Control system and control device for a vascular intervention robot

Abstract

The embodiment of the application provides a kind of vascular intervention robot control system and control device, it is related to medical technical field.The control system includes robot master end and robot slave end;Robot master end obtains the delivery control instruction of thrombus extraction stent and sends to robot slave end;Robot slave end responds to delivery control instruction, control thrombus extraction stent to target blood vessel distal end advance, until thrombus extraction stent is delivered to target release site in target blood vessel;After delivery in place, robot master end obtains constant force keeping instruction and sends to robot slave end, and robot slave end controls the contact force between microcatheter head end and the tissue at target release site to keep target contact force;Then robot master end obtains thrombus extraction stent release instruction and sends to robot slave end, and robot slave end releases thrombus extraction stent.The application realizes the closed-loop control of thrombus extraction stent delivery, constant force keeping and standardization release, improves the accuracy, efficiency and safety of thrombus extraction stent release process.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, specifically a control system and control device for a vascular intervention robot. Background Technology

[0002] Interventional thrombectomy is one of the main methods for treating vascular embolism. The operator needs to continuously monitor angiographic images, manually control the thrombectomy device to advance to the thrombus area, deliver the thrombectomy stent to the target release site, and then manually control the release and retraction of the stent. Currently, stent delivery, post-deployment positioning, and release process mainly rely on roadmap guidance and manual probing, lacking objective real-time feedback. Multiple adjustments are often required, resulting in low accuracy in stent delivery and release. Furthermore, the contact force between the microcatheter tip and the tissue at the target release site is difficult to maintain stably before and during release, easily affected by factors such as vascular pulsation and blood flow impact, leading to displacement and affecting the stability of the release baseline. In addition, to ensure safety, operators often use slow, staged release with repeated angiographic confirmation, which is inefficient. These problems not only reduce thrombectomy efficiency but may also lead to safety risks such as stent placement deviation, vessel wall damage, thrombus detachment causing distal embolism, and even thrombectomy failure. Therefore, improving the accuracy, efficiency, and safety of the stent release process is an urgent problem to be solved. Summary of the Invention

[0003] This invention provides a control system and control device for a vascular interventional robot, which improves the accuracy, efficiency and safety of the thrombectomy stent release process.

[0004] In a first aspect, embodiments of the present invention provide a control system for a vascular interventional robot, comprising a robot master end and a robot slave end, wherein: The robot master end is configured to acquire delivery control commands for the thrombectomy bracket and send the delivery control commands to the robot slave end; The robot slave is configured to control the thrombectomy stent to advance distally toward the target blood vessel in response to the delivery control command, until the thrombectomy stent is delivered to the target release site in the target blood vessel; The robot master end is further configured to acquire a constant force holding command after the thrombectomy stent is delivered to the target release site, and send the constant force holding command to the robot slave end, wherein the constant force holding command is used to instruct the contact force between the microcatheter tip and the tissue at the target release site to be maintained at the target contact force; The robot slave end is also configured to, in response to the constant force holding command, control the contact force between the microcatheter tip and the tissue at the target release site to be maintained at the target contact force. The robot master end is also configured to acquire a thrombectomy bracket release command and send the thrombectomy bracket release command to the robot slave end; The robot slave is configured to release the thrombectomy stent in response to the thrombectomy stent release command.

[0005] In a second aspect, embodiments of the present invention provide a control device for a vascular interventional robot, including a processor, a memory, a computer program stored in the memory and executable by the processor, and a data bus for enabling communication between the processor and the memory, wherein the computer program, when executed by the processor, performs the functions of any of the control systems for vascular interventional robots provided in this specification.

