Vascular interventional surgical robot system

Abstract

This application relates to a vascular interventional surgical robot system. The vascular interventional surgical robot system includes: a first control handle for performing linear and rotary movements; a magnetic guidance device including a linear motion mechanism and an arcuate motion mechanism; and a control unit, which is communicatively connected to the first control handle and the magnetic guidance device respectively. The control unit is configured to, when the first control handle performs linear movement, control the linear motion mechanism of the magnetic guidance device to change the magnetic field of the magnetic guidance device to drag the distal end of the guidewire; and when the first control handle performs rotary movement, control the arcuate motion mechanism of the magnetic guidance device to change the magnetic field of the magnetic guidance device to deflect the distal end of the guidewire. Using this vascular interventional surgical robot system, the movement of the arcuate motion mechanism and the linear motion mechanism can be controlled by the movement of the first control handle, allowing for flexible control of the guidewire movement, reducing surgical difficulty, and improving surgical efficiency.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a vascular interventional surgical robot system. Background Technology

[0002] Vascular interventional surgery robots are highly safe devices that assist doctors in performing interventional procedures. These robots mimic the operating habits of doctors in traditional surgeries, combining digital subtraction angiography and image navigation to deliver and twist guidewires, placing them at the lesion site for repair and treatment.

[0003] However, for locations with small blood vessels or small vascular curvature, the force / torque applied by the delivery device at the proximal end of the guidewire / catheter cannot be fully transmitted to the distal end along the flexible guidewire / catheter. Existing guidewire / catheter delivery methods are difficult to adapt to the complex vascular pathways in the body. Summary of the Invention

[0004] Therefore, it is necessary to provide a vascular interventional surgical robot system to address the above-mentioned technical problems, so as to realize 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] This application provides a vascular interventional surgical robot system, comprising:

[0006] The first control handle is used to perform linear and rotary motion;

[0007] Magnetic guiding device, including linear motion mechanism and arc motion mechanism; and

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

[0009] When the first control handle performs linear motion, it controls the linear motion mechanism of the magnetic guide device to change the magnetic field of the magnetic guide device to drag the distal end of the guide wire, causing the distal end of the guide wire to move.

[0010] When the first control handle performs a rotational motion, it controls the arc-shaped motion mechanism of the magnetic guide device to change the magnetic field of the magnetic guide device to deflect the distal end of the guide wire, causing the distal end of the guide wire to bend.

[0011] In one embodiment, the arc-shaped motion mechanism includes:

[0012] Magnetic components used to generate magnetic fields;

[0013] The first arc-shaped slide rail has the magnetic component provided on its inner surface;

[0014] A support mechanism is used to support the first arc-shaped slide rail;

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

[0016] In one embodiment, the arc-shaped motion mechanism further includes:

[0017] The second arc-shaped slide rail is disposed 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 disposed on the sliding component.

[0019] In one embodiment, the magnetic component includes a plurality of electromagnets spaced apart 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, it controls the target electromagnet 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. The control unit is connected to the switch. When the conductive sheet makes contact with the target arc-shaped conductor in the switch, the control unit controls the target electromagnet corresponding to the target arc-shaped conductor to be energized to generate a magnetic field. Each arc-shaped conductor corresponds to each electromagnet.

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

[0024] The first driving mechanism is disposed on the main body of the linear motion mechanism and is connected to the arc motion mechanism for driving the arc motion mechanism to perform linear translation.

[0025] In one embodiment, the first control handle includes a first handheld element for rotational and / or linear motion under force; wherein...

[0026] The control unit is also configured to:

[0027] Obtain angular displacement information of the first handheld component under force rotation and / or linear displacement information of the first handheld component under force linear motion;

[0028] The rotation angle of the arc-shaped motion mechanism is controlled according to the angular displacement information of the first handheld element, so as to change the magnetic field of the magnetic guiding device and deflect the distal end of the guide wire.

[0029] The linear motion mechanism is controlled to change the magnetic field of the magnetic guide device by controlling the linear displacement information, thereby dragging the distal end of the guide wire.

[0030] In one embodiment, the first control handle further includes a first motion part, the first motion part including a first detection component and a second detection component, the first detection component being used to detect angular displacement information of the first handheld element, and the second detection component being used to detect linear displacement information of the first handheld element;

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

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

[0033] In one embodiment, the vascular interventional surgical robot system further includes a support platform, the first motion unit further includes a first slide rail disposed 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, the pushing mechanism being used to push the guidewire, the second control handle and the pushing mechanism being respectively connected to the control unit, the control unit being further configured to:

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

[0036] When the second control handle performs a rotational movement, it controls the pushing mechanism to drive the guide wire to rotate.

[0037] In one embodiment, the second control handle includes a second handheld element for force-driven rotation and / or force-driven linear motion;

[0038] The control unit is also configured to:

[0039] Obtain angular displacement information of the second handheld component under force rotation and / or linear displacement information of the second handheld component under force linear motion;

[0040] The angle by which the push mechanism drives the guide wire to rotate is controlled based on the angular displacement information of the second handheld element;

[0041] The distance by which the push mechanism drives the guide wire to move linearly is controlled based on the linear displacement information of the second handheld element.

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

[0043] The second control handle includes a feedback component, which is 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 handheld element through the feedback component based on the resistance information.

