Vascular intervention robot and multi-mode movement method thereof

Abstract

The invention provides a vascular intervention robot and a multi-mode movement method thereof. The method comprises the following steps: acquiring manipulation data; physical quantities of the manipulation data are determined according to a control mode, the control mode comprises a position mode and a speed mode, and the physical quantities comprise a moving physical quantity and a rotating physical quantity; determining a control target according to a control mode and the manipulation data, the control mode including a synchronous mode and an asynchronous mode, the control target comprises a first power unit for controlling the first slender interventional consumable to move, a second power unit for controlling the second slender interventional consumable to move, a third power unit for controlling the first slender interventional consumable to rotate and a fourth power unit for controlling the second slender interventional consumable to rotate; determining motion information according to the physical quantity and the parameters of the control target; the control target moves based on the motion information to drive the first slender intervention consumable and / or the second slender intervention consumable to move correspondingly.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of medical devices, in particular to a vascular interventional robot and a multi-mode motion method thereof. BACKGROUND

[0002] A vascular interventional surgery robot is an electronic medical device for delivering an interventional vascular consumable such as a guide wire and a catheter into a human body vessel. The operation system of the robot can be set outside the surgery scene and remotely controlled by a doctor to avoid the doctor from being harmed by radiation of X-ray and other devices in the surgery scene.

[0003] In an actual interventional surgery process, a doctor needs to perform a plurality of motions on a plurality of elongated interventional consumables in order to deliver them to an intended position. The motions include advancing, retreating and rotating, and combinations of the above motions. In order to realize the above motions, the vascular interventional surgery robot needs to be configured with a series of necessary components such as motors, transmission members, connecting members, and a control device for the doctor to control. The control device generates control data according to the operation of the doctor, and the control data is finally applied to the elongated interventional consumables to generate the motions.

[0004] The motion control scheme of the existing vascular interventional surgery robot is difficult to meet the complex motion requirements in the surgery scene. SUMMARY

[0005] Therefore, the present application provides a multi-mode motion method of a vascular interventional robot, comprising:

[0006] obtaining control data;

[0007] determining a physical quantity of the control data according to a control mode, the control mode including a position mode and a speed mode, the physical quantity including a movement physical quantity and a rotation physical quantity;

[0008] determining a control target according to a motion mode and the control data, the motion mode including a synchronous mode and an asynchronous mode, the control target including a first power unit for controlling movement of a first elongated interventional consumable, a second power unit for controlling movement of a second elongated interventional consumable, a third power unit for controlling rotation of the first elongated interventional consumable, and a fourth power unit for controlling rotation of the second elongated interventional consumable;

[0009] determining motion information according to the physical quantity and parameters of the control target;

[0010] the control target performing motion based on the motion information, driving the first elongated interventional consumable and / or the second elongated interventional consumable to perform corresponding motion.

[0011] Optionally, the physical quantity corresponding to the position mode includes at least one of the following: the second slender interventional consumable movement distance, the first slender interventional consumable movement distance, the second slender interventional consumable rotation angle, and the first slender interventional consumable rotation angle.

[0012] The physical quantity corresponding to the speed mode includes at least one of the following: the moving speed of the second slender interventional consumable, the moving speed of the first slender interventional consumable, the rotational speed of the second slender interventional consumable, and the rotational speed of the first slender interventional consumable.

[0013] Optionally, in the synchronization mode, if the physical quantity includes a moving physical quantity, then the control target is determined to be the first power unit;

[0014] In the synchronization mode, if the physical quantity includes a rotational physical quantity, the control target is determined to be the third power unit and / or the fourth power unit based on the object of action of the physical quantity.

[0015] Optionally, in the asynchronous mode, if the physical quantity includes a moving physical quantity, the control target is determined to be the first power unit and / or the second power unit based on the object of action of the physical quantity.

[0016] In the asynchronous mode, if the physical quantity includes a rotational physical quantity, the control target is determined to be the third power unit and / or the fourth power unit based on the object of action of the physical quantity.

[0017] Optionally, the robot body is provided with a magnetic scale for monitoring the position of the sterile device module on the guide rail, the position of the sterile device module on the guide rail being equivalent to the position of the first slender interventional consumable.

