Slave end intervention consumable position measuring device and position measuring and driving method

Abstract

The invention provides a slave end interventional consumable position measuring device and a position measuring and driving method, and belongs to the technical field of medical instruments, and the slave end interventional consumable position measuring device comprises an interventional consumable executing device which comprises an interventional consumable driving device used for clamping an interventional consumable and driving the interventional consumable to move relative to a Y valve; the detector is used for detecting the position parameter signal of the signal marker of the intervention consumable and outputting a detection result, and the detection result output by the detector is used for judging the position information of the intervention end of the intervention consumable relative to the Y valve. The intervention consumable comprises an intervention consumable body and a plurality of signal markers arranged on the intervention consumable body, the signal markers are arranged on the intervention consumable body at intervals, and different signal markers carry different position parameter signals. The slave end interventional consumable position measuring device provided by the invention can measure the position of the interventional consumable, and correspondingly plays a driving control role.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a device for measuring the position of an interventional consumable, a position measurement method, and a driving method. Background Technology

[0002] Interventional surgery is a minimally invasive procedure performed using modern high-tech methods. Guided by medical imaging equipment, specialized catheters, guidewires, stents, and other interventional consumables are introduced into the body to diagnose and treat internal conditions. The incision (puncture point) for interventional surgery is only the size of a grain of rice, without cutting into human tissue. It is characterized by minimal trauma, rapid recovery, and good results, and is widely used in medical treatment.

[0003] Currently, doctors use the master control device of the interventional surgical robot to control the slave interventional consumable execution device to drive the movement of the interventional consumables in order to deliver the interventional consumables into the patient's body.

[0004] When performing angiography using an interventional surgical robot, the guidewire catheter typically needs to be inserted into the blood vessel multiple times to comprehensively examine the lesion site. Specifically, the guidewire needs to be withdrawn from the previously entered blood vessel to the Y-valve to allow for contrast agent injection, and then re-entered into the blood vessel. During this process, it is crucial to ensure that the interventional tip of the guidewire can be accurately withdrawn into the Y-valve without detaching from it, in order to avoid repeated guidewire insertion. However, current technologies cannot meet this requirement. Summary of the Invention

[0005] To overcome the problems existing in related technologies, this specification provides a device for measuring the position of interventional consumables from the end of a vascular interventional surgery robot, as well as a method for measuring and driving the position of the interventional consumables.

[0006] According to a first aspect of the embodiments of this specification, a device for measuring the position of a peripheral interventional consumable in a vascular interventional surgical robot is provided, comprising:

[0007] An interventional consumables execution device includes an interventional consumables driving device, the interventional consumables driving device being used to clamp the interventional consumables and drive the interventional consumables to move relative to a Y valve;

[0008] A detector is used to detect the position parameter signal of the signal marker of the interventional consumable and output the detection result. The detection result output by the detector is used to determine the position information of the interventional end of the interventional consumable relative to the Y valve.

[0009] The interventional consumable includes an interventional consumable body and a plurality of signal markers disposed on the interventional consumable body. The plurality of signal markers are arranged at intervals on the interventional consumable body, and different signal markers carry different position parameter signals.

[0010] In some exemplary embodiments of this disclosure, the signal marker is a layer of magnetic material carrying a magnetic signal, and the detector is used to detect the magnetic signal carried by the signal marker, process the magnetic signal to generate an electrical signal, and output it.

[0011] According to a second aspect of this disclosure, a vascular interventional surgical robot is provided, comprising:

[0012] robotic arm;

[0013] The robot body is attached to the end of the robotic arm;

[0014] As described in the first aspect, the device for measuring the position of consumables from the end;

[0015] The control master terminal is used to receive the detection results output by the detector and determine the position information of the interventional consumable relative to the Y valve based on the detection results.

[0016] In some exemplary embodiments of this disclosure, the control master terminal is further configured to adjust the driving direction and driving speed of the interventional consumable driving device on the interventional consumable according to the position information of the interventional consumable relative to the Y valve.

[0017] According to a third aspect of this disclosure, a method for measuring and driving the position of interventional consumables in a vascular interventional surgery robot is provided, the vascular interventional surgery robot including the end-to-end interventional consumables position measuring device described in the first aspect;

[0018] The method for measuring and driving the location of the interventional consumables includes:

[0019] The position parameter signal of the signal marker located at a preset position inside the Y valve at the intervention end of the interventional consumable is detected, and the detection result is output.

[0020] The detection result is received, and the current position parameters of the intervention end of the interventional consumable within the Y valve are determined based on the detection result.

[0021] In some exemplary embodiments of this disclosure, the step of detecting the position parameter signal of the signal marker located at a preset position within the Y valve at the interventional end of the interventional consumable and outputting the detection result includes:

[0022] The magnetic signal carried by the signal marker at a preset position inside the Y valve at the intervention end of the interventional consumable is detected, and the magnetic signal is processed to generate an electrical signal and then output.

[0023] In some exemplary embodiments of this disclosure, before the step of detecting the position parameter signal of the signal marker located at a preset position within the Y valve at the interventional end of the interventional consumable and outputting the detection result, the method further includes:

[0024] Set the initial position reference value for the interventional consumables;

[0025] Specifically, when the current position parameter is equal to the initial position reference value, the intervention end of the interventional consumable is located inside the Y valve.

[0026] In some exemplary embodiments of this disclosure, after receiving the detection result and determining the current position parameter of the interventional end of the interventional consumable within the Y valve based on the detection result, the method further includes:

[0027] Compare the current position parameter with the initial position reference value, and output the comparison result;

[0028] Based on the comparison results and operational requirements, adjust the driving direction and speed of the interventional consumables driving device on the interventional consumables.

[0029] The operational requirements include performing initial position correction on the interventional consumable or driving the interventional end of the interventional consumable to retract into the Y valve.

