure of an arc motion mechanism in one embodiment;

[0058] Figure 13 is a structural schematic diagram of a magnetic guide device in yet another embodiment;

[0059] Figure 14 for Figure 13 A partial enlarged view of

[0060] Figure 15 for Figure 13 The application environment diagram of the magnetic guide device shown;

[0061] Figure 16 Schematic diagram of the structure of a linear motion mechanism in one embodiment;

[0062] Figure 17 is a structural schematic diagram of a magnetic guide device in yet another embodiment;

[0063] Figure 18 Schematic diagram of a guidewire driving method according to an embodiment;

[0064] Figure 19 Schematic diagram of the flow of a guidewire driving method in one embodiment. DETAILED DESCRIPTION

[0065] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0066] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application pertains. The terms used herein in the specification of this application are for the purpose of describing specific embodiments only and are not intended to limit this application.

[0067] Based on the same inventive concept, Figure 1 As shown, the present application also provides a vascular interventional surgery robot system, including: a magnetic guide device 100, a control unit 200 and a first control handle 300.

[0068] The first control handle 300 is used to perform linear motion and rotational motion. Figure 2 As shown, the magnetic guide device 100 includes a linear motion mechanism 1, an arc motion mechanism 2, and a control unit 200. The control unit 200 is communicatively connected to the first control handle 300 and the magnetic guide device 100 respectively.

[0069] The control unit 200 is configured to: when the first control handle 300 performs linear motion, control the linear motion mechanism 1 of the magnetic guide device 100 to move and change the magnetic field of the magnetic guide device 100 to drag the distal end of the guide wire, so that the distal end of the guide wire moves; when the first control handle 300 performs rotational motion, control the arc motion mechanism 2 of the magnetic guide device 100 to move and change the magnetic field of the magnetic guide device 100 to deflect the distal end of the guide wire, so that the distal end of the guide wire bends.

[0070] The guidewire may include a magnetic element or an iron element (iron element or iron alloy element), and the magnetic element or iron element may be located at the distal end of the guidewire, so that the displacement or bending of the guidewire can be controlled by changing the magnetic field acting on the guidewire. The linear motion mechanism 1 and the arc motion mechanism 2 may each be provided with a magnetic component for generating a magnetic field, so as to drive the guidewire to move by driving the magnetic component to move.

[0071] like Figure 2As shown, the magnetic component 3 can also be provided only on the arc motion mechanism 2, and the arc motion mechanism 2 drives the magnetic component 3 to rotate, so that the magnetic field generated by the magnetic component 3 changes on the motion path of the arc motion mechanism 2; and the arc motion mechanism 2 is driven to move linearly by the linear motion mechanism 1, and the arc motion mechanism 2 drives the magnetic component 3 to rotate and move linearly, so that the magnetic field generated by the magnetic component 3 changes on the motion path of the linear motion mechanism 1; wherein, the magnetic field generated by the magnetic component 3 changes on the motion path of the arc motion mechanism 2 to realize the deflection motion of the distal end of the guide wire / catheter; the magnetic field generated by the magnetic component 3 changes on the motion path of the linear motion mechanism 1 to realize the linear motion of the distal end of the guide wire / catheter.

[0072] In this embodiment, the magnetic assembly 3 includes, for example, a plurality of electromagnets 31, which are spaced apart along the inner side of the arcuate motion mechanism 2. The inner side of the arcuate motion mechanism 2 faces the patient and the lesion area. In other embodiments of the present invention, the magnetic assembly can also be any magnetic generator capable of generating a magnetic field, such as a permanent magnet.

[0073] Specifically, if Figure 2 and Figure 3 As shown, the arc motion mechanism 2 is, for example, a semicircular arc structure, and the magnetic assembly 3 includes a plurality of electromagnets 31, which are spaced apart on the inner surface of the semicircular arc structure. The plurality of electromagnets are spaced apart on the inner surface of the semicircular arc structure, and each electromagnet is responsible for a certain arc area. That is, when the guide wire needs to move in this area, the electromagnet responsible for this area is energized to generate a magnetic field, and each electromagnet can only rotate in its corresponding arc area. Through the above arrangement, the arc motion mechanism 2 does not need to rotate a full circle, and this arrangement can make the magnetic field of the electromagnet cover the entire area of ​​the human neck and head. At the same time, the electromagnet can also be close enough to the human body to ensure sufficient magnetic force to drive the guide wire. This arrangement can also make the entire arc motion mechanism 2 and the linear motion mechanism 1 relatively small, so as not to interfere with the digital subtraction angiography (DSA) equipment and the hospital bed. Furthermore, the plurality of electromagnets 31 can be evenly distributed on the inner surface of the arc motion mechanism 2 so that the area of ​​the area responsible for each electromagnet 31 is roughly the same.

[0074] For example, Figure 3As shown, five electromagnets 31 are evenly distributed on the inner side of the arc motion mechanism 2. Each electromagnet 31 is responsible for a specific arc area. That is, when the guidewire needs to move in this area, the electromagnet 31 responsible for this area is energized to generate a magnetic field. The first electromagnet 311 is responsible only for the first area and generates a magnetic field only when the first area rotates; the second electromagnet 312 is responsible only for the second area and generates a magnetic field only when the second area rotates; the third electromagnet 313 is responsible only for the third area and generates a magnetic field only when the third area rotates; the fourth electromagnet 314 is responsible only for the fourth area and generates a magnetic field only when the fourth area rotates; and the fifth electromagnet 315 is responsible only for the fifth area and generates a magnetic field only when the fifth area rotates.

[0075] The above-mentioned vascular interventional surgical robot system, through the control unit 200, the movement information of the first control handle 300 located at the doctor's operating end can be mapped to the magnetic guide device 100 located at the patient's end in the same movement mode, that is, when the first control handle 300 at the doctor's operating end performs linear motion, the control unit 200 controls the linear motion mechanism 1 of the magnetic guide device 100 at the patient's end to move along a straight line, forming a magnetic field change, and controlling the guide wire / catheter distal end to form a linear drag movement; when the first control handle 300 at the doctor's operating end performs rotational motion, the control unit 200 controls the arc motion mechanism 2 of the magnetic guide device 100 at the patient's end to move, forming a magnetic field change, and controlling the guide wire / catheter distal end to form a deflection movement. Since the operating actions of the doctor's operating end and the execution actions of the magnetic guide device 100 on the patient's end are synchronized, that is, the master-slave isomorphism, the doctor can more intuitively feel the movement state of the guide wire / catheter under the action of the magnetic guide device 100. On the one hand, the auxiliary movement (linear movement and bending movement) of the distal end of the guide wire / catheter under the guidance of the magnetic field of the magnetic guide device 100 can significantly improve the delivery accuracy of the distal end of the guide wire / catheter in small blood vessels and complex blood vessels. On the other hand, the master-slave isomorphism of operation and control mode makes the operation on the doctor's side simpler and more intuitive, which can significantly reduce the doctor's learning difficulty curve for the vascular interventional surgery robot system of this application and improve the doctor's usage experience.

