Pushing device of vascular intervention surgical robot and surgical robot system

Abstract

The invention relates to a pushing device of a vascular intervention surgical robot and a surgical robot system. The device comprises at least two sets of pushing assemblies, and each pushing assembly comprises a delivery mechanism used for clamping the far end of the long and thin piece to be pushed and moving to drive the long and thin piece to move in the first direction; the valve mechanism is connected with the near end of the slender piece and used for limiting the moving direction of the slender piece so that the slender piece can move in the first direction; the tensioning mechanism is arranged between the delivery mechanism and the valve mechanism, the slender piece is wound around the tensioning mechanism, the tensioning mechanism is used for driving the slender piece to move in the second direction so as to tighten the slender piece, the second direction is the direction enabling the slender piece to be away from the delivery axis, and the delivery axis is the axis of the part, moving in the first direction, of the slender piece. The long and thin part can be pushed, the long and thin part can be kept in a tightened state, and the moving stability of the long and thin part is improved.

Description

Technical Field

[0001] This application relates to the technical field of medical devices, and particularly to a pushing device for a vascular intervention surgical robot and a surgical robot system. Background Art

[0002] With the development of medical technology, minimally invasive techniques have emerged. By making small incisions at the affected sites of patients and then introducing special instruments into the patients' bodies under the guidance of medical imaging devices, minimally invasive surgeries can be performed on patients. Among them, minimally invasive vascular intervention surgeries diagnose internal diseases and perform local treatment on lesions by introducing catheters into the human body. However, during the process of the catheter entering the patient's body, how to ensure the stable pushing of the catheter is a problem that needs to be solved currently. Summary of the Invention

[0003] Based on this, in view of the above technical problems, it is necessary to provide a pushing device for a vascular intervention surgical robot and a surgical robot system that can ensure the stable pushing of the catheter.

[0004] A pushing device for a vascular intervention surgical robot includes: at least two sets of pushing components, and each pushing component includes: a delivery mechanism for clamping the distal end of an elongate member to be pushed, wherein the delivery mechanism moves to drive the elongate member to move in a first direction; a valve mechanism connected to the proximal end of the elongate member for restricting the moving direction of the elongate member so that the elongate member moves in the first direction; a tensioning mechanism disposed between the delivery mechanism and the valve mechanism, and the tensioning mechanism is used for tensioning in a second direction perpendicular to the first direction.

[0005] In one embodiment, the tensioning mechanism includes: a tensioning unit for contracting and moving in the second direction until the elongate member is straightened between the valve mechanism and the delivery mechanism.

[0006] In one embodiment, the tensioning unit includes: a plurality of movable pulleys, the elongate member is bent back and forth and wound around the plurality of movable pulleys, and any two adjacent movable pulleys among the plurality of movable pulleys are slidably arranged towards each other in the second direction.

[0007] In one embodiment, the pushing device of the vascular intervention surgical robot further includes a pressure sensor disposed on the movable pulley to sense the tension force of the elongate member.

[0008] In one embodiment, the delivery mechanism includes: at least one set of friction wheels arranged oppositely, the elongate member is clamped between a set of friction wheels, the friction wheels are used to rotate to push the elongate member to move in a first direction by frictional force, and the friction wheels are further used to translate up and down in a third direction to rotate the elongate member, wherein the third direction is perpendicular to both the first direction and the second direction.

[0009] In one embodiment, the delivery mechanism includes: at least one jaw, the jaw is used to clamp the elongate member and move along the first direction to drive the elongate member to move in the first direction, the jaw is further used to release the elongate member and reset, and the jaw is further used to twist the elongate member to rotate the elongate member.

[0010] In one embodiment, among the at least two sets of pushing assemblies, the valve mechanism of the previous pushing assembly and the delivery mechanism of the next pushing assembly are arranged adjacent to each other, and the valve mechanism of the previous pushing assembly provides a channel interface, so that the next elongate member clamped by the delivery mechanism of the next pushing assembly can enter the interior of the previous elongate member clamped by the valve mechanism of the previous pushing assembly through the channel interface.

[0011] In one embodiment, the valve mechanism and the delivery mechanism of each set of pushing assemblies are respectively arranged at intervals. Among them, the delivery mechanism of the next pushing assembly and the valve mechanism of the previous pushing assembly are fixed on a sliding seat to form a sliding delivery mechanism, and the sliding delivery mechanism slides towards the delivery mechanism of the previous pushing assembly to deliver the elongate member delivered by the previous pushing assembly.

