Interventional surgery robot control system and method and storage medium

Abstract

The invention discloses an interventional operation robot control system and method and a storage medium. The interventional operation robot control system comprises a robot body, a control module and a liquid path infusion module, and the control module is used for controlling the robot body to drive an interventional instrument to move; the control module is further used for sending a control instruction to the liquid path infusion module, and the liquid path infusion module is used for receiving the control instruction and injecting medical liquid. According to the interventional operation robot system, the movement of the interventional instrument can be controlled, and the liquid path infusion module can also be controlled, that is, the movement of the interventional instrument and the liquid path infusion module can be uniformly controlled through the interventional operation robot control system, medical staff responsible for respective independent systems do not need to cooperatively complete the operation, and the operation efficiency can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly to an interventional surgical robot control system, method, and storage medium. Background Art

[0002] In existing interventional surgeries, the movement of interventional instruments is controlled by an interventional robot, a contrast agent is injected through an independent contrast agent infusion system, and normal saline is dripped through a normal saline infusion system. The operation processes are independent and not related to each other, and multiple medical staff are required to cooperate to complete the operation, resulting in low surgical efficiency. For example, the injection of the contrast agent and normal saline requires the cooperation of medical staff responsible for the liquid path infusion system, and the interventional instruments are operated by medical staff responsible for the medical device motion system. Summary of the Invention

[0003] The main object of the present invention is to provide an interventional surgical robot control system, method, and storage medium, aiming to solve the technical problem that in interventional surgeries, the liquid path infusion system for controlling the injection of contrast agents or the dripping of normal saline is independent of the interventional surgical robot and cannot be uniformly controlled by the interventional surgical robot, resulting in low surgical efficiency.

[0004] To achieve the above-mentioned invention object, the first aspect of the present invention proposes an interventional surgical robot control system, including: a robot body, a control module, and a liquid path infusion module. The control module is used to control the robot body to drive the movement of interventional instruments; the control module is also used to send a control instruction to the liquid path infusion module, and the liquid path infusion module is used to receive the control instruction and inject medical liquid.

[0005] In one embodiment, the control module includes a liquid path control module. The liquid path control module is provided in the robot body and is used to send a control instruction to the liquid path infusion module, and the liquid path infusion module is used to receive the control instruction and inject the medical liquid.

[0006] In one embodiment, the robot body includes a master manipulator and a slave driver, and the liquid path control module is provided in the master manipulator or the slave driver.

[0007] In one embodiment, the robot body includes a master manipulator and a slave driver. The liquid path control module is provided in the master manipulator, and the master manipulator is communicatively connected to the slave driver. The liquid path control module is used to send a control instruction to the liquid path infusion module through the slave driver, and the liquid path infusion module is used to receive the control instruction and inject the medical liquid.

[0008] In one embodiment, the liquid infusion module includes at least one liquid infusion unit. The liquid path control module is configured to send control instructions to the liquid infusion unit, and the liquid infusion unit is configured to receive the control instructions and inject the medical liquid.

[0009] In one embodiment, the liquid infusion module includes at least one of a contrast agent injection unit, a normal saline drip unit, and a balloon pressurization unit;

[0010] The liquid path control module is configured to send an injection instruction to the contrast agent injection unit, and the contrast agent injection unit is configured to receive the injection instruction and inject the contrast agent; and / or

[0011] The liquid path control module is configured to send a drip instruction to the normal saline drip unit, and the normal saline drip unit is configured to receive the drip instruction and drip the normal saline; and / or

[0012] The balloon pressurization unit includes a balloon pressurizer and a balloon. The balloon pressurizer is respectively connected to the liquid path control module and the balloon. The liquid path control module is configured to send an operation instruction to the balloon pressurizer, and the balloon pressurizer is configured to receive the operation instruction and control the balloon to expand or contract.

[0013] In one embodiment, the liquid infusion module is further configured to feedback the parameters of injecting the medical liquid to the robot body, and the robot body is configured to display the parameters of the liquid infusion module injecting the medical liquid.

[0014] A second aspect of the present invention provides a control method for an interventional surgical robot. The control method includes the following steps:

[0015] Receiving a first control instruction and driving the interventional instrument to move according to the first control instruction;

[0016] Receiving a second control instruction and injecting the medical liquid according to the second control instruction.