[0045] In the aforementioned vascular interventional surgical robot system, the motion information of the first control handle located at the doctor's operating end can be mapped to the magnetic guidance device located at the patient's end in the same motion manner through the control unit. 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 guidance device at the patient's end to move in a straight line, forming a change in the magnetic field, and controlling the distal end of the guidewire / 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-shaped motion mechanism of the magnetic guidance device at the patient's end to move, forming a change in the magnetic field, and controlling the distal end of the guidewire / catheter to form a deflection movement. Because the doctor's operating actions and the patient's magnetic guidance device's actions are synchronized, i.e., master-slave isomorphism, the doctor can more intuitively feel the movement of the guidewire / catheter under the action of the magnetic guidance device. On the one hand, the auxiliary movement (linear movement and bending movement) of the distal end of the guidewire / catheter under the magnetic field guidance of the magnetic guidance device can significantly improve the delivery accuracy of the distal end of the guidewire / catheter in small and complex blood vessels. On the other hand, the master-slave isomorphic operation and control mode makes the doctor's operation simpler and more intuitive, which can significantly reduce the learning curve of the doctor for the vascular interventional surgery robot system of this application and improve the doctor's user experience. Attached Figure Description

[0046] Figure 1 This is a schematic diagram of the structure of a vascular interventional surgical robot system in one embodiment;

[0047] Figure 2 This is a schematic diagram of the magnetic guidance device in one embodiment;

[0048] Figure 3 for Figure 2 The diagram shows the application environment of the magnetic guidance device.

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

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

[0051] Figure 6 This is a schematic diagram of the vascular interventional surgical robot system in another embodiment;

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

[0053] Figure 8 This is a schematic diagram showing the layout of the first handheld component and the second handheld component in one embodiment;

[0054] Figure 9 This is a schematic diagram showing the layout of the first handheld element and the second handheld element in another embodiment;

[0055] Figure 10 This is a schematic diagram showing the layout of the first handheld element and the second handheld element in yet another embodiment;

[0056] Figure 11 This is a schematic diagram of the magnetic guidance device in another embodiment;

[0057] Figure 12 This is a schematic diagram of the arc-shaped motion mechanism in one embodiment;

[0058] Figure 13 This is a schematic diagram of the magnetic guidance device in yet another embodiment;

[0059] Figure 14 for Figure 13 A magnified view of a portion of the image;

[0060] Figure 15 for Figure 13 The diagram shows the application environment of the magnetic guidance device.

[0061] Figure 16 This is a schematic diagram of the linear motion mechanism in one embodiment;

[0062] Figure 17 This is a schematic diagram of the magnetic guidance device in yet another embodiment;

[0063] Figure 18 This is a flowchart illustrating a guidewire driving method in one embodiment;

[0064] Figure 19 This is a flowchart illustrating a guidewire driving method in one embodiment. Detailed Implementation

[0065] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0066] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0067] Based on the same inventive concept, such as Figure 1 As shown, this application also provides a vascular interventional surgical 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 and rotary motion. For example... Figure 2 As shown, the magnetic guiding device 100 includes a linear motion mechanism 1 and 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 guiding 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 change the magnetic field of the magnetic guide device 100 to drag the distal end of the guide wire, causing the distal end of the guide wire to move; when the first control handle 300 performs rotational motion, control the arc motion mechanism 2 of the magnetic guide device 100 to change the magnetic field of the magnetic guide device 100 to deflect the distal end of the guide wire, causing the distal end of the guide wire to bend.

[0070] The guide wire may include magnetic or ferrous elements (iron or iron alloy elements), which may be located at the distal end of the guide wire. This allows for control of the guide wire's displacement or bending by changing the magnetic field acting on it. The linear motion mechanism 1 and the arc motion mechanism 2 may each be equipped with magnetic components for generating a magnetic field, thereby driving the guide wire's movement by moving the magnetic components.

[0071] like Figure 2As shown, a magnetic component 3 can also be provided only on the arc-shaped motion mechanism 2. The arc-shaped motion mechanism 2 drives the magnetic component 3 to rotate, so that the magnetic field generated by the magnetic component 3 changes along the motion path of the arc-shaped motion mechanism 2. Alternatively, the arc-shaped motion mechanism 2 can be driven to move linearly by the linear motion mechanism 1, and the arc-shaped 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 along the motion path of the linear motion mechanism 1. The change in the magnetic field generated by the magnetic component 3 along the motion path of the arc-shaped motion mechanism 2 is used to achieve the deflection movement of the distal end of the guidewire / catheter. The change in the magnetic field generated by the magnetic component 3 along the motion path of the linear motion mechanism 1 is used to achieve the linear movement of the distal end of the guidewire / catheter.

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

[0073] Specifically, such as Figure 2 and Figure 3 As shown, the arc-shaped motion mechanism 2 is, for example, a semi-circular arc structure. The magnetic component 3 includes multiple electromagnets 31, which are spaced apart on the inner surface of the semi-circular arc structure. By distributing the multiple electromagnets spaced apart on the inner surface of the semi-circular arc structure, 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, and each electromagnet can only rotate within its corresponding arc area. Through this arrangement, the arc-shaped motion mechanism 2 does not need to perform a full rotation, and this arrangement allows the magnetic field of the electromagnets to cover the entire area of ​​the neck and head of the human body. At the same time, the electromagnets can be close enough to the human body to ensure sufficient magnetic force to drive the guidewire. This arrangement also allows the entire arc-shaped motion mechanism 2 and the linear motion mechanism 1 to be relatively small, avoiding interference with digital subtraction angiography (DSA) equipment and the patient bed. Furthermore, the multiple electromagnets 31 can be evenly distributed on the inner surface of the arc-shaped motion mechanism 2 so that the area covered by each electromagnet 31 is approximately the same.