[0076] It should be noted that in the vascular interventional surgical robot system of the present application, the magnetic field changes generated by the respective movements of the linear motion mechanism 1 and the arcuate motion mechanism 2 of the magnetic guide device 100 are primarily intended to assist the guidewire / catheter distal end in performing intended movements, such as linear movement and deflection, when the guidewire / catheter distal end is unable to correctly move according to the delivery force / torque of the delivery device. When the guidewire / catheter is able to move according to the delivery force / torque of the delivery device, the posture of the magnetic guide device 100 remains unchanged. At the same time, the magnetic guide device 100 is used to control the deflection of the guidewire / catheter at a specified posture.

[0077] See Figure 4 The first control handle 300 includes a first handheld element 310, which is used for forced rotation and / or forced linear motion; wherein the control unit 200 is further configured to: obtain angular displacement information of the first handheld element 310 under forced rotation and / or linear displacement information of the forced linear motion; control the rotation angle of the arc motion mechanism 2 according to the angular displacement information of the first handheld element 310 to change the magnetic field of the magnetic guide device 100 and deflect the distal end of the guide wire; control the linear translation distance of the linear motion mechanism 1 according to the linear displacement information to change the magnetic field of the magnetic guide device 100 and drag the distal end of the guide wire.

[0078] The control unit 200 may obtain the angular displacement information of the first hand-held element 310 due to the forced rotation and / or the linear displacement information of the forced linear motion through a separately provided displacement sensor, or may obtain the information through other detection equipment, which is not limited here.

[0079] Among them, such as Figure 4 As shown, the first control handle 300 further includes: a first motion portion 320 connected to the first hand-held element 310, wherein the first hand-held element 310 is adapted to rotate relative to the first motion portion 320 under force, and the first motion portion 320 is used to detect angular displacement information of the first hand-held element 310. The control unit 200 is electrically connected to the first motion portion 320, and the control unit 200 is further configured to: control the rotation angle of the arc motion mechanism 2 according to the angular displacement information of the first hand-held element 310, so as to change the magnetic field of the magnetic guide device 100 and deflect the distal end of the guidewire;

[0080] Among them, the rotation angle of the first hand-held element 310 can be proportional to the angle at which the arc motion mechanism 2 drives the magnetic component 3 to rotate, for example, 1:1, that is, the rotation angle of the first hand-held element 310 is the same as the angle at which the arc motion mechanism 2 drives the magnetic component 3 to rotate.

[0081] The first handheld element 310 is also suitable for driving the first moving part 320 to move linearly under force. The first moving part 320 is also used to detect the linear displacement information of the first handheld element 310. The control unit 200 is also configured to: control the linear motion mechanism 1 to perform a linear translation distance according to the linear displacement information to change the magnetic field of the magnetic guide device 100 and drag the distal end of the guide wire.

[0082] It is understandable that the angular displacement information of the first handheld element 310 can also be detected by other detection components, or the first handheld element 310 is communicatively connected to the control unit 200 to directly obtain the angular displacement information through the sensor on the first handheld element 310.

[0083] For the convenience of description, the following is an example of a solution in which a magnetic component 3 is provided on the arc motion mechanism 2 and the linear motion mechanism 1 drives the arc motion mechanism 2 to move linearly.

[0084] Likewise, the linear displacement of the first hand-held element 310 may be proportional to the linear displacement of the arcuate motion mechanism 2 driven by the linear motion mechanism 1 .

[0085] In this embodiment, the arcuate motion mechanism 2 and the linear motion mechanism 1 are controlled by the first handheld element 310. When the first control handle 300 moves linearly for a certain distance, the linear motion mechanism 1 drives the arcuate motion mechanism 2 to move a corresponding distance. The magnetic assembly 3 on the arcuate motion mechanism 2 then drives the distal end of the guidewire to adaptively move linearly. When the first handheld element 310 rotates a certain angle, the arcuate motion mechanism 2 also drives the magnetic assembly 3 to rotate a certain angle, thereby driving the distal end of the guidewire to adaptively deflect a certain angle.

[0086] The operation mode of the first handheld element 310 is basically the same as the movement mode of the magnetic guide device 2, that is, the adaptive movement of the distal end of the guidewire / catheter is assisted by the master-slave isomorphic operation and control mode, which is used to increase the accuracy of the distal end movement of the guidewire / catheter, simplify the doctor's operation mode, and enhance the doctor's user experience.

[0087] In one embodiment, Figure 4 As shown, the first moving part 320 includes a first bracket 321, a first handle shaft 322, a first detection component and a second detection component. The first handle shaft 322 is rotatably connected to the first bracket 321. The first handle shaft 322 is respectively connected to the first hand-held element 310 and the first detection component. The first detection component is connected to the control unit 200. The second detection component is respectively connected to the control unit 200 and the first bracket 321. The first detection component is used to detect the angular displacement information of the first handle shaft 322, and the second detection component is used to detect the linear displacement information of the first bracket 321.

[0088] It can be understood that the first handle shaft 322 is rotatably connected to the first bracket 321, so the first handle shaft 322 can rotate relative to the first bracket 321. The first handle shaft 322 is respectively connected to the first handheld element 310 and the first detection component. Therefore, the rotation of the first handheld element 310 under force will drive the first handle shaft 322 to rotate, and the rotation angle of the first handheld element 310 is the same as the rotation angle of the first handle shaft 322. The first detection component can detect the angular displacement information of the first handle shaft 322. Since the first handheld element 310 rotates synchronously with the first handle shaft 322, the angular displacement information of the first handle shaft 322 is the angular displacement information of the first handheld element 310, thereby realizing the detection of the angular displacement information of the first handheld element 310. The first handheld component 310 can drive the first bracket 321 to move linearly through the first handle shaft 322, and detect the linear displacement information of the first bracket 321. Since the first handheld component 31 and the first bracket 321 move linearly synchronously, the linear displacement information of the first bracket 321 is the linear displacement information of the first handheld component 310, thereby realizing the detection of the linear displacement information of the first handheld component 310.

[0089] Continue reading Figure 4 The first detection component includes a first angular displacement sensor 323, the second detection component includes a second angular displacement sensor 324, a first screw rod 325 and a first screw rod nut 326, the first handle shaft 322 is rotatably connected to the first bracket 321, the first end of the first handle shaft 322 is connected to the first hand-held element 310, the second end of the first handle shaft 322 is connected to the first angular displacement sensor 323, and the control unit 200 is electrically connected to the first angular displacement sensor 323.