[0030] In some exemplary embodiments of this disclosure, the position parameter signal values ​​carried by each of the signal markers on the interventional consumable gradually increase from the interventional end to the operating end of the interventional consumable;

[0031] The step of adjusting the driving direction and speed of the interventional consumables driving device for the interventional consumables according to the comparison results and operational requirements includes:

[0032] During the initial position correction of the interventional consumables

[0033] If the current position parameter is greater than the initial position reference value, then the interventional consumable driving device is adjusted to drive the interventional consumable to retract until the current position parameter is equal to the initial position reference value;

[0034] If the current position parameter is less than the initial position reference value, the interventional consumable driving device is adjusted to drive the interventional consumable forward until the current position parameter is equal to the initial position parameter.

[0035] In some exemplary embodiments of this disclosure, the position parameter signal values ​​carried by each of the signal markers on the interventional consumable gradually increase from the interventional end to the operating end of the interventional consumable;

[0036] The step of adjusting the driving direction and speed of the interventional consumables driving device for the interventional consumables according to the comparison results and operational requirements includes:

[0037] During the process of retracting the interventional end of the interventional consumable into the Y valve,

[0038] If the current position parameter is greater than the initial position reference value, and the difference is greater than the first preset threshold, the interventional consumable driving device is adjusted to drive the interventional consumable backward at a first speed;

[0039] If the current position parameter is greater than the initial position reference value and the difference is not greater than the first preset threshold, the interventional consumable driving device is adjusted to gradually reduce the speed and drive the interventional consumable to retreat until the current position parameter is equal to the initial position reference value and the retreat stops.

[0040] If the current position parameter is less than the initial position reference value, the interventional consumable driving device is controlled to stop driving the interventional consumable.

[0041] In some exemplary embodiments of this disclosure, the interventional consumable driving device includes a clamping mechanism for clamping the interventional consumable;

[0042] The interventional consumable location measurement and driving method further includes:

[0043] When driving the interventional consumable to advance into the human blood vessel, if A≤B≤A+C, the interventional consumable driving device is controlled to stop driving the interventional consumable.

[0044] The position parameter signal value carried by each signal marker on the interventional consumable gradually increases from the interventional end to the operating end of the interventional consumable.

[0045] The position parameter signal value carried by the signal marker at the operating end of the interventional consumable is the operating end position reference value;

[0046] A is the distance between the preset position inside the Y valve and the clamping point of the clamping mechanism on the interventional consumable;

[0047] B is the difference between the reference value of the operating terminal position and the current position parameter;

[0048] C is the buffer distance, which is greater than the distance between the entry point of the interventional consumable into the interventional consumable driving device and the clamping point of the clamping mechanism on the interventional consumable.

[0049] The technical solutions provided by the embodiments in this specification have the following beneficial effects:

[0050] The present disclosure provides a slave-end interventional consumable position measurement device for interventional surgical robots. The detector can be used to detect the signal markers included in the interventional consumables. The position information of the interventional end of the interventional consumables relative to the Y valve can be obtained through the signal markers, providing a structural basis for the interventional end of the interventional consumables to be accurately stopped in the Y valve.

[0051] The device includes multiple signal markers, each corresponding to a different area of ​​the interventional consumable. The detector can detect different signals from these markers and determine which area of ​​the interventional consumable is located within the Y-valve based on the signal. This detection result assists the interventional consumable drive device in adjusting the movement of the consumable, ensuring that the interventional end of the consumable is accurately positioned within the Y-valve.

[0052] The interventional consumables position measuring device disclosed herein has a simple structure and is easy to operate. It can help ensure that the interventional end of the interventional consumables is stopped in the Y valve during angiography, thus providing a guarantee for the angiography procedure, improving the surgical process, and ensuring the safety of the procedure.

[0053] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this specification. Attached Figure Description

[0054] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this specification and, together with the description, serve to explain the principles of this specification.

[0055] Figure 1 This is a schematic diagram of the structure of the end-intervention consumable position measuring device in an exemplary embodiment of this disclosure;

[0056] Figure 2 This is a side view of the end-intervention consumable position measuring device in an exemplary embodiment of this disclosure;

[0057] Figure 3 This is a top view of the end-intervention consumable position measuring device in an exemplary embodiment of this disclosure;

[0058] Figure 4 This is a schematic diagram of the structure of the insertion end of the consumable position measuring device inserted into the consumable within the Y valve in an exemplary embodiment of this disclosure;

[0059] Figure 5 This is a schematic diagram of the interventional consumable structure in an exemplary embodiment of this disclosure;

[0060] Figure 6 This is a cross-sectional view of the consumables used in an exemplary embodiment of this disclosure;

[0061] Figure 7 This is a flowchart of the method for measuring and driving the position of consumables in an exemplary embodiment of this disclosure;

[0062] Figure 8 This is another flowchart of the method for measuring and driving the position of consumables in an exemplary embodiment of this disclosure.

[0063] Explanation of reference numerals in the attached figures

[0064] 100 - Interventional consumables; 110 - Interventional consumable body; 120 - Signal marker; 130 - Protective layer; 200 - Interventional consumable actuator; 210 - Y valve; 211 - Y valve main pipe; 212 - Y valve branch pipe; 220 - Interventional consumable drive device; 221 - Clamping mechanism; 2211 - Clamping wheel; 222 - Adjustment mechanism; 223 - Rotation drive mechanism; 224 - Delivery drive mechanism; 225 - Rotation mechanism; 226 - Delivery mechanism; 300 - Detector; 400 - Housing; 10 - Robot body; 01 - Catheter; 02 - Guide wire; X - Interventional direction. Detailed Implementation

[0065] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and therefore detailed descriptions of them will be omitted. Furthermore, the drawings are merely illustrative of this disclosure and are not necessarily drawn to scale.