[0074] For example, such as Figure 3As shown, five electromagnets 31 are evenly distributed on the inner surface of the arc-shaped motion mechanism 2. Each electromagnet 31 is responsible for a certain arc area. That is, when the guide wire 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 only responsible for the first area, and the first electromagnet 311 generates a magnetic field only when rotating in the first area; the second electromagnet 312 is only responsible for the second area, and the second electromagnet 312 generates a magnetic field only when rotating in the second area; the third electromagnet 313 is only responsible for the third area, and the third electromagnet 313 generates a magnetic field only when rotating in the third area; the fourth electromagnet 314 is only responsible for the fourth area, and the fourth electromagnet 314 generates a magnetic field only when rotating in the fourth area; the fifth electromagnet 315 is only responsible for the fifth area, and the fifth electromagnet 315 generates a magnetic field only when rotating in the fifth area.

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

[0076] It should be noted that in the vascular interventional surgical robot system of this application, the magnetic field changes generated by the linear motion mechanism 1 and the arcuate motion mechanism 2 of the magnetic guidance device 100 mainly assist the distal end of the guidewire / catheter in performing the expected movement, such as linear movement and deflection, when the distal end of the guidewire / catheter cannot move correctly according to the delivery force / torque of the delivery device. When the guidewire / catheter can move according to the delivery force / torque of the delivery device, the attitude of the magnetic guidance device 100 remains unchanged. Simultaneously, the magnetic guidance device 100 is used to control the deflection of the guidewire / catheter in the specified attitude.

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

[0078] The control unit 200 can acquire angular displacement information of the first handheld element 310 under force rotation and / or linear displacement information under force linear motion through a separately set displacement sensor, or it can acquire information through other detection devices, which are not limited here.

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

[0080] The rotation angle of the first handheld element 310 can be proportional to the rotation angle of the magnetic component 3 driven by the arc motion mechanism 2, for example, 1:1, that is, the rotation angle of the first handheld element 310 is the same as the rotation angle of the magnetic component 3 driven by the arc motion mechanism 2.

[0081] The first handheld element 310 is also adapted to be driven by force to move the first motion part 320 linearly. The first motion 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, so as to change the magnetic field of the magnetic guiding device 100 and drag the far 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 can be connected to the control unit 200 to directly obtain the angular displacement information through the sensor on the first handheld element 310.

[0083] For ease of description, the following example illustrates a scheme in which a magnetic component 3 is installed on the arc-shaped motion mechanism 2, and the linear motion mechanism 1 drives the arc-shaped motion mechanism 2 to move linearly.

[0084] Similarly, the linear displacement of the first handheld element 310 can be proportional to the linear displacement of the linear motion mechanism 1 driving the arc motion mechanism 2.

[0085] In this embodiment, the first handheld element 310 controls the arc-shaped motion mechanism 2 and the linear motion mechanism 1. When the first control handle 300 moves linearly a certain distance, the linear motion mechanism 1 will drive the arc-shaped motion mechanism 2 to move a corresponding distance. The magnetic component 3 on the arc-shaped motion mechanism 2 will drive the distal end of the guidewire to move linearly in an adaptive manner. When the first handheld element 310 is rotated by a certain angle, the arc-shaped motion mechanism 2 will also drive the magnetic component 3 to rotate by a corresponding angle, thereby driving the distal end of the guidewire to deflect by a certain angle in an adaptive manner.

[0086] The operation mode of the first handheld element 310 is basically the same as the movement mode of the magnetic guidance device 2. That is, it assists the adaptive movement of the distal end of the guidewire / catheter through the master-slave isomorphic operation and control mode, so as to increase the accuracy of the movement of the distal end of the guidewire / catheter, simplify the doctor's operation mode, and improve the doctor's user experience.

[0087] In one embodiment, such as Figure 4 As shown, the first motion unit 320 includes a first support 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 support 321. The first handle shaft 322 is connected to the first handheld element 310 and the first detection component. The first detection component is connected to the control unit 200. The second detection component is connected to the control unit 200 and the first support 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 support 321.

[0088] It is understood that since the first handle shaft 322 is rotatably connected to the first bracket 321, the first handle shaft 322 can rotate relative to the first bracket 321. The first handle shaft 322 is connected to both the first handheld element 310 and the first detection component. When the first handheld element 310 is subjected to force and rotates, it will cause 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 and the first handle shaft 322 rotate synchronously, the angular displacement information of the first handle shaft 322 is the same as the angular displacement information of the first handheld element 310, thus achieving the detection of the angular displacement information of the first handheld element 310. The first handheld element 310 can drive the first support 321 to linear displacement through the first handle shaft 322. The linear displacement information of the first support 321 is detected. Since the first handheld element 31 and the first support 321 move linearly in sync, the linear displacement information of the first support 321 is the linear displacement information of the first handheld element 310, thereby realizing the detection of the linear displacement information of the first handheld element 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 lead screw 325 and a first lead screw nut 326, a first handle shaft 322 is rotatably connected to a first bracket 321, a first end of the first handle shaft 322 is connected to a first handheld element 310, a 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 can 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 handheld element 310. The control unit 200 can obtain the angular displacement information of the first handheld element 310 by receiving the measurement information uploaded by the first angular displacement sensor 323, and then control the angular displacement of the arc-shaped motion mechanism 2 based on the angular displacement of the first handheld element 310.

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

[0092] It is understood that the first lead screw 325 and the first lead screw nut 326 can convert linear motion into rotational motion. When the first handheld element 310 drives the first bracket 321 to move linearly, the first lead screw nut 326 will move synchronously with the first bracket 321, thereby driving the first lead screw 325 to rotate. The first end of the first lead screw 325 is connected to the second angular displacement sensor 324. The second angular displacement sensor 324 can measure the angular displacement of the first lead screw 325. The control unit 200 can determine the linear displacement of the first handheld element 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 based on the linear displacement of the first handheld element 310.

[0093] In one embodiment, such as Figure 1 and Figure 4 As shown, the vascular interventional surgical robot system also includes a support platform 400, and the first motion unit 320 includes a first slide rail 327. The first slide rail 327 and the first lead screw 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 handheld element 310 is slidably connected to the first slide rail 327. The first handheld element 310 can slide on the first slide rail 327 to perform linear motion.

