Instrument state detection device and interventional operation robot

Abstract

The invention is applicable to the field of medical robots, and provides an instrument state detection device which comprises an instrument connector, a mounting seat and a position detection mechanism, the instrument connector is movably connected with the mounting seat, the instrument connector has an initial position and a state change position relative to the mounting seat, one end of an instrument is fixedly mounted on the instrument connector, and the other end of the instrument is fixedly mounted on the position detection mechanism. Under the action of external force, part or the whole of the instrument connector moves between the initial position and the state change position, and the position detection mechanism is configured to detect whether the instrument connector moves to the state change position or not. The invention further provides an interventional operation robot which comprises the instrument state detection device. The detection mode is simple, the mass of the instrument connector is light, when the interventional operation robot operates, external influence factors such as vibration, acceleration and deceleration and the inclination angle have small interference on straightening detection, the stability of straightening detection can be effectively improved, and normal operation of equipment is facilitated.

Description

Technical Field

[0001] The present invention belongs to the field of medical robots and is applied to vascular interventional surgery robots, and in particular relates to an instrument state detection device and an interventional surgery robot. Background Art

[0002] In order to meet the needs of lightweight and miniaturized equipment, existing interventional surgical robots use a method of delivering catheters by first bending and then straightening them. Using this method, it is necessary to promptly detect the transition of the catheter from a bent state to a straightened state and immediately start the corresponding delivery mode to ensure the normal operation of the equipment. In the existing detection method, the catheter is fixedly installed on a sterile box via a T-type connector, and the sterile box is fixed on the floating mechanism of the drive unit. The tension applied to the catheter during the straightening process is transmitted to the sterile box via the T-type connector, and then to the floating mechanism via the sterile box. The straightening is determined based on the reading of the pressure sensor in contact with the floating mechanism. This method not only has a complex force transmission process, but also has a heavy overall weight of the floating mechanism and the sterile box. When the interventional surgical robot is in operation, it is affected by many external factors. For example, vibration, acceleration and deceleration, tilt angle and other factors have a great interference with the straightening detection, which often leads to unstable straightening detection. Sometimes it is impossible to detect in time that the state of the catheter has changed, affecting the normal operation of the equipment. Summary of the Invention

[0003] The purpose of the present invention is to provide an instrument status detection device and an interventional surgical robot, aiming to solve the technical problem that during the operation of the interventional surgical robot in the existing technology, it is affected by many external factors, which often leads to unstable straightening detection and sometimes fails to detect in time that the status of the catheter has changed, affecting the normal operation of the equipment.

[0004] The present invention is achieved in that:

[0005] A first aspect of the present invention provides an instrument state detection device, comprising an instrument connector, a mounting seat, and a position detection mechanism, wherein the instrument connector is movably connected to the mounting seat, and the instrument connector has an initial position and a state change position relative to the mounting seat. One end of the instrument is fixedly mounted on the instrument connector, and under the action of an external force, part or all of the instrument connector moves between the initial position and the state change position, and the position detection mechanism is configured to detect whether the instrument connector has moved to the state change position.

[0006] Furthermore, the initial position and the state change position are arranged along the axial direction of the instrument, and the instrument connector moves along the axial direction of the instrument.

[0007] Furthermore, it also includes a fixing seat and an elastic member, the instrument connector is fixedly installed on the fixing seat, the instrument connector is movably connected to the mounting seat via the fixing seat, the elastic member is arranged between the fixing seat and the mounting seat, and the elastic member is configured to move the instrument connector to the initial position.

[0008] Furthermore, the position detection mechanism includes a site recognition component, and the site recognition component is configured to detect whether the instrument connector has moved to the state change position.

[0009] Furthermore, the site identification component includes a circuit continuity detection component or an optical detection component or an acoustic detection component. When the site identification component adopts the circuit continuity detection component, the circuit continuity detection component is configured to detect that when the instrument connector moves to the state change position, the conductive element of the circuit continuity detection component is circuit-conducted.

[0010] Furthermore, when the circuit continuity detection component is used, the circuit continuity detection component includes a first conductive element and a second conductive element, the first conductive element and the second conductive element are respectively arranged on the mounting seat and the fixing seat, the first conductive element and the second conductive element are arranged at intervals, and when the instrument connector moves to the state change position, the first conductive element is electrically connected to the second conductive element.