[0006] To address the aforementioned problems, this invention provides a control system and control device for a vascular interventional robot. The control system includes a master robot and a slave robot. After receiving a delivery control command for the thrombectomy stent, the master robot sends the command to the slave robot. Responding to the command, the slave robot controls the thrombectomy stent to advance distally towards the target vessel until it is delivered to the target release site within the vessel. The entire process requires no manual pushing by the user, fundamentally solving the problem of inaccurate positioning caused by hand tremors and subjective judgment errors. After the thrombectomy stent is delivered, the master robot receives a constant force maintenance command and sends it to the slave robot. Responding to this command, the slave robot maintains the contact force between the microcatheter tip and the tissue at the target release site at the target contact force, thereby establishing a stable operational benchmark for subsequent release and reducing the deviation of the release initiation point caused by vascular pulsation, blood flow impact, or microcatheter slippage. After the contact force is maintained at the target contact force, the robot master receives the stent release command and sends it to the robot slave. The robot slave responds to this command by releasing the stent. The precise control of the robot reduces the number of repeated attempts and adjustments required during manual release, shortening the release operation time and reducing the risk of vascular damage during the trial process. The three stages of delivery, constant force maintenance, and release are all executed automatically by the robot, eliminating uncertainties caused by individual operator differences and achieving standardized stent release operations. Constant force maintenance ensures the stability of the release baseline, and constant speed retraction ensures a smooth and controllable release process, improving the accuracy, efficiency, and safety of the stent release process. Simultaneously, the generation and display of force-displacement correlation information transforms the release process from relying on manual feel into a quantifiable and traceable process, providing data support for subsequent analysis and parameter optimization. Attached Figure Description

[0007] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0008] Figure 1 This is a schematic diagram of the architecture of a control system for a vascular interventional robot provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the control system architecture of another vascular interventional robot provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the process of thrombectomy stent delivery, constant force maintenance and release in the control system of a vascular interventional robot provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the delivery progress feedback process in the control system of a vascular interventional robot provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of the fully unfolded process for determining resistance mutations in the control system of a vascular interventional robot provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of the process for generating and displaying force-displacement correlation information in a control system of a vascular interventional robot provided in an embodiment of the present invention; Figure 7 This is a schematic block diagram of the structure of a control device for a vascular interventional robot provided in an embodiment of the present invention. Detailed Implementation

[0009] 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, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0010] The flowchart shown in the attached diagram is for illustrative purposes only and does not necessarily include all content and operations / steps, nor does it necessarily have to be performed in the order described. For example, some operations / steps can be broken down, combined, or partially merged, so the actual execution order may change depending on the actual situation.

[0011] It should be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0012] In the description of this invention, it should be understood that "distal" and "proximal" are defined based on their orientation during the interventional procedure. Specifically, "distal" refers to the end of the device or component that is away from the operator and towards the patient's body, while "proximal" refers to the end of the device or component that is closer to the operator. Based on this definition, "advancing distally" in this invention means pushing the device deeper into the blood vessel, closer to the target release site, while "retracting proximally" means withdrawing the device outward, away from the target release site. This orientation definition is for simplification only and is not intended to indicate or imply that the device or component referred to must have a specific orientation, nor should it be construed as a limitation of this invention.

[0013] Currently, the delivery, positioning, and deployment of thrombectomy stents rely primarily on roadmap guidance and tactile probing, lacking objective real-time feedback. This often necessitates multiple adjustments, resulting in low precision in stent delivery and deployment. Furthermore, the contact force between the microcatheter tip and the tissue at the target deployment site is difficult to maintain stably before and during deployment, making it susceptible to displacement due to factors such as vascular pulsation and blood flow impact, affecting the stability of the deployment baseline. In addition, to ensure safety, operators often employ slow, staged deployment with repeated angiography for confirmation, which is inefficient.