[0012] A vascular intervention surgical robot system includes: a pushing device as described above, wherein the elongate member includes a magnetic guide wire; a navigation device for obtaining position information of the distal end of the magnetic guide wire away from the pushing device; a magnetic control device including a first control module, a robotic arm, and a magnetic component, the first control module is respectively connected to the navigation device, the robotic arm, and the magnetic component, and the magnetic component is arranged at the end of the robotic arm. Among them, the first control module is used to control the movement of the robotic arm according to the position information of the distal end of the magnetic guide wire so that the magnetic component follows the distal end of the magnetic guide wire; an operation console is respectively connected to the pushing device and the first control module, and is used to control the pushing device to move the elongate member, and adjust the magnetic field of the magnetic component through the first control module to deflect the distal end of the magnetic guide wire, so that the distal end of the magnetic guide wire bends.

[0013] In one embodiment, the vascular intervention surgical robot system further includes: at least one operating component configured to control the pusher device to move the elongated member it holds; a safety protection device respectively connected to the operating component and the operation console, and configured to cut off the connection between the operation console and the pusher device when a preset condition is met, where the preset condition includes at least one of the following: the operation console detects that the emergency stop switch is pressed, the image information of the target blood vessel is abnormal, the operating component detects that the user does not hold it, the feedback force received by the operating component exceeds a set threshold, and the operation console receives a stop signal.

[0014] The pusher device and the surgical robot system of the above-mentioned vascular intervention surgical robot. The device includes at least two sets of pusher components, and each pusher component includes a delivery mechanism, a valve mechanism, and a tensioning mechanism. By providing the delivery mechanism, the distal end of the elongated member to be pushed can be clamped, and the delivery mechanism can move to drive the elongated member to move in a first direction, thereby realizing the delivery of the elongated member and enabling the elongated member to move in the first direction. By providing the valve mechanism, it can be connected to the proximal end of the elongated member to limit the moving direction of the elongated member, so that the elongated member moves in the first direction, thereby realizing the limitation of the elongated member, and enabling the elongated member to move more stably in the first direction during the delivery process by the delivery mechanism. By providing a tensioning mechanism between the delivery mechanism and the valve mechanism, the elongated member is wound around the tensioning mechanism, and the tensioning mechanism is configured to drive the elongated member to move in a second direction to tension the elongated member. The second direction is the direction in which the elongated member moves away from the delivery axis. Therefore, on the one hand, the tensioning mechanism can store the elongated member, so that the elongated member is wound around the tensioning mechanism and placed in the second direction to realize the storage and accommodation of the elongated member. On the other hand, the tensioning mechanism can adjust the distance of driving the elongated member to move in the second direction to tension the elongated member, so that the elongated member can maintain a tensioned state, which is convenient for the elongated member to maintain a constant tension force when moving in the first direction and realize more stable movement. Description of the Drawings

[0015] To more clearly illustrate the technical solutions in the embodiments of the present application or in the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0016] Figure 1 It is a schematic structural diagram of the pusher device of the vascular intervention surgical robot in one embodiment;

[0017] Figure 2 It is the second schematic structural diagram of the pusher device of the vascular intervention surgical robot in one embodiment;

[0018] Figure 3 It is the third structural schematic diagram of the pushing device of the vascular intervention surgical robot in an embodiment;

[0019] Figure 4 It is the fourth structural schematic diagram of the pushing device of the vascular intervention surgical robot in an embodiment;

[0020] Figure 5 It is the fifth structural schematic diagram of the pushing device of the vascular intervention surgical robot in an embodiment;

[0021] Figure 6 It is the sixth structural schematic diagram of the pushing device of the vascular intervention surgical robot in an embodiment;

[0022] Figure 7 It is the structural diagram of the vascular intervention surgical robot system in an embodiment;

[0023] Figure 8 It is the structural diagram of the pushing device in an embodiment;

[0024] Figure 9 It is the structural diagram of the magnetic control device in an embodiment;

[0025] Figure 10 It is the overall schematic diagram of the operation console in an embodiment;

[0026] Figure 11 It is the structural diagram of the operation handle in an embodiment;

[0027] Figure 12 It is the structural diagram of the magnetic component in an embodiment. Detailed implementation manners

[0028] To facilitate the understanding of the present application, the present application will be described more comprehensively below with reference to the relevant accompanying drawings. Embodiments of the present application are given in the drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, these embodiments are provided to make the disclosure of the present application more thorough and comprehensive.

[0029] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present application belongs. The terms used in the specification of the present application herein are only for the purpose of describing specific embodiments and are not intended to limit the present application.