[0011] Furthermore, the site identification component includes a pressure detection component, and the pressure detection component is configured to detect the pressure generated between the fixing seat and the mounting seat when the instrument connector moves to the state change position.

[0012] Furthermore, the position detection mechanism includes a displacement detection component, and the displacement detection component is configured to detect the displacement of the instrument connector.

[0013] A second aspect of the present invention provides an interventional surgical robot comprising any one of the above-mentioned instrument state detection devices.

[0014] Furthermore, it includes a sterile box and a power box, the position detection mechanism of the instrument status detection device is installed in the sterile box, and the position detection mechanism is electrically connected to the power box.

[0015] The beneficial effects of the present invention are as follows: the flexible connection between the instrument connector and the mounting seat effectively reduces the resistance to movement of the instrument connector, reduces external interference, and facilitates the synchronous movement of the instrument and the instrument connector between the initial position and the state change position. When the position detection mechanism detects that the instrument connector has moved to the state change position, it can be determined that the catheter has changed from a bent state to a straightened state. Compared with existing methods, the detection method of the present invention is simpler, and the instrument connector is lighter. When the interventional surgical robot is operating, it is less affected by external factors such as vibration, acceleration and deceleration, and tilt angle, which have little interference with the straightening detection. This effectively improves the stability of the straightening detection and facilitates the normal operation of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 1 is a schematic structural diagram of an apparatus state detection device provided by an embodiment of the present invention;

[0017] Figure 2 1 is a schematic diagram of the assembly of the device state detection device provided by an embodiment of the present invention;

[0018] Figure 3 1 is a schematic diagram of the assembly of the mounting base and the fixing base provided in an embodiment of the present invention;

[0019] Figure 4 is a partial cross-sectional view of an instrument connector provided by an embodiment of the present invention in an initial position;

[0020] Figure 5 is a partial cross-sectional view of an instrument connector provided by an embodiment of the present invention in a state change position;

[0021] Figure 6 is a schematic structural diagram of an interventional surgery robot provided by an embodiment of the present invention;

[0022] Figure 7 It is a structural diagram of the power box provided by an embodiment of the present invention.

[0023] 100-Equipment status detection device;

[0024] 1- instrument connector; 11- body; 12- connection end; 13- abutment end;

[0025] 2-mounting seat; 21-base; 211-baffle; 22-side wall; 221-jack; 23-mounting slot; 24-top cover;

[0026] 3- Position detection mechanism;

[0027] 31-first conductive element; 32-second conductive element; 33-third conductive element;

[0028] 4-fixed seat; 41-slot; 42-insertion rod;

[0029] 5- elastic member;

[0030] 200-Interventional surgical robot;

[0031] 6-Sterile box;

[0032] 7-Power box;

[0033] 300-Instruments. DETAILED DESCRIPTION

[0034] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0035] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connected," "fixed," etc. should be understood broadly. For example, they may refer to fixed connections, detachable connections, integrated connections, or even connections that allow relative movement. They may refer to direct connections or indirect connections through an intermediate medium. They may refer to internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0036] In the description of the present invention, the terms "length", "diameter", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like to indicate orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings and are 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 operate in a specific orientation, and therefore should not be understood as limiting the present invention.

[0037] As used in the present invention, the direction "far" is the direction toward the patient, and the direction "near" is the direction away from the patient. The terms "up" and "upper" refer to the general direction away from the direction of gravity, and the terms "bottom", "lower" and "lower" refer to the general direction of gravity. The term "front" refers to the side of the interventional surgical robot facing the user from the end device, and "forward" refers to the direction in which the guide wire or catheter is displaced into the body of the surgical patient. The term "back" refers to the side of the interventional surgical robot facing away from the user from the end device, and "backward" refers to the direction in which the guide wire or catheter is displaced out of the body of the surgical patient. The term "inwardly" refers to the internal part of a feature. The term "outwardly" refers to the external part of a feature.

[0038] Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature identified with "first," "second," etc., may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" or "multiple" means two or more.

[0039] The guidewires here include but are not limited to guide wires, micro guidewires and stents and other guiding and supporting interventional medical devices, and the catheters include but are not limited to guide catheters, micro catheters, angiography catheters, multifunctional tubes (also known as intermediate catheters), thrombolytic catheters, balloon dilatation catheters and balloon-expandable stent catheters and other therapeutic interventional medical devices.