[0018] In the asynchronous mode, if the physical quantity includes a moving physical quantity, the motion information is calculated as follows:

[0019] Counts1=x1 / LINEAR_SCALE_UNIT

[0020] Where Counts1 is the motion information of the first power unit, x1 is the moving distance of the first slender intervention consumable, and LINEAR_SCALE_UNIT is the magnetic scale unit;

[0021] Counts2=x2*(ENC_CNT*RATIO_MOTOR*RATIO_MECH) / 2PI / R_GEAR

[0022] Where Counts2 is the motion information of the second power unit, x2 = ab, a is the movement distance of the second slender intervention consumable, b is the movement distance of the first slender intervention consumable, ENC_CNT is the number of encoder bits, RATIO_MOTOR is the motor reduction ratio, RATIO_MECH is the mechanical reduction ratio, R_GEAR is the radius of the final execution wheel, and PI is pi.

[0023] Optionally, the robot body is provided with a magnetic scale for monitoring the position of the sterile device module on the guide rail, the position of the sterile device module on the guide rail being equivalent to the position of the first slender interventional consumable.

[0024] In the asynchronous mode, if the physical quantity includes a moving physical quantity, the motion information is calculated as follows:

[0025] count_v1=v1 / LINEAR_SCALE_UNIT / V_UNIT

[0026] Where count_v1 is the motion information of the first power unit, v1 is the moving speed of the first slender intervention consumable, LINEAR_SCALE_UNIT is the magnetic scale unit, V_UNIT is the driver speed unit;

[0027] count_v2=v2 / V_UNIT*(ENT_CNT*RATIO_MOTOR*RATIO_MECH) / 2PI / R_GEAR

[0028] Where count_v2 is the motion information of the second power unit, v2 = ab, a is the moving speed of the second slender intervention consumable, b is the moving speed of the first slender intervention consumable, V_UNIT is the speed unit of the driver, ENC_CNT is the number of encoder bits, RATIO_MOTOR is the motor reduction ratio, RATIO_MECH is the mechanical reduction ratio, R_GEAR is the radius of the final actuator wheel, and PI is pi.

[0029] Optionally, if the physical quantity includes a rotational physical quantity, the motion information is calculated as follows:

[0030] Counts1=cita1 / (360° / (ENC_CNT*RATIO_MOTOR*RATIO_MECH))

[0031] Counts1 represents the motion information of the third power unit, cita1 represents the rotation angle of the first slender intervention consumable, ENC_CNT represents the number of encoder bits, RATIO_MOTOR represents the motor reduction ratio, and RATIO_MECH represents the mechanical reduction ratio.

[0032] Counts2=cita2 / (360° / (ENC_CNT*RATIO_MOTOR*RATIO_MECH))

[0033] Counts2 represents the motion information of the fourth power unit, cita2 represents the rotation angle of the second slender intervention consumable, ENC_CNT represents the number of encoder bits, RATIO_MOTOR represents the motor reduction ratio, and RATIO_MECH represents the mechanical reduction ratio.

[0034] Optionally, if the physical quantity includes a rotational physical quantity, the motion information is calculated as follows:

[0035] count_v1=omega1 / (360° / (ENT_CNT*RATIO_MOTOR*RATIO_MECH)) / V_UNIT

[0036] Where count_v1 is the motion information of the third power unit, omega1 is the rotation speed of the first slender intervention consumable, ENC_CNT is the encoder bit depth, RATIO_MOTOR is the motor reduction ratio, RATIO_MECH is the mechanical reduction ratio, and V_UNIT is the driver speed unit.

[0037] count_v2=omega2 / (360° / (ENT_CNT*RATIO_MOTOR*RATIO_MECH)) / V_UNIT

[0038] Where count_v2 is the motion information of the fourth power unit, omega2 is the rotation speed of the second slender intervention consumable, ENC_CNT is the encoder bit depth, RATIO_MOTOR is the motor reduction ratio, RATIO_MECH is the mechanical reduction ratio, and V_UNIT is the driver speed unit.

[0039] Optionally, before acquiring the manipulation data, the following steps are also included:

[0040] The user-selected control mode is obtained, and the control mode is configured to operate on all the selectable control objectives.

[0041] Optionally, the first slender interventional consumable is a catheter, and the second slender interventional consumable is a guidewire.

