Anti-slip method for a clamping conveyor and related device

Abstract

The application provides a slip prevention method for a clamping conveying mechanism and a related device. The method comprises the following steps: controlling a driving wheel of the clamping conveying mechanism to run at a preset first speed, periodically collecting a second speed of a driven wheel of the clamping conveying mechanism, calculating a speed deviation according to the first speed and the second speed, and reducing a clamping interval between the driving wheel and the driven wheel or adjusting the running speed of the driving wheel if the speed deviation is detected to be out of a preset deviation interval. In the scheme, the driving wheel runs at the preset first speed, and the speed deviation between the preset first speed and the second speed of the driven wheel is calculated. If the speed deviation is detected to be out of the preset deviation interval, two-stage slip prevention measures are adopted, i.e., the clamping interval between the driving wheel and the driven wheel is reduced, or the running speed of the driving wheel is adjusted, so that the intervention instrument is prevented from slipping and the conveying precision of the intervention instrument is improved.

Description

Technical Field

[0001] This invention relates to the field of neurointerventional surgical robots, specifically to an anti-slip method and related device for a clamping and delivery mechanism. Background Technology

[0002] Stroke treatment primarily relies on minimally invasive neurointerventional surgery for procedures such as thrombectomy and aneurysm embolization. This procedure is highly dependent on the precision, stability, and precise, low-volume delivery of interventional devices (such as guidewires or catheters). The clamping and delivery mechanism (e.g., a guidewire delivery cart) is the core actuator responsible for clamping and pushing the interventional device. It typically uses rollers to deliver the device, and the stability of this mechanism directly determines the accuracy of guidewire delivery during the procedure.

[0003] Therefore, preventing the interventional device from slipping during the process of conveying the device by the clamping and conveying mechanism is an urgent problem to be solved. Summary of the Invention

[0004] In view of this, embodiments of the present invention provide an anti-slip method and related device for a clamping and conveying mechanism to prevent interventional instruments from slipping.

[0005] To achieve the above objectives, the embodiments of the present invention provide the following technical solutions:

[0006] The first aspect of this invention discloses an anti-slip method for a clamping and conveying mechanism, the method comprising:

[0007] The driving wheel of the clamping and conveying mechanism is controlled to run at a preset first speed, and the second speed of the driven wheel of the clamping and conveying mechanism is periodically collected;

[0008] Calculate the speed deviation based on the first speed and the second speed;

[0009] If the speed deviation is detected to be outside the preset deviation range, the clamping distance between the driving wheel and the driven wheel is reduced, or the running speed of the driving wheel is adjusted.

[0010] Preferably, if the speed deviation is detected to be outside a preset deviation range, the clamping distance between the driving wheel and the driven wheel is reduced, or the running speed of the driving wheel is adjusted, including:

[0011] If the speed deviation is detected to be outside the preset deviation range for the first time, the clamping distance between the driving wheel and the driven wheel is reduced;

[0012] If, after reducing the clamping distance, the speed deviation is detected to be outside the preset deviation range again, the running speed of the drive wheel is adjusted.

[0013] Preferably, adjusting the operating speed of the drive wheel includes:

[0014] Identify the type of slippage;

[0015] If the identified slippage type is instantaneous slippage, a corrected speed is calculated based on the first speed and the single-circle rotation time of the drive wheel;

[0016] If the identified slippage type is continuous slippage, a corrected speed is calculated based on the preset duration and the first speed;

[0017] The operating speed of the drive wheel is adjusted to the calculated corrected speed.

[0018] Preferably, if the identified slippage type is instantaneous slippage, a corrected speed is calculated based on the first speed and the single-circle rotation time of the drive wheel, including:

[0019] If the identified slippage type is instantaneous slippage, the first target displacement of the interventional instrument and the first actual displacement measured by the driven wheel within a single rotation time of the driving wheel are collected.

[0020] Calculate the first displacement deviation between the first target displacement and the first actual displacement;

[0021] The corrected speed is calculated based on the first speed, the single-turn rotation time, and the first displacement deviation.

[0022] Preferably, if the identified slippage type is continuous slippage, a corrected speed is calculated based on a preset duration and the first speed, including:

[0023] If the identified slippage type is continuous slippage, the second target displacement of the interventional device is calculated based on the preset duration and the first speed;

[0024] The second actual displacement measured by the driven wheel is collected;

[0025] Calculate the second displacement deviation between the second target displacement and the second actual displacement;

[0026] The corrected speed is calculated based on the first speed, the preset duration, and the second displacement deviation.