[0014] To address the aforementioned problems, this invention provides a control system and control device for a vascular interventional robot. The control system includes a master robot and a slave robot. After receiving a delivery control command for the thrombectomy stent, the master robot sends the command to the slave robot. Responding to the command, the slave robot controls the thrombectomy stent to advance distally towards the target vessel until it is delivered to the target release site within the vessel. The entire process requires no manual pushing by the user, fundamentally solving the problem of inaccurate positioning caused by hand tremors and subjective judgment errors. After the thrombectomy stent is delivered, the master robot receives a constant force maintenance command and sends it to the slave robot. Responding to this command, the slave robot maintains the contact force between the microcatheter tip and the tissue at the target release site at the target contact force, thereby establishing a stable operational benchmark for subsequent release and reducing the deviation of the release initiation point caused by vascular pulsation, blood flow impact, or microcatheter slippage. After the contact force is maintained at the target contact force, the robot master receives the stent release command and sends it to the robot slave. The robot slave responds to this command by releasing the stent. The precise control of the robot reduces the number of repeated attempts and adjustments required during manual release, shortening the release operation time and reducing the risk of vascular damage during the trial process. The three stages of delivery, constant force maintenance, and release are all executed automatically by the robot, eliminating uncertainties caused by individual operator differences and achieving standardized stent release operations. Constant force maintenance ensures the stability of the release baseline, and constant speed retraction ensures a smooth and controllable release process, improving the accuracy, efficiency, and safety of the stent release process. Simultaneously, the generation and display of force-displacement correlation information transforms the release process from relying on manual feel into a quantifiable and traceable process, providing data support for subsequent analysis and parameter optimization.

[0015] The following detailed description of some embodiments of the present invention is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0016] Please see Figure 1 , Figure 1 This is a schematic diagram of the architecture of a control system for a vascular interventional robot provided in an embodiment of the present invention.

[0017] like Figure 1 As shown, the architecture includes a robot master 100 and a robot slave 200, which are communicatively connected. The communication connection between the robot master 100 and the robot slave 200 can be either a wireless or wired communication connection.

[0018] The robot slave end 200 refers to the actuator, such as a robotic arm or delivery device, used to perform the delivery, constant force holding, and release operations of the thrombectomy stent. The robot slave end 200 responds to commands sent by the robot master end 100 and performs corresponding operations. The thrombectomy stent is carried within a microcatheter, which provides a delivery channel and protection for the stent. After the thrombectomy stent is delivered to the target release site in the target blood vessel, the stent is released from the distal end of the microcatheter by retracting the microcatheter and self-deploys, thereby embedding itself into the tissue at the target release site.

[0019] The robot master device 100 refers to the device used by the user to operate the vascular intervention robot, such as a laptop, personal computer, console, operating workstation, or handheld controller. The robot master device 100 and the robot slave device 200 can be connected via wired or wireless communication.

[0020] Specifically, the robot master 100 can send user-triggered delivery control commands, constant force holding commands, and release control commands to the robot slave 200, triggering the robot slave 200 to execute the corresponding operations. The robot slave 200 can provide real-time feedback of status information during the thrombectomy process to the robot master 100, such as the positioning progress of the thrombectomy stent, the resistance information of the microcatheter, and the release position information of the thrombectomy stent, so that the robot master 100 can display, store, or further process this information, allowing the user to monitor the progress of the thrombectomy in real time.

[0021] In some embodiments, the robot master 100 acquires a user-triggered delivery control command for the thrombectomy stent and sends the delivery control command to the robot slave 200. In response to the received delivery control command, the robot slave 200 controls the thrombectomy stent to advance distally into the target blood vessel until the thrombectomy stent is delivered to the target release site within the target blood vessel.

[0022] For example, a user located at the master end 100 of the robot, after delivering the distal tip of the thrombectomy stent to the vicinity of the target release site in the target blood vessel, triggers a delivery control command through the master end 100 of the robot. In response to the user's triggering operation, the master end 100 of the robot acquires the delivery control command and sends it to the slave end 200 of the robot.

[0023] After receiving the delivery control command from terminal 200, the robot responds to the command and controls the thrombectomy stent to advance distally towards the target blood vessel. During this advancement, the robot obtains the stent's arrival progress information from terminal 200 and sends this information to the robot master terminal 100. The robot master terminal 100 receives the arrival progress information and displays it on the interface, allowing the user to monitor the real-time arrival progress of the thrombectomy stent.

[0024] When the positioning progress information indicates that the retrieval stent has reached the target release point, the robot slave 200 pauses driving the retrieval stent and sends a positioning notification to the robot master 100. The robot master 100 receives and displays the positioning notification to inform the user that the retrieval stent has been positioned.