[0090] The first angular displacement sensor 323 and the second angular displacement sensor 324 may be encoders. Since the second end of the first handle shaft 322 is connected to the first angular displacement sensor 323, the first angular displacement sensor 323 can measure the angular displacement of the first handle shaft 322, i.e., the angular displacement of the first hand-held element 310. The control unit 200 can obtain angular displacement information of the first hand-held element 310 by receiving measurement information uploaded by the first angular displacement sensor 323, and further control the angular displacement of the arc motion mechanism 2 based on the angular displacement of the first hand-held element 310.

[0091] The first bracket 321 is connected to the first screw nut 326 . The first screw nut 326 is disposed on the first screw 325 . The first end of the first screw 325 is connected to the second angular displacement sensor 324 .

[0092] It can be understood that the first screw rod 325 and the first screw nut 326 can cooperate to convert linear motion into rotational motion. When the first hand-held component 310 drives the first bracket 321 to move linearly, the first screw nut 326 will move synchronously with the first bracket 321, thereby driving the first screw rod 325 to rotate. The first end of the first screw rod 325 is connected to the second angular displacement sensor 324, and the second angular displacement sensor 324 can measure the angular displacement of the first screw rod 325. The control unit 200 can determine the linear displacement of the first hand-held component 310 based on the angular displacement measured by the second angular displacement sensor 324, and then control the linear motion mechanism 1 to drive the arc motion mechanism 2 to perform linear translation according to the linear displacement of the first hand-held component 310.

[0093] In one embodiment, Figure 1 and Figure 4 As shown, the vascular interventional surgical robot system also includes a support platform 400, and the first moving part 320 also includes a first slide rail 327. The first slide rail 327 and the first screw rod 325 are located on the support platform 400. The first bracket 321 is slidably connected to the first slide rail 327 so that the first hand-held element 310 is slidably connected to the first slide rail 327. The first hand-held element 310 can slide on the first slide rail 327 to perform linear motion.

[0094] The support platform 400 is used to support the first slide rail 327 and the first screw rod 325, and thus supports the remaining components of the vascular interventional surgery robot system, such as the first control handle 300 and the control unit 200. The first slide rail 327 and the first screw rod 325 cooperate to support the first bracket 321. The first slide rail 327 also defines the motion trajectory of the first bracket 321, allowing the first bracket 321 to move along the first slide rail 327. The first slide rail 327 and the first screw rod 325 cooperate to cause the first bracket 321 to move linearly.

[0095] like Figures 3 to 5 As shown, the magnetic assembly 3 includes multiple electromagnets 31, which are spaced apart on the inner surface of the arc-shaped motion mechanism 2. The multiple electromagnets 31 are spaced apart on the inner surface of the arc-shaped motion mechanism 2, so that each electromagnet is responsible for a specific arc area. That is, when the guidewire needs to move in this area, the electromagnet responsible for this area is energized to generate a magnetic field. Each electromagnet can only rotate within its corresponding arc area. When the first control handle performs a rotational motion, it controls the target electromagnet 31 to be energized to generate a magnetic field, where the target electromagnet is one of the multiple electromagnets.

[0096] The first moving part 320 also includes a conductive sheet 329 and a switch 328. The conductive sheet 329 is arranged on the first handle shaft 322. The control unit 200 is connected to the switch 328. When the conductive sheet 329 contacts and conducts with the target arc-shaped conductor in the switch 328, the control unit 200 controls the target electromagnet corresponding to the target arc-shaped conductor to energize and generate a magnetic field, wherein each target arc-shaped conductor corresponds to each electromagnet one by one.

[0097] Since the conductive sheet 329 is mounted on the first handle shaft 322, rotation of the first handle shaft 322 drives the conductive sheet 329 to rotate. Multiple arc-shaped conductors are located within the switch 328, each corresponding to a different angle range. When the rotation angle of the conductive sheet 329 falls within the angle range corresponding to a target arc-shaped conductor, the conductive sheet 329 contacts and conducts with the target arc-shaped conductor within the switch 328. The control unit 200 then energizes the target electromagnet corresponding to the target arc-shaped conductor, generating a magnetic field.

[0098] In one embodiment, Figure 6 As shown, the vascular interventional surgical robot system also includes: a pushing mechanism 500 and a second control handle 600. The pushing mechanism 500 is used to push the guide wire. The second control handle 600 and the pushing mechanism 500 are respectively connected to the control unit 200. The control unit 200 is also used to control the pushing mechanism 500 to push the guide wire according to the displacement information of the second control handle 600.

[0099] In application, the pushing mechanism 500 can clamp and push the guidewire. The magnetic guide device 100 can be placed next to the patient's bed and angiography (DSA) can be performed. Based on the image displayed by the contrast agent under X-ray, the doctor controls the second control handle 600 to perform linear and rotational movement. The control unit 200 controls the pushing mechanism 500 to deliver the distal end of the guidewire to the target location based on the displacement information and rotation information of the linear movement. The magnetic guide device 100 is pre-set in a specified posture. The magnetic field in the specified posture and the rotational movement of the second control handle 600 together control the distal end of the guidewire / catheter to deflect and be delivered around the curved section of the blood vessel.

[0100] In the vascular interventional surgical robot system provided in the present application, the cooperation between the second control handle 600, the control unit 200, the pushing mechanism 500 and the magnetic guide device 100 is mainly used to realize large movement of the guide wire / catheter in the blood vessel, such as long-distance linear movement and large-angle deflection; and the cooperation between the first control handle 300, the control unit 200 and the magnetic guide device 100 is mainly used to realize fine-tuning of the distal movement of the guide wire / catheter, such as dragging the distal end of the guide wire / catheter in a small range to approach the target position in a small and complex blood vessel, or deflecting the distal end of the guide wire / catheter at a small angle to turn in a small and complex blood vessel.

[0101] It can be understood that the auxiliary guidance control method provided by the first control handle 300, the control unit 200 and the magnetic guide device 100 realizes the disadvantage that the distal end of the guidewire / catheter cannot be correctly delivered to the target position in the control mode of the second control handle 600, the control unit 200, the pushing mechanism 500 and the magnetic guide device 100. It can be regarded as a supplementary control for the large movement of the guidewire / catheter, and thus can significantly improve the movement accuracy of the distal end of the guidewire / catheter in small and complex blood vessels.

[0102] The second control handle 600 includes a second handheld element, which is used for forced rotation and / or forced linear motion; the control unit 200 is also configured to: obtain angular displacement information of the second handheld element under force rotation and / or linear displacement information of the forced linear motion; control the angle of the guide wire rotation driven by the pushing mechanism 500 according to the angular displacement information of the second handheld element; and control the distance of the guide wire linear motion driven by the pushing mechanism 500 according to the linear displacement information of the second handheld element.