[0027] Preferably, the type of slippage is identified, including:

[0028] When multiple preset first judgment conditions are met simultaneously, the identified slippage type is determined to be instantaneous slippage.

[0029] If any of the preset second judgment conditions are met, the identified slippage type is determined to be continuous slippage.

[0030] Preferably, after adjusting the operating speed of the drive wheel to the calculated corrected speed, the method further includes:

[0031] If the speed deviation is detected to be within the preset deviation range multiple times in a row, the operating speed of the drive wheel will be restored to the first speed.

[0032] A second aspect of this invention discloses an anti-slip system for a clamping and conveying mechanism, the system comprising:

[0033] The control unit is used to control the driving wheel of the clamping and conveying mechanism to run at a preset first speed, and periodically collect the second speed of the driven wheel of the clamping and conveying mechanism;

[0034] The calculation unit is used to calculate the speed deviation according to the first speed and the second speed;

[0035] The adjustment unit is used to reduce the clamping distance between the driving wheel and the driven wheel, or to adjust the running speed of the driving wheel, if the speed deviation is detected to be outside the preset deviation range.

[0036] A third aspect of the present invention discloses a conveying device, comprising: a clamping conveying mechanism, a processor, and a memory, wherein the processor and the memory are connected via a bus, and the processor is communicatively connected to the clamping conveying mechanism; wherein the processor is used to call and execute a program stored in the memory; the memory is used to store the program, which is used to implement the anti-slip method of the clamping conveying mechanism disclosed in the first aspect of the present invention.

[0037] The fourth aspect of this invention discloses a neurointerventional surgical robot, including the delivery device disclosed in the third aspect of this invention.

[0038] Based on the above embodiments of the present invention, an anti-slip method and related device for a clamping and conveying mechanism are provided. The method involves: controlling the driving wheel of the clamping and conveying mechanism to run at a preset first speed, and periodically collecting the second speed of the driven wheel of the clamping and conveying mechanism; calculating the speed deviation according to the first speed and the second speed; if the speed deviation is detected to be outside a preset deviation range, reducing the clamping distance between the driving wheel and the driven wheel, or adjusting the running speed of the driving wheel. In this scheme, the driving wheel runs at a preset first speed, and the speed deviation between the preset first speed and the second speed of the driven wheel is calculated. If the speed deviation is detected to be outside the preset deviation range, two-stage anti-slip measures are adopted, namely, reducing the clamping distance between the driving wheel and the driven wheel, or adjusting the running speed of the driving wheel, thereby preventing the interventional device from slipping and improving the delivery accuracy of the interventional device. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0040] Figure 1 A flowchart illustrating an anti-slip method for a clamping and conveying mechanism provided in an embodiment of the present invention;

[0041] Figure 2 A flowchart for adjusting the operating speed of the drive wheel, provided as an embodiment of the present invention;

[0042] Figure 3 Another flowchart of an anti-slip method for a clamping and conveying mechanism provided in an embodiment of the present invention;

[0043] Figure 4 This is a structural block diagram of an anti-slip system for a clamping and conveying mechanism provided in an embodiment of the present invention. Detailed Implementation

[0044] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. 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.

[0045] In this application, the terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0046] Stroke treatment primarily relies on minimally invasive neurointerventional surgery for procedures such as thrombectomy and aneurysm embolization. This procedure is highly dependent on the precision, stability, and micro-volume delivery of interventional devices (such as guidewires or catheters). The delivery accuracy of these devices directly determines the success rate of vessel superselection, surgical safety, and patient prognosis. The clamping and delivery mechanism (such as a guidewire delivery cart) is the core actuator responsible for clamping and pushing the interventional device. It typically uses rollers to deliver the device, and the stability of this mechanism directly determines the intraoperative guidewire delivery accuracy.