[0094] The support platform 400 supports the first slide rail 327 and the first lead screw 325, thereby supporting the vascular interventional surgical robot system, including other components such as the first control handle 300 and the control unit 200. The first slide rail 327 and the first lead screw 325 cooperate to support the first support 321. The first slide rail 327 also limits the movement trajectory of the first support 321, causing the first support 321 to move along the first slide rail 327. Through the cooperation of the first slide rail 327 and the first lead screw 325, the first support 321 can perform linear movement.

[0095] like Figures 3 to 5 As shown, the magnetic component 3 includes multiple electromagnets 31, which are spaced apart on the inner surface of the arc-shaped motion mechanism 2. By distributing the multiple electromagnets 31 spaced apart on the inner surface of the arc-shaped motion mechanism 2, each electromagnet is responsible for a specific 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. Each electromagnet can only rotate within its corresponding arc area. When the first control handle performs a rotational movement, it controls the target electromagnet to be energized to generate a magnetic field, wherein the target electromagnet is one of the multiple electromagnets.

[0096] The first motion unit 320 also includes a conductive plate 329 and a switch 328. The conductive plate 329 is disposed on the first handle shaft 322. The control unit 200 is connected to the switch 328. When the conductive plate 329 makes contact 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 be energized to generate a magnetic field. Each target arc-shaped conductor corresponds to each electromagnet.

[0097] Since the conductive plate 329 is located on the first handle shaft 322, the rotation of the first handle shaft 322 will cause the conductive plate 329 to rotate. The switch 328 has multiple arc-shaped conductors, each corresponding to a different angle range. When the rotation angle of the conductive plate 329 falls within the angle range corresponding to the target arc-shaped conductor, the conductive plate 329 makes contact with the target arc-shaped conductor in the switch 328 and conducts electricity. The control unit 200 controls the target electromagnet corresponding to the target arc-shaped conductor to be energized to generate a magnetic field.

[0098] In one embodiment, such as 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 guidewire. 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 guidewire 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 at the bedside, and DSA (Digital Subtraction Angiography) is used for angiography. 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 movements. The control unit 200 controls the pushing mechanism 500 to deliver the distal end of the guidewire to the target position based on the displacement and rotation information of the linear movement. The magnetic guide device 100 is pre-positioned 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 around the tortuous section of the blood vessel for delivery.

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

[0101] Understandably, the auxiliary guidance control provided by the first control handle 300, control unit 200, and magnetic guide device 100 overcomes 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, control unit 200, pushing mechanism 500, and 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 for force-driven rotation and / or force-driven linear motion; the control unit 200 is further configured to: acquire angular displacement information of the force-driven rotation of the second handheld element and / or linear displacement information of the force-driven linear motion; control the push mechanism 500 to drive the guide wire to rotate by an angle based on the angular displacement information of the second handheld element; and control the push mechanism 500 to drive the guide wire to move a distance based on the linear displacement information of the second handheld element.

[0103] The control unit 200 can acquire angular displacement information of the second handheld element under force rotation and / or linear displacement information of the second handheld element under force linear motion through a separately set displacement sensor, or it can acquire information through other detection devices, which are not limited here.

[0104] like Figure 7 As shown, the second control handle 600 includes a second motion part 620 connected to the second handheld element 610, wherein the second handheld element 610 is adapted to rotate relative to the second motion part 620 under force, the second motion part 620 is used to detect the angular displacement information of the second handheld element 610, and the control unit 200 is connected to the second motion part 620 and is used to control the push mechanism 500 to drive the guide wire to rotate according to the angular displacement information of the second handheld element 610.

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

[0106] The second handheld element 610 is adapted to be driven by force to move the second motion part 620 linearly. The second motion 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 guide wire driven by the pushing mechanism 500. When the linear displacement of the second handheld element 610 is 'a', the linear displacement of the guide wire 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 a certain distance, the pushing mechanism 500 drives the guidewire to move a corresponding distance, thus controlling the linear movement of the guidewire through the linear movement of the second control handle 600. Furthermore, when the second handheld element 610 rotates at a certain angle, the pushing mechanism 500 also drives the guidewire to rotate at a corresponding angle. The second handheld element 610 can be used to control the end of the guidewire away from the pushing mechanism 500. The rotation angle of the second handheld element 610 and the deflection angle of the guidewire have a certain relationship. Therefore, the doctor can control the deflection and turning of the guidewire by manipulating the second handheld element 610. Alternatively, it can 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 cooperation of the first handheld element 310 and the second handheld element 610, the forward direction of the guidewire can be flexibly controlled, driving the guidewire to the designated 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, which detects the resistance encountered by the guidewire during its advancement. By detecting the resistance during guidewire advancement, the doctor can determine whether the guidewire's movement is obstructed based on the magnitude of the resistance, thus prompting the doctor to adjust the direction so that the magnetic field can drive the guidewire to the designated position.

[0111] The second control handle 600 includes a feedback component, which is 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 also configured to provide feedback force to the second handheld element through the feedback component based on the resistance information.

[0113] Among them, such as Figure 7As shown, the second motion unit 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 handheld element 610, and the second end of the second handle shaft 622 is connected to the third angular displacement sensor 623. The control unit 200 is connected to the third angular displacement sensor 623.

[0114] The third angular displacement sensor 623 can 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; therefore, rotation of the second handheld element 610 under force will cause the second handle shaft 622 to rotate, with the rotation angle of the second handheld element 610 being the same as that 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, which is also the angular displacement of the second handheld element 610. The control unit 200 can obtain the angular displacement information of the second handheld element 610 by receiving the measurement information uploaded by the third angular displacement sensor 623, and then control the angular displacement of the guide wire 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 of the DC motor 625 is connected to the support platform 400, the mover 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 a pressure sensor.