[0040] The first aspect of the present invention provides an apparatus for detecting the state of an apparatus, as shown in FIG. Figure 1-3 As shown, an apparatus state detection device 100 provided in an embodiment of the present invention includes an apparatus connector 1 , a mounting seat 2 and a position detection mechanism 3 .

[0041] The instrument connector 1 is movably connected to the mounting base 2. The instrument connector 1 can move relative to the mounting base 2. The movably connected manner can effectively reduce the movement resistance of the instrument connector 1 and improve the accuracy of detection. The mounting base 2 of this embodiment includes a base 21, a side wall 22 and an upper cover 24. The side wall 22 extends upward along the edge of the base 21. The base 21 and the side wall 22 enclose a mounting groove 23. The mounting groove 23 is used to install the instrument connector 1 and support the movement of the instrument connector 1 in the mounting groove 23. The accommodating space of the mounting groove 23 is slightly larger than the outer edge size of the instrument connector 1, so that a clearance fit connection relationship is formed between the instrument connector 1 and the mounting base 2 to meet the design requirement that the instrument connector 1 can move relative to the mounting base 2. The upper cover 24 is movably installed above the side wall 22. For example, the upper cover 24 can be opened and closed by flipping, snapping, etc. After the instrument connector 1 is installed, the upper cover 24 is fastened, and the base 21, side wall 22 and upper cover 24 are enclosed to form a closed structure of the mounting base 2, ensuring that the instrument connector 1 is in a sterile environment, thereby improving the safety of the operation.

[0042] As attached Figure 2As shown, to better movably mount the instrument connector 1 on the mounting base 2 and facilitate detection of the movement position of the instrument connector 1 by the position detection mechanism 3, this embodiment preferably also includes a fixing base 4. The instrument connector 1 is fixedly mounted on the fixing base 4 and movably connected to the mounting base 2 via the fixing base 4. The instrument connector 1 of this embodiment has a generally T-shaped or Y-shaped structure and includes a body 11. The body 11 extends along the axial direction of the instrument 300. The instrument 300 of this embodiment is preferably a catheter. One side of the body 11 is provided with a connection end for connecting to the instrument 300. An abutment end 13 is also provided at an angle to the body 11. Accordingly, a slot 41 is defined within the fixing base 4 for mounting the instrument connector 1, so that the instrument connector 1 is engaged with the fixing base 4. The shape of the slot 41 corresponds to the outer shape of the instrument connector 1. The fixing base 4 is provided with an abutment structure corresponding to the abutment end 13. The abutment end 13 transmits the force applied to the instrument connector 1 to the fixing base 4, thereby driving the fixing base 4 and the instrument connector 1 to move synchronously. The outer edge of the fixing base 4 is smaller than the space within the mounting groove 23 of the mounting base 2. The fixing base 4 is movably mounted in the mounting groove 23 of the mounting base 2, allowing it to move relative to the mounting base 2. The fixing base 4 can be moved relative to the mounting base 2 in a variety of ways. In this embodiment, the outer edge of the fixing base 4 is preferably provided with an outwardly extending insertion rod 42. The side wall 22 of the mounting base 2 is provided with a socket 221 corresponding to the insertion rod 42. The fixing base 4 is connected to the mounting base 2 through the cooperation between the insertion rod 42 and the socket 221. The socket 221 is an elongated hole structure, with the long edge of the insertion rod 42 extending axially along the instrument 300. Under the action of an external force, the insertion rod 42 can move from one end of the socket 221 to the other end, thereby meeting the design requirements for the movable connection between the fixing base 4 and the mounting base 2. The movable distance of the fixing base 4 is related to the length of the long side of the socket 221. In this embodiment, the length of the long side of the socket 221 is predetermined according to design requirements and is a non-adjustable structure. In other embodiments, the effective length of the socket 221 can be adjusted by adding an additional blocker in the socket 221 to control the movable distance of the fixing base 4. Of course, other structures can also be used to guide and limit the movement of the fixing base 4 relative to the mounting base 2. For example, the movement of the fixing base 4 relative to the mounting base 2 can be achieved by combining a guide rail and a slider. The guide rail and the slider are respectively installed on the mounting base 2 and the fixing base 4. The distance the slider moves relative to the guide rail is the movable distance of the fixing base 4.