[0030] In one embodiment, as Figure 1As shown, a pushing device of a vascular interventional surgery robot is provided, comprising: at least two groups of pushing components, each group of pushing components comprising: a delivery mechanism 10, a valve mechanism 20, and a tensioning mechanism 30, wherein:

[0031] The delivery mechanism 10 is used to clamp the distal end of the elongated member 100 to be pushed.

[0032] The delivery mechanism 10 moves to drive the slender member 100 to move along a first direction. The first direction may be a direction in which the slender member 100 needs to be pushed. The slender member 100 can be pushed by driving the slender member 100 to move along the first direction.

[0033] Among them, the slender piece 100 can be a catheter or a guide wire, for example, it can be a guide catheter, an intermediate catheter, a loach guide wire, etc. The slender piece 100 clamped by each group of pushing components can be the same one or different slender pieces 100. The slender pieces 100 clamped by each group of pushing components can also be nested with each other to achieve a flexible combination of different catheters and guide wires.

[0034] The valve mechanism 20 is connected to the proximal end of the slender member 100 and is used to limit the moving direction of the slender member 100 so that the slender member 100 moves along a first direction.

[0035] Among them, the valve mechanism 20 can be a proximal end of the clamping slender member 100, or it can be a proximal end of the slender member 100 that is covered by an interface channel. This is not limited here. The function of the valve mechanism 20 is to fix the slender member 100 and limit the moving direction of the slender member 100 to ensure the stability of the slender member 100 during movement.

[0036] The tensioning mechanism 30 is disposed between the delivery mechanism 10 and the valve mechanism 20 . The slender member 100 is wound around the tensioning mechanism 30 . The tensioning mechanism 30 is used to drive the slender member 100 to move along the second direction to tighten the slender member 100 .

[0037] Among them, the second direction is the direction that makes the slender piece 100 move away from the delivery axis, and the delivery axis is the axis of the part of the slender piece 100 that moves in the first direction. The tensioning mechanism 30 can drive the slender piece 100 to move along the second direction, so that the slender piece 100 can be extended along the second direction without occupying the space in the first direction to achieve the storage of the slender piece 100. The tensioning mechanism 30 can also adjust the distance that the slender piece 100 is driven to move along the second direction to tension the slender piece 100, so that the slender piece 100 can maintain a tensioned state, so that when the slender piece 100 moves along the first direction, the tensioning force can be kept constant to achieve more stable movement.

[0038] Among them, when the slender member 100 is under tension, it is more convenient for its delivery and can also prevent the slender member 100 from winding around itself.

[0039] In this embodiment, by providing the delivery mechanism 10, the distal end of the slender member 100 to be pushed can be clamped, and the delivery mechanism 10 can move to drive the slender member 100 to move in the first direction, thereby realizing the delivery of the slender member 100 and enabling the slender member 100 to move in the first direction. By providing the valve mechanism 20, it can be connected to the proximal end of the slender member 100 to limit the moving direction of the slender member 100, so that the slender member 100 moves in the first direction, thereby realizing the limitation of the slender member 100. When the slender member 100 is being delivered by the delivery mechanism 10, it can move more stably in the first direction. By providing the tensioning mechanism 30 between the delivery mechanism 10 and the valve mechanism 20, the slender member 100 is wound around the tensioning mechanism 30, and the tensioning mechanism 30 is used to drive the slender member 100 to move in the second direction to tension the slender member 100. The second direction is the direction in which the slender member 100 moves away from the delivery axis. Therefore, on the one hand, the tensioning mechanism 30 can store the slender member 100, so that the slender member 100 is wound around the tensioning mechanism 30 and placed in the second direction to realize the storage and accommodation of the slender member 100. On the other hand, the tensioning mechanism 30 can adjust the distance of driving the slender member 100 to move in the second direction to make the slender member 100 tensioned. Furthermore, the slender member 100 can be kept in a tensioned state, which is convenient for the slender member 100 to maintain a constant tension force when moving in the first direction and realize a more stable movement.

[0040] In one embodiment, as Figure 2 shown, the tensioning mechanism 30 includes: a tensioning unit, and the tensioning unit is used to contract and move in the second direction until the slender member 100 is straightened between the valve mechanism 20 and the delivery mechanism 10.

[0041] Among them, since the slender member 100 is wound around the tensioning unit, the tensioning unit is used to contract and move in the second direction, which can drive the slender member 100 to move in the direction away from the delivery axis of the slender member 100. The delivery axis is the axis of the part of the slender member 100 that moves in the first direction. Furthermore, the length of the slender member 100 between the valve mechanism 20 and the delivery mechanism 10 can be adjusted, that is, the length of the slender member 100 wound around the tensioning unit of the pushing assembly is increased. Without changing the total length of the slender member 100 itself, the length of the part of the slender member 100 extending in the first direction can be indirectly reduced, so that the slender member 100 can be kept in a tensioned state.