[0116] The DC motor 625 serves as a feedback component, used to increase resistance when the second bracket 621 slides along the second slide rail 624. The magnitude 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 magnitude of the resistance provided by the DC motor 625 so that the resistance provided by the DC motor 625 corresponds to the resistance measured by the resistance sensor.

[0117] In application, when the doctor pushes the handle, the resistance to the handle can change according to the change in resistance to the guidewire / catheter in the blood vessel. When the doctor feels that the resistance is too great, he can adjust the speed and angle of the guidewire / catheter to avoid damage to the blood vessel.

[0118] like Figures 8 to 10As shown, this application also provides a doctor's operating table, wherein the initial orientation 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. Specifically, as shown... Figure 8 As shown, the first handheld element 310 and the second handheld element 610 initially face the same direction, for example, both are located facing to the right, and are arranged coaxially. The operation of the first handheld element 310 and the second handheld element 610 is consistent. Sufficient operating space needs to be reserved between the first handheld element 310 and the second handheld element 610 for the doctor's operation.

[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 faces to the right and the first handheld element 310 faces to the left. This layout is also coaxial, but the operation of the first handheld element 310 and the second handheld element 610 is different, and only a very small anti-collision gap needs to be reserved between them.

[0120] like Figure 10 As shown, the first handheld element 310 and the second handheld element 610 are arranged on different axes, 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, and 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 / off state of the first switch unit, so as to control the connection between the control unit 200 and the second control handle 600.

[0122] It is understandable that doctors can only control the displacement of the guidewire by connecting the second control handle 600 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 problem of guidewire displacement caused by accidental activation of the second control handle 600 can be avoided.

[0123] Similarly, the vascular interventional surgical robot system may also include a second foot switch and a second switch unit. The second foot switch is connected to the second switch unit, and 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 / off state of the second switch unit, so as to control the connection between the control unit 200 and the first control handle 300.

[0124] like Figure 11 As shown, the arc-shaped 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 component 3 is provided on the inner surface of the first arc-shaped slide rail 21. The support mechanism 22 is slidably connected to the first arc-shaped slide rail 21. The second drive mechanism 23 is connected to the first arc-shaped slide rail 21 and is used to drive the first arc-shaped 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 spaced apart on the inner surface of the first arc-shaped slide rail 21.

[0128] The arc-shaped 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 the guide wire deforms.

[0129] It is understandable that by placing the arc-shaped motion mechanism 2 around the guide wire, the magnetic component 3 can be rotated through the arc-shaped motion mechanism 2, causing the guide wire to bend. The bending direction of the guide wire is related to the rotation direction of the magnetic component 3. Therefore, by controlling the direction of rotation of the magnetic component 3 driven by the arc-shaped motion mechanism 2, the bending angle of the guide wire can be controlled, thereby controlling the direction of travel of the magnetic field-driven guide wire.

[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 can perform linear translation with the arc motion mechanism 2 and drive the guide wire to move linearly.

[0131] It is understandable that since the first arc-shaped slide rail 21 is slidably connected to the support mechanism 22, the first arc-shaped slide rail 21 can be rotated relative to the support mechanism 22 by the second drive mechanism 23, which can make the first arc-shaped slide rail 21 slide relative to the support mechanism 22, thereby causing the magnetic component 3 on the first arc-shaped slide rail 21 to rotate relative to the support mechanism 22, and driving the guide wire to deform.

[0132] like Figure 12 As shown, the first arc-shaped slide rail 21 has a first arc-shaped slide groove 211 on its side. The support mechanism 22 includes a first support frame 221 and a connecting shaft 222. The first end of the connecting shaft 222 is connected to the first support frame 221, and the second end of the connecting shaft 222 is disposed in the first arc-shaped slide groove 211 through a bearing.

[0133] The second end of the connecting shaft 222 can be mounted in the first arc-shaped slide groove 211 via a rolling bearing, so that the first arc-shaped slide rail 21 can slide relative to the connecting shaft 222, thereby allowing the first arc-shaped slide rail 21 to drive the magnetic component 3 to rotate relative to the support mechanism 22.

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

[0135] The first gear 232 is mounted on the shaft of the first drive 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 is understood that since the first gear 232 is located on the shaft of the first drive motor 231, the shaft of the first drive motor 231 can drive the first gear 232 to rotate. Since the first gear 232 is adapted to mesh with the first transmission gear 212, the first drive motor 231 can drive the first arc-shaped slide rail 21 to rotate, thereby driving the magnetic component 3 to rotate relative to the support mechanism 22, so as to drive the guide wire to deform.

[0137] See Figure 12 The second drive mechanism 23 further includes a second gear 234 and a driven shaft 233. The second gear 234 is disposed on the driven shaft 233 and is adapted to mesh with the first transmission gear 212. The driven shaft 233 is rotatably connected to the first support frame 221.

[0138] It is understood that by placing the second gear 234 on the driven shaft 233, which is rotatably connected to the first support frame 221, and by meshing the second gear 234 with the first transmission gear 212, the rotation of the first arc-shaped slide rail 21 will drive the second gear 234 to rotate. Since the second gear 234 is connected to the support plate through the driven shaft 233, it can assist in supporting the first arc-shaped slide rail 21, thereby preventing the first arc-shaped slide rail 21 from wobbling and ensuring the stability of the rotational movement of the magnetic component 3.