[0103] The control unit 200 may obtain the angular displacement information of the second handheld element's rotation under force and / or the linear displacement information of the linear motion under force through a separately provided displacement sensor, or may obtain the information through other detection equipment, which is not limited here.

[0104] like Figure 7 As shown, the second control handle 600 includes: a second moving part 620 connected to the second hand-held element 610, wherein the second hand-held element 610 is suitable for rotating relative to the second moving part 620 under force, and the second moving part 620 is used to detect the angular displacement information of the second hand-held element 610. The control unit 200 is connected to the second moving part 620 and is used to control the pushing mechanism 500 to drive the guide wire to rotate according to the angular displacement information of the second hand-held element 610.

[0105] The rotation angle of the second handheld element 610 may be proportional to the angle at which the guide wire is driven to rotate by the pushing mechanism 500 , that is, the rotation angle of the second handheld element 610 may be the same as or different from the angle at which the guide wire is driven to rotate by the pushing mechanism 500 .

[0106] The second handheld element 610 is suitable for driving the second moving part 620 to move linearly under force. The second moving part 620 is also used to detect the linear displacement information of the second handheld element 610. The control unit 200 is also used to control the pushing mechanism 500 to drive the guide wire to move linearly according to the linear displacement information of the second handheld element 610.

[0107] Similarly, the linear displacement of the second handheld element 610 can be proportional to the linear displacement of the guidewire driven by the pushing mechanism 500. When the linear displacement of the second handheld element 610 is a, the linear displacement of the guidewire driven by the pushing mechanism 500 is k*a, where k>0.

[0108] In this embodiment, the guidewire is controlled by the second handheld element 610. When the second handheld element 610 moves linearly for a certain distance, the pushing mechanism 500 will drive the guidewire to move a corresponding distance, thereby achieving control of the linear movement of the guidewire through the linear movement of the second control handle 600. In addition, when the second handheld element 610 rotates a certain angle, the pushing mechanism 500 will also drive the guidewire to rotate a certain angle accordingly. The second handheld element 610 can be used to control the guidewire to move away from one end of the pushing mechanism 500. The angle of rotation of the second handheld element 610 and the deflection angle of the guidewire show a certain relationship. Therefore, the doctor can control the deflection and twisting of the guidewire by manipulating the second handheld element 610. This can also be combined with the first handheld element 310 in the aforementioned embodiment. The doctor can also coordinate the manipulation of the first handheld element 310 and the second handheld element 610. Through the coordination of the first handheld element 310 and the second handheld element 610, the forward direction of the guidewire can be flexibly controlled to drive the guidewire to a specified position.

[0109] like Figure 6 As shown, the support platform 400 can support the first control handle 300 , the second control handle 600 and the control unit 200 .

[0110] The pushing mechanism 500 is equipped with a resistance sensor for detecting the resistance experienced by the guidewire during the pushing process. By detecting the resistance experienced by the guidewire during the pushing process, the doctor can determine whether the movement of the guidewire is obstructed based on the magnitude of the resistance, thereby prompting the doctor to adjust the direction so that the magnetic field can drive the guidewire to the desired position.

[0111] The second control handle 600 includes a feedback assembly connected to the second handheld element 610;

[0112] The control unit 200 is connected to the resistance sensor and the feedback component respectively. The control unit is further configured to provide feedback force to the second hand-held element through the feedback component according to the resistance information.

[0113] Among them, such as Figure 7As shown, the second moving part 620 includes: a second bracket 621, a second handle shaft 622, a third angular displacement sensor 623, a second slide rail 624, a first slider, a pressure sensor and a DC motor 625. The DC motor 625 serves as a feedback component. The first end of the second handle shaft 622 is connected to the second hand-held element 610, the second end of the second handle shaft 622 is connected to the third angular displacement sensor 623, and the control unit 200 is connected to the third angular displacement sensor 623.

[0114] The third angular displacement sensor 623 may be an encoder. The second handle shaft 622 is rotatably connected to the second bracket 621, allowing the second handle shaft 622 to rotate relative to the second bracket 621. The first end of the second handle shaft 622 is connected to the second handheld element 610. When the second handheld element 610 is rotated by force, the second handle shaft 622 is driven to rotate, and the rotation angle of the second handheld element 610 is the same as the rotation angle of the second handle shaft 622. Since the second end of the second handle shaft 622 is connected to the third angular displacement sensor 623, the third angular displacement sensor 623 can measure the angular displacement of the second handle shaft 622, i.e., the angular displacement of the second handheld element 610. The control unit 200 can obtain angular displacement information of the second handheld element 610 by receiving measurement information uploaded by the third angular displacement sensor 623, and then control the angular displacement of the guidewire based on the angular displacement of the second handheld element 610.

[0115] The second bracket 621 is connected to the first slider, the first slider is slidably connected to the second slide rail 624, the stator part of the DC motor 625 is connected to the support platform 400, the mover part of the DC motor 625 is connected to the second slide rail 624 through the first slider, and is connected to the second bracket 621 through the pressure sensor.

[0116] Among them, the DC motor 625 serves as a feedback component, which is used to increase the resistance when the second bracket 621 slides along the second slide rail 624. The size of the resistance provided is determined by the control unit 200 based on the resistance detected by the resistance sensor on the pushing mechanism 500. The pressure sensor is used to detect the size of the resistance provided by the DC motor 625 so that the resistance provided by the DC motor 625 corresponds to the resistance measured on the resistance sensor.

[0117] During application, when the doctor pushes the handle, the resistance encountered by the handle can change according to the resistance encountered by the guidewire / catheter in the blood vessel. When the doctor feels that the resistance is too large, the speed and angle of the guidewire / catheter can be adjusted to prevent the guidewire / catheter from damaging the blood vessel.

[0118] like Figures 8 to 10As shown, the present application also provides a doctor's operating table, wherein the initial orientations of the first handheld element 310 and the second handheld element 610 can be the same or different; the first handheld element 310 and the second handheld element 610 can be located on the same straight line or on different straight lines. Figure 8 As shown, the first handheld element 310 and the second handheld element 610 are initially oriented in the same direction, for example, both facing the right, and are coaxially arranged. The first handheld element 310 and the second handheld element 610 operate in the same manner. A space is required between the first handheld element 310 and the second handheld element 610 for the doctor to operate.

[0119] like Figure 9 As shown, the first handheld element 310 and the second handheld element 610 are arranged in opposite directions, for example, the second handheld element 610 is facing right and the first handheld element 310 is facing left. This arrangement is also a coaxial arrangement, except that the first handheld element 310 and the second handheld element 610 operate in different ways, and only a small anti-collision distance is required between them.