[0017] In one embodiment, the interventional surgical robot includes a master manipulator and a slave driver. The steps of receiving the first control instruction and driving the interventional instrument to move according to the first control instruction, and receiving the second control instruction and injecting the medical liquid according to the second control instruction include:

[0018] The slave driver receives the first control instruction sent by the master manipulator and controls the interventional instrument to be delivered to a preset position according to the first control instruction;

[0019] The slave driver receives the second control instruction sent by the master manipulator and controls the injection of the medical liquid according to the second control instruction.

[0020] A third aspect of the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to execute the control method of the above-mentioned interventional surgical robot.

[0021] Beneficial effects:

[0022] The present invention provides a control system, method and storage medium for an interventional surgical robot, including a robot body, a control module and a liquid infusion module. The control module is used to control the robot body to drive the movement of the interventional instrument; the control module is also used to send a control instruction to the liquid infusion module, and the liquid infusion module is used to receive the control instruction and inject the medical liquid. In this control system of the interventional surgical robot, in addition to controlling the movement of the interventional instrument, the liquid infusion module can also be controlled, that is, the movement of the interventional instrument and the liquid infusion module can be uniformly controlled by the control system of the interventional surgical robot, without the cooperation of medical staff responsible for their respective independent systems, which can improve the efficiency of the operation. Description of the Drawings

[0023] Figure 1 is a schematic diagram of the composition of an interventional surgical robot system according to an embodiment of the present invention.

[0024] Figure 2 is a schematic diagram of the composition of an interventional surgical robot system according to an embodiment of the present invention.

[0025] Figure 3 is a flowchart of a control method for an interventional surgical robot according to an embodiment of the present invention.

[0026] Wherein:

[0027] 101. Robot body; 102. Control module; 103. Liquid infusion module; 1011. Liquid path control module.

[0028] The realization, functional characteristics and advantages of the object of the present invention will be further described with reference to the embodiments and the accompanying drawings. Detailed Embodiments

[0029] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0030] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of the said features. In the description of the present invention, "a plurality of" means two or more unless otherwise specifically defined.

[0031] In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, the terms "mounted", "connected" and "coupled" shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection or an integral connection; it may be a mechanical connection, a direct connection or an indirect connection through an intermediate medium, and may be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0032] In the present invention, unless otherwise clearly defined and limited, the first feature being "on" or "under" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through additional features therebetween. Moreover, the first feature being "above", "over" and "on top of" the second feature includes that the first feature is directly above and obliquely above the second feature, or merely means that the horizontal height of the first feature is higher than that of the second feature. The first feature being "under", "beneath" and "underneath" the second feature includes that the first feature is directly below and obliquely below the second feature, or merely means that the horizontal height of the first feature is lower than that of the second feature.

[0033] Such as Figure 1As shown, in some embodiments, an interventional surgical robot control system 10 includes: a robot body 101, a control module 102, and a liquid infusion module 103. The control module 102 is used to control the robot body 101 to drive the movement of the interventional instrument. The control module 102 is also used to send control instructions to the liquid infusion module 103, and the liquid infusion module 103 is used to receive the control instructions and inject medical liquid. In this interventional surgical robot system 10, in addition to controlling the movement of the interventional instrument, it is also possible to drive the interventional instrument to perform operations by controlling the robot body 101, that is, to complete the movement of the interventional instrument and the injection of medical liquid through the interventional surgical robot, without the need for medical staff responsible for their respective independent systems to cooperate, which can improve the efficiency of the operation.

[0034] Specifically, the control module 102 includes a liquid path control module 1011, as Figure 2 shown, the liquid path control module 1011 is provided in the robot body 101. The liquid path control module is used to send control instructions to the liquid infusion module 103, and the liquid infusion module 103 is used to receive the control instructions and inject the medical liquid.

[0035] Specifically, the robot body includes a master manipulator and a slave driver. The master manipulator is communicatively connected to the slave driver. The master manipulator is used to send drive instructions to the slave driver, and the slave driver is used to receive the drive instructions sent by the master manipulator and drive the movement of the interventional instrument. The liquid path control module is provided in the master manipulator. The liquid path control module provided in the master manipulator is used to send control instructions to the liquid infusion module, and the liquid infusion module is used to receive the control instructions and inject the medical liquid.