[0047] Research has revealed that existing anti-slip solutions rely solely on fixed mechanical clamping. However, due to the dynamic changes in the lubrication level of the interventional device surface and the limited upper limit of clamping friction, simple mechanical clamping cannot completely eliminate slippage. In low-friction conditions, clamping fails, the drive wheel continues to spin freely, and the slippage state cannot be detected. Furthermore, the free spin of the drive wheel generates a large amount of invalid theoretical stroke. The control system continuously executes feed control according to the incorrect theoretical stroke, and the stroke error continues to accumulate without self-correction, leading to a continuous deterioration in the delivery accuracy of the interventional device.

[0048] To address this, this invention proposes an anti-slip method and related device for a clamping and conveying mechanism. The driving wheel runs at a preset first speed, and the speed deviation between the preset first speed and the second speed of the driven wheel is calculated. If the speed deviation is detected to be outside the preset deviation range, two-stage anti-slip measures are adopted: either reducing the clamping distance between the driving wheel and the driven wheel, or adjusting the running speed of the driving wheel, thereby preventing the interventional device from slipping and improving the delivery accuracy of the interventional device.

[0049] Before providing a detailed explanation of this solution, let's first describe the overall hardware architecture for implementing it:

[0050] This solution constructs a closed-loop control system with mechanical adaptive clamping and displacement difference compensation to achieve high-precision, anti-slip delivery of neurointerventional devices. The overall hardware architecture of this solution includes: a clamping and delivery mechanism, a driven wheel speed measurement module, an electric cylinder wheel track adjustment module, a main control module, and a servo drive module.

[0051] The clamping and conveying mechanism consists of opposing driving wheels (i.e., driving clamping wheels) and driven wheels (i.e., driven follower wheels). The clamping and conveying mechanism is used to clamp interventional instruments (such as interventional guide wires or interventional catheters) and relies on the friction between the wheel body and the interventional instrument to complete the feeding and conveying.

[0052] The drive wheel is the sole power output unit, driven by a servo drive module. Its operating speed is preset by the system without the need for speed measurement. The driven wheel is a non-powered follow-up structure that passively rotates only following the interventional instrument. A high-precision encoder coaxially mounted on the driven wheel can collect the actual feed speed and displacement of the interventional instrument in real time, thus providing a true feedback benchmark for slippage detection and speed compensation (i.e., the corrected speed calculated subsequently).

[0053] The electric cylinder wheel spacing adjustment module can steplessly adjust the clamping distance between the driving and driven wheels, dynamically adjusting the clamping force and static friction of the wheel leads (i.e., the wheel body and the interventional instrument). The main control module is responsible for slippage detection, mechanical clamping control, and speed compensation calculations. The servo drive module receives instructions carrying corrective speed and drives the driving wheel to stably complete the feed action.

[0054] The above is a description of the overall hardware architecture for implementing this solution.

[0055] See Figure 1 The diagram shows a flowchart of an anti-slip method for a clamping and conveying mechanism provided by an embodiment of the present invention. The method includes the following steps:

[0056] Step S101: Control the driving wheel of the clamping and conveying mechanism to run at a preset first speed, and periodically collect the second speed of the driven wheel of the clamping and conveying mechanism.

[0057] In the specific implementation of step S101, during the process of starting the clamping and delivery mechanism to deliver interventional instruments (such as interventional guidewires or interventional catheters), the drive wheel of the clamping and delivery mechanism is first controlled to move at a preset first speed (denoted as V). tar )run.

[0058] The second speed (denoted as V) of the driven wheel is periodically collected by the encoder. real The second speed is the actual feed speed of the interventional device.

[0059] Step S102: Calculate the speed deviation based on the first speed and the second speed.

[0060] In the specific implementation step S102, the absolute value of the difference between the first speed and the second speed is calculated to obtain the speed deviation. The speed deviation calculation formula is ΔV=|V tar -V real |

[0061] Step S103: If the speed deviation is detected to be outside the preset deviation range, reduce the clamping distance between the driving wheel and the driven wheel, or adjust the running speed of the driving wheel.

[0062] It should be noted that the preset deviation range is determined according to actual needs, and the preset deviation range is denoted as [0, V]. max Specifically, the upper limit V of the preset deviation range. max Calibration is performed with millimeter-level precision based on neurointerventional surgery.

[0063] For example, in delicate procedures such as aneurysm embolization and peripheral vascular surgery, V max =0.05mm / s. For routine thrombectomy and angiography, V max =0.1mm / s.