[0042] In this embodiment, the tensioning unit contracts and moves in the second direction until the elongated member 100 is straightened between the valve mechanism 20 and the delivery mechanism 10, thereby ensuring that the elongated member 100 is in a straightened state and making it easier to push the elongated member 100.

[0043] In one embodiment, as Figure 2 and Figure 3 shown, the tensioning unit includes: a plurality of movable pulleys 32. The elongated member 100 reciprocally bends and is wound around the plurality of movable pulleys 32, and the plurality of movable pulleys 32 are slidably arranged towards each other in the second direction. The movable pulleys 32 slide along the slide rail in the second direction and contract towards the first direction. When moving to coincide with the first direction, the elongated member 100 is straightened.

[0044] In one embodiment, the pushing device of the vascular intervention surgical robot further includes a pressure sensor. The pressure sensor is arranged on the movable pulley to sense the tension force of the elongated member. Specifically, a pressure sensor is arranged on the movable pulley, so that the tension force of the elongated member can be obtained by detecting the pressure received by the movable pulley. Furthermore, based on the sensed tension force of the elongated member, the sliding of the movable pulley can be controlled to keep the tension force received by the elongated member constant. A processor can be provided. On the one hand, the processor can control the mechanical sliding of the plurality of movable pulleys, and on the other hand, it can obtain the force information sensed by the pressure sensors of each movable pulley. Based on the force information sensed by the pressure sensors of the movable pulleys, calculate the tension force received by the elongated member on the movable pulley, and adjust the position of the movable pulley based on the tension force to keep the tension force constant until the position of the movable pulley reaches the limit and cannot be adjusted. As Figure 3 shown, the elongated member 100 reciprocally bends and is wound around the plurality of movable pulleys 32, and the plurality of movable pulleys 32 can slide in the direction of the arrow in the figure, so that the tension force received by the elongated member 100 remains constant during the delivery process.

[0045] In one embodiment, as Figure 4 shown, the delivery mechanism 10 includes: at least one set of friction wheels 11 arranged oppositely. The elongated member 100 is clamped between a set of friction wheels 11. The friction wheels 11 are used for rotation to push the elongated member 100 to move in the first direction through friction, and the friction wheels 11 are also used for vertically translating in the third direction to rotate the elongated member 100, wherein the third direction is perpendicular to both the first direction and the second direction.

[0046] Exemplarily, as Figure 5 shown, the plurality of movable pulleys 32 can slide in the direction of the arrow in the figure and slide during the process of the delivery mechanism 10 delivering the elongated member 100 until the elongated member 100 is straightened in the first direction. At this time, the elongated member 100 can be straightened without being wound around the movable pulleys 32.

[0047] In this embodiment, by providing the friction wheel 11 , the function of driving the slender member 100 to move along the first direction and causing the slender member 100 to rotate can be achieved.

[0048] In one embodiment, Figure 6 As shown, the delivery mechanism 10 includes: at least one clamping jaw 12, the clamping jaw 12 is used to clamp the slender piece 100 and move along the first direction to drive the slender piece 100 to move along the first direction, the clamping jaw 12 is also used to loosen the slender piece 100 and reset it, and the clamping jaw 12 is also used to twist the slender piece 100 to rotate the slender piece 100.

[0049] Specifically, the clamping jaws 12 clamp the slender member 100 and move in the first direction to drive the slender member 100 to move in the first direction, and then the clamping jaws 12 are released, and the movement of the clamping jaws 12 does not drive the slender member 100 to move, and then the clamping jaws 12 are reset, and this action is repeated to drive the slender member 100 to move in the first direction. The clamping jaws 12 can also perform a twisting action, similar to the twisting of a robot arm, which can be achieved by existing mechanical designs in the field, so that the slender member 100 can be rotated.

[0050] In one embodiment, please continue to refer to Figures 4 - 6 In at least two groups of pushing components, the valve mechanism 20 of the previous pushing component and the delivery mechanism 10 of the next pushing component are arranged adjacent to each other, and the valve mechanism 20 of the previous pushing component provides a channel interface so that the next slender member clamped by the delivery mechanism 10 of the next pushing component can enter the interior of the previous slender member clamped by the valve mechanism 20 of the previous pushing component through the channel interface.

[0051] Among them, the slender pieces clamped by the previous pushing component and the next pushing component are different. For example, the slender piece clamped by the previous pushing component can be a catheter, and the slender piece clamped by the next pushing component can be a guide wire, so the guide wire can enter the interior of the catheter and be nested together.