[0042] Accordingly, the present invention provides a vascular interventional robot, comprising: a processor and a memory connected to the processor; wherein the memory stores instructions executable by the processor, the instructions being executed by the processor to cause the processor to perform the above-described multi-mode motion method of the vascular interventional robot.

[0043] The vascular interventional robot and its multi-mode motion method provided by this invention offer users multiple control modes and multiple motion modes. In some cases, when two slender interventional consumables need to perform a certain motion or a combination of multiple motions independently, this solution can control the power units of the two slender interventional consumables to perform corresponding motions separately through position mode or speed mode manipulation data in asynchronous mode. In some cases, when two slender interventional consumables need to perform a certain motion or a combination of multiple motions synchronously, this solution can control the power units of the two slender interventional consumables to perform corresponding motions together through position mode or speed mode manipulation data in synchronous mode, thereby meeting the complex motion requirements in actual surgical scenarios. Attached Figure Description

[0044] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0045] Figure 1 This is a schematic diagram of the structure of a vascular interventional surgical robot according to an embodiment of this application;

[0046] Figure 2 This is a flowchart of the multi-mode motion method of the vascular intervention robot in the embodiments of this application. Detailed Implementation

[0047] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0048] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0049] like Figure 1As shown, this embodiment provides a vascular interventional surgery robot, including a robot body 1. The robot body 1 includes a guide rail 11 and a sterile consumable module 12. The sterile consumable module 12 slides on the guide rail 11, thereby driving a first slender interventional consumable 01 to move bidirectionally along its length. The sterile consumable module 12 is provided with a delivery mechanism 121, which drives a second slender interventional consumable 02, which is fitted inside the first slender interventional consumable 01, to move bidirectionally along its length. The delivery mechanism 121 specifically uses the rotation of one or more winches or wheel sets to move the second slender interventional consumable forward or backward, while its position relative to the sterile consumable module 12 remains unchanged.

[0050] In the following embodiments, the power structure controlling the forward and backward movement of the sterile consumable module 12 is referred to as the first power unit, and the power structure controlling the delivery mechanism 121 to perform bidirectional delivery is referred to as the second power unit. Additionally, the robot also includes a third power unit for rotating the first slender interventional consumable 01 and a fourth power unit for rotating the second slender interventional consumable 02.

[0051] The robot's control device is used to control the four power units mentioned above. Figure 1 In the indicated orientation, the manipulation data can control the sterile consumable module 12 to move to the left on the guide rail 11, pushing the first slender interventional consumable 01 to move to the left (which can be referred to as moving upward or forward relative to the human body), and to move to the right, pulling the first slender interventional consumable 01 to the right (which is usually referred to as moving downward or retracting relative to the human body); the manipulation data can control the delivery mechanism 121 to deliver the second slender interventional consumable 02 to the left (upward) or right (downward); the manipulation data can control the first slender interventional consumable 01 to rotate; the manipulation data can control the second slender interventional consumable 02 to rotate.

[0052] The control device may specifically include two joysticks: a first joystick corresponding to the first and third power units, and a second joystick corresponding to the second and fourth power units. The joysticks can be moved in various ways, and this application does not limit their operation.

[0053] like Figure 2 As shown, this embodiment of the invention provides a multi-mode motion method for a vascular interventional robot. This method can be executed by electronic devices such as computers or servers, and includes the following operations:

[0054] S1, Acquire manipulation data. In this embodiment, manipulation data refers to data generated by the control device. When the user controls the joystick, the system generates corresponding data based on the manipulation object (first joystick and / or second joystick) and the operation action (including but not limited to left and right movement, up and down movement, and rotation).

[0055] S2 determines the physical quantities of the manipulation data based on the control mode. Control modes include position mode and speed mode, and physical quantities include movement and rotation. Position mode refers to the user providing movement distance information via the joystick, such as the second or first slender interventional consumable moving xx millimeters or rotating xx angle. Speed ​​mode refers to the user providing movement speed information via the joystick, such as the second or first slender interventional consumable moving at a speed of xx millimeters / second or rotating at a speed of xx degrees / second. Movement and rotation can be bidirectional; movement can include forward and backward, and rotation can include clockwise and counterclockwise rotation. The numerical value of the physical quantity can represent magnitude, and positive or negative can represent direction.