[0064] In the specific implementation of step S103, if the detected speed deviation is within the preset deviation range, it indicates that the speed deviation has not exceeded V. max At this point, it can be confirmed that the interventional device has not slipped.

[0065] If the detected speed deviation is outside the preset deviation range, it means that the speed deviation has exceeded V. max At this point, it can be determined that the interventional instrument is slipping (or in a slipping state). The clamping distance between the driving wheel and the driven wheel can be reduced, or the running speed of the driving wheel can be adjusted.

[0066] In some embodiments, if the speed deviation is detected to be outside the preset deviation range for the first time, the clamping distance between the driving wheel and the driven wheel is reduced (i.e., mechanical anti-slip intervention is performed). Slippage is suppressed through hardware structure optimization, reducing the computational load of the algorithm during continuous operation. Specifically, the electric cylinder wheel spacing adjustment module controls a miniature linear electric cylinder (which can be a miniature lead screw motor, electric push rod, miniature pneumatic clamping mechanism, etc.) to drive the driven wheel to translate, thereby reducing the clamping distance between the driving wheel and the driven wheel, increasing the clamping positive pressure of the wheel lead (i.e., the wheel body and the interventional instrument), increasing the static friction between the wheel body and the interventional instrument, and constraining the idling behavior of the driving wheel.

[0067] After reducing the clamping distance, continue to monitor whether the speed deviation is still outside the preset deviation range. If the speed deviation is detected to be outside the preset deviation range again, adjust the running speed of the drive wheel.

[0068] Understandably, to avoid misjudgments caused by mechanical vibration and instantaneous force disturbances, a buffer period (e.g., 1-1.5 seconds) can be set to ensure mechanical stability. After reducing the clamping distance and waiting for the buffer period, the system enters a mechanically stable state. At this point, the speed deviation is monitored to ensure it remains outside the preset deviation range. If the speed deviation is detected to be within the preset deviation range, it indicates that the interventional instrument feed deviation has completely disappeared. At this point, the current clamping parameters are locked, completing this anti-slip control.

[0069] If the speed deviation is detected to be outside the preset deviation range again (i.e., the slippage still exists), it means that the mechanical clamping structure has reached the anti-slip limit under the current working conditions (i.e., the mechanical structure can no longer eliminate slippage). At this time, the running speed of the drive wheel needs to be adjusted to control the anti-slip.

[0070] In general, if the speed deviation is detected to be outside the preset deviation range, the clamping distance between the driving wheel and the driven wheel is reduced first (i.e., mechanical anti-slip intervention is performed), which is the first level of mechanical anti-slip control; if the speed deviation is detected to be outside the preset deviation range again, the running speed of the driving wheel is adjusted, which is the second level of anti-slip control.

[0071] In this embodiment of the invention, the driving wheel runs at a preset first speed, and the speed deviation between the preset first speed and the second speed of the driven wheel is calculated. If the speed deviation is detected to be outside the preset deviation range, two-stage anti-slip measures are adopted, namely, reducing the clamping distance between the driving wheel and the driven wheel, or adjusting the running speed of the driving wheel, thereby preventing the interventional device from slipping and improving the delivery accuracy of the interventional device.

[0072] Regarding the above embodiments of the present invention Figure 1 The adjustment of the driving wheel's operating speed involved in step S103 is described in [reference needed]. Figure 2 The flowchart illustrating the adjustment of the operating speed of the drive wheel according to an embodiment of the present invention is shown. Figure 2 Includes the following steps:

[0073] Step S201: Identify the type of slippage.

[0074] It should be noted that slippage types are divided into instantaneous slippage (or local slippage, intermittent slippage) and continuous slippage (or continuous slippage, stable slippage, global continuous slippage).

[0075] The temporal characteristics of instantaneous slippage can be categorized into "extremely short slippage duration", "discrete and discontinuous slippage intervals", and "no error accumulation".

[0076] Among them, the slippage duration is extremely short: the duration of slippage within a single rotation is less than 100ms, and it only occurs when the interventional device just enters the tortuous blood vessel, touches the blood vessel wall, or gets stuck at the shaping tip of the interventional device.

[0077] The slippage interval is discrete and discontinuous: only 1 to 2 encoders have a periodic speed deviation outside the preset deviation range, and the periodic speed deviation before and after sampling returns to normal.