[0066] Although relative terms such as "up" and "down" are used in this specification to describe the relative relationship of one component of an icon to another, these terms are used only for convenience, such as according to the orientation of the examples shown in the accompanying drawings. It is understood that if the device of the icon is flipped upside down, the component described as "up" will become the component described as "down." When a structure is "up" of another structure, it may mean that the structure is integrally formed on the other structure, or that the structure is "directly" mounted on the other structure, or that the structure is "indirectly" mounted on the other structure through another structure.

[0067] The terms “a,” “one,” “the,” “the,” and “at least one” are used to indicate the presence of one or more elements / components / etc.; the terms “including” and “having” are used to indicate an open-ended inclusion and to mean that there may be other elements / components / etc. in addition to the listed elements / components / etc.; the terms “first,” “second,” and “third,” etc., are used only as markers and are not a limitation on the number of objects.

[0068] In this disclosure, terms such as "perpendicular" and "equal" refer to perpendicularity and equality within the range of process error, not absolute perpendicularity and equality. Process error can be within ±10% or ±5%. For example, if the first direction and the second direction are perpendicular, it can be understood that the angle between the first direction and the second direction can be 90° ± 5°.

[0069] A vascular interventional surgical robot is a robot-assisted system used to assist or perform vascular interventional procedures. Vascular interventional surgery is a minimally invasive procedure performed within blood vessels using interventional consumables such as guidewires, catheters, and stents. It can be used to treat neurovascular diseases and other vascular-related conditions.

[0070] A vascular interventional surgery robot generally includes a master end located outside the operating room and a slave end located inside the operating room. The master end, used for control, includes a master end control device, and the slave end, used for execution, includes a connected robot body and a robotic arm. The robot body is connected to the operating table via the robotic arm and can adjust its own posture via the robotic arm. The robot body includes an interventional consumables execution device, which is used to drive the interventional consumables to move.

[0071] The interventional consumable actuator includes an interventional consumable drive device, which is used to hold and drive the interventional consumable. It should be noted that the movement described here can be rotational, linear, or a combination of both. The interventional consumable can be a catheter, guidewire, or stent, etc. For example, a guidewire, driven by the interventional consumable drive device, can enter a blood vessel through a Y-valve and further rotate and move within the vessel.

[0072] In related technologies, interventional consumable actuators cannot measure the movement position of interventional consumables, such as guidewires, and cannot determine the position of the guidewire's interventional end relative to the Y-valve. Therefore, during angiography, when the guidewire needs to be withdrawn from the previously entered blood vessel to the Y-valve, it often results in the guidewire being withdrawn too far, causing the interventional end of the guidewire to detach from the Y-valve, or the guidewire being withdrawn insufficiently, leaving the interventional end of the guidewire still inside the body and not withdrawn into the Y-valve.

[0073] In some cases, if the guidewire retracts excessively and becomes detached from the Y-valve, the flexible end of the guidewire cannot easily re-enter the Y-valve, requiring manual re-threading. This severely impacts the surgical process and increases surgical risks. Conversely, if the guidewire is not retracted sufficiently, leaving the interventional end inside the body instead of being withdrawn into the Y-valve, the guidewire will occupy most of the catheter space, preventing the contrast agent from being ejected sufficiently and quickly from the catheter opening, thus affecting the contrast agent's effectiveness and the surgical process.

[0074] Based on this, such as Figures 1 to 5As shown, this disclosure provides a slave-end interventional consumable position measurement device for a vascular interventional surgery robot, including an interventional consumable execution device 200 and a detector 300. The interventional consumable execution device 200 includes an interventional consumable drive device 220, which clamps the interventional consumable 100 and drives it to move relative to a Y-valve 210. The detector 300 detects the position parameter signals of the signal markers 120 of the interventional consumable 100 and outputs the detection results. The detection results output by the detector 300 are used to determine the position information of the interventional end of the interventional consumable 100 relative to the Y-valve 210. The interventional consumable 100 includes an interventional consumable body 110 and multiple signal markers 120 disposed on the interventional consumable body 110. The multiple signal markers 120 are arranged at intervals on the interventional consumable body 110, and different signal markers 120 carry different position parameter signals.

[0075] The present disclosure provides a slave-end interventional consumable position measurement device for interventional surgical robots. The detector 300 can be used to detect the signal marker 120 included in the interventional consumable 100. The position information of the interventional end of the interventional consumable 100 relative to the Y valve 210 can be obtained through the signal marker 120, providing a structural basis for the interventional end of the interventional consumable 100 to be accurately stopped in the Y valve 210.

[0076] The device includes multiple signal markers 120, each corresponding to a different area of ​​the interventional consumable 100. The detector 300 can detect different signals through these different signal markers 120 and determine which area of ​​the interventional consumable 100 is located within the Y valve 210 based on the signal. This detection result can assist the interventional consumable drive device 220 in adjusting the movement of the interventional consumable 100, ensuring that the interventional end of the interventional consumable 100 is accurately positioned within the Y valve 210.

[0077] The interventional consumable position measuring device disclosed herein has a simple structure and is easy to operate. It can help ensure that the interventional end of the interventional consumable 100 is stopped in the Y valve 210 during the angiography procedure, thereby providing a guarantee for the angiography procedure, improving the procedure process, and ensuring the safety of the procedure.

[0078] The following will describe in detail the various parts of the end-to-end consumable position measuring device provided in the embodiments of this disclosure with reference to the accompanying drawings:

[0079] like Figures 1 to 5As shown, the slave-end interventional consumable position measurement device for interventional surgical robots provided in this disclosure includes an interventional consumable execution device 200 and a detector 300. The interventional consumable execution device 200 includes an interventional consumable drive device 220, which is used to clamp the interventional consumable 100 and drive the interventional consumable 100 to move relative to the Y valve 210; the detector 300 is used to detect the position parameter signal of the signal marker 120 of the interventional consumable 100 and output the detection result. The detection result output by the detector 300 is used to determine the position information of the interventional end of the interventional consumable 100 relative to the Y valve 210.