[0056] In one embodiment, the physical quantity corresponding to the position mode includes at least one of the following: the second slender interventional consumable movement distance, the first slender interventional consumable movement distance, the second slender interventional consumable rotation angle, and the first slender interventional consumable rotation angle.

[0057] The physical quantities corresponding to the speed mode include at least one of the following: the moving speed of the second slender interventional consumable, the moving speed of the first slender interventional consumable, the rotational speed of the second slender interventional consumable, and the rotational speed of the first slender interventional consumable.

[0058] The control mode can be determined before step S1. Before executing motion control, the user can set a certain control mode, thereby determining whether the physical quantity of all subsequent manipulation data is speed or distance. For example, when the selected control mode is speed mode, the physical quantity is limited to movement speed and / or rotation speed; when the selected control mode is position mode, the physical quantity is limited to movement distance and / or rotation angle. This setting method allows the user to have a clearer understanding of the control mode, avoiding confusion during motion control and preventing operational errors.

[0059] Control modes can also be bound to the manipulated object. For example, a joystick corresponds to the speed mode, a button to the position mode, and so on. When the user operates different objects, the corresponding control mode is provided in real time. This setting allows for more flexible operation, enabling users to switch between appropriate control modes in real time during surgery, thus improving convenience.

[0060] The two control modes mentioned above can be used simultaneously. For example, a control mode can be bound to a virtual control object for virtual buttons, while a preset control mode can be used for physical joysticks or buttons, thus taking into account the advantages of both methods.

[0061] S3. Determine the control target based on the motion mode and manipulation data. The motion mode includes synchronous and asynchronous modes. The control target includes a first power unit controlling the movement of the first slender intervention consumable, a second power unit controlling the movement of the second slender intervention consumable, a third power unit controlling the rotation of the first slender intervention consumable, and a fourth power unit controlling the rotation of the second slender intervention consumable. Depending on the robot's motion structure, different manipulation data correspond to different power units in synchronous and asynchronous modes. S4. Determine the motion information based on physical quantities and control target parameters. Control target parameters include motion-related parameters such as motor reduction ratio, mechanical reduction ratio, and gear radius; these parameters are all preset values. Motion information refers to the information that the above four power units can execute, such as motor steps and motor speed. Physical quantities can be interpreted as the final target to be achieved, while motion information refers to the executable instructions that can achieve that target.

[0062] In one embodiment, the control mode in step S2 applies to all selectable control targets simultaneously. Specifically, assuming the user controls the first and second slender interventional consumables to move simultaneously, i.e., there is manipulation data for the first power unit and manipulation data for the second power unit at the same time, then both manipulation data are either movement speed or movement distance. This setting method can improve the accuracy and efficiency of calculating motion information in step S4, and improve the response speed of the surgical robot.

[0063] S5, the control target moves based on motion information, causing the first slender interventional consumable and / or the second slender interventional consumable to move accordingly. Based on the processing in steps S1-S4, the first slender interventional consumable and the second slender interventional consumable can move and rotate independently of each other, and the directions of movement and rotation can be the same or different, and the amount or speed of movement and rotation can be the same or different; the first slender interventional consumable and the second slender interventional consumable can also move and rotate synchronously, etc.

[0064] The vascular interventional robot and its multi-mode motion method provided by this invention offer users multiple control modes and multiple motion modes. In some cases, when two interventional consumables need to perform a certain motion or a combination of multiple motions independently, this solution can control the power units of the two slender interventional consumables to perform corresponding motions separately through position mode or speed mode manipulation data in asynchronous mode. In some cases, when two slender interventional consumables need to perform a certain motion or a combination of multiple motions synchronously, this solution can control the power units of the two slender interventional consumables to perform corresponding motions together through position mode or speed mode manipulation data in synchronous mode, thereby meeting the complex motion requirements in actual surgical scenarios.

[0065] This solution is applicable to the motion control of catheters and guidewires inserted into human blood vessels. Specifically, the first slender interventional consumable 01 can be a catheter, and the second slender interventional consumable 02 can be a guidewire. Users can switch and combine multiple control modes and multiple motion modes to control the robot and guide the catheter into the human blood vessel through the guidewire, thereby improving the efficiency of vascular interventional surgery.

[0066] In one embodiment, in synchronous mode, if the physical quantity includes a moving physical quantity, the control target is determined to be the first power unit. In this case, the second power unit is not the control target and does not generate motion. In synchronous mode, if the physical quantity includes a rotating physical quantity, the control target is determined to be the third power unit and / or the fourth power unit based on the object of the physical quantity's action.