[0078] No cumulative error: After the slippage ends, the second speed V real Immediately fit the first speed V tar The distance error is limited to the small segment where slippage occurs, and the distance error does not increase with each cycle.

[0079] The physical conditions that cause momentary slippage are: local bulge of blood vessels, slight plaque blockage, momentary impact of the guidewire tip against the wall, and uneven lubrication on the guidewire surface. These are occasional and transient resistance changes.

[0080] The temporal characteristics of continuous slippage can be categorized into "continuous slippage duration spanning multiple laps", "continuous accumulation of error", and "steady-state deviation".

[0081] Among them, the slippage duration is continuous and spans multiple laps: the slippage state is maintained continuously for more than 1 second or for more than 3 consecutive laps, and the speed deviation is outside the preset deviation range throughout the entire process, and the speed deviation will not fall back on its own.

[0082] Errors accumulate continuously: There is a speed deviation in each sampling cycle, and the actual travel distance of the interventional device lags behind the commanded distance. The distance error increases linearly with time.

[0083] The deviation exhibits steady-state characteristics: the speed deviation remains within a fixed range and does not disappear. A slight increase in clamping force only briefly improves the slippage, but slippage reappears after a few seconds.

[0084] The physical conditions causing continuous slippage are: severe tortuosity of the blood vessel throughout, long-segment stenosis of the blood vessel, decreased friction coefficient between the interventional device and the friction wheel, insufficient clamping force, and persistently high resistance over long distances, which are considered steady-state continuous resistance.

[0085] Based on the aforementioned temporal characteristics of instantaneous slippage, multiple first judgment conditions are set for identifying instantaneous slippage. Based on the aforementioned temporal characteristics of continuous slippage, multiple second judgment conditions are set for identifying continuous slippage.

[0086] In the specific implementation of step S201, when identifying the slip type, if multiple preset first judgment conditions are met at the same time, the identified slip type is determined to be instantaneous slip, and step S202 is executed.

[0087] If any of the preset second judgment conditions are met, the identified slippage type is determined to be continuous slippage, and step S203 is executed.

[0088] For example, set multiple first-condition criteria as follows:

[0089] First criterion A: The number of sampling frames for determining slippage is less than or equal to 2 frames;

[0090] First criterion B: The total duration of slippage is less than 100ms;

[0091] First criterion C: Second velocity V for three consecutive sampling cycles after the slippage ends. real Fitting the first velocity V tar There is no accumulation of errors.

[0092] When the first judgment condition A, the first judgment condition B and the first judgment condition C are met at the same time, the identified slip type can be determined to be instantaneous slip.

[0093] For example, setting multiple second judgment conditions as follows:

[0094] Second criterion D: The duration of slippage is greater than 1000ms, and slippage occurs continuously for more than one full lap;

[0095] Second criterion E: The cumulative distance error within each second window is greater than the preset clinical error threshold, and the error continues to increase for two consecutive 1-second windows.

[0096] When the second judgment condition D or the second judgment condition E is met, the identified slippage type can be determined to be continuous slippage.

[0097] Step S202: If the identified slippage type is instantaneous slippage, calculate the correction speed based on the first speed and the single-circle rotation time of the drive wheel.

[0098] In the specific implementation of step S202, if the identified slippage type is instantaneous slippage (e.g., local intermittent slippage caused by uneven guidewire coating or instantaneous force fluctuations during the procedure), the first target displacement of the interventional instrument within a single rotation time of the drive wheel (denoted as T0) is collected (denoted as S1). tar ) and the first actual displacement measured by the driven wheel (denoted as S1) real The first actual displacement is recorded as the actual feed displacement of the interventional device.

[0099] Specifically, the statistical time period is defined as the single-turn rotation time (T0) of the drive wheel, and the first target displacement (S1) of the interventional device within this statistical time period is collected. tar ) and the first actual displacement (S1) of the driven wheel as measured real ).

[0100] Calculate the first target displacement (S1) tar ) and the first actual displacement (S1) real The first displacement deviation between ( ) is denoted as ΔS1, i.e., ΔS1 = S1 tar -S1 real .

[0101] According to the first speed (V) tar The time to complete one revolution (T0) and the first displacement deviation (ΔS1) are used to calculate the corrected speed (denoted as V). new ).

[0102] Specifically, if the identified slip type is momentary slip, V new =V tar +ΔS1 / T0.