[0080] The interventional consumable 100 can be a guidewire, catheter, stent, etc. Specifically, the end-to-end interventional consumable position measuring device of this disclosure is used to measure the position information of the interventional consumable relative to the Y valve 210.

[0081] like Figure 5 As shown, the interventional consumable 100 includes an interventional consumable body 110 and a plurality of signal markers 120 disposed on the interventional consumable body 110. The plurality of signal markers 120 are arranged at intervals on the interventional consumable body 110, and different signal markers 120 carry different position parameter signals.

[0082] Taking the 100 interventional consumable guidewire as an example, it includes the interventional end of the guidewire and the guidewire body. The interventional end of the guidewire is usually specially designed to guide the procedure without damaging the patient's blood vessels. The interventional end of the guidewire may take different shapes, such as conical, spherical, or hook-shaped, depending on the specific needs of different interventional procedures. The guidewire body is the main part of the entire guidewire, and it is usually long, thin, and flexible to facilitate guidance in the blood vessel and provide some support.

[0083] The signal marker 120 can be a magnetic material layer carrying magnetic signals. In this disclosure, magnetic material layers need to be coated around the body 110 of the interventional consumable to form a magnetic interventional consumable before magnetic recording can be performed to form the interventional consumable 100 containing the signal marker 120. Specifically, during magnetic recording of the magnetic interventional consumable, the consumable is fixed in place, and the magnetic head moves at a certain speed and carries an equivalent current of a certain frequency based on a reference signal of a certain wavelength. This results in equally spaced magnetic signals being recorded on the magnetic interventional consumable, arranged in the order NS-SN-NS. Smaller magnetic spacing indicates higher precision.

[0084] Optionally, depending on actual needs, different information can be recorded on each segment of the magnetic record. For example, a 1200mm long guidewire consists of 1200 equally spaced magnetic signals. We can start recording signal 1 from the first segment of magnetic signals at the intervention end, signal 2 from the second segment, and so on, until all 1200 signals have been recorded sequentially along the guidewire 02. At this point, the interventional consumable 100 containing the signal markers 120 can be considered as a graduated ruler, with each signal spaced 1mm apart.

[0085] Furthermore, such as Figure 6 As shown, in some embodiments of this disclosure, the interventional consumable 100 further includes a protective layer 130, which surrounds the signal marker 120 to provide additional protection. The material of the protective layer 130 is selected from polymeric materials with tissue and blood compatibility, such as polyurethane, polytetrafluoroethylene (PTFE), and other fluorinated materials, to ensure optimal compatibility with human tissues. The selection of fluorinated materials such as polyurethane or PTFE as the manufacturing material of the protective layer 130 is advantageous because these materials possess excellent biocompatibility and effectively protect the integrity and function of the interventional consumable 100. Furthermore, they exhibit good corrosion resistance, preventing the signal marker 120 from being affected by the external environment, while also resisting chemicals and biological reactions in the blood, ensuring the safety and reliability of the surgical procedure.

[0086] like Figures 1 to 4 As shown, the interventional consumables execution device 200 includes an interventional consumables drive device 220. A Y-valve 210 is located on one side of the interventional consumables drive device 220 in the interventional direction X. The interventional consumables drive device 220 is used to clamp the interventional consumables 100 and drive the interventional consumables 100 to rotate and move relative to the Y-valve 210. The interventional direction X refers to the direction in which the interventional consumables move forward and backward.

[0087] The Y valve 210 is used to connect the guidewire and catheter, and to connect to the liquid inlet device. It may include a Y valve main pipe 211 and a Y valve branch pipe 212. The Y valve main pipe 211 and the Y valve branch pipe 212 are connected. The Y valve main pipe 211 can be used to connect the guidewire and catheter, and the Y valve branch pipe 212 can be used to connect to the liquid inlet device, responsible for delivering physiological saline, steroids, contrast agents and other liquids.

[0088] like Figures 1 to 4As shown, the interventional consumable driving device 220 can clamp the interventional consumable 100, such as clamping the guidewire 02 and driving the guidewire 02 through the Y valve 210 into a human blood vessel. The interventional consumable driving device 220 may include a clamping mechanism 221, a rotating mechanism 225, a delivery mechanism 226, a rotating drive mechanism 223, a delivery drive mechanism 224, and an adjusting mechanism 222. The clamping mechanism 221 is used to clamp the interventional consumable 100, and typically includes at least two clamping wheels 2211, the distance between which is adjustable. The interventional consumable 100 can be clamped between the two clamping wheels 2211. The rotating mechanism 225 is used to rotate the interventional consumable 100, the delivery mechanism 226 is used to move the interventional consumable 100 forward or backward, the rotating drive mechanism 223 is used to provide power to the rotating mechanism 225, and the delivery drive mechanism 224 is used to provide power to the delivery mechanism 226. The delivery mechanism 226 can be driven by gear meshing with the clamping wheel 2211 of the clamping mechanism 221. The rotating mechanism 225 and the rotating drive mechanism 223 can also be driven by gear meshing. The delivery mechanism 226 and the delivery drive mechanism 224 can also be driven by gear meshing. The specific structure is not limited in this disclosure. The adjusting mechanism 222 is used to adjust the distance between the two clamping wheels 2211. The adjusting mechanism 222 may include an elastic element, such as a spring, and the distance between the two clamping wheels 2211 is controlled by the extension and contraction of the spring.