[0043] The instrument connector 1 has an initial position and a state change position relative to the mounting base 2. The initial position is the position where the instrument connector 1 is in its initial state. In the application scenario of the present invention, in the initial state, the instrument 300 connected to the instrument connector 1 is in a bent state. The state change position is the position where the instrument connector 1 undergoes a state change. In the application scenario of the present invention, during a state change, the instrument 300 connected to the instrument connector 1 changes from a bent state to a straightened state. In consideration of the forces exerted on the instrument 300 during the straightening process, the initial position and state change position of the instrument connector 1 are arranged along the axial direction of the instrument 300. Under the action of external forces, the instrument connector 1 moves along the axial direction of the instrument 300. In this embodiment, preferably, two insertion holes 221 are respectively defined on a pair of side walls 22 of the mounting base 2 extending along the axial direction of the instrument 300. The long sides of the insertion holes 221 extend along the axial direction of the instrument 300. Accordingly, two insertion rods 42 are provided on either side of the fixing base 4 to mate with the insertion holes 221. The insertion rods 42 are plugged into the insertion holes 221. Of course, in other embodiments, a greater number of rods 42 and sockets 221 may be provided, and this is not a limitation. In the initial state, under the action of an external force, the rod 42 abuts against one end wall of the socket 221, the fixing seat 4 moves to the extreme position on one side, and the instrument connector 1 is in the initial position. To better maintain the instrument connector 1 in the initial position, this embodiment preferably also includes an elastic member 5, which is disposed between the fixing seat 4 and the mounting seat 2. The elastic member 5 is configured to move the instrument connector 1 to the initial position. Specifically, an upwardly extending baffle 211 is provided on the base 21 of the mounting seat 2. One end of the elastic member 5 abuts against the baffle 211, and the other end of the elastic member 5 abuts against the fixing seat 4. The elastic member 5 in this embodiment is preferably a return spring, where the external force is an elastic force. Under the action of the elastic force, the rod 42 always abuts against one end wall of the socket 221, and the instrument connector 1 is in the initial position. When the instrument 300 is straightened, the tension applied to the instrument 300 is transmitted to the fixing seat 4 through the instrument connector 1. Under the action of the tension, the moving fixing seat 4 compresses the elastic member 5. When the insertion rod 42 moves to abut against the other end of the socket 221, the fixing seat 4 moves to the limit position on the other side, and the instrument connector 1 is in a state change position.

[0044] As attached Figure 2-5As shown, one end of the instrument 300 is fixedly mounted on the instrument connector 1. Under the action of an external force, the connection of the instrument 300 moves synchronously with the instrument connector 1, and the entire instrument connector 1 moves between the initial position and the state change position. The position detection mechanism 3 is configured to detect whether the instrument connector 1 has moved to the state change position. Of course, in other embodiments, the fixing seat 4 can also be omitted, and the structure of the instrument connector 1 can be improved. The instrument connector 1 adopts a split structure, including a fixed part and a movable part, and the movable part can move relative to the fixed part. The above-mentioned connection method between the instrument connector 1 and the fixing seat 4 can be applicable to the connection between the movable part and the fixed part. The fixed part is fixedly connected to the mounting seat 2, and one end of the instrument 300 is fixedly mounted on the movable part of the instrument connector 1. Under the action of an external force, the movable part moves between the initial position and the state change position relative to the fixed part and the fixing seat 4, that is, part of the instrument connector 1 moves between the initial position and the state change position.

[0045] During the delivery of instrument 300, when instrument 300 is in a bent state, the delivery force acting on instrument 300 is not transmitted through instrument 300 to instrument connector 1. Due to the action of elastic member 5, instrument connector 1, mounted on mounting base 4, does not move and remains in its initial position. When instrument 300 is in a straightened state, the tensile force applied to instrument 300 is transmitted through instrument 300 to instrument connector 1, causing instrument connector 1 to move to a state-changing position. When position detection mechanism 3 detects that instrument connector 1 has moved to the state-changing position, it indicates that instrument 300 has been straightened, and thus, it can be determined that instrument 300 has transitioned from a bent state to a straightened state. This embodiment provides a simple detection method, determining whether instrument 300 has transitioned from a bent state to a straightened state simply by detecting the movement of instrument connector 1. Furthermore, instrument connector 1 is lightweight, making it less susceptible to external influences during operation of the interventional surgical robot. Factors such as vibration, acceleration / deceleration, and tilt angle have minimal impact on straightening detection, effectively improving the stability of straightening detection and facilitating normal operation of the device.