[0103] The calculated correction speed is used for closed-loop correction of the driving wheel's running speed in the next cycle, thereby offsetting the invalid feed stroke caused by momentary slippage and quickly restoring feed stability.

[0104] Step S203: If the identified slippage type is continuous slippage, calculate the corrected speed based on the preset duration and the first speed.

[0105] In the specific implementation of step S203, if the identified slippage type is continuous slippage (e.g., continuous slippage across the entire area caused by full lubrication of the interventional device or low friction conditions), based on the preset duration (denoted as T1, T1 can be set to 1s, 0.5s, or 2s, etc.) and the first velocity (V... tar ), calculate the second target displacement of the interventional device (denoted as S2) tar ).

[0106] Specifically, using T1 as the statistical period, the theoretical feed displacement is calculated to obtain the second target displacement, S2. tar =T1 V tar .

[0107] The second actual displacement (denoted as S2) measured by the driven wheel is collected. real Calculate the second displacement deviation (denoted as ΔS2) between the second target displacement and the second actual displacement. ΔS2 = S2 tar –S2 real .

[0108] According to the first speed (V) tar ), preset duration (T1) and second displacement deviation (ΔS2), calculate correction velocity (V) new ).

[0109] Specifically, if the identified slip type is continuous slip, V new =V tar +ΔS2 / T1. The calculated correction speed is used to iteratively correct the running speed of the drive wheel, continuously offsetting the accumulated feed error until the feed state of the interventional device returns to stability.

[0110] Step S204: Adjust the running speed of the drive wheel to the calculated corrected speed.

[0111] In the specific implementation of step S204, the correction speed (V) is calculated through the above steps S202 or S203. new After that, the operating speed of the drive wheel is adjusted to the calculated corrected speed (V). new ).

[0112] In some embodiments, the operating speed of the drive wheel is adjusted to a calculated corrected speed (V). new After that, if the speed deviation is within the preset deviation range for multiple consecutive tests, the running speed will be gradually returned to the first speed.

[0113] In other words, the operating speed of the drive wheel is adjusted to the calculated corrected speed (V). newAfter that, if the speed deviation is detected to be within the preset deviation range for several consecutive cycles, it indicates that the slippage has disappeared. At this time, the running speed of the drive wheel can be restored to the first speed (V). tar This effectively avoids overcompensation and undercompensation issues, ensuring the accuracy and stability of instrument delivery throughout the minimally invasive surgery process.

[0114] Conversely, if the speed deviation is still detected to be outside the preset deviation range, it indicates that the slippage has not been eliminated. In this case, the running speed of the drive wheel will still be adjusted to the calculated correction speed (V). new Dynamic compensation is performed using this method.

[0115] above Figure 2 This is an explanation of how to adjust the operating speed of the drive wheel.

[0116] To better understand this solution from a holistic perspective, through Figure 3 Another flowchart illustrating an anti-slip method for a clamping and conveying mechanism is shown below. Figure 3 Includes the following steps:

[0117] Step S301: The driving wheel moves at a first speed V tar During operation, the second speed V of the driven wheel of the clamping and conveying mechanism is collected. real .

[0118] Step S302: Determine whether the speed deviation is outside the preset deviation range. If the speed deviation is detected to be within the preset deviation range, the drive wheel continues at the first speed V. tar Run. If the speed deviation is detected to be outside the preset deviation range for the first time, execute step S303; if the speed deviation is detected to be outside the preset deviation range again, execute step S304.

[0119] Step S303: Control the miniature linear electric cylinder to reduce the clamping distance between the driving wheel and the driven wheel.

[0120] Step S304: Identify the type of slippage.

[0121] Step S305: If the identified slippage type is instantaneous slippage, calculate the corrected speed V. new =V tar +ΔS1 / T0.

[0122] Step S306: If the identified slippage type is continuous slippage, calculate the corrected speed V. new =V tar +ΔS2 / T1.

[0123] It should be noted that, Figure 3 The execution principle of each step has been explained in the above embodiments of the present invention. Figure 1 and Figure 2 The details have been explained in detail, so I will not repeat them here.