[0052] For example, in Figure 7 The push assembly 200 includes three groups, and the slender pieces 100 clamped by the push assembly 200 can be a guide catheter, an intermediate catheter, and a loach guide wire, respectively. The loach guide wire enters the interior of the intermediate catheter, and the intermediate catheter enters the interior of the guide catheter, so they can be different slender pieces respectively.

[0053] In this embodiment, the channel interfaces of adjacent pushing components correspond to each other, so that the nesting of different slender members clamped by adjacent pushing components can be easily achieved.

[0054] In one embodiment, please continue to see Figure 6, the valve mechanisms 20 and the delivery mechanisms 10 of each set of pushing components are arranged at intervals respectively. Among them, the delivery mechanism 10 of the next pushing component and the valve mechanism 20 of the previous pushing component are fixed on a sliding seat 40 to form a sliding delivery mechanism. The sliding delivery mechanism slides towards the delivery mechanism 10 of the previous pushing component to deliver the elongate member delivered by the previous pushing component.

[0055] In this embodiment, by designing that the delivery mechanism 10 of the next pushing component and the valve mechanism 20 of the previous pushing component are respectively fixed on a sliding seat 40 to form a sliding delivery mechanism 10, it is convenient to realize the effect of delivering the previous set of elongate members and tensioning the next set of elongate members by sliding.

[0056] In one embodiment, as Figure 7 shown, a vascular intervention surgical robot system is provided, including: the pushing device 50, the navigation device 60, the magnetic control device 70, and the operation console 80 in any of the above embodiments, where:

[0057] The navigation device 60 is used to capture images to obtain the position information of the distal end of the magnetic guide wire away from the pushing device 50.

[0058] Among them, the elongate member includes a magnetic guide wire.

[0059] Among them, the navigation device 60 is the surgical navigation and positioning system, which can realize the tracking of the positions of multiple objects in the surgical area, and can also create a virtual three-dimensional coordinate system in the surgical area, so as to be able to track the patient's anatomical structure, surgical instruments or robot system, etc. The navigation device 60 can present the obtained position information, coordinate system, etc. on the display of the surgical operation console in the form of images. In this application, the navigation device 60 is used to track the position of the distal end of the magnetic guide wire. The relationship between the positions of the components of the vascular intervention surgical robot system in the coordinate system of the navigation device 60 in space and the positions on the image displayed by the navigation device 60 can be established in advance, that is, the position calibration of the navigation device 60 and the components of the vascular intervention surgical robot system is carried out. For example, the process of calibrating the robotic arm can be: a calibration plate is fixed at the end of the robotic arm, and then the end of the robotic arm is moved to any pose one, and the pose Tr1 of the end of the robotic arm and the pose Tc1 of the calibration plate in the image navigation system are recorded. The end of the robotic arm is moved to any pose two, and the pose Tr2 of the end of the robotic arm and the pose Tc2 of the calibration plate in the image navigation system are recorded. Repeat this operation until the end of the robotic arm is moved to any pose six, and the pose Tr6 of the end of the robotic arm and the pose Tc6 of the calibration plate in the image navigation system are recorded. Then, according to Tr1~Tr6, Tc1~Tc6, a system of equations is established to solve the coordinate system relationship Trc between the navigation device 60 and the robotic arm, and then the coordinate transformation relationship between the navigation device 60 and the robotic arm can be established.

[0060] Exemplarily, as Figure 8 shown, the pushing device 50 is supported by the fixed arm 34, and the fixed arm 34 is used to fix the pushing device 50 in a preset pose, so as to adjust the first direction in which the pushing device 50 pushes the elongate member. A touch screen 35 is also provided on the pushing device 50, and the doctor can also directly control the operation of the pushing device 50 on the touch screen 35.

[0061] As Figure 9 shown, the magnetic control device 70 includes a first control module 71, a robotic arm 72, and a magnetic component 73. The first control module 71 is respectively connected to the navigation device 60, the robotic arm 72, and the magnetic component 73. The magnetic component 73 is disposed at the end of the robotic arm 72. Among them, the first control module 71 is used to control the movement of the robotic arm 72 according to the position information of the distal end of the magnetic guide wire so that the magnetic component 73 follows the distal end of the magnetic guide wire.

[0062] Specifically, the magnetic control device 70 can automatically adjust the movement of the robotic arm 72 driving the magnetic component 73 according to the position of the distal end of the magnetic guide wire, so that the magnetic component 73 can follow the distal end of the magnetic guide wire, realizing the automatic following of the magnetic component 73. The purpose is to make the magnetic guide wire always remain within the action range of the magnetic component 73, facilitating the control of the bending of the magnetic guide wire through the magnetic component 73.