[0036] During operation, both the slave driver and the liquid infusion module can be controlled through the master manipulator. That is, the movement of the interventional instrument and the injection of medical liquid (such as contrast agent and physiological saline) can be controlled through the master manipulator. This process can be completed by an operator operating the master manipulator, without the need for multiple medical staff to cooperate, which can improve the efficiency of the operation.

[0037] In this embodiment, the interventional instrument can be a catheter, a guide wire, etc.

[0038] Specifically, the master manipulator has a human-machine interface, which is convenient for medical staff to operate intuitively, such as a joystick, a touch panel, buttons, etc. Medical staff can precisely control the slave driver and the liquid infusion module through these interface elements, and thus control the movement of the interventional instrument and the injection of medical liquid.

[0039] In some embodiments, the master manipulator and the slave driver can be communicatively connected by wired or wireless means for transmitting command information and status. That is, a stable data connection is established between the master manipulator and the slave driver. This data connection method can be a wired connection (such as a high-speed data cable) to improve the speed and reliability of command transmission between the master manipulator and the slave driver. In other embodiments, this data connection method can also be a wireless connection (such as a wireless communication technology in a specific frequency band), which facilitates the flexible arrangement of devices in the interventional surgery environment and reduces problems such as cable entanglement.

[0040] Specifically, the master manipulator has the function of generating and sending drive instructions in a specific format. These drive instructions are encoded and optimized to accurately convey the operation intention of the medical staff on the master manipulator. The transmission protocol of the drive instructions is usually designed specifically for medical interventional robots, with high accuracy and real-time performance to ensure the safety and smooth progress of the surgery.

[0041] Specifically, the slave driver has an instruction receiving system that can accurately receive the drive instructions sent by the master manipulator 110. That is, the slave driver has a stable communication interface and a signal decoding mechanism to ensure that the slave driver can correctly interpret various parameters in the drive instructions.

[0042] The slave driver needs to be adapted according to the mechanical characteristics and motion requirements of different interventional instruments it is connected to. The slave driver needs to have flexible drive modes and mechanical interfaces, and can convert the received instructions into physical motions suitable for specific interventional instruments. Such physical motions can include the forward, backward or rotation of the interventional instrument. For example, for a catheter with multiple bending segments, the slave driver needs to be able to precisely control the angle change of each bending segment through multiple independent drive units according to the instructions to achieve flexible steering of the catheter in the blood vessel.

[0043] In some embodiments, the drive instructions are speed, displacement and direction instructions generated based on the motion parameters of the obtained joystick, button, lever or touch screen, etc.

[0044] The master manipulator can be equipped with precise sensors or input devices to obtain this parameter information. For example, the direction parameter may be determined by the tilt angle of the joystick, the speed parameter may be determined by the rotation amplitude of the knob, and the displacement parameter may be recorded by the encoder. The acquisition and setting of this parameter are the basis for generating effective drive instructions.

[0045] The drive instructions are used to control the slave driver to drive the interventional instrument to achieve precise motion at a preset speed, displacement and direction.

[0046] In some embodiments, the liquid infusion module and the master manipulator can communicate in a wired or wireless manner to transmit command information and status related to liquid injection. That is, a stable data connection is established between the master manipulator and the liquid infusion module. This data connection method can be a wired connection (such as a high-speed data cable) to improve the speed and reliability of command transmission between the master manipulator and the liquid infusion module. In other embodiments, this data connection method can also be a wireless connection (such as a wireless communication technology in a specific frequency band), which is convenient for flexibly arranging devices in the interventional surgery environment and reducing problems such as cable entanglement.

[0047] The master manipulator has the function of generating and sending injection instructions in a specific format. These injection instructions are encoded and optimized to accurately convey the operation intentions of medical staff on the master manipulator. The transmission protocol of the injection instructions is usually designed specifically for medical interventional robots and has high accuracy and real-time performance to ensure the safety and smooth progress of the surgery.

[0048] The liquid infusion module matches the receiving unit of the master manipulator and can accurately receive the injection instructions sent by the master manipulator. These injection instructions can include key information such as injection speed, injection volume, and injection time. The liquid infusion module can be adapted to interventional instruments. The liquid infusion module can be provided with multiple interfaces, and the multiple interfaces are connected to different specifications and types of interventional instruments, and can adjust the injection pressure and flow rate according to the internal channel structure of the interventional instrument to ensure that the medical liquid can be smoothly injected into the target site through the interventional instrument.