[0124] In summary, this solution is adaptable to various complex surgical conditions. Under conditions such as intraoperative wetness and guidewire surface lubrication, slippage and freewheeling may occur between the guidewires. This solution monitors speed and displacement changes during the feed process, identifies persistent feed deviations that cannot be eliminated automatically, and determines that the guidewires are slipping. It then triggers primary anti-slip control; if primary anti-slip control fails to eliminate slippage, secondary anti-slip control is immediately activated. This method eliminates the need for manually preset critical parameters, adaptively adapts to various complex intraoperative conditions, and offers greater stability and versatility.

[0125] Corresponding to the anti-slip method for a clamping and conveying mechanism provided in the above embodiments of the present invention, see also... Figure 4 The present invention also provides a structural block diagram of an anti-slip system for a clamping and conveying mechanism, the anti-slip system including: a control unit 401, a calculation unit 402 and an adjustment unit 403.

[0126] The control unit 401 is used to control the driving wheel of the clamping and conveying mechanism to run at a preset first speed, and periodically collect the second speed of the driven wheel of the clamping and conveying mechanism.

[0127] The calculation unit 402 is used to calculate the speed deviation according to the first speed and the second speed.

[0128] The adjustment unit 403 is used to reduce the clamping distance between the driving wheel and the driven wheel if the speed deviation is detected to be outside the preset deviation range, or to adjust the running speed of the driving wheel.

[0129] In some embodiments, the adjustment unit 403 is specifically used to: if the speed deviation is detected to be outside the preset deviation range for the first time, reduce the clamping distance between the driving wheel and the driven wheel; after reducing the clamping distance, if the speed deviation is detected to be outside the preset deviation range again, adjust the running speed of the driving wheel.

[0130] In this embodiment of the invention, the driving wheel runs at a preset first speed, and the speed deviation between the preset first speed and the second speed of the driven wheel is calculated. If the speed deviation is detected to be outside the preset deviation range, two-stage anti-slip measures are adopted, namely, reducing the clamping distance between the driving wheel and the driven wheel, or adjusting the running speed of the driving wheel, thereby preventing the interventional device from slipping and improving the delivery accuracy of the interventional device.

[0131] Preferred, combined Figure 4 The adjustment unit 403, as shown, includes an identification subunit, a first calculation subunit, a second calculation subunit, and an adjustment subunit. The execution principle of each subunit is as follows:

[0132] The identification subunit is used to identify the type of slippage.

[0133] In some embodiments, the identification subunit is specifically used to: determine that the identified slip type is instantaneous slip when multiple preset first determination conditions are met simultaneously; and determine that the identified slip type is continuous slip when any one of the preset second determination conditions is met.

[0134] The first calculation subunit is used to calculate the corrected speed based on the first speed and the single-rotation time of the drive wheel if the identified slip type is instantaneous slip.

[0135] In some embodiments, the first calculation subunit is specifically used to: if the identified slippage type is instantaneous slippage, collect the first target displacement of the interventional instrument and the first actual displacement measured by the driven wheel within a single rotation time of the driving wheel; calculate the first displacement deviation between the first target displacement and the first actual displacement; and calculate the correction speed according to the first speed, the single rotation time and the first displacement deviation.

[0136] The second calculation subunit is used to calculate the corrected speed based on a preset duration and a first speed if the identified slippage type is continuous slippage.

[0137] In some embodiments, the second calculation subunit is specifically used for: if the identified slippage type is continuous slippage, calculating the second target displacement of the interventional device based on a preset duration and a first speed; acquiring the second actual displacement measured by the driven wheel; calculating the second displacement deviation between the second target displacement and the second actual displacement; and calculating the correction speed according to the first speed, the preset duration, and the second displacement deviation.

[0138] The adjustment subunit is used to adjust the running speed of the drive wheel to the calculated corrected speed.

[0139] Preferably, the adjustment unit 403 further includes a recovery subunit.

[0140] The recovery subunit is used to restore the running speed of the drive wheel to the first speed if the speed deviation is detected to be within a preset deviation range for multiple consecutive times.

[0141] Preferably, the present invention also provides a conveying device, including: a clamping conveying mechanism, a processor, and a memory, wherein the processor and the memory are connected via a bus, and the processor is communicatively connected to the clamping conveying mechanism; wherein the processor is used to call and execute a program stored in the memory; the memory is used to store the program, which is used to implement the anti-slip method of the clamping conveying mechanism provided in the above method embodiment.

[0142] Preferably, embodiments of the present invention also provide a neurointerventional surgical robot, including the aforementioned delivery device.