[0139] In one embodiment, such as Figure 13 As shown, the arc-shaped motion mechanism 2 also includes: a second arc-shaped slide rail 24 and a sliding component 25; the second arc-shaped slide rail 24 is located on one side of the first arc-shaped slide rail 21, the sliding component 25 is slidably connected to the second arc-shaped slide rail 24, the sliding component 25 is provided with a magnetic component 3, and the sliding component 25 is adapted to drive itself to slide along the second arc-shaped slide rail 24.

[0140] The second arc-shaped slide rail 24 is located on the side of the first arc-shaped slide rail 21. Since the sliding component 25 is slidably connected to the second arc-shaped slide rail 24, the sliding component 25 can slide relative to the second arc-shaped slide rail 24. When the sliding component 25 drives itself to slide along the second arc-shaped slide rail 24, the magnetic component 3 on the sliding component 25 also moves with the sliding component 25, thereby adjusting the position of the magnetic component 3 relative to the first arc-shaped slide rail 21 so that the magnetic component 3 can be in a suitable position. It can be understood that by using the above-mentioned sliding component 25, the magnetic component 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-shaped motion mechanism 2 also includes a pressure plate 26.

[0142] The second arc-shaped slide rail 24 and the pressure plate 26 are respectively disposed on both sides of the first arc-shaped slide rail 21, and the first arc-shaped slide rail 21, the second arc-shaped slide rail 24, and the pressure plate 26 together form a receiving groove. The second arc-shaped slide rail 24 and the pressure plate 26 are respectively disposed on both sides of the first arc-shaped slide rail 21, and partially protrude relative to the first arc-shaped slide rail 21, so that the exposed inner side of the first arc-shaped slide rail 21, the inner surface of the second arc-shaped slide rail 24, and the exposed inner side of the pressure plate 26 serve as the inner wall of the receiving groove, thus forming the receiving groove.

[0143] The inner surface of the second arc-shaped slide rail 24 is provided with a second transmission tooth 241, and the inner side surface of the second arc-shaped slide rail 24 is provided with a second arc-shaped groove 242, which communicates with 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. The second support frame 251 is slidably disposed in the second arc-shaped groove 242 by bearings. The second drive motor 252 and the magnetic assembly 3 are located on the second support frame 251. A third gear 253 is provided on the shaft of the second drive motor 252, and the third gear 253 meshes with the second transmission tooth 241.

[0144] It is understood that the second support frame 251 is at least partially located in the receiving groove. The second support frame 251 is slidably disposed in the second arc-shaped slide groove 242 via bearings, allowing it to slide along the second arc-shaped slide groove 242. Furthermore, since the inner surface of the second arc-shaped slide rail 24 is provided with a second transmission tooth 241, and the second drive motor 252 and magnetic component 3 are located on the second support frame 251, and the shaft of the second drive motor 252 is provided with a third gear 253 that meshes with the second transmission tooth 241, the 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, 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, its position can be adjusted.

[0145] like Figure 15 As shown, the magnetic component 3 is a permanent magnet, which is mounted on the sliding component 25. The sliding component 25 can slide along the second arc-shaped slide rail 24. When a magnetic field is required at the target location in region 1, the second arc-shaped slide rail 24 only needs to be slid to the position closest to the target location. When the magnetic field of the permanent magnet 32 ​​needs to act on the human head region 2, the permanent magnet sliding module carrying the permanent magnet moves to the very end of the semi-circular slide rail and remains stationary. Figure 15 In this configuration, when the permanent magnet 32 ​​is positioned at the left end of the semicircular slide rail, it is responsible for the left half of region 2; when it is positioned at the right end of the semicircular slide rail, it is responsible for the right half of region 2. Furthermore, driven by the motor, the arc-shaped motion mechanism 2 can rotate the permanent magnet 32, allowing it to stop at any position within region 2. This arrangement ensures that the magnetic field of the permanent magnet 32 ​​covers the entire neck and head area of ​​the human body, while simultaneously maintaining sufficient proximity to the body to guarantee adequate magnetic force to drive the guide wire.

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

[0147] The first drive mechanism 11 is located on the main body 10 of the linear motion mechanism and is connected to the arc motion mechanism 2 to drive the arc motion mechanism 2 to perform linear translation.

[0148] It can be understood that by driving the arc-shaped motion mechanism 2 to make linear translation through the first driving mechanism 11, the magnetic component 3 can be linearly translated with the arc-shaped motion mechanism 2. In conjunction with the arc-shaped motion mechanism 2 driving the magnetic component 3 to rotate, the position of the magnetic component 3 can be flexibly controlled, thereby flexibly driving the magnetic field driving guide wire, and thus pushing the magnetic field driving guide wire to the designated position.

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

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

[0151] The second lead screw 112 and the second lead screw nut 113 can be a ball screw and a ball screw nut, respectively.

[0152] It can be understood that the second lead screw 112 and the second lead screw nut 113 work together to convert rotational motion into linear motion. Since the first end of the second lead screw 112 is connected to the shaft of the third drive motor 111, the shaft of the third drive motor 111 can drive the second lead screw 112 to rotate, thereby causing the second lead screw nut 113 to move linearly relative to the second lead screw 112. Furthermore, since the second lead screw nut 113 is connected to the arc-shaped motion mechanism 2, the second lead screw nut 113 can drive the arc-shaped 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 lead screw 112 to rotate through the third drive motor 111.

[0153] See Figure 16 The first drive mechanism 11 further includes a fourth angular displacement sensor 114, which is connected to the second end of the lead screw. The fourth angular displacement sensor 114 can be an encoder.