[0049] In some embodiments, the liquid infusion module is also used to feedback the parameters of injecting the medical liquid to the master manipulator, and the master manipulator is used to display the parameters of the liquid infusion module injecting the medical liquid.

[0050] A two-way communication connection is established between the liquid infusion module and the master manipulator. This connection can not only receive the injection instructions sent by the master manipulator, but also feedback the parameters of injecting the medical liquid to the master manipulator. This two-way communication requires a stable data transmission protocol and signal processing mechanism to ensure the accurate transmission of information in both directions and avoid data loss or misinterpretation. For example, a high-speed and anti-interference data transmission line is adopted to ensure that under the complex electromagnetic environment of the operating room, the parameters feedback by the liquid infusion module can reach the master manipulator in a timely and accurate manner, and at the same time, the instructions of the master manipulator can also be correctly received by the infusion module.

[0051] Specifically, the parameters feedback by the liquid infusion module are displayed in an intuitive manner, such as digital display, chart display, etc. At the same time, the master manipulator can also record this parameter. For example, during an interventional surgery, the current injection speed of the medical liquid and the curve change of the injected volume can be displayed in real time on the screen of the master manipulator, and medical staff can intuitively observe the injection situation of the medical liquid. Medical staff can adjust the injection instruction in a timely manner according to the feedback parameters to ensure that the injection process meets expectations. If it is found that the actual injection speed is too fast or too slow, medical staff can modify the injection instruction on the master manipulator in a timely manner to make the liquid infusion module adjust the injection speed.

[0052] Specifically, the liquid infusion module includes at least one liquid infusion unit, and the liquid path control module is used to send control instructions to the liquid infusion unit, and the liquid infusion unit is used to receive the control instructions and inject the medical liquid.

[0053] Specifically, the liquid infusion module includes at least one of a contrast agent injection unit, a normal saline drip unit, and a balloon pressurization unit;

[0054] The liquid path control module is used to send an injection instruction to the contrast agent injection unit, and the contrast agent injection unit is used to receive the injection instruction and inject the contrast agent; the injection instruction is an instruction generated based on the flow rate, total injection volume, injection time, and injection pressure parameters of the contrast agent injection sent by the liquid path control module.

[0055] The contrast agent injection unit has the function of receiving the injection instruction of the liquid path control module. The contrast agent injection unit has a communication interface and signal decoding function that match the liquid path control module. The contrast agent injection unit can understand the instruction information sent by the liquid path control module, including key parameters such as the injection volume, injection speed, and injection time of the contrast agent. The contrast agent injection unit can also accurately execute the injection instruction according to this injection instruction. For example, after the liquid path control module sends an instruction to inject the contrast agent at a preset speed, the contrast agent injection unit will convert this instruction into specific control signals such as motor speed and valve opening degree to achieve accurate injection of the contrast agent.

[0056] During an interventional surgery, accurate injection of the contrast agent can clearly show the internal structure of blood vessels or organs. By setting detailed injection instructions through the liquid path control module, the contrast agent injection unit can operate precisely to ensure that the contrast agent is injected at the right time, at the right speed and in the right amount, so as to obtain high-quality angiography images or organ imaging effects. For example, during a coronary angiography surgery, precise control of the injection of the contrast agent can clearly show the degree of stenosis, lesion location and vascular morphology of the coronary artery, helping medical staff accurately judge the condition and formulate appropriate treatment plans.

[0057] Specifically, the contrast agent injection unit may further have a feedback monitoring function and be capable of receiving actual infusion status information. For example, status information such as the actual injection speed of the contrast agent, the cumulative infusion volume of the contrast agent, whether there are air bubbles in the infusion channel, and real-time pressure monitoring. After processing this status information, it is fed back to the master manipulator to form a closed-loop control circuit to achieve more precise injection control.

[0058] In some embodiments, the liquid path control module is used to send a drip instruction to the normal saline drip unit, and the normal saline drip unit is used to receive the drip instruction and drip normal saline; the drip instruction is an instruction generated based on the flow rate, total drip volume, drip time, and drip pressure parameters of the normal saline drip sent by the master manipulator.

[0059] The normal saline drip unit may include an infusion pump, a pipeline, a drip needle, and a flow rate monitoring component and a pressure monitoring component, etc. The above components work together to achieve stable dripping of normal saline. For example, the normal saline drip unit can control the rotation speed of the drip pump motor through electrical lines, thereby adjusting the drip speed of normal saline. Or adjust the flow rate of normal saline by controlling the opening and closing degree of the valve.