[0120] like Figure 10 As shown, the first hand-held element 310 and the second hand-held element 610 are not coaxially arranged, which can increase the movement space of the handle.

[0121] The vascular interventional surgical robot system also includes a first foot switch and a first switch unit. The first foot switch is connected to the first switch unit. The control unit 200 is connected to the second control handle 600 via the first switch unit. The first foot switch is used to control the on and off of the first switch unit to control the on and off connection between the control unit 200 and the second control handle 600.

[0122] It can be understood that the doctor can only control the displacement of the guide wire through the second control handle 600 when the second control handle 600 is connected to the control unit 200. Therefore, by setting a first foot switch to control the connection between the second control handle 600 and the control unit 200, the guide wire deviation problem caused by the second control handle 600 being accidentally touched can be avoided.

[0123] Similarly, the vascular interventional surgical robot system can also include a second foot switch and a second switch unit. The second foot switch is connected to the second switch unit. The control unit 200 is connected to the first control handle 300 via the second switch unit. The second foot switch is used to control the on and off of the second switch unit to control the on and off of the connection between the control unit 200 and the first control handle 300.

[0124] like Figure 11 As shown, the arc motion mechanism 2 includes: a magnetic component 3, a first arc-shaped slide rail 21, a support mechanism 22 and a second drive mechanism 23.

[0125] A magnetic assembly 3 is provided on the inner surface of the first arcuate slide rail 21. A support mechanism 22 is slidably connected to the first arcuate slide rail 21. A second drive mechanism 23 is connected to the first arcuate slide rail 21 for driving the first arcuate slide rail 21 to rotate relative to the support mechanism 22.

[0126] The magnetic component 3 is used to drive the guide wire. The magnetic component 3 may include a permanent magnet or an electromagnet. The magnetic component 3 can generate a magnetic field, which acts on the guide wire.

[0127] Among them, see Figure 3 and Figure 11 The magnetic component 3 includes a plurality of electromagnets 31 , which are arranged at intervals on the inner surface of the first arc-shaped slide rail 21 .

[0128] The arc motion mechanism 2 is connected to the magnetic component 3 and is used to drive the magnetic component 3 to rotate, so that the magnetic field of the magnetic component 3 changes and causes the guide wire to deform.

[0129] It can be understood that by placing the arc motion mechanism 2 around the periphery of the guidewire and driving the magnetic assembly 3 to rotate via the arc motion mechanism 2, the driven guidewire can be bent. The bending direction of the guidewire is related to the rotation direction of the magnetic assembly 3. Therefore, by controlling the direction in which the arc motion mechanism 2 drives the magnetic assembly 3 to rotate, the bending angle of the guidewire can be controlled, thereby controlling the direction of travel of the magnetic field-driven guidewire.

[0130] The linear motion mechanism 1 is connected to the arc motion mechanism 2 and is used to drive the arc motion mechanism 2 to perform linear translation, so that the magnetic component 3 performs linear translation along with the arc motion mechanism 2 to drive the guide wire to move linearly.

[0131] It can be understood that since the first arc-shaped slide rail 21 is slidingly connected to the support mechanism 22, the first arc-shaped slide rail 21 is driven to rotate relative to the support mechanism 22 by the second driving mechanism 23, so that the first arc-shaped slide rail 21 can slide relative to the support mechanism 22, thereby driving the magnetic component 3 on the first arc-shaped slide rail 21 to rotate relative to the support mechanism 22, driving the guide wire to deform.

[0132] like Figure 12 As shown, a first arcuate slot 211 is provided on the side of the first arcuate slide rail 21. The support mechanism 22 includes a first support frame 221 and a connecting shaft 222, wherein a first end of the connecting shaft 222 is connected to the first support frame 221 and a second end of the connecting shaft 222 is provided in the first arcuate slot 211 via a bearing.

[0133] The second end of the connecting shaft 222 can be disposed in the first arcuate slot 211 via a rolling bearing, so that the first arcuate slide rail 21 can slide relative to the connecting shaft 222 , thereby enabling the first arcuate slide rail 21 to drive the magnetic component 3 to rotate relative to the support mechanism 22 .

[0134] See Figure 12 The second driving mechanism 23 further includes: a first driving motor 231 and a first gear 232. The first driving motor 231 is provided on the linear motion mechanism 1 or on the first support frame 221. The rotating shaft of the first driving motor 231 is connected to the first arc-shaped slide rail 21 through the first gear 212.

[0135] The first gear 232 is disposed on the rotating shaft of the first driving motor 231 ; the outer surface of the first arc-shaped slide rail 21 is provided with a first transmission tooth 212 ; the first gear 232 is adapted to mesh with the first transmission tooth 212 .

[0136] It can be understood that since the first gear 232 is arranged on the rotating shaft of the first drive motor 231, the rotating shaft of the first drive motor 231 can drive the first gear 232 to rotate, and since the first gear 232 is suitable for engaging with the first transmission tooth 212, the first arc-shaped slide rail 21 can be driven to rotate by the first drive motor 231, thereby driving the magnetic component 3 to rotate relative to the support mechanism 22 to drive the guide wire to deform.

[0137] See Figure 12 The second driving mechanism 23 further includes: a second gear 234 and a driven shaft 233 , the second gear 234 is provided on the driven shaft 233 , the second gear 234 is adapted to engage with the first transmission tooth 212 , and the driven shaft 233 is rotatably connected to the first support frame 221 .

[0138] It can be understood that by arranging the second gear 234 on the driven shaft 233, the driven shaft 233 being rotatably connected to the first support frame 221, and the second gear 234 being meshed with the first transmission tooth 212, the rotation of the first curved slide 21 will drive the second gear 234 to rotate. Since the second gear 234 is connected to the support plate via the driven shaft 233, the second gear 234 can assist in supporting the first curved slide 21, thereby preventing the first curved slide 21 from shaking and ensuring the stability of the rotational movement of the magnetic assembly 3.

[0139] In one embodiment, Figure 13 As shown, the arc motion mechanism 2 also includes: a second arc slide rail 24 and a sliding assembly 25; the second arc slide rail 24 is arranged on one side of the first arc slide rail 21, the sliding assembly 25 is slidingly connected to the second arc slide rail 24, and a magnetic assembly 3 is provided on the sliding assembly 25, and the sliding assembly 25 is suitable for driving itself to slide along the second arc slide rail 24.