[0089] The detector 300 is used to detect the position parameter signal of the signal marker 120 and output the detection result. The detection result output by the detector 300 is used to determine the position information of the interventional consumable 100 relative to the Y valve 210. Different signal markers 120 correspond to different areas of the interventional consumable 100. The detector 300 can detect different signals through different signal markers 120 and determine which area of ​​the interventional consumable 100 is located within the Y valve 210 based on the signal. The detector 300 can be installed on the Y valve 210, and can be installed on one side of the Y valve 210, such as on one side of the Y valve 210 in the first direction, which is perpendicular to the interventional direction X. The orthographic projection of the detector 300 on the Y valve 210 can be located near the Y valve main pipe 211 and the Y valve branch pipe 212. Of course, it can also be located in other positions, as long as the signal carried by the signal marker within the Y valve 210 can be detected.

[0090] For example, multiple signal markers 120 on the interventional consumable 100 (guidewire 02) record signal 1 starting with the first segment of magnetic signal at the interventional end, signal 2 for the second segment, and so on, until 1200 signals have been sequentially recorded at the operating end of the guidewire 02. When the detector 300 detects signal 2, it can be determined that the area of ​​the guidewire 02 near the interventional end is located within the Y valve 210. Furthermore, based on the spacing of the guidewire 02 signal markers 120 and the distance of the detector 300 from the head and tail ends of the Y valve 210, it can be roughly determined whether the interventional end of the guidewire 02 is within the Y valve 210. The head end of the Y valve 210 refers to the end closest to the human body during intervention.

[0091] Specifically, the detector 300 can be a magnetic grating read head. The magnetic grating read head can perform magneto-electric conversion, converting the magnetic signal recorded on the interventional consumable 100 into an electrical signal and transmitting it to the detection circuit to achieve displacement measurement or position positioning. The magnetic grating read head mainly consists of an excitation winding and a signal output winding. The magnetic grating read head converts the detected magnetic signal into a pulse signal using the excitation voltage supplied by the excitation winding, for dynamic or static measurement.

[0092] The magnetic grating reader and the interventional consumable 100 are read through a non-contact installation. The NS-SN-NS poles on the interventional consumable 100 generate magnetic fields with different directions. During the movement of the interventional consumable 100, the magnetic grating reader senses the change in the magnetic field and converts this change into an electrical signal, such as an analog signal or a digital signal, for output.

[0093] In this disclosure, the magnetic grating reader converts the magnetic signal recorded on the interventional consumable 100 into an analog signal and sends it to the detection circuit, where it is then converted into a digital signal by a comparator. The digital signal is output via a data line.

[0094] The interventional consumable drive device 220 may be located inside the housing 400 of the sterile consumable box. The Y valve 210 and the detector 300 are at least partially located inside the housing 400. The housing 400 has a through hole in the interventional direction X for the interventional consumable 100 to move.

[0095] like Figure 2 As shown, this disclosure also provides a vascular interventional surgery robot, including a robotic arm, a robot body 10, a slave interventional consumable position measuring device and a control master terminal as described in any of the above embodiments.

[0096] The control master terminal is used to receive the detection results output by the detector 300 and determine the position information of the intervention consumable 100 relative to the Y valve 210 based on the detection results.

[0097] Specifically, the control master can accept the digital signal output by the detector 300 and determine the position of the interventional consumable 100 relative to the Y valve 210 based on the digital signal.

[0098] Furthermore, the control master terminal is also used to adjust the driving direction and driving speed of the interventional consumable 100 by the interventional consumable driving device 220 according to the position information of the interventional consumable 100 relative to the Y valve 210, such as forward or backward, deceleration or acceleration or constant speed.

[0099] For example, the control master determines, based on the digital signal output by the detector 300, that the signal marker 120 carrying signal 2 of the interventional consumable 100 is within the Y valve 210. At this time, the control master can control the interventional consumable 100 to move forward or backward, and adjust the speed of forward or backward movement, via the interventional consumable drive device 220, according to actual needs. For instance, if the interventional consumable 100 needs to continue moving into a blood vessel, the control master can control the interventional consumable drive device 220 to drive the interventional consumable 100 forward. During this forward movement, the detector 300 can continue to monitor the position of the interventional consumable 100 relative to the Y valve 210, preventing excessive forward movement that could cause the operating end of the interventional consumable 100 to disengage from the clamp of the interventional consumable drive device 220. Simultaneously, the driving speed of the interventional consumable drive device 220 can be controlled based on the detected position information. When the interventional consumable 100 is rapidly advancing towards the target blood vessel, the power is reduced, lowering the driving speed of the interventional consumable 100.

[0100] For example, the control terminal determines, based on the digital signal output by the detector 300, that the signal marker 120 carrying the signal 500 of the interventional consumable 100 is within the Y valve 210. In this case, the control terminal can also control the interventional consumable 100 to move forward or backward, and adjust the speed of forward or backward movement, via the interventional consumable drive device 220, according to actual needs. For instance, if the interventional consumable 100 needs to continue moving into a blood vessel, the control terminal can control the interventional consumable drive device 220 to drive the interventional consumable 100 forward. During this forward movement, the detector 300 can continue to monitor the position of the interventional consumable 100 relative to the Y valve 210, preventing excessive forward movement that could cause the operating end of the interventional consumable 100 to disengage from the clamp of the interventional consumable drive device 220. Simultaneously, the control terminal can control the driving speed of the interventional consumable drive device 220 based on the detected position information. When the interventional consumable 100 is rapidly approaching the target blood vessel, the power is reduced, lowering the driving speed of the interventional consumable 100. For example, if it is necessary to retract the interventional consumable 100 until its interventional end is within the Y valve 210, the main control unit can control the interventional consumable drive device 220 to drive the interventional consumable 100 backward. During the retraction process, the detector 300 can continue to detect the position of the interventional consumable 100 relative to the Y valve 210 to prevent excessive retraction that could cause the interventional end of the interventional consumable 100 to disengage from the Y valve 210. Simultaneously, the driving speed of the interventional consumable drive device 220 can be controlled based on the detected position information. When the interventional end of the interventional consumable 100 is almost back into the Y valve 210, the power is reduced, lowering the driving speed of the interventional consumable 100. Preferably, the driving speed of the interventional consumable drive device 220 can be controlled to exactly zero when the interventional end of the interventional consumable 100 is within the Y valve 210.