[0067] In one embodiment, in asynchronous mode, if the physical quantity includes a moving physical quantity, the control target is determined to be the first power unit and / or the second power unit based on the object on which the physical quantity acts; in asynchronous mode, if the physical quantity includes a rotating physical quantity, the control target is determined to be the third power unit and / or the fourth power unit based on the object on which the physical quantity acts.

[0068] In a more specific embodiment, the robot body 1 is equipped with a magnetic scale for monitoring the position of the sterile device module 12 on the guide rail 11, the position of the sterile device module 12 on the guide rail 11 being equivalent to the position of the first elongated interventional consumable 01. Figure 1 As shown, the sterile device module 12 moves the first slender interventional consumable 01 by sliding left and right on the guide rail 11. In this embodiment, a magnetic scale is set on the guide rail 11 to sense the position of the sterile device module 12.

[0069] The delivery mechanism 121 includes a motor, a gear set, and a roller (final execution wheel). The gear set is driven to rotate via electrodes, which in turn drives the roller to rotate. The rotation of the roller drives the second slender interventional consumable 02 to move to the left or right.

[0070] When the control mode is position mode, in asynchronous mode, if the physical quantity includes a moving physical quantity, the motion information is calculated as follows:

[0071] The motion information of the first slender interventional consumable is obtained by using Counts1 = x1 / LINEAR_SCALE_UNIT.

[0072] Where Counts1 is the motion information of the first power unit, x1 is the movement distance of the first slender interventional consumable, and LINEAR_SCALE_UNIT is the magnetic scale unit. The motion information of the first power unit is information that can be executed by the propulsion power source of the sterile device module 12, such as the number of motor steps.

[0073] In this embodiment, the aseptic consumable module slides on the first slender interventional consumable to move it, simulating the process of manually delivering the first slender interventional consumable. This achieves continuous movement. Based on this, motion information is calculated using the magnetic scale unit and the user's desired movement distance of the first slender interventional consumable. The calculation results are highly accurate and precise. The power source of the aseptic consumable module executes this motion information to accurately control the movement of the first slender interventional consumable.

[0074] For the motion information of the second slender interventional consumable, Counts2 = x2 * (ENC_CNT * RATIO_MOTOR * RATIO_MECH) / 2PI / R_GEAR

[0075] Where Counts2 represents the motion information of the second power unit, x2 = ab, where a is the travel distance of the second slender intervention consumable, b is the travel distance of the first slender intervention consumable, ENC_CNT is the encoder bit depth, RATIO_MOTOR is the motor reduction ratio, RATIO_MECH is the mechanical reduction ratio, R_GEAR is the radius of the final execution wheel, and PI is pi. The motion information of the second power unit is information that can be executed by the travel power source of the delivery mechanism 121, such as the number of motor steps.

[0076] This embodiment uses the operation of a motor, gear set, and roller (final execution wheel) to drive the movement of the second slender interventional consumable, simulating the process of manual delivery of the second slender interventional consumable, achieving continuous movement. The calculation method adopted is adapted to the positional relationship between the sterile consumable module and the delivery mechanism. In asynchronous mode, the user can control the movement of either the second or first slender interventional consumable, or control both to move simultaneously. When the user controls the movement of both the second and first slender interventional consumables simultaneously, regardless of whether their directions of movement are the same or their distances are the same, the above calculation method can accurately calculate the movement information corresponding to the user's desired movement distance of the second slender interventional consumable. The power source of the delivery mechanism executes this movement information to achieve precise control of the movement of the second slender interventional consumable.

[0077] When the control mode is speed mode, in asynchronous mode, if the physical quantity includes a moving physical quantity, the motion information is calculated as follows:

[0078] The motion information of the first slender interventional consumable is calculated using count_v1 = v1 / LINEAR_SCALE_UNIT / V_UNIT.

[0079] Where count_v1 represents the motion information of the first power unit, v1 represents the moving speed of the first slender interventional consumable, LINEAR_SCALE_UNIT represents the magnetic scale unit, and V_UNIT represents the driver speed unit. The motion information of the first power unit is information that can be executed by the propulsion power source of the sterile device module 12, such as motor steps per second.