[0140] The second curved rail 24 is disposed on the side of the first curved rail 21. Since the sliding assembly 25 is slidably connected to the second curved rail 24, the sliding assembly 25 can slide relative to the second curved rail 24. As the sliding assembly 25 drives itself to slide along the second curved rail 24, the magnetic assembly 3 on the sliding assembly 25 also moves with the sliding assembly 25, thereby adjusting the position of the magnetic assembly 3 relative to the first curved rail 21 so that the magnetic assembly 3 is in the appropriate position. It will be appreciated that with the above-described sliding assembly 25, the magnetic assembly 3 can include only one electromagnet or permanent magnet 32, thereby reducing the number of electromagnets or permanent magnets 32 required.

[0141] like Figure 13 and Figure 14 As shown, the arc motion mechanism 2 further includes a pressure plate 26 .

[0142] The second curved rail 24 and the pressure plate 26 are respectively disposed on either side of the first curved rail 21, and the first curved rail 21, the second curved rail 24, and the pressure plate 26 together form a receiving groove. The second curved rail 24 and the pressure plate 26 are respectively disposed on either side of the first curved rail 21, and are partially raised relative to the first curved rail 21, so that the exposed inner side surface of the first curved rail 21, the inner surface of the second curved rail 24, and the exposed inner side surface of the pressure plate 26 serve as the inner walls of the receiving groove, forming the receiving groove.

[0143] The inner surface of the second curved rail 24 is provided with a second transmission tooth 241, and the inner side surface of the second curved rail 24 is provided with a second curved groove 242, which is connected to the receiving groove. The sliding assembly 25 includes a second support frame 251 and a second drive motor 252. The second support frame 251 is at least partially located in the receiving groove and is slidably mounted in the second curved groove 242 via a bearing. The second drive motor 252 and the magnetic assembly 3 are located on the second support frame 251. The rotating shaft of the second drive motor 252 is provided with a third gear 253, which meshes with the second transmission tooth 241.

[0144] It can be understood that the second support frame 251 is at least partially located in the accommodating groove, and the second support frame 251 is slidably arranged in the second arc-shaped slide groove 242 via a bearing, so that the second support frame 251 can slide along the second arc-shaped slide groove 242. In addition, since the inner surface of the second arc-shaped slide rail 24 is provided with a second transmission tooth 241, the second drive motor 252 and the magnetic component 3 are located on the second support frame 251, and the rotating shaft of the second drive motor 252 is provided with a third gear 253, and the third gear 253 is engaged with the second transmission tooth 241, the rotating shaft of the second drive motor 252 can drive the third gear 253 to rotate, thereby causing the second support frame 251 to slide relative to the second arc-shaped slide rail 24, thereby changing the position of the magnetic component 3 relative to the first arc-shaped slide rail 21. That is, the second drive motor 252 can drive the sliding component 25 to slide relative to the first arc-shaped slide rail 21. Since the magnetic component 3 is on the sliding component 25, the position of the magnetic component 3 can be adjusted.

[0145] like Figure 15 As shown, the magnetic component 3 is a permanent magnet, which is mounted on a sliding component 25. The sliding component 25 can slide along the second arc-shaped slide rail 24. When the target position in area 1 requires a magnetic field, the second arc-shaped slide rail 24 only needs to be slid to the position closest to the target position. When the magnetic field of the permanent magnet 32 ​​needs to act on the human head area 2, the permanent magnet sliding module with the permanent magnet moves to the end of the semicircular slide rail and is fixed ( Figure 15 (In the embodiment, when the permanent magnet 32 ​​is at the left end of the semicircular slide, it is responsible for the left half of area 2; when it is at the right end of the semicircular slide, it is responsible for the right half of area 2). In addition, driven by the motor, the arc motion mechanism 2 can drive the permanent magnet 32 ​​to rotate, allowing the permanent magnet 32 ​​to stop at any position in area 2. This arrangement allows the magnetic field of the permanent magnet 32 ​​to cover the entire area of ​​the human neck and head, while also allowing the permanent magnet 32 ​​to be close enough to the human body, ensuring sufficient magnetic force to drive the guidewire.

[0146] like Figure 16 As shown, the linear motion mechanism 1 includes: a linear motion mechanism body 10 and a first driving mechanism 11 .

[0147] The first driving mechanism 11 is provided on the linear motion mechanism body 10 , and is connected to the arc motion mechanism 2 , for driving the arc motion mechanism 2 to perform linear translation.

[0148] It can be understood that by driving the arc motion mechanism 2 to perform linear translation through the first driving mechanism 11, the magnetic component 3 can be linearly translated along with the arc motion mechanism 2, and the arc motion mechanism 2 can drive the magnetic component 3 to rotate, so that the position of the magnetic component 3 can be flexibly controlled, and then the magnetic field driven guide wire can be flexibly driven, so that the magnetic field driven guide wire can be pushed to the specified position.

[0149] The arc motion mechanism 2 can be slidably connected to the linear motion mechanism body 10. The first drive mechanism 11 drives the arc motion mechanism 2 to slide relative to the linear motion mechanism body 10, thereby achieving linear translation of the arc motion mechanism 2. For example, the linear motion mechanism body 10 is provided with a linear slideway, and the arc motion mechanism 2 is disposed in the linear slideway via a rolling bearing. The first drive mechanism 11 includes a linear drive motor, which drives the arc motion mechanism 2 to move along the linear slideway.

[0150] See Figure 16 The first driving mechanism 11 includes: a third driving motor 111, a second screw rod 112 and a second screw rod nut 113. The second screw rod nut 113 is arranged on the second screw rod 112 and is connected to the arc motion mechanism 2. The first end of the second screw rod 112 is connected to the rotating shaft of the third driving motor 111.

[0151] The second screw rod 112 and the second screw rod nut 113 may be a ball screw and a ball screw nut respectively.

[0152] It can be understood that the second screw rod 112 and the second screw nut 113 cooperate to convert rotational motion into linear motion. Since the first end of the second screw rod 112 is connected to the rotating shaft of the third drive motor 111, the rotating shaft of the third drive motor 111 can drive the second screw rod 112 to rotate, and then drive the second screw nut 113 to move linearly relative to the second screw rod 112. Since the second screw nut 113 is connected to the arc motion mechanism 2, the second screw nut 113 can drive the arc motion mechanism 2 to move linearly, thereby driving the guide wire to move linearly. Therefore, the linear motion of the guide wire can be achieved by driving the second screw rod 112 to rotate by the third drive motor 111.

[0153] See Figure 16 The first driving mechanism 11 further includes a fourth angular displacement sensor 114 connected to the second end of the screw rod. The fourth angular displacement sensor 114 may be an encoder.

[0154] By connecting the fourth angular displacement sensor 114 to the second end of the second screw rod 112, the angular displacement of the second screw rod 112 can be detected by the fourth angular displacement sensor 114. A mapping relationship exists between the angular displacement of the second screw rod 112 and the linear displacement of the second screw nut 113. The linear displacement of the second screw nut 113 can be determined based on the angular displacement of the second screw rod 112. The control unit for controlling the magnetic guide device can then determine the linear displacement of the second screw nut 113 based on the angular displacement detected by the fourth angular displacement sensor 114, compare and analyze it with the predetermined linear displacement, and perform feedback adjustment, thereby ensuring the linear displacement accuracy of the arc motion mechanism 2.