[0063] The operation console 80 is respectively connected to the pushing device 50 and the first control module 71, and is used to control the pushing device 50 to move the elongate member, and to adjust the magnetic field of the magnetic component 73 through the first control module 71 to deflect the distal end of the magnetic guide wire, so that the distal end of the magnetic guide wire bends.

[0064] Exemplarily, the doctor performs surgical operations through the operation console 80 outside the operating room, controls the pushing device 50 and the magnetic control device 70 in the operating room to push surgical consumables such as guide wires and catheters. The navigation device 60 in the operating room collects images and the positions of the guide wires and catheters during the operation, sends the real-time images to the operation console 80 for the doctor to monitor the operation process in real time, and sends the positions of the guide wires and catheters to the magnetic control device 70 for the magnetic guide wire to follow.

[0065] Specifically, on the one hand, the operation console 80 can control the pushing device 50 to move the elongate member, so that the elongate member can advance along the first direction. On the other hand, it can adjust the magnetic field of the magnetic component 73 through the first control module 71 to deflect the distal end of the magnetic guide wire, so that the distal end of the magnetic guide wire bends, thereby enabling flexible control of the guide wire.

[0066] In this embodiment, by setting up the navigation device 60, the position information of the distal end of the magnetic guide wire can be obtained. By setting up the magnetic control device 70, it can automatically follow the guide wire forward and, under the action of the operation console 80, control the free bending of the guide wire, facilitating the doctor to flexibly operate the guide wire to move in multiple degrees of freedom in space through the operation console 80, thus facilitating the progress of the operation.

[0067] In one embodiment, the vascular intervention surgical robot system further includes: at least one operation component and a safety protection device, where:

[0068] The operation component is used to control the pushing device to move the slender member it holds.

[0069] Exemplarily, as Figure 10 shown, it is a schematic diagram of the operation console 80. The operation console 80 includes a display screen 81, a touch screen 82, two operation handles 83, a magnetic control operation handle 84, and an emergency stop button 85. The display screen 81 is used to display the parameters of various parts of the surgical robot system, as well as to display the surgical image, position information, and other contents. The touch screen 82 is a processor (which may include a control module). The operation handle 83 is the handle for the doctor to operate, that is, the operation component. The magnetic control operation handle 84 can move in any direction within a certain range in space and is the handle for the doctor to control and adjust the parameters of the magnetic field generated by the magnetic component 73. The emergency stop button 85 is an emergency switch, and the doctor can press it to cut off the power supply of the entire system emergently.

[0070] Among them, please continue to refer to Figure 10 , the operation component can be the operation handle 83 on the operation console 80, and the doctor can control the operation of the pushing device 50 through the operation component. There can be multiple operation components. For example, the operation console 80 includes a first operation component and a second operation component. The operation console 80 is used to select a first target pushing component and a second target pushing component. Among them, the first target pushing component is any one of multiple pushing components, and the second target pushing component is any one of multiple pushing components. The first operation component is used to control the pushing mechanism in the first target pushing component to move the slender member it holds. The second operation component is used to control the pushing mechanism in the second target pushing component to move the slender member it holds. Thus, the doctor can select which pushing component the operation component corresponds to control and can switch at any time which pushing component the operation component controls, that is, one operation component can only control one pushing component at the same time, but which one of the multiple pushing components it controls can be freely selected by the doctor.

[0071] Exemplarily, as Figure 11As shown, it is a structural diagram of the operating handle 83, including a power device 74, a slide rail 75, a slider 76, a handle 77, and a position sensor 78. The handle 77 can push the slider to move on the slide rail, and the handle 77 can also rotate. One position sensor 78 obtains the position of the slider 76 on the slide rail 75, and the other position sensor 78 obtains the rotation angle of the handle 77. The handle 77 is also internally provided with a sensing module that can sense whether the doctor is holding the handle 77. The power device 74 can be a motor used to drive the corresponding part to move. Pushing the slider 76 can correspondingly control the pushing device 50 to push the slender member, and rotating the handle 77 can correspondingly control the pushing device 50 to rotate the slender member. It can be designed that the distance the slider moves is mapped to the distance the pushing device 50 pushes the slender member to achieve the pushing control of the slender member.