[0101] like Figure 1 , Figure 2 , Figure 4 , Figure 5 and Figure 7 As shown, this disclosure also provides a method for measuring and driving the position of interventional consumables in a vascular interventional surgery robot, wherein the vascular interventional surgery robot includes the end-to-end interventional consumables position measuring device in any of the above embodiments.

[0102] Interventional consumable location measurement and actuation methods include:

[0103] Step S100: Detect the position parameter signal of the signal marker 120 at a preset position inside the Y valve 210 at the intervention end of the interventional consumable 100; and output the detection result.

[0104] Step S200: Receive the detection result and determine the current position parameters of the intervention end of the interventional consumable 100 within the Y valve 210 based on the detection result.

[0105] Step S100 includes detecting the magnetic signal carried by the signal marker 120 at a preset position inside the Y valve 210 at the intervention end of the interventional consumable 100, and processing the magnetic signal to generate an electrical signal and then outputting it.

[0106] Specifically, this step can be performed by the detector 300 in the above embodiments. The detector 300 can be a magnetic grating read head. The preset position within the Y valve 210 can be determined by the installation position of the detector 300, that is, the position where the magnetic grating read head can read the signal is the preset position within the Y valve 210.

[0107] The magnetic grating read head can perform magneto-electric conversion, converting the magnetic signal recorded on the interventional consumable 100 into an electrical signal and transmitting it to the detection circuit to achieve displacement measurement or position positioning. The magnetic grating read head mainly consists of an excitation winding and a signal output winding. The magnetic grating read head converts the detected magnetic signal into a pulse signal through the excitation voltage supplied by the excitation winding for dynamic or static measurement.

[0108] In step S100, the magnetic grating reader converts the magnetic signal recorded on the interventional consumable 100 into an analog signal and sends it to the detection circuit. Then, a comparator converts it into a digital signal. The digital signal is output through the data line.

[0109] like Figure 8 As shown, in some embodiments of this disclosure, the method further includes the following steps before step S100:

[0110] Step S010: Set the initial position reference value of the interventional consumable 100;

[0111] When the current position parameter is equal to the initial position reference value, the intervention end of the intervention consumable 100 is located inside the Y valve 210.

[0112] The initial position reference value can be set according to the length of Y valve 210 in the intervention direction X, the preset position inside Y valve 210, the length of intervention consumable 100, etc.

[0113] For example, the 1200mm guidewire 02 contains 1200 equally spaced signal markers 120. The distance between the preset position within the Y valve 210 and the tip of the Y valve 210 is approximately 10mm. Therefore, the initial position reference value can be set to any value less than 10, such as 5. When the detected current position parameter equals 5, the interventional end of the interventional consumable 100 stops within the Y valve 210.

[0114] Furthermore, step S200 includes the following:

[0115] Step S300: Compare the current position parameters with the initial position reference values ​​and output the comparison results;

[0116] Step S400: Based on the comparison results and operational requirements, adjust the driving direction and speed of the interventional consumable driving device 220 on the interventional consumable 100.

[0117] The operational requirements include initial position correction of the interventional consumable 100 and driving the interventional end of the interventional consumable 100 back into the Y valve.

[0118] In step S300, the comparison result may include the relationship between the current position parameter and the initial position reference value, as well as the difference between them. For example, if the measured current position parameter is 100 and the initial position reference value is 5, the following comparison result can be output: the current position parameter is greater than the initial position reference value and the difference between the current position parameter and the initial position reference value is 95.

[0119] In some embodiments of this disclosure, the interventional consumable position measurement and driving method further includes:

[0120] In step S500, when the interventional consumable 100 is driven forward into the human blood vessel, if A≤B≤A+C, the interventional consumable driving device 220 stops driving the interventional consumable 100.

[0121] Among them, the position parameter signal values ​​carried by each signal marker 120 on the interventional consumable 100 gradually increase from the interventional end to the operating end of the interventional consumable 100.

[0122] The position parameter signal value carried by the signal marker 120 at the operating end of the interventional consumable 100 is the operating end position reference value;

[0123] A is the distance between the preset position inside the Y valve 210 and the clamping point of the clamping mechanism 221 on the interventional consumable 100; the clamping point can be understood as the contact point between the clamping wheel 2211 of the clamping mechanism 221 and the interventional consumable 100;

[0124] B is the difference between the reference value of the operator position and the current position parameter;

[0125] C is the buffer distance, which is greater than the distance between the entry point of the interventional consumable 100 into the interventional consumable drive device 220 and the clamping point of the clamping mechanism 221 on the interventional consumable 100.

[0126] In this step, when A≤B≤A+C, controlling the interventional consumable drive device 220 to stop driving the interventional consumable 100 can prevent the interventional consumable 100 from advancing too far and disengaging from the clamping mechanism.

[0127] The following section uses angiography as an example to illustrate the detailed process of steps S400 and S500 in the interventional consumables position measurement and driving method provided in this disclosure.

[0128] like Figures 1 to 5As shown, taking angiography as an example, before the procedure begins, catheter 01 can be connected to Y valve 210 and then installed at the interventional end of interventional consumable drive device 220. Subsequently, interventional consumable 100 (guidewire 02) with signal marker 120 is clamped in interventional consumable drive device 220, and its interventional end is manually inserted into Y valve 210. Due to manual operation, guidewire 02 may not be in the preset initial position when it enters Y valve 210; therefore, the initial position of guidewire 02 needs to be corrected.