[0154] By connecting the fourth angular displacement sensor 114 to the second end of the second lead screw 112, the angular displacement of the second lead screw 112 can be detected by the fourth angular displacement sensor 114. Since there is a mapping relationship between the angular displacement of the second lead screw 112 and the linear displacement of the second lead screw nut 113, the linear displacement of the second lead screw nut 113 can be determined based on the angular displacement of the second lead screw 112. The control unit for controlling the magnetic guiding device can then determine the linear displacement of the second lead screw nut 113 based on the angular displacement detected by the fourth angular displacement sensor 114, and compare and analyze it with a predetermined linear displacement, performing feedback adjustment to ensure the linear displacement accuracy of the arc-shaped motion mechanism 2.

[0155] See Figure 16 The first drive mechanism 11 also includes a guide rail 115 and a second slider 116. The guide rail 115 is disposed 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-shaped motion mechanism 2, thereby assisting in supporting the arc-shaped motion mechanism 2 through the second slider 116. Since the second slider 116 is slidably connected to the guide rail 115, when the lead screw nut drives the arc-shaped motion mechanism 2 to perform linear motion, the arc-shaped motion mechanism 2 will cause the second slider 116 to slide along the guide rail 115. By assisting in supporting the arc-shaped motion mechanism 2 through the second slider 116 and limiting the direction of motion through the guide rail 115, the stability of the arc-shaped motion mechanism 2's movement can be ensured.

[0157] like Figure 1 and Figure 17 As shown, the magnetic guiding device 100 also includes a movable trolley 5. The movable trolley 5 is connected to the linear motion mechanism 1 and is used to support and drive the linear motion mechanism 1 to move. The movable trolley 5 can move the linear motion mechanism 1 and the devices on it, so that it is placed next to the operating table when needed and can be moved away when not needed.

[0158] The magnetic guiding device 100 further includes a passive arm 4, connected to the moving trolley 5 and the linear motion mechanism 1, located 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 through the passive arm 4, thereby adjusting the arc-shaped motion mechanism 2 to a suitable position.

[0159] In one embodiment, see still Figure 17 The passive arm 4 includes: the passive arm body 42 and the rotary motor 41.

[0160] The first end of the passive arm body 42 is rotatably connected to the mobile 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. The rotary motor 41 is used to drive the linear motion mechanism 1 to rotate relative to the passive arm body 42.

[0161] It is understood that by driving the linear motion mechanism 1 to rotate relative to the passive arm body 42 through the rotary motor 41, the position of the linear motion mechanism 1 relative to the moving trolley 5 can be adjusted, thereby allowing the arc motion mechanism 2 to be adjusted to a specified position, such as moving to the periphery of the patient's head.

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

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

[0164] S1802: When operating in the first independent control mode, acquire the displacement information of the 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 is where the first control handle alone controls the guidewire. This mode is primarily used in scenarios involving abrupt changes in the curvature of cerebral blood vessels or small vessel diameters. In the first independent control mode, when the doctor moves the first handheld element by 'a', the magnetic component will also move accordingly by 'n*a', where n > 0. The guidewire will also be dragged and moved by 'n*a'. While moving the guidewire, the first handheld element can be rotated to adjust the guidewire's deflection angle and position it appropriately.

[0166] In the above-mentioned guidewire driving method, when operating in the first independent control mode, the magnetic guiding device is controlled according to the displacement information of the first control handle. 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 guidewire driven by the magnetic components, 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 comprising a second handheld element and a second motion unit interconnected; such as Figure 19 As shown, the control method further includes steps S1803, S1804 and S1805.

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

[0169] The second independent control mode is a mode in which the second control handle controls the guidewire independently. This mode is primarily used in areas with small vessel diameters and relatively constant curvature, facilitating passage through these vessels. In this mode, when the doctor moves the second handheld element by 'a', the pushing mechanism correspondingly pushes the guidewire by 'n*a'. Simultaneously, the second handheld element can be rotated, thereby rotating the guidewire and adjusting its direction of travel.

[0170] In applications, the pushing mechanism can be equipped with a resistance sensor to detect the resistance encountered by the guidewire during its pushing process. It can be understood that by detecting the resistance encountered by the guidewire during pushing, the doctor can determine whether the guidewire's movement is obstructed based on the magnitude of the resistance fed back by the second handheld component, and thus adjust its direction so that the magnetic field drives the guidewire to the designated position.

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

[0172] The manual coordinated control mode is primarily used in narrow areas where the curvature of the blood vessel changes abruptly. In this mode, the deflection angle of the guidewire can be manually adjusted by rotating the magnetic drive handle. The distance traveled by the arc-shaped motion mechanism is equal to the distance the push mechanism travels the guidewire, thus preventing the guidewire from coiling or bending inside the blood vessel. When the force of the push mechanism cannot reach the end of the guidewire, the arc-shaped motion mechanism can be moved by controlling the magnetic drive handle, allowing the guidewire to advance with slight dragging. When the resistance of the blood vessel is too high, the deflection angle of the guidewire can be adjusted by using the magnetic drive handle to adjust the direction of the guidewire's advance, thereby enabling the guidewire to reach the designated position (in this case, since the rotational force of the push mechanism is difficult to transmit to the end of the guidewire, directly adjusting the end of the guidewire is more effective).

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

[0174] The following control mode is primarily used in narrow areas where the curvature of the blood vessel remains relatively constant. In this mode, the deflection angle of the guidewire remains constant, meaning the rotational position of the first handheld element is kept in its initial position. The distance traveled by the arc-shaped motion mechanism is equal to the distance the pusher mechanism pushes the guidewire, thus preventing the guidewire from coiling or bending inside the blood vessel. When the force from the pusher mechanism cannot reach the end of the guidewire, the first handheld element can be slightly moved so that the magnetic component on the arc-shaped motion mechanism can advance the guidewire with a slight drag. At other times, the linear motion mechanism is controlled based on the displacement information of the second handheld element to drive the arc-shaped motion mechanism in linear motion, i.e., following the guidewire. When the resistance of the blood vessel is too high, the angle of the guidewire is adjusted by the cooperation of the first and second handheld elements.