[0072] The pushing distance of the slender member can be calculated by the following formula:

[0073] x_s(n) = x_s(n - 1)+min(sign(x_m(n)-x_m(n - 1))*v*dt,x_m(n)-x_m(n - 1))

[0074] Where x_s(n) is the pushing position of the pushing device to push the slender member in the current control cycle, x_s(n - 1) is the pushing position of the pushing device to push the slender member in the previous control cycle, v is the maximum speed of the pushing device to push the slender member, dt is the control cycle, x_m(n) is the position of the handle of the operating handle being operated in the current control cycle, and x_m(n - 1) is the position of the handle of the operating handle being operated in the previous control cycle.

[0075] For example, if the position x_m(n - 1) of the handle of the operating handle in the previous control cycle is 10 mm, the position x_m(n) in the current cycle is 10.02 mm, the control cycle dt is 1 ms, the maximum speed v of the pushing device to push the catheter is 50 mm / s, and the position x_s(n - 1) of the pushing device to push the catheter in the previous control cycle is 30 mm, then the position of the pushing device to push the catheter in the current control cycle is x_s(n)=30 + min(sign(10.02 - 10)*50 / 1000*1,10.02 - 10)=30.02 mm, that is, the catheter is pushed to move a distance of 0.02 mm within a control cycle of 1 ms.

[0076] It can also be designed that the distance the slider moves is mapped to the speed of the pushing device 50 to push the slender member to achieve the pushing control of the slender member. The doctor can choose which mapping relationship to adopt by himself.

[0077] The pushing distance of the slender member can be calculated by the following formula:

[0078] x_s(n) = x_s(n - 1) + x_m(n) / x * v * dt

[0079] Wherein, x_s(n) is the position of the slender member pushed by the pushing device in the current control cycle, x_s(n - 1) is the position of the slender member pushed by the pushing device in the previous control cycle, x_m(n) is the position of the handle of the operating handle being operated in the current control cycle, x is the maximum operating range of the handle of the operating handle, v is the maximum pushing speed of the pushing device, and dt is the control cycle.

[0080] For example, suppose the position x_m(n) of the handle of the operating handle in the current cycle is 10 mm, the maximum operating range x is 50 mm, the control cycle dt is 1 ms, the maximum pushing speed v of the pushing device for pushing the catheter is 50 mm / s, and the position x_s(n - 1) of the catheter pushed by the pushing device in the previous control cycle is 30 mm. Then the position of the catheter pushed in the current control cycle is x_s(n) = 30 + 10 / 50 * 50 / 1000 * 1 = 30.01 mm, that is, the distance the catheter is pushed within a control cycle of 1 ms is 0.01 mm.

[0081] Specifically, in addition to the operating handle, the operating assembly further includes a first feedback assembly for applying a first feedback force to the handle assembly to hinder the handle assembly from continuing to perform linear motion during the linear motion of the handle assembly; a second feedback assembly for applying a second feedback force to the handle assembly to hinder the handle assembly from continuing to perform rotational motion during the rotational motion of the handle assembly, so as to facilitate providing force feedback to the doctor. The feedback assembly can provide the feedback force through a power device. The operation console further includes a second control module. The second control module is used to control the pushing mechanism to push the slender member to be pushed to move along a preset path when the handle assembly performs linear motion, and to control the pushing mechanism to rotate the slender member to be pushed when the handle assembly performs rotational motion.

[0082] Exemplarily, as Figure 12 shown, the magnetic assembly 73 includes a bracket 731 and a first coil 732 and a second coil 733 arranged oppositely; wherein, the first coil 732 is arranged at the first end of the bracket 731, and the second coil 733 is arranged at the second end of the bracket 731; the first control module 71 is used to respectively adjust the magnitude and direction of the current supplied to the first coil 732 and the second coil 733 under the control of the operation console 80 to adjust the magnetic field generated by the magnetic assembly 73. The magnetically controlled operation handle 84 can move freely in space to adjust the magnitude and direction of the current of the first coil 732 and the second coil 733, realizing the function of controlling the bending of the guide wire. A button is also arranged on the magnetically controlled operation handle 84, and the magnetically controlled operation handle 84 can work normally only when the button is pressed, otherwise it cannot control the magnetic control assembly.

[0083] The safety protection device is respectively connected to the operation component and the operation console, and is used to cut off the connection between the operation console and the pushing device when preset conditions are met.

[0084] Among them, the preset conditions include at least one of: the operation console detects that the emergency stop switch is pressed, the image information of the target blood vessel is abnormal, the operation component detects that the user does not hold it, the feedback force received by the operation component exceeds the set threshold, and the operation console receives a stop signal.

[0085] In this embodiment, by setting the operation component, it is convenient for the user to control the slender member, and by setting the safety protection device, the safety during the operation is ensured.

[0086] The above embodiments only represent several implementation manners of the present application, and the description thereof is relatively specific and detailed, but it should not be construed as a limitation on the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several deformations and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the appended claims.