[0046] The position detection mechanism 3 can detect whether the device connector 1 has moved to the state-changing position in a variety of ways. In this embodiment, the preferred position detection mechanism 3 includes a site recognition component configured to detect whether the device connector 1 has moved to the state-changing position. The state-changing position is set as the target position for the device connector 1 to move to. The site recognition component is positioned near the target position. Based on parameter information fed back by the site recognition component, it is determined whether the device connector 1 has moved to the target position, i.e., whether the device connector 1 has moved to the state-changing position.

[0047] In this embodiment, the preferred site identification component includes a circuit continuity detection component. When the site identification component utilizes a circuit continuity detection component, the circuit continuity detection component is configured to detect circuit continuity in the conductive element of the circuit continuity detection component when the device connector 1 moves to the state-changing position. In this embodiment, preferably, conductive elements for circuit continuity are provided on both the mounting base 2 and the fixing base 4. The mounting positions of the conductive elements should ensure that the conductive elements form a conductive loop when the device connector 1 moves to the state-changing position. Circuit continuity is determined based on changes in measured parameters before and after circuit continuity. When the parameter information returned by the circuit continuity detection component matches the parameter information during circuit continuity, it can be determined that the circuit is now continuous, i.e., that the device connector 1 has moved to the state-changing position. Of course, in other embodiments, the conductive element provided on the fixing base 4 can also be provided directly on the device connector 1. When the conductive element on the device connector 1 detects circuit continuity with the conductive element on the mounting base 2, it can be determined that the device connector 1 has moved to the state-changing position.

[0048] As attached Figure 4 As shown, the circuit conduction detection component includes a first conductive element 31 and a second conductive element 32, which are respectively arranged on the mounting seat 2 and the fixing seat 4. In the initial state, the device 300 is in a bent state. Under the action of the elastic member 5, the fixing seat 4 drives the device connector 1 to move to the initial position. At this time, the first conductive element 31 and the second conductive element 32 are spaced apart, and the first conductive element 31 and the second conductive element 32 are not conductive. Figure 5 As shown, when the instrument 300 is straightened, the tension applied to the instrument 300 is transmitted to the mounting base 4 through the instrument connector 1. Under the action of the tension, the mounting base 4 drives the instrument connector 1 to the state-changing position. At this time, the elastic member 5 is compressed, and the first conductive element 31 and the second conductive element 32 come into contact and electrically connect. After the circuit is established, the measured parameter changes synchronously. Based on the change in the measured parameter before and after the circuit is established, the circuit is established, indicating that the instrument connector 1 has moved to the state-changing position. When the instrument 300 is bent again, the force applied to the instrument 300 is no longer transmitted to the instrument connector 1 through the instrument 300. In other words, the tension acting on the mounting base 4 disappears. Under the action of the elastic member 5, the mounting base 4 drives the instrument connector 1 back to its initial position, breaking the circuit and causing the measured parameter to change synchronously. Based on the change in the measured parameter before and after the circuit is established, the circuit is established, indicating that the instrument connector 1 has not moved to the state-changing position. The circuit conduction detection component determines whether the device 300 is in a straightened state by detecting the conduction and disconnection of the circuit, which reduces the detection cost and improves the stability of the detection.

[0049] In this embodiment, the first conductive element 31 includes two conductive posts, and the second conductive element 32 includes a conductive sheet. When the two conductive posts are in contact with the conductive sheet, a conductive loop is formed. The circuit conduction detection component determines whether the circuit is conductive by detecting the size of the resistance value. Of course, in other embodiments, a larger number of conductive posts can also be provided, but the design requirement of forming a conductive loop with multiple conductive posts and conductive sheets should be met. In addition, the installation positions of the conductive posts and the conductive sheets can also be interchanged. For example, multiple conductive posts can be installed on the fixing seat 4, and the conductive sheet can be installed on the mounting seat 2. It is understandable that the first conductive element 31 and the second conductive element 32 can also be other conductive devices other than conductive posts and conductive sheets.

[0050] In other embodiments, the site identification component may further include an optical detection component or an acoustic detection component, which can detect whether the instrument connector 1 has moved to the state change position by optical, acoustic or other means.