[0080] In this embodiment, the aseptic consumable module slides on the first slender interventional consumable to move it, simulating the process of manually delivering the first slender interventional consumable. This achieves continuous movement. Based on this, motion information is calculated using the magnetic scale unit and the user's desired movement speed of the first slender interventional consumable. The calculation results are highly accurate and precise. The power source of the aseptic consumable module executes this motion information to accurately control the movement of the first slender interventional consumable.

[0081] The motion information of the second slender interventional consumable was adopted.

[0082] count_v2=v2 / V_UNIT*(ENT_CNT*RATIO_MOTOR*RATIO_MECH) / 2PI / R_GEAR

[0083] Where count_v2 represents the motion information of the second power unit, v2 = ab, where a is the moving speed of the second slender intervention consumable, b is the moving speed of the first slender intervention consumable, V_UNIT is the driver speed unit, ENC_CNT is the encoder bit depth, RATIO_MOTOR is the motor reduction ratio, RATIO_MECH is the mechanical reduction ratio, R_GEAR is the radius of the final execution wheel, and PI is pi. The motion information of the second power unit is information that can be executed by the travel power source of the delivery mechanism 121, such as motor steps per second.

[0084] This embodiment uses the operation of a motor, gear set, and roller (final execution wheel) to drive the movement of the second slender interventional consumable, simulating the process of manual delivery of the second slender interventional consumable, achieving continuous movement. The calculation method adopted is adapted to the positional relationship between the sterile consumable module and the delivery mechanism. In asynchronous mode, the user can control the movement of either the second or first slender interventional consumable, or control both to move simultaneously. When the user controls the movement of both the second and first slender interventional consumables simultaneously, regardless of whether their directions of movement are the same or their speeds are the same, the above calculation method can accurately calculate the motion information corresponding to the user's desired movement speed of the second slender interventional consumable. The power source of the delivery mechanism executes this motion information to achieve precise control of the movement of the second slender interventional consumable.

[0085] In one embodiment, in synchronous or asynchronous mode, if the physical quantity includes a rotational physical quantity, the motion information is calculated as follows:

[0086] The motion information of the first slender interventional consumable is calculated as Counts1 = cita 1 / (360° / (ENC_CNT * RATIO_MOTOR * RATIO_MECH)).

[0087] Counts1 represents the motion information of the third power unit, cita1 represents the rotation angle of the first slender interventional consumable, ENC_CNT represents the encoder bit depth, RATIO_MOTOR represents the motor reduction ratio, and RATIO_MECH represents the mechanical reduction ratio. The motion information of the third power unit is information that can be executed by the rotational power source of the sterile device module 12, such as the number of motor steps.

[0088] In this embodiment, the rotation of the sterile consumable module 12 drives the rotation of the first slender interventional consumable, simulating the process of manually rotating the first slender interventional consumable, thus achieving continuous rotation. Based on this, the motion information corresponding to the user's expected rotation angle can be accurately calculated through relevant parameters. The rotation power source of the sterile consumable module executes this motion information to accurately control the rotational motion of the first slender interventional consumable.

[0089] The motion information of the second slender interventional consumable is calculated using Counts2 = cita 2 / (360° / (ENC_CNT * RATIO_MOTOR * RATIO_MECH)).

[0090] Where Counts2 represents the motion information of the fourth power unit, cita2 represents the rotation angle of the second slender intervention consumable, ENC_CNT represents the encoder bit depth, RATIO_MOTOR represents the motor reduction ratio, and RATIO_MECH represents the mechanical reduction ratio. The motion information of the fourth power unit is information that can be executed by the rotational power source of the second slender intervention consumable, such as the number of motor steps.

[0091] This embodiment simulates the process of manually rotating the second slender interventional consumable, achieving continuous rotation. Based on this, the motion information corresponding to the user's expected rotation angle can be accurately calculated through relevant parameters. The rotational power source of the second slender interventional consumable executes this motion information to accurately control the rotational motion of the second slender interventional consumable.