[0060] The balloon pressurizing unit includes a balloon pressurizer and a balloon. The balloon pressurizer is respectively connected to the liquid path control module and the balloon. The liquid path control module is used to send an operation instruction to the balloon pressurizer, and the balloon pressurizer is used to receive the operation instruction and control the balloon to expand or contract.

[0061] Specifically, the liquid path infusion module is also used to feed back the parameters of injecting the medical liquid to the robot body, and the robot body is used to display the parameters of the liquid path infusion module injecting the medical liquid.

[0062] Specifically, the operation instruction is an instruction generated based on the expansion pressure and expansion time parameters of the balloon sent by the master manipulator. Or, the operation instruction is an instruction generated based on the contraction pressure and contraction time parameters of the balloon sent by the master manipulator 110.

[0063] When balloon dilation is required during an interventional operation, the master manipulator can set parameters such as the dilation pressure, pressurization time, pressure holding time, and pressure release time of the balloon, and start or stop the balloon dilation action. After receiving this operation instruction, the balloon pressurizer injects the contrast agent into the balloon according to the set parameters, ensuring that the balloon pressure changes according to the operation instruction settings, and realizing the expansion or contraction of the balloon according to the preset pressure and time curve. During the balloon expansion or release process, the actual pressure and change state of the balloon will be fed back to the master manipulator.

[0064] Specifically, the balloon pressurizer has a signal receiving and processing module that matches the master manipulator, enabling the balloon pressurizer to receive the operation instructions sent by the master manipulator. The operation instructions may include detailed parameters such as the pressure value for balloon dilation, the dilation speed, the time to maintain the dilated state, and the contraction speed, etc. The balloon pressurizer can convert the operation instructions into actual control of the balloon. The balloon pressurizer may include a power device (such as a motor, a hydraulic device, etc.) and a pressure regulation system, and through precisely controlling the power output and pressure change, it realizes precise control of balloon dilation and contraction. For example, when the master manipulator sends an instruction to dilate the balloon to a preset pressure and maintain it for a certain time, the balloon pressurizer can gradually increase the pressure inside the balloon through the internal pressure sensor and control algorithm until it reaches the set value and maintains this pressure state within the specified time.

[0065] Specifically, the robot body includes a master manipulator and a slave driver. The liquid path control module is provided inside the slave driver. The liquid path control module is used to send control instructions to the liquid path infusion module, and the liquid path infusion module is used to receive the control instructions and inject the medical liquid.

[0066] Data transmission can be carried out between the slave driver and the liquid path infusion module. The connection method can be a wired connection, such as through a specific data cable, to ensure the stability and high speed of instruction transmission and reduce external interference. In other embodiments, the connection method can also be a wireless connection, using a suitable wireless communication technology to make the surgical environment cleaner and avoid the inconvenience brought by excessive cables.

[0067] The slave driver can also have a corresponding operation interface or software system, which can enable medical staff to set and send instructions. The slave driver can have input devices such as buttons, knobs, touch screens, etc., for inputting various injection parameters and can package these parameters into an instruction format and send them out. For example, the operator can set the injection speed by rotating the knob and then press the send button, and the slave driver will send an instruction containing the injection speed information to the liquid path infusion module.

[0068] Specifically, injection-related parameters such as injection dose, injection speed, injection time, injection pressure parameters, etc. are set on the operation interface of the slave driver. This parameter will serve as the basis for generating injection instructions. For example, for patients who need continuous microinjection of drugs, a lower injection speed and a suitable total dose will be set. The microprocessor or control chip inside the slave driver will generate corresponding injection instructions based on the set parameters using a specific algorithm. The algorithm will take into account factors such as the characteristics of the liquid infusion module and the physical properties of the drug to ensure the feasibility and effectiveness of the injection instructions. The generated injection instructions will be encoded into specific digital signals or electrical signals. The encoding method usually follows the communication protocol to facilitate accurate information transmission with the liquid infusion module.

[0069] Specifically, the principle of sending control instructions through the fluid circuit control module in the slave end driver to control the injection of medical fluid is the same as the control principle of the fluid circuit control module in the master end operator, which will not be repeated here.