[0051] In other embodiments, the site identification component includes a pressure detection component, which is configured to detect the pressure generated between the fixing seat 4 and the mounting seat 2 when the instrument connector 1 moves to the state change position.

[0052] The pressure detection assembly is mounted on opposing surfaces of the mounting base 2 and / or the fixing base 4. In this embodiment, the pressure detection assembly is preferably mounted on the side of the mounting base 2 facing the fixing base 4. The mounting position of the pressure detection assembly should satisfy the design requirement that the pressure detection assembly can detect the pressure generated between the fixing base 4 and the mounting base 2 when the instrument connector 1 moves to the state-changing position. When the instrument 300 is straightened, the tension applied to the instrument 300 is transmitted to the fixing base 4 through the instrument connector 1. Under the action of the tension, the fixing base 4 drives the instrument connector 1 to move to the state-changing position. The fixing base 4 abuts the mounting base 2 and converts the tension applied to the fixing base 4 into pressure applied by the fixing base 4 to the mounting base 2. The pressure detection assembly mounted on the mounting base 2 can measure this pressure and, based on the measured pressure value, determine whether the fixing base 4 has applied pressure to the mounting base 2, that is, whether the instrument connector 1 has moved to the state-changing position.

[0053] Preferably, in this embodiment, a pressure detection component, such as a pressure sensor, is installed on the baffle 211 of the base 21 of the mounting seat 2 on the side facing the fixing seat 4. Accordingly, an abutment corresponding to the baffle 211 is provided on the fixing seat 4. When the instrument 300 is straightened, the tension applied to the instrument 300 is transmitted to the fixing seat 4 through the instrument connector 1. Under the action of the tension, the fixing seat 4 drives the instrument connector 1 to move to the state change position. At the same time, the abutment on the fixing seat 4 contacts the pressure sensor installed on the baffle 211 of the mounting seat 2. The pressure sensor detects the pressure applied by the fixing seat 4 to the mounting seat 2, and it can be determined that the instrument connector 1 has moved to the state change position. When the instrument 300 is again in the bent state, the force applied to the instrument 300 is not transmitted to the instrument connector 1, that is, the tension acting on the fixing seat 4 disappears. Under the action of the elastic member 5, the fixing seat 4 drives the instrument connector 1 to move back to the initial position. The abutment on the fixing seat 4 and the pressure sensor mounted on the baffle 211 are in a non-contact state. The pressure applied to the baffle 211 disappears. Based on the change in the detected pressure value, the pressure sensor determines that the fixing seat 4 is not applying pressure to the mounting seat 2, that is, the instrument connector 1 has not moved to the state change position. In other embodiments, the pressure sensor can also be replaced with a capacitor mounted on the opposite surfaces of the mounting seat 2 and the fixing seat 4. When the distance between the mounting seat 2 and the fixing seat 4 changes, the capacitance value will change accordingly. The change in capacitance value can be used to determine whether the instrument connector 1 has moved to the state change position.

[0054] In other embodiments, the position detection mechanism 3 includes a displacement detection component configured to detect the displacement of the instrument connector 1. For example, a theoretical distance is set for the instrument connector 1 to move from the initial position to the state-changed position, and the displacement detection component directly or indirectly detects the actual distance the instrument connector 1 moves from the initial position. When the actual distance is equal to the theoretical distance, it is determined that the instrument connector 1 has moved to the state-changed position. The preferred displacement detection component in this embodiment includes a displacement sensor, which detects the actual distance the instrument connector 1 moves from the initial position. In other embodiments, the actual distance the instrument connector 1 moves from the initial position can also be calculated and detected by image processing.

[0055] The second aspect of the present invention provides an interventional surgery robot, as shown in the attached Figure 6As shown, an interventional surgical robot 200 provided in an embodiment of the present invention includes the above-mentioned instrument status detection device 100. Specifically, the interventional surgical robot 200 includes a sterile box 6 and a power box 7. The sterile box 6 is installed on the power box 7. The power box 7 provides power to the sterile box 6, and the sterile box 6 converts the obtained power into a driving force for driving the instrument 300 to perform a delivery or rotation operation. The instrument status detection device 100 can be arranged in the sterile box 6 as a part of the sterile box 6. The position detection mechanism 3 of the instrument status detection device 100 is installed in the sterile box 6, and the position detection mechanism 3 is electrically connected to the power box 7.