[0175] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the methods described above. The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combination of these technical features does not contradict each other, it should be considered within the scope of this specification.

[0176] The above embodiments are merely illustrative of several implementation methods of this application, and their descriptions are relatively specific and detailed. However, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A vascular interventional surgical robot system, characterized in that, include: The first control handle is used to perform linear and rotary motion; Magnetic guiding device, including linear motion mechanism and arc motion mechanism; as well as A control unit, which is communicatively connected to both the first control handle and the magnetic guidance device; wherein the control unit is configured to: When the first control handle performs linear motion, it controls the linear motion mechanism of the magnetic guide device to change the magnetic field of the magnetic guide device to drag the distal end of the guide wire, causing the distal end of the guide wire to move. When the first control handle performs a rotational movement, it controls the arc-shaped motion mechanism of the magnetic guide device to change the magnetic field of the magnetic guide device to deflect the distal end of the guide wire, causing the distal end of the guide wire to bend. The arc-shaped motion mechanism includes: Magnetic components used to generate magnetic fields; The first arc-shaped slide rail has the magnetic component provided on its inner surface; The magnetic component includes a plurality of electromagnets, which are spaced apart on the inner surface of the first arc-shaped slide rail. The first control handle further includes a conductive plate and a switch. The control unit is connected to the switch. When the conductive plate makes contact with the target arc-shaped conductor in the switch, the control unit controls the target electromagnet corresponding to the target arc-shaped conductor to be energized to generate a magnetic field. Each arc-shaped conductor corresponds to each electromagnet, and the target electromagnet is one of the plurality of electromagnets.

2. The vascular interventional surgical robot system according to claim 1, characterized in that, The arc-shaped motion mechanism includes: A support mechanism is used to support the first arc-shaped slide rail; The second drive mechanism is slidably connected to the first arc-shaped slide rail, and the second drive mechanism is used to drive the first arc-shaped slide rail to rotate relative to the support mechanism.

3. The vascular interventional surgical robot system according to claim 2, characterized in that, The arc-shaped motion mechanism also includes: The second arc-shaped slide rail is disposed 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 disposed on the sliding component.

4. The vascular interventional surgical robot system according to claim 1, characterized in that, The control unit is also configured to: When the first control handle performs a rotational motion, the target electromagnet is energized to generate a magnetic field.

5. The vascular interventional surgical robot system according to claim 1, characterized in that, The linear motion mechanism includes a linear motion mechanism body and a first drive mechanism; The first driving mechanism is disposed on the main body of the linear motion mechanism and is connected to the arc motion mechanism for driving the arc motion mechanism to perform linear translation.

6. The vascular interventional surgical robot system according to claim 1, characterized in that, The first control handle includes a first handheld element, which is used for rotational and / or linear motion under force; wherein, The control unit is also configured to: Obtain angular displacement information of the first handheld component under force rotation and / or linear displacement information of the first handheld component under force linear motion; The rotation angle of the arc-shaped motion mechanism is controlled according to the angular displacement information of the first handheld element, so as to change the magnetic field of the magnetic guiding device and deflect the distal end of the guide wire. The linear motion mechanism is controlled to change the magnetic field of the magnetic guide device by controlling the linear displacement information, thereby dragging the distal end of the guide wire.

7. The vascular interventional surgical robot system according to claim 6, characterized in that, The first control handle further includes a first motion part, which 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 both the first detection component and the second detection component, and the control unit is further configured to: The angular displacement information of the first handheld component is obtained through the first detection component, and the linear displacement information of the first handheld component is obtained through the second detection component.

8. The vascular interventional surgical robot system according to claim 7, characterized in that, The vascular interventional surgical robot system also includes a support platform, and the first moving part also includes a first slide rail, which is disposed on the support platform, and the first handheld element is slidably connected to the first slide rail.

9. The vascular interventional surgical robot system according to claim 1, characterized in that, The vascular interventional surgical robot system further includes: a pushing mechanism and a second control handle, the pushing mechanism being used to push the guidewire, the second control handle and the pushing mechanism being respectively connected to the control unit, the control unit being further configured to: When the second control handle performs linear motion, it controls the pushing mechanism to drive the guide wire to move linearly; When the second control handle performs a rotational movement, it controls the pushing mechanism to drive the guide wire to rotate.

10. The vascular interventional surgical robot system according to claim 9, characterized in that, The second control handle includes a second hand-held element, which is used for rotational and / or linear motion under force. The control unit is also configured to: Obtain angular displacement information of the second handheld component under force rotation and / or linear displacement information of the second handheld component under force linear motion; The angle by which the push mechanism drives the guide wire to rotate is controlled based on the angular displacement information of the second handheld element; The distance by which the push mechanism drives the guide wire to move linearly is controlled based on the linear displacement information of the second handheld element.

11. The vascular interventional surgical robot system according to claim 10, characterized in that, The pushing mechanism is equipped with a resistance sensor, which is used to detect the resistance information encountered by the guide wire during the pushing process; The second control handle includes a feedback component, which is connected to the second handheld 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 handheld element through the feedback component based on the resistance information.

12. The vascular interventional surgical robot system according to claim 7, characterized in that, The control unit is also configured to control the rotation angle of the arc-shaped motion mechanism based on the angular displacement information of the first handheld element, so as to change the magnetic field of the magnetic guiding device and deflect the distal end of the guide wire.

13. The vascular interventional surgical robot system according to claim 7, characterized in that, The control unit is also configured to: control the linear motion mechanism to perform a linear translation distance based on the linear displacement information of the first handheld element, so as to change the magnetic field of the magnetic guiding device and drag the distal end of the guide wire.

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