[0092] In one embodiment, in synchronous or asynchronous mode, if the physical quantity includes a rotational physical quantity, the motion information is calculated as follows:

[0093] The motion information of the first slender interventional consumable is calculated as count_v1 = omega1 / (360° / (ENT_CNT * RATIO_MOTOR * RATIO_MECH)) / V_UNIT

[0094] Where count_v1 represents the motion information of the third power unit, omega1 represents the rotational speed of the first slender interventional consumable, ENC_CNT represents the encoder bit depth, RATIO_MOTOR represents the motor reduction ratio, RATIO_MECH represents the mechanical reduction ratio, and V_UNIT represents the driver speed unit. The motion information of the third power unit is information that can be executed by the rotational power source of the sterile device module 12, such as motor steps per second.

[0095] In this embodiment, the rotation of the sterile consumable module 12 drives the rotation of the first slender interventional consumable, simulating the process of manually rotating the first slender interventional consumable, thus achieving continuous rotation. Based on this, the motion information corresponding to the user's expected rotation speed can be accurately calculated through relevant parameters. The rotation power source of the sterile consumable module executes this motion information to accurately control the rotational motion of the first slender interventional consumable.

[0096] For the motion information of the second slender interventional consumable, count_v2 = omega2 / (360° / (ENT_CNT * RATIO_MOTOR * RATIO_MECH)) / V_UNIT

[0097] Where count_v2 represents the motion information of the fourth power unit, omega2 represents the rotational speed of the second slender interventional consumable, ENC_CNT represents the encoder bit depth, RATIO_MOTOR represents the motor reduction ratio, RATIO_MECH represents the mechanical reduction ratio, and V_UNIT represents the driver speed unit. The motion information of the fourth power unit is information that can be executed by the rotational power source of the second slender interventional consumable, such as motor steps per second.

[0098] This embodiment simulates the process of manually rotating the second slender interventional consumable, achieving continuous rotation. Based on this, the motion information corresponding to the user's expected rotation angle can be accurately calculated through relevant parameters. The rotational power source of the second slender interventional consumable executes this motion information to accurately control the rotational motion of the second slender interventional consumable.

[0099] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0100] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0101] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0102] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0103] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A multi-mode motion method for a vascular interventional robot, characterized in that, include: Acquire manipulation data; The physical quantities of the manipulation data are determined according to the control mode, which includes position mode and speed mode, and the physical quantities include movement physical quantities and rotation physical quantities. The control target is determined based on the motion mode and the manipulation data. The motion mode includes synchronous mode and asynchronous mode. The control target includes a first power unit that controls the movement of the first slender interventional consumable, a second power unit that controls the movement of the second slender interventional consumable, a third power unit that controls the rotation of the first slender interventional consumable, and a fourth power unit that controls the rotation of the second slender interventional consumable. Motion information is determined based on the physical quantities and the parameters of the control target; The control target moves based on the motion information, causing the first slender interventional consumable and / or the second slender interventional consumable to move accordingly.

2. The method according to claim 1, characterized in that, The physical quantity corresponding to the position mode includes at least one of the following: the second slender interventional consumable movement distance, the first slender interventional consumable movement distance, the second slender interventional consumable rotation angle, and the first slender interventional consumable rotation angle. The physical quantity corresponding to the speed mode includes at least one of the following: the moving speed of the second slender interventional consumable, the moving speed of the first slender interventional consumable, the rotational speed of the second slender interventional consumable, and the rotational speed of the first slender interventional consumable.

3. The method according to claim 2, characterized in that, In the synchronization mode, if the physical quantity includes a moving physical quantity, then the control target is determined to be the first power unit; In the synchronization mode, if the physical quantity includes a rotational physical quantity, the control target is determined to be the third power unit and / or the fourth power unit based on the object of action of the physical quantity.

4. The method according to claim 2, characterized in that, In the asynchronous mode, if the physical quantity includes a moving physical quantity, the control target is determined to be the first power unit and / or the second power unit based on the object of action of the physical quantity. In the asynchronous mode, if the physical quantity includes a rotational physical quantity, the control target is determined to be the third power unit and / or the fourth power unit based on the object of action of the physical quantity.