[0143] In summary, this invention provides an anti-slip method and related device for a clamping and conveying mechanism. The driving wheel runs at a preset first speed, and the speed deviation between the preset first speed and the second speed of the driven wheel is calculated. If the speed deviation is detected to be outside the preset deviation range, two-stage anti-slip measures are adopted, namely, reducing the clamping distance between the driving wheel and the driven wheel, or adjusting the running speed of the driving wheel, thereby preventing the interventional device from slipping and improving the delivery accuracy of the interventional device.

[0144] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for system or system embodiments, since they are basically similar to method embodiments, the description is relatively simple, and relevant parts can be referred to the descriptions in the method embodiments. The systems and system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0145] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0146] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for preventing slippage in a clamping and conveying mechanism, characterized in that, The method includes: The driving wheel of the clamping and conveying mechanism is controlled to run at a preset first speed, and the second speed of the driven wheel of the clamping and conveying mechanism is periodically collected; Calculate the speed deviation based on the first speed and the second speed; If the speed deviation is detected to be outside the preset deviation range for the first time, the clamping distance between the driving wheel and the driven wheel is reduced; after the clamping distance is reduced, if the speed deviation is detected to be outside the preset deviation range again, the running speed of the driving wheel is adjusted.

2. The method according to claim 1, characterized in that, Adjusting the operating speed of the drive wheel includes: Identify the type of slippage; If the identified slippage type is instantaneous slippage, a corrected speed is calculated based on the first speed and the single-circle rotation time of the drive wheel; If the identified slippage type is continuous slippage, a corrected speed is calculated based on the preset duration and the first speed; The operating speed of the drive wheel is adjusted to the calculated corrected speed.

3. The method according to claim 2, characterized in that, If the identified slippage type is momentary slippage, a corrected speed is calculated based on the first speed and the single-rotation time of the drive wheel, including: If the identified slippage type is instantaneous slippage, the first target displacement of the interventional instrument and the first actual displacement measured by the driven wheel within a single rotation time of the driving wheel are collected. Calculate the first displacement deviation between the first target displacement and the first actual displacement; The corrected speed is calculated based on the first speed, the single-turn rotation time, and the first displacement deviation.

4. The method according to claim 2, characterized in that, If the identified slippage type is continuous slippage, a corrected speed is calculated based on a preset duration and the first speed, including: If the identified slippage type is continuous slippage, the second target displacement of the interventional device is calculated based on the preset duration and the first speed; The second actual displacement measured by the driven wheel is collected; Calculate the second displacement deviation between the second target displacement and the second actual displacement; The corrected speed is calculated based on the first speed, the preset duration, and the second displacement deviation.

5. The method according to claim 2, characterized in that, Identify slip types, including: When multiple preset first judgment conditions are met simultaneously, the identified slippage type is determined to be instantaneous slippage. If any of the preset second judgment conditions are met, the identified slippage type is determined to be continuous slippage.

6. The method according to claim 2, characterized in that, After adjusting the operating speed of the drive wheel to the calculated corrected speed, the process also includes: If the speed deviation is detected to be within the preset deviation range multiple times in a row, the operating speed of the drive wheel will be restored to the first speed.

7. An anti-slip system for a clamping and conveying mechanism, characterized in that, The system includes: The control unit is used to control the driving wheel of the clamping and conveying mechanism to run at a preset first speed, and periodically collect the second speed of the driven wheel of the clamping and conveying mechanism; A calculation unit is used to calculate the speed deviation based on the first speed and the second speed; The adjustment unit is used to reduce the clamping distance between the driving wheel and the driven wheel if the speed deviation is detected to be outside the preset deviation range for the first time; and to adjust the running speed of the driving wheel if the speed deviation is detected to be outside the preset deviation range again after the clamping distance is reduced.

8. A conveying device, characterized in that, include: The system includes a clamping and conveying mechanism, a processor, and a memory. The processor and memory are connected via a bus, and the processor is communicatively connected to the clamping and conveying mechanism. The processor is used to call and execute programs stored in the memory. The memory is used to store a program for implementing the anti-slip method of the clamping and conveying mechanism as described in any one of claims 1-6.

9. A neurointerventional surgical robot, characterized in that, Includes the conveying equipment as described in claim 8.

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