[0129] The position parameters corresponding to the position parameter signals carried by each signal marker 120 on the interventional consumable 100 gradually increase from the interventional end to the operating end of the interventional consumable 100. For example, a guidewire 02 with a length of 1200 mm contains 1200 signal markers 120 evenly spaced from the interventional end to the operating end, and the position parameters corresponding to the position parameter signals carried by each signal marker 120 are 1, 2, 3, 4, ... 1199, 1200.

[0130] When performing initial position correction on the interventional consumable 100, step S400 includes:

[0131] Step S410: If the current position parameter is greater than the initial position reference value, adjust the interventional consumable driving device 220 to drive the interventional consumable 100 backward until the current position parameter is equal to the initial position reference value.

[0132] Step S420: If the current position parameter is less than the initial position reference value, adjust the interventional consumable driving device 220 to drive the interventional consumable 100 forward until the current position parameter is equal to the initial position parameter.

[0133] For example, the initial position reference value is set to 5. When the measured current position parameter is 10, the interventional consumable drive device 220 is adjusted to drive the interventional consumable 100 backward. During the backward movement, the measured current position parameter changes continuously, such as 9, 8, 7, 6, until the measured current position parameter is equal to 5, at which point the drive stops, and the initial position correction of the interventional consumable 100 is completed.

[0134] When the measured current position parameter is 1, the interventional consumable driving device 220 is adjusted to drive the interventional consumable 100 forward. During the forward movement, the measured current position parameter changes continuously, such as 2, 3, 4, until the measured current position parameter is equal to 5, at which point the driving stops, and the initial position correction of the interventional consumable 100 is completed.

[0135] After the initial position of the interventional consumable 100 guidewire 02 is corrected, the angiography procedure begins. At this point, the interventional consumable 100 guidewire 02 needs to be advanced into the blood vessel.

[0136] During the process of driving the interventional consumable 100 guidewire 02 into the human blood vessel, the interventional consumable driving device 220 drives the guidewire 02 forward. At this time, the measured current position parameters change continuously, such as 5, 6, 7, 8... During the advancement of the guidewire 02, the advancement status of the guidewire 02 can be judged by the measured current position parameters, and the advancement distance of the guidewire 02 can be determined based on these parameters to prevent the guidewire 02 from advancing too far and disengaging from the clamp of the interventional consumable driving device 220.

[0137] Specifically, as above, the position parameter corresponding to the signal marker 120 at the operating end of the interventional consumable 100 is the operating end position reference value; the distance between the preset position inside the Y valve 210 and the clamping point of the interventional consumable drive device 220 on the interventional consumable 100 is A; B is the difference between the operating end position reference value and the current position parameter.

[0138] In step S500, when A≤B≤A+C, the interventional consumable driving device 220 is controlled to stop driving the interventional consumable 100, thereby stopping the guidewire 02 from advancing and preventing the operating end of the guidewire 02 from disengaging from the clamp of the interventional consumable driving device 220. Preferably, when B is slightly greater than A+C, the interventional consumable driving device 220 can be controlled to reduce the speed of the interventional consumable 100, so that the advancing speed of the consumable gradually decreases. When B=A+C, the advancing speed of the interventional consumable 100 is reduced to exactly 0 or almost 0.

[0139] When guidewire 02 reaches the designated blood vessel location, catheter 01 subsequently reaches the same location. At this point, guidewire 02 needs to be withdrawn from catheter 01 and moved into Y valve 210. Contrast agent can then be injected through Y valve 210 to begin angiography.

[0140] During the process of retracting the drive intervention consumable 100 to the Y valve 210, step S400 includes:

[0141] Step S410: If the current position parameter is greater than the initial position reference value and the difference is greater than the first preset threshold, adjust the interventional consumable driving device 220 to drive the interventional consumable 100 backward at the first speed.

[0142] Step S420: If the current position parameter is greater than the initial position reference value and the difference is not greater than the first preset threshold, adjust the interventional consumable driving device 220 to gradually reduce the speed of the interventional consumable 100 to move backward until the current position parameter is equal to the initial position reference value and then stop moving backward.

[0143] In step S430, if the current position parameter is less than the initial position reference value, control the interventional consumable driving device 220 to stop driving the interventional consumable 100.

[0144] The first preset threshold can be set according to actual needs. For example, the first preset threshold can be 20, that is, when the current position parameter is greater than the initial position reference value and the difference is greater than 20, the interventional consumable driving device 220 is adjusted to drive the interventional consumable 100 backward at a first speed.

[0145] If the current position parameter is greater than the initial position reference value, and the difference is no greater than 20, the interventional consumable drive device 220 gradually reduces the speed of the interventional consumable 100 to move backward until the current position parameter equals the initial position reference value, at which point the backward movement stops. Gradual deceleration can be understood as decelerating at a constant acceleration or decelerating at a variable acceleration. For example, the interventional consumable drive device 220 reduces the speed of the interventional consumable 100 to move backward, causing the interventional consumable 100 to move at a speed of 30 mm / s. 2 The acceleration decelerates and retreats. When the difference between the current position parameter and the treatment position reference value is 1, the intervention consumable 100 retreats at a speed of 3 mm / s until the current position parameter is equal to the initial position reference value.

[0146] If the current position parameter is less than the initial position reference value, it means that the intervention end of the interventional consumable 100 is located inside the Y valve 210. The interventional consumable 100 does not need to continue to retreat, and the interventional consumable driving device 220 stops driving the interventional consumable 100.

[0147] It should be noted that although the steps of the interventional consumable position measurement and actuation method of this disclosure are described in a specific order in the accompanying drawings, this does not require or imply that these steps must be performed in that specific order, or that all the steps shown must be performed to achieve the desired result. Additional or alternative steps may be omitted, multiple steps may be combined into one step, and / or one step may be broken down into multiple steps.

[0148] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the appended claims.