Claims

1. A pushing device for a vascular interventional surgical robot, characterized in that, it includes: At least two sets of pushing components, and the pushing components include: A delivery mechanism, which is used to clamp the distal end of the slender member to be pushed. Wherein, the delivery mechanism moves to drive the slender member to move in a first direction; A valve mechanism, which is connected to the proximal end of the slender member and is used to limit the moving direction of the slender member so that the slender member moves in the first direction; A tensioning mechanism, which is arranged between the delivery mechanism and the valve mechanism. The slender member is wound around the tensioning mechanism, and the tensioning mechanism is used to tension the slender member in a second direction perpendicular to the first direction.

2. The pushing device for a vascular interventional surgical robot according to claim 1, characterized in that, The tensioning mechanism includes: a tensioning unit, and the tensioning unit is used to contract and move in the second direction until the slender member is straightened between the valve mechanism and the delivery mechanism.

3. The pushing device for a vascular interventional surgical robot according to claim 2, characterized in that, The tensioning unit includes: a plurality of moving pulleys, the slender member is bent back and forth and wound around the plurality of moving pulleys, and any two adjacent moving pulleys among the plurality of moving pulleys are arranged to slide towards each other in the second direction.

4. The pushing device for a vascular interventional surgical robot according to claim 3, characterized in that, It further includes a pressure sensor, and the pressure sensor is arranged on the moving pulley to sense the tension force of the slender member.

5. The pushing device for a vascular interventional surgical robot according to claim 1, characterized in that, The delivery mechanism includes: at least one set of friction wheels arranged oppositely, the slender member is clamped between a set of friction wheels, the friction wheels are used to rotate to push the slender member to move in the first direction through friction, and the friction wheels are also used to translate up and down in a third direction to rotate the slender member, wherein the third direction is perpendicular to both the first direction and the second direction.

6. The pushing device for a vascular interventional surgical robot according to claim 1, characterized in that, The delivery mechanism includes: at least one clamping jaw, the clamping jaw is used to clamp the slender member and move in the first direction to drive the slender member to move in the first direction, the clamping jaw is also used to loosen the slender member and reset, and the clamping jaw is also used to twist the slender member to rotate the slender member.

7. The pushing device for a vascular interventional surgical robot according to any one of claims 1-6, characterized in that, Among the at least two sets of pushing components, the valve mechanism of the upper pushing component and the delivery mechanism of the lower pushing component are arranged adjacent to each other. The valve mechanism of the upper pushing component provides a channel interface, so that the next slender member clamped by the delivery mechanism of the lower pushing component can enter the interior of the upper slender member clamped by the valve mechanism of the upper pushing component through the channel interface.

8. The pushing device for a vascular interventional surgical robot according to claim 7, characterized in that, The valve mechanisms and the delivery mechanisms of each set of pushing components are arranged at intervals respectively. Among them, the delivery mechanism of the next pushing component and the valve mechanism of the previous pushing component are fixed on a sliding seat to form a sliding delivery mechanism, and the sliding delivery mechanism slides towards the delivery mechanism of the previous pushing component to deliver the elongate member delivered by the previous pushing component.

9. A vascular intervention surgical robot system characterized in that it comprises: a pushing device as described in any one of claims 1-8, wherein the elongate member comprises a magnetic guide wire; a navigation device for obtaining position information of the distal end of the magnetic guide wire away from the pushing device; a magnetic control device comprising a first control module, a robotic arm, and a magnetic component. The first control module is respectively connected to the navigation device, the robotic arm, and the magnetic component. The magnetic component is arranged at the end of the robotic arm. Among them, the first control module is used to control the movement of the robotic arm according to the position information of the distal end of the magnetic guide wire so that the magnetic component follows the movement of the distal end of the magnetic guide wire; an operation console, which is respectively connected to the pushing device and the first control module, and is used to control the pushing device to move the elongate member, and to adjust the magnetic field of the magnetic component through the first control module to deflect the distal end of the magnetic guide wire so that the distal end of the magnetic guide wire bends.

10. The vascular intervention surgical robot system according to claim 9 characterized in that it further comprises: at least one operation component for controlling the pushing device to move the elongate member clamped by it; a safety protection device, which is respectively connected to the operation component and the operation console, and is used to cut off the connection between the operation console and the pushing device when a preset condition is met. Among them, the preset condition includes at least one of the following: the operation console detects that the emergency stop switch is pressed, the image information of the target blood vessel is abnormal, the operation component detects that the user is not holding, the feedback force received by the operation component exceeds a set threshold, and the operation console receives a stop signal.

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