5. The method according to claim 4, characterized in that, The robot body is equipped with a magnetic scale for monitoring the position of the sterile equipment module on the guide rail, and the position of the sterile equipment module on the guide rail is equivalent to the position of the first slender interventional consumable. In the asynchronous mode, if the physical quantity includes a moving physical quantity, the motion information is calculated as follows: Counts1=x1 / LINEAR_SCALE_UNIT Where Counts1 is the motion information of the first power unit, x1 is the moving distance of the first slender intervention consumable, and LINEAR_SCALE_UNIT is the magnetic scale unit; Counts2=x2*(ENC_CNT*RATIO_MOTOR*RATIO_MECH) / 2PI / R_GEAR Where Counts2 is the motion information of the second power unit, x2 = ab, a is the movement distance of the second slender intervention consumable, b is the movement distance of the first slender intervention consumable, ENC_CNT is the number of encoder bits, RATIO_MOTOR is the motor reduction ratio, RATIO_MECH is the mechanical reduction ratio, R_GEAR is the radius of the final execution wheel, and PI is pi.

6. The method according to claim 4, characterized in that, The robot body is equipped with a magnetic scale for monitoring the position of the sterile equipment module on the guide rail, and the position of the sterile equipment module on the guide rail is equivalent to the position of the first slender interventional consumable. In the asynchronous mode, if the physical quantity includes a moving physical quantity, the motion information is calculated as follows: count_v1=v1 / LINEAR_SCALE_UNIT / V_UNIT Where count_v1 is the motion information of the first power unit, v1 is the moving speed of the first slender intervention consumable, LINEAR_SCALE_UNIT is the magnetic scale unit, V_UNIT is the driver speed unit; count_v2=v2 / V_UNIT*(ENT_CNT*RATIO_MOTOR*RATIO_MECH) / 2PI / R_GEAR Where count_v2 is the motion information of the second power unit, v2 = ab, a is the moving speed of the second slender intervention consumable, b is the moving speed of the first slender intervention consumable, V_UNIT is the speed unit of the driver, ENC_CNT is the number of encoder bits, RATIO_MOTOR is the motor reduction ratio, RATIO_MECH is the mechanical reduction ratio, R_GEAR is the radius of the final actuator wheel, and PI is pi.

7. The method according to claim 3 or 4, characterized in that, If the physical quantity includes rotational physical quantities, then the motion information is calculated as follows: Counts1=cita1 / (360° / (ENC_CNT*RATIO_MOTOR*RATIO_MECH)) Counts1 represents the motion information of the third power unit, cita1 represents the rotation angle of the first slender intervention consumable, ENC_CNT represents the number of encoder bits, RATIO_MOTOR represents the motor reduction ratio, and RATIO_MECH represents the mechanical reduction ratio. Counts2=cita2 / (360° / (ENC_CNT*RATIO_MOTOR*RATIO_MECH)) Counts2 represents the motion information of the fourth power unit, cita2 represents the rotation angle of the second slender intervention consumable, ENC_CNT represents the number of encoder bits, RATIO_MOTOR represents the motor reduction ratio, and RATIO_MECH represents the mechanical reduction ratio.

8. The method according to claim 3 or 4, characterized in that, If the physical quantity includes rotational physical quantities, then the motion information is calculated as follows: count_v1=omega1 / (360° / (ENT_CNT*RATIO_MOTOR*RATIO_MECH)) / V_UNIT Where count_v1 is the motion information of the third power unit, omega1 is the rotation speed of the first slender intervention consumable, ENC_CNT is the encoder bit depth, RATIO_MOTOR is the motor reduction ratio, RATIO_MECH is the mechanical reduction ratio, and V_UNIT is the driver speed unit. count_v2=omega2 / (360° / (ENT_CNT*RATIO_MOTOR*RATIO_MECH)) / V_UNIT Where count_v2 is the motion information of the fourth power unit, omega2 is the rotation speed of the second slender intervention consumable, ENC_CNT is the encoder bit depth, RATIO_MOTOR is the motor reduction ratio, RATIO_MECH is the mechanical reduction ratio, and V_UNIT is the driver speed unit.

9. The method according to claim 1, characterized in that, Before acquiring manipulation data, the following is also included: The user-selected control mode is obtained, and the control mode is configured to operate on all the selectable control objectives.

10. The method according to any one of claims 1-9, characterized in that, The first slender interventional consumable is a catheter, and the second slender interventional consumable is a guidewire.

11. A vascular interventional robot, characterized in that, include: A processor and a memory connected to the processor; wherein the memory stores instructions executable by the processor, the instructions being executed by the processor to cause the processor to perform the multi-modal motion method for a vascular interventional robot as described in any one of claims 1-10.

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