[0070] In some embodiments, the robot body includes a master-end operator and a slave-end driver, the master-end operator is provided with the fluid circuit control module, the master-end operator is communicatively connected with the slave-end driver, the fluid circuit control module is used to send control instructions to the fluid circuit infusion module through the slave-end driver, and the fluid circuit infusion module is used to receive the control instructions and inject the medical fluid.

[0071] Specifically, the following takes medical liquid as a contrast agent as an example:

[0072] The master operator and the slave driver work together. The master operator triggers the injection command through the operation interface (such as the contrast agent injection button), and collects the operation parameters (such as the pressing force) in real time through the built-in sensor (such as the thin film pressure sensor) and converts them into electrical signals. The master operator touch control display converts the pressure signal into a servo motor control signal, and sends the execution command to the slave driver through wired or wireless communication. After receiving the command, the slave driver controls the servo motor to adjust the injection speed, and at the same time links the servo to switch the liquid valve to ensure that the contrast agent is accurately injected into the patient through the preset path.

[0073] In terms of technical implementation, communication protocol support is required. The system can use standardized bus protocols (such as CANopen) to achieve stable communication between the master and slave ends to ensure the real-time and reliability of instruction transmission. The slave driver synchronously monitors parameters such as pressure and flow during execution to prevent the risk of extravasation caused by abnormal pressure or fluid blockage.

[0074] In angiography (such as DSA), the operator at the master end completes the injection of contrast agent through remote control of the slave driver, reducing radiation exposure. Additionally, in scenarios where simultaneous injection of contrast agent and saline is required, the master manipulator coordinates the multi-channel liquid path switching through the slave driver to achieve an integrated "injection-flushing" operation.

[0075] The injection instruction sent by the master manipulator is parsed and executed through the slave driver. The two achieve an accurate and safe contrast agent infusion process through software and hardware collaboration.

[0076] As Figure 3 shown, an embodiment of the present invention also provides a control method for an interventional surgical robot, including the following steps:

[0077] S1, receiving a first control instruction and driving the interventional instrument to move according to the first control instruction;

[0078] S2, receiving a second control instruction and injecting a medical liquid according to the second control instruction.

[0079] Specifically, the interventional surgical robot includes a master manipulator and a slave driver. The steps of receiving the first control instruction and driving the interventional instrument to move according to the first control instruction; receiving the second control instruction and injecting the medical liquid according to the second control instruction include:

[0080] The slave driver receives the first control instruction sent by the master manipulator and controls the interventional instrument to be delivered to a preset position according to the first control instruction;

[0081] Specifically, the master manipulator can generate a driving instruction containing various key parameters (such as speed, direction, displacement, etc.) based on the surgical requirements and the target motion state of the interventional instrument. This driving instruction needs to go through a specific coding and transmission method to ensure accurate and error-free transmission.

[0082] Specifically, the slave driver has corresponding decoding and execution capabilities. The slave driver can understand the parameters in the received driving instruction and accurately drive the interventional instrument to move according to the instruction requirements through the internal power system and mechanical transmission device, etc., to achieve operations such as the advancement of a guide wire in a blood vessel and the turning of a catheter.

[0083] Specifically, the slave driver can also real-time monitor the position information of the instrument. When reaching the preset position, it can accurately stop the driving operation to prevent unnecessary risks caused by excessive movement of the instrument. The slave driver has a high-precision position monitoring sensor and a reliable control logic to achieve accurate position judgment and instruction stop execution functions.

[0084] The slave end driver receives the second control instruction sent by the master end operator and controls the injection of the medical liquid according to the second control instruction.

[0085] Specifically, the master end operator generates a suitable injection instruction according to the specific requirements of medical liquid injection (such as injection volume, injection speed, injection timing, etc.), and this injection instruction also needs to be sent out through a stable communication connection.

[0086] Specifically, the slave end driver converts the received second control instruction into the ability to perform actual liquid injection operations, so as to ensure that the medical liquid can be accurately injected into the corresponding part of the human body through the interventional instrument at the speed and injection volume required by the instruction.

[0087] In some embodiments, the control instruction can be directly sent by the master end operator to the liquid infusion device to control the injection of the medical liquid. Or the control instruction can be directly sent by the slave end driver to the liquid infusion device to control the injection of the medical liquid. The specific principle is the same as the introduction of the control system of the aforementioned interventional surgical robot, and will not be elaborated here.