[0155] See Figure 16 The first driving mechanism 11 further includes a guide rail 115 and a second slider 116 . The guide rail 115 is provided on the linear motion mechanism body 10 , and the second slider 116 is slidably connected to the guide rail 115 and connected to the arc motion mechanism 2 .

[0156] In this embodiment, the second slider 116 is connected to the arc motion mechanism 2, thereby auxiliary support for the arc motion mechanism 2. Furthermore, because the second slider 116 is slidably connected to the guide rail 115, when the lead screw nut drives the arc motion mechanism 2 for linear motion, the arc motion mechanism 2 drives the second slider 116 to slide along the guide rail 115. The second slider 116 auxiliary support for the arc motion mechanism 2, and the guide rail 115 limiting the direction of motion, can ensure the stability of the arc motion mechanism 2.

[0157] like Figure 1 and Figure 17 As shown, the magnetic guidance device 100 further includes a mobile trolley 5. The mobile trolley 5 is connected to the linear motion mechanism 1 and is used to support and drive the linear motion mechanism 1. The mobile trolley 5 can be used to move the linear motion mechanism 1 and its components so that they are located next to the operating table when needed and can be removed when not needed.

[0158] The magnetic guide device 100 further includes a passive arm 4 connected to the moving trolley 5 and the linear motion mechanism 1, positioned between the moving trolley 5 and the linear motion mechanism 1. The passive arm 4 supports the linear motion mechanism 1 and is adapted to rotate relative to the moving trolley 5. The linear motion mechanism 1 adjusts its position relative to the moving trolley 5 via the passive arm 4, thereby adjusting the arc motion mechanism 2 to a desired position.

[0159] In one embodiment, still referring to Figure 17 The passive arm 4 includes a passive arm body 42 and a rotating motor 41 .

[0160] The first end of the passive arm body 42 is rotatably connected to the moving trolley 5. The rotary motor 41 is connected to the second end of the passive arm body 42 and the linear motion mechanism 1 respectively, and is used to drive the linear motion mechanism 1 to rotate relative to the passive arm body 42.

[0161] It can be understood that by driving the linear motion mechanism 1 to rotate relative to the passive arm body 42 through the rotating motor 41, the position of the linear motion mechanism 1 relative to the moving trolley 5 can be adjusted, so that the arc motion mechanism 2 can be adjusted to a specified position, for example, it can be moved to the periphery of the patient's head.

[0162] like Figure 18 As shown, the control method of the guidewire / catheter in the vascular interventional surgical robot system of the present application includes:

[0163] S1801: Respond to the mode control instruction input by the doctor to operate in the corresponding control mode.

[0164] S1802: When operating in the first independent control mode, obtain displacement information of a first handheld element in the vascular interventional surgery robot system, and control the arc motion mechanism and the linear motion mechanism according to the displacement information of the first handheld element.

[0165] The first independent control mode uses the first control handle alone to control the guidewire. This is primarily used in situations where brain vessels have sudden changes in curvature or small diameters. In this mode, when the doctor translates the first handheld element by a, the magnetic component translates by a corresponding amount (n*a, where n > 0), and the dragged guidewire also moves by a corresponding amount (n*a). While moving the guidewire, the doctor can rotate the first handheld element to adjust the guidewire's deflection angle for optimal positioning.

[0166] The above-mentioned guidewire driving method controls the magnetic guide device according to the displacement information of the first control handle when working in the first independent control mode. The doctor can control the displacement of the first handheld element to control the arc motion mechanism and the linear motion mechanism, thereby flexibly controlling the movement of the magnetic component to drive the guidewire, reducing the difficulty of the operation and improving the efficiency of the operation.

[0167] In one embodiment, the vascular interventional surgical robot system further includes a pushing mechanism and a second control handle, the second control handle including a second handheld element and a second moving part connected to each other; Figure 19 As shown, the control method further includes: steps S1803, S1804 and S1805.

[0168] S1803: When operating in the second independent control mode, obtaining displacement information of the second handheld element, and controlling the pushing mechanism to push the guide wire according to the displacement information of the second handheld element.

[0169] The second independent control mode, in which the second control handle independently controls the guidewire, is primarily used in easily navigable blood vessels with small diameters and essentially constant curvature. In this mode, the physician translates the second handheld element a, and the push mechanism correspondingly moves the guidewire n*a. While the guidewire is moving, the physician can rotate the second handheld element, further rotating the guidewire and adjusting its direction.

[0170] During application, the pushing mechanism may be equipped with a resistance sensor for detecting the resistance experienced by the guidewire during the pushing process. It is understood that by detecting the resistance experienced by the guidewire during the pushing process through the resistance sensor, the physician can determine whether the movement of the guidewire is obstructed based on the resistance feedback from the second handheld element, and thereby adjust the direction of the guidewire so that the magnetic field drives the guidewire to a desired position.

[0171] S1804: When working in the manual collaborative control mode, the displacement information of the second handheld element and the angular displacement information of the first handheld element are obtained, the pushing mechanism is controlled to push the guide wire according to the displacement information of the second handheld element, and the arc motion mechanism is controlled to drive the magnetic component to rotate according to the angular displacement information of the first handheld element.

[0172] Among them, the manual collaborative control mode is mainly used in narrow areas with sudden changes in vascular curvature. In this mode, the deflection angle of the guidewire can be manually adjusted by rotating the magnetic drive handle. The distance moved by the arc motion mechanism is equal to the distance moved by the push mechanism. This can prevent the guidewire from winding and bending inside the blood vessel. When the force of the push mechanism pushing the guidewire cannot be transmitted to the end of the guidewire, the arc motion mechanism can be controlled by the magnetic drive handle to move the guidewire forward by slightly dragging it. When the resistance of the blood vessel is too large, the deflection angle of the guidewire is adjusted by the magnetic drive handle to adjust the forward direction of the guidewire so that the guidewire can reach the specified position. (In this case, since the rotational force of the push mechanism is difficult to transmit to the end of the guidewire, it is more effective to directly adjust the end of the guidewire.)

[0173] S1805: When working in the follow-up control mode, the displacement information of the second handheld element is obtained, and the pushing device is controlled to push the guide wire according to the displacement information of the second handheld element, and the linear motion mechanism is controlled to drive the arc motion mechanism to move linearly according to the displacement information of the second handheld element.