[0056] As attached Figure 7 As shown, when the circuit continuity detection assembly is used to detect whether the device connector 1 has moved to the state change position, the power box 7 is also provided with a third conductive element 33 electrically connected to the first conductive element 31. The first conductive element 31 of the device state detection device 100 is inserted into the base 21 of the mounting base 2. One end of the first conductive element 31 extends upward for electrical connection with the second conductive element 32, and the other end of the first conductive element 31 extends downward for electrical connection with the third conductive element 33. The third conductive element 33 is positioned corresponding to the first conductive element 31 and is disposed below the first conductive element 31. In the initial state, the first conductive element 31 is in contact with the third conductive element 33 and maintains electrical continuity. When the instrument 300 is straightened, the tension applied to the instrument 300 is transmitted to the fixing seat 4 through the instrument connector 1. Under the action of the tension, the fixing seat 4 drives the instrument connector 1 to move to the state change position, the elastic member 5 is compressed, the first conductive element 31 contacts and electrically connects with the second conductive element 32, the second conductive element 32, the first conductive element 31 and the third conductive element 33 form a conductive loop, and the circuit conduction detection component in the sterile box 6 is electrically connected to the power supply component arranged in the power box 7. Based on the change of the measured parameters before and after the circuit is conducted, it is judged that the circuit is conducted, that is, the instrument connector 1 has moved to the state change position, and the instrument 300, such as a catheter, can be detected in time, and the state is changed from the bent state to the straightened state, and the corresponding delivery mode is immediately started to ensure the normal operation of the equipment.

[0057] Finally, it should be noted that, unless there is any conflict, the embodiments of the present invention and the features thereof may be combined with each other and are all within the scope of protection of the present invention. Of course, the present invention may also have various other embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art may make various corresponding changes and modifications based on the present invention, and such corresponding changes and modifications shall all fall within the scope of protection of the claims of the present invention.

[0058] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An apparatus for detecting an apparatus state, characterized in that: The device comprises an instrument connector, a mounting seat and a position detection mechanism, wherein the instrument connector is movably connected to the mounting seat, and has an initial position and a state change position relative to the mounting seat. One end of the instrument is fixedly mounted on the instrument connector. Under the action of an external force, part or all of the instrument connector moves between the initial position and the state change position, and the position detection mechanism is configured to detect whether the instrument connector has moved to the state change position.

2. The device state detection device according to claim 1, wherein: The initial position and the state change position are arranged along the axial direction of the instrument, and the instrument connector moves along the axial direction of the instrument.

3. The device state detection device according to claim 1 or 2, characterized in that: It also includes a fixing seat and an elastic member, the instrument connector is fixedly installed on the fixing seat, the instrument connector is movably connected to the mounting seat via the fixing seat, the elastic member is arranged between the fixing seat and the mounting seat, and the elastic member is configured to move the instrument connector to the initial position.

4. The device state detection device according to claim 3, wherein: The position detection mechanism includes a site recognition component configured to detect whether the instrument connector has moved to the state change position.

5. The device state detection device according to claim 4, wherein: The site identification component includes a circuit continuity detection component, an optical detection component, or an acoustic detection component. When the site identification component adopts the circuit continuity detection component, the circuit continuity detection component is configured to detect that when the instrument connector moves to the state change position, the conductive element of the circuit continuity detection component is circuit-conducted.

6. The device state detection device according to claim 5, wherein: When the circuit continuity detection component is used, the circuit continuity detection component includes a first conductive element and a second conductive element, the first conductive element and the second conductive element are respectively arranged on the mounting seat and the fixing seat, the first conductive element and the second conductive element are arranged at intervals, and when the instrument connector moves to the state change position, the first conductive element is electrically connected to the second conductive element.

7. The device state detection device according to claim 4, wherein: The site identification component includes a pressure detection component, which is configured to detect the pressure generated between the fixing seat and the mounting seat when the instrument connector moves to the state change position.

8. The device state detection device according to claim 1, wherein: The position detection mechanism includes a displacement detection component configured to detect the displacement of the instrument connector.

9. An interventional surgical robot, characterized in that: The device comprises the device state detection device according to any one of claims 1 to 8.

10. The interventional surgical robot according to claim 9, wherein: The apparatus comprises a sterile box and a power box. The position detection mechanism of the apparatus state detection device is installed in the sterile box, and the position detection mechanism is electrically connected to the power box.

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