[0088] The embodiment of the present invention also provides a computer-readable storage medium, which stores computer instructions for causing a computer to execute the control method of the interventional surgical robot.

[0089] In some embodiments, correlating the movement of the interventional instrument with the injection of the medical liquid, rather than operating independently, can improve the efficiency of the interventional surgery. During the entire interventional surgery process, the state and position of the instrument movement will directly affect the timing and method of medical liquid injection. For example, it may be necessary to immediately inject a specific medical liquid (such as a contrast agent or a therapeutic drug) after the interventional instrument accurately reaches the lesion site in order to better observe the lesion condition or perform targeted treatment. This correlation requires collaborative design in all aspects of instruction generation, transmission, and execution to ensure seamless connection between instrument movement and liquid injection and close cooperation with the surgical process.

[0090] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structure or equivalent process transformation made by using the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, shall be similarly included in the patent protection scope of the present invention.

Claims

1. An interventional surgery robot control system, characterized in that: include: A robot body, a control module and a fluid infusion module, wherein the control module is used to control the robot body to drive the interventional instrument to move; the control module is also used to send control instructions to the fluid infusion module, and the fluid infusion module is used to receive the control instructions and inject medical fluid.

2. The interventional surgery robot control system according to claim 1, characterized in that: The control module includes a liquid circuit control module, which is disposed in the robot body and is used to send control instructions to the liquid circuit infusion module, and the liquid circuit infusion module is used to receive the control instructions and inject the medical fluid.

3. The interventional surgery robot control system according to claim 2, characterized in that: The robot body comprises a master-end manipulator and a slave-end driver, and the fluid circuit control module is arranged in the master-end manipulator or the slave-end driver.

4. The interventional surgery robot control system according to claim 2, characterized in that: The robot body includes a master-end operator and a slave-end driver. The master-end operator is provided with the fluid circuit control module. The master-end operator is communicatively connected with the slave-end driver. The fluid circuit control module is used to send control instructions to the fluid circuit infusion module through the slave-end driver. The fluid circuit infusion module is used to receive the control instructions and inject the medical fluid.

5. The interventional surgery robot control system according to any one of claims 2 to 4, characterized in that: The fluid circuit infusion module includes at least one fluid circuit infusion unit, the fluid circuit control module is used to send a control instruction to the fluid circuit infusion unit, and the fluid circuit infusion unit is used to receive the control instruction and inject the medical fluid.

6. The interventional surgery robot control system according to any one of claims 2 to 4, characterized in that: The fluid circuit infusion module includes at least one of a contrast agent injection unit, a saline drip unit, and a balloon pressurization unit; The liquid circuit control module is used to send an injection instruction to the contrast agent injection unit, and the contrast agent injection unit is used to receive the injection instruction and inject the contrast agent; and / or The liquid circuit control module is used to send a dripping instruction to the physiological saline dripping unit, and the physiological saline dripping unit is used to receive the dripping instruction and drip physiological saline; and / or The balloon pressurizing unit includes a balloon pressurizer and a balloon. The balloon pressurizer is connected to the fluid circuit control module and the balloon respectively. The fluid circuit control module is used to send an operation instruction to the balloon pressurizer, and the balloon pressurizer is used to receive the operation instruction and control the expansion or contraction of the balloon.

7. The interventional surgery robot control system according to any one of claims 2 to 4, characterized in that: The fluid circuit infusion module is also used to feed back the parameters of injecting the medical fluid to the robot body, and the robot body is used to display the parameters of injecting the medical fluid by the fluid circuit infusion module.

8. A control method for an interventional surgery robot, characterized in that: The control method comprises the following steps: receiving a first control instruction, and driving the interventional instrument to move according to the first control instruction; A second control instruction is received, and the medical fluid is injected according to the second control instruction.

9. The control method of the interventional surgery robot according to claim 8, characterized in that: The interventional surgical robot comprises a master-end manipulator and a slave-end driver, which receives a first control instruction and drives the interventional instrument to move according to the first control instruction; The step of receiving a second control instruction and injecting a medical fluid according to the second control instruction comprises: The slave-end driver receives the first control instruction sent by the master-end operator, and controls the interventional instrument to be delivered to a preset position according to the first control instruction; The slave-end driver receives the second control instruction sent by the master-end operator, and controls the injection of the medical fluid according to the second control instruction.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, which are used to enable a computer to execute the control method of the interventional surgical robot described in any one of claims 8-9.

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