[0174] Among them, the following control mode is mainly used in narrow areas where the curvature of the blood vessel remains basically unchanged. In this mode, the deflection angle of the guidewire remains unchanged, that is, the rotation position of the first handheld component is kept at the initial position; the distance moved by the arc motion mechanism is equal to the distance the pushing mechanism pushes the guidewire, so that the guidewire can be kept from winding and bending inside the blood vessel. When the force of the pushing mechanism pushing the guidewire cannot be transmitted to the end of the guidewire, the first handheld component can be controlled to move slightly so that the magnetic component on the arc motion mechanism can move the guidewire forward by slightly dragging it. At other times, the linear motion mechanism is controlled according to the displacement information of the second handheld component to drive the arc motion mechanism to move linearly, that is, follow the guidewire. When the resistance of the blood vessel is too large, the angle of the guidewire is adjusted by cooperating with the first handheld component and the second handheld component.

[0175] Those skilled in the art will understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. The technical features of the above-mentioned embodiments can be combined in any way. To keep the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0176] The above embodiments merely illustrate several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art may make various modifications and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A vascular interventional surgery robot system, characterized in that: include: a first control handle for performing linear and rotational motions; A magnetic guide device, including a linear motion mechanism and an arc motion mechanism; as well as A control unit, wherein the control unit is communicatively connected with the first control handle and the magnetic guide device respectively; wherein the control unit is configured as follows: When the first control handle performs linear motion, the linear motion mechanism of the magnetic guide device is controlled to move to change the magnetic field of the magnetic guide device to drag the distal end of the guide wire, so that the distal end of the guide wire moves; When the first control handle performs a rotational motion, the arc motion mechanism of the magnetic guide device is controlled to move to change the magnetic field of the magnetic guide device to deflect the distal end of the guide wire, so that the distal end of the guide wire bends.

2. The vascular interventional surgery robot system according to claim 1, characterized in that: The arc motion mechanism comprises: A magnetic component for generating a magnetic field; a first arc-shaped slide rail, wherein the magnetic component is provided on the inner surface of the first arc-shaped slide rail; A supporting mechanism, used for supporting the first arc-shaped slide rail; The second driving mechanism is slidably connected to the first arc-shaped slide rail, and the second driving mechanism is used to drive the first arc-shaped slide rail to rotate relative to the supporting mechanism.

3. The vascular interventional surgery robot system according to claim 2, characterized in that: The arc motion mechanism also includes: A second arc-shaped slide rail, arranged on the inner surface of the first arc-shaped slide rail; A sliding component is slidably connected to the second arc-shaped slide rail, the sliding component is used to slide along the second arc-shaped slide rail, and the magnetic component is arranged on the sliding component.

4. The vascular interventional surgery robot system according to claim 2, characterized in that: The magnetic assembly includes a plurality of electromagnets, and the plurality of electromagnets are arranged at intervals on the inner surface of the first arc-shaped slide rail.

5. The vascular interventional surgery robot system according to claim 4, characterized in that: The control unit is further configured to: When the first control handle performs a rotational motion, the target electromagnet is controlled to be energized to generate a magnetic field, wherein the target electromagnet is one of the plurality of electromagnets.

6. The vascular interventional surgery robot system according to claim 5, characterized in that: The first control handle also includes a conductive sheet and a switch, and the control unit is connected to the switch. When the conductive sheet contacts and conducts with the target arc-shaped conductor in the switch, the control unit controls the target electromagnet corresponding to the target arc-shaped conductor to energize and generate a magnetic field, wherein each arc-shaped conductor corresponds to each electromagnet one by one.

7. The vascular interventional surgery robot system according to claim 1, characterized in that: The linear motion mechanism comprises a linear motion mechanism body and a first driving mechanism; The first driving mechanism is arranged on the main body of the linear motion mechanism, and the first driving mechanism is connected to the arc motion mechanism, and is used to drive the arc motion mechanism to perform linear translation.

8. The vascular interventional surgery robot system according to claim 1, characterized in that: The first control handle comprises a first hand-held element, and the first hand-held element is used for forced rotation and / or forced linear motion; wherein, The control unit is further configured to: Acquiring angular displacement information of the first handheld element due to rotation under force and / or linear displacement information of the first handheld element due to linear motion under force; Controlling the rotation angle of the arc motion mechanism according to the angular displacement information of the first hand-held element to change the magnetic field of the magnetic guide device and deflect the distal end of the guide wire; The linear translation distance of the linear motion mechanism is controlled according to the linear displacement information to change the magnetic field of the magnetic guide device and drag the distal end of the guide wire.

9. The vascular interventional surgery robot system according to claim 8, characterized in that: The first control handle further includes a first moving part, the first moving part includes a first detection component and a second detection component, the first detection component is used to detect the angular displacement information of the first handheld element, and the second detection component is used to detect the linear displacement information of the first handheld element; The control unit is connected to the first detection component and the second detection component respectively, and the control unit is further configured as follows: The angular displacement information of the first handheld element is obtained through the first detection component, and the linear displacement information of the first handheld element is obtained through the second detection component.

10. The vascular interventional surgery robot system according to claim 9, characterized in that: The vascular interventional surgery robot system further includes a support platform, and the first moving part further includes a first slide rail, the first slide rail is arranged on the support platform, and the first handheld element is slidably connected to the first slide rail.

11. The vascular interventional surgery robot system according to claim 1, characterized in that: The vascular interventional surgery robot system further includes: a pushing mechanism and a second control handle, wherein the pushing mechanism is used to push the guide wire, and the second control handle and the pushing mechanism are respectively connected to the control unit, and the control unit is further configured as follows: When the second control handle performs linear motion, the pushing mechanism is controlled to drive the guide wire to perform linear motion; When the second control handle performs a rotational motion, the pushing mechanism is controlled to drive the guide wire to rotate.

12. The vascular interventional surgery robot system according to claim 11, characterized in that: The second control handle comprises a second hand-held element, and the second hand-held element is used for forced rotation and / or forced linear movement; The control unit is further configured to: Acquiring angular displacement information of the second hand-held element due to rotation under force and / or linear displacement information of the second hand-held element due to linear motion under force; Controlling the angle at which the guide wire is driven to rotate by the pushing mechanism according to the angular displacement information of the second hand-held element; The distance that the pushing mechanism drives the guide wire to move linearly is controlled according to the linear displacement information of the second hand-held element.

13. The vascular interventional surgery robot system according to claim 12, characterized in that: The pushing mechanism is provided with a resistance sensor, and the resistance sensor is used to detect the resistance information encountered by the guide wire during the pushing process; The second control handle includes a feedback component connected to the second hand-held element; The control unit is connected to the resistance sensor and the feedback component respectively, and the control unit is further configured to provide feedback force to the second hand-held element through the feedback component according to the resistance information.

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