Claims

1. A device for measuring the position of peripheral interventional consumables in a vascular interventional surgical robot, characterized in that, include: An interventional consumables execution device includes an interventional consumables driving device, the interventional consumables driving device being used to clamp the interventional consumables and drive the interventional consumables to move relative to a Y valve; A detector is used to detect the position parameter signal of the signal marker of the interventional consumable and output the detection result. The detection result output by the detector is used to determine the position information of the interventional end of the interventional consumable relative to the Y valve. The interventional consumable includes an interventional consumable body and a plurality of signal markers disposed on the interventional consumable body. The plurality of signal markers are arranged at intervals on the interventional consumable body, and different signal markers carry different position parameter signals.

2. The consumable position measuring device with slave intervention according to claim 1, characterized in that, The signal marker is a layer of magnetic material carrying a magnetic signal. The detector is used to detect the magnetic signal carried by the signal marker, process the magnetic signal to generate an electrical signal, and then output it.

3. A vascular interventional surgical robot, characterized in that, include: robotic arm; The robot body is attached to the end of the robotic arm; The slave-end intervention consumable position measuring device as described in claim 1; The control master terminal is used to receive the detection results output by the detector and determine the position information of the interventional consumable relative to the Y valve based on the detection results.

4. The vascular interventional surgical robot according to claim 3, characterized in that, The main control terminal is also used to adjust the driving direction and driving speed of the interventional consumables driving device on the interventional consumables according to the position information of the interventional consumables relative to the Y valve.

5. A method for measuring and driving the position of interventional consumables in a vascular interventional surgery robot, characterized in that, The vascular interventional surgical robot includes the end-to-end interventional consumable position measurement device as described in claim 1 or 2; The method for measuring and driving the location of the interventional consumables includes: The position parameter signal of the signal marker located at a preset position inside the Y valve at the intervention end of the interventional consumable is detected, and the detection result is output. The detection result is received, and the current position parameters of the interventional end of the interventional consumable within the Y valve are determined based on the detection result.

6. The method for measuring and driving the position of interventional consumables according to claim 5, characterized in that, The steps include detecting the position parameter signal of the signal marker at a preset position inside the Y valve at the interventional end of the interventional consumable and outputting the detection result, including: The magnetic signal carried by the signal marker at a preset position inside the Y valve at the intervention end of the interventional consumable is detected, and the magnetic signal is processed to generate an electrical signal and then output.

7. The method for measuring and driving the position of interventional consumables according to claim 5, characterized in that, Before detecting the position parameter signal of the signal marker at a preset position inside the Y valve at the interventional end of the interventional consumable and outputting the detection result, the following steps are also included: Set the initial position reference value for the interventional consumables; Specifically, when the current position parameter is equal to the initial position reference value, the intervention end of the interventional consumable is located inside the Y valve.

8. The method for measuring and driving the position of interventional consumables according to claim 7, characterized in that, After receiving the detection result and determining the current position parameters of the interventional consumable's interventional end within the Y valve based on the detection result, the process further includes: Compare the current position parameter with the initial position reference value, and output the comparison result; Based on the comparison results and operational requirements, adjust the driving direction and speed of the interventional consumables driving device on the interventional consumables. The operational requirements include performing initial position correction on the interventional consumable or driving the interventional end of the interventional consumable to retract into the Y valve.

9. The method for measuring and driving the position of interventional consumables according to claim 8, characterized in that, The position parameter signal values ​​carried by each of the signal markers on the interventional consumable gradually increase from the interventional end to the operating end of the interventional consumable; The step of adjusting the driving direction and speed of the interventional consumables driving device for the interventional consumables according to the comparison results and operational requirements includes: During the initial position correction of the interventional consumables If the current position parameter is greater than the initial position reference value, then the interventional consumable driving device is adjusted to drive the interventional consumable to retract until the current position parameter is equal to the initial position reference value; If the current position parameter is less than the initial position reference value, the interventional consumable driving device is adjusted to drive the interventional consumable forward until the current position parameter is equal to the initial position parameter.

10. The method for measuring and driving the position of interventional consumables according to claim 8, characterized in that, The position parameter signal values ​​carried by each of the signal markers on the interventional consumable gradually increase from the interventional end to the operating end of the interventional consumable; The step of adjusting the driving direction and speed of the interventional consumables driving device for the interventional consumables according to the comparison results and operational requirements includes: During the process of retracting the interventional end of the interventional consumable into the Y valve, If the current position parameter is greater than the initial position reference value, and the difference is greater than the first preset threshold, the interventional consumable driving device is adjusted to drive the interventional consumable backward at a first speed; If the current position parameter is greater than the initial position reference value and the difference is not greater than the first preset threshold, the interventional consumable driving device is adjusted to gradually reduce the speed and drive the interventional consumable to retreat until the current position parameter is equal to the initial position reference value and the retreat stops. If the current position parameter is less than the initial position reference value, the interventional consumable driving device is controlled to stop driving the interventional consumable.

11. The method for measuring and driving the position of interventional consumables according to claim 9, characterized in that, The interventional consumable driving device includes a clamping mechanism for clamping the interventional consumable; The interventional consumable location measurement and driving method further includes: When driving the interventional consumable to advance into the human blood vessel, if A≤B≤A+C, the interventional consumable driving device is controlled to stop driving the interventional consumable. The position parameter signal value carried by each signal marker on the interventional consumable gradually increases from the interventional end to the operating end of the interventional consumable. The position parameter signal value carried by the signal marker at the operating end of the interventional consumable is the operating end position reference value; A is the distance between the preset position inside the Y valve and the clamping point of the clamping mechanism on the interventional consumable; B is the difference between the reference value of the operating terminal position and the current position parameter; C is the buffer distance, which is greater than the distance between the entry point of the interventional consumable into the interventional consumable driving device and the clamping point of the clamping mechanism on the interventional consumable.

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