[0025] After the thrombectomy stent is delivered to the target release site, the robot master 100 acquires a constant force holding command and sends it to the robot slave 200. The constant force holding command instructs the contact force between the microcatheter tip and the tissue at the target release site to be maintained at the target contact force. In response to the constant force holding command, the robot slave 200 controls the contact force between the microcatheter tip and the tissue at the target release site to be maintained at the target contact force.

[0026] After the contact force is maintained at the target contact force, the robot master end 100 obtains the retrieval bracket release command and sends the retrieval bracket release command to the robot slave end 200. The robot slave end 200 responds to the release command and releases the retrieval bracket.

[0027] In some embodiments, the robot slave end 200 retracts the microcatheter at a preset constant speed to release the thrombectomy stent. During the retraction of the microcatheter to release the thrombectomy stent, the robot slave end 200 simultaneously monitors and records the resistance changes experienced by the microcatheter and the release position of the thrombectomy stent, generating force-displacement correlation information characterizing the relationship between resistance changes and release position, and sending this force-displacement correlation information to the robot master end 100. The robot master end 100 acquires and displays this force-displacement correlation information, allowing the user to assess whether the release process of the thrombectomy stent is smooth and whether the stent is adequately integrated with the tissue at the target release site.

[0028] Please see Figure 2 , Figure 2 This is a schematic diagram of the control system architecture of another vascular interventional robot provided in an embodiment of the present invention.

[0029] like Figure 2 As shown, the architecture includes a robot master 100, a robot slave 200, and an image recognition module 300. The robot master 100 and robot slave 200 are communicatively connected, and the robot master 100 is also communicatively connected to the image recognition module 300. These communication connections can be wireless or wired. In some embodiments, the image recognition module 300 and robot slave 200 may not establish a direct communication connection; the image recognition module 300 only interacts with the robot master 100.

[0030] The image recognition module 300 refers to a module used to recognize and process angiographic images of a target blood vessel to obtain target release site information, such as an image processing device containing a target release site recognition model. The image recognition module 300 is used to acquire angiographic images of the target blood vessel and send the angiographic images to the robot master terminal 100.

[0031] In some embodiments, the image recognition module 300 includes a target release site recognition model. The image recognition module 300 uses the target release site recognition model to identify the angiographic image of the target blood vessel, determines the target release site information, and sends the target release site information to the robot master terminal 100. The robot master terminal 100 is used to generate the delivery control command based on the target release site information.

[0032] In some embodiments, after the image recognition module 300 sends the angiography image to the robot master terminal 100, the robot master terminal 100 displays the angiography image, obtains the target release site information marked by the user based on the angiography image, and generates the delivery control command based on the target release site information.

[0033] In some embodiments, the control system further includes an image recognition module. The image recognition module is used to acquire angiographic images of the target blood vessel and send the angiographic images to the robot master terminal 100; the robot master terminal 100 is used to display the angiographic images, acquire target release site information marked by the user based on the angiographic images, and generate the delivery control command based on the target release site information.

[0034] In some embodiments, the control system further includes an image recognition module, which includes a target release site recognition model. The image recognition module is used to identify the angiographic image of the target blood vessel using the target release site recognition model, determine the target release site information, and send the target release site information to the robot master terminal 100; the robot master terminal 100 is used to generate the delivery control command based on the target release site information.

[0035] In some embodiments, the robot slave 200 is further configured to, in response to the constant force holding command, acquire the current contact force between the microcatheter tip and the tissue at the target release site, and adjust the microcatheter according to the deviation between the current contact force and the target contact force, so that the contact force between the microcatheter tip and the tissue at the target release site is maintained at the target contact force.

[0036] In some embodiments, the target contact force is a preset constant thrust along the distal end of the microcatheter axially, the preset constant thrust being determined based on at least one of the tissue thickness, properties, or hemodynamic parameters at the target release site; the target contact force is set to a preset force value range between a minimum anti-slip threshold and a maximum tissue damage threshold, the minimum anti-slip threshold being greater than the axial resultant force of the microcatheter under peak blood flow impact, and the maximum tissue damage threshold being less than or equal to the contact force value corresponding to the elastic deformation limit of the tissue.

[0037] In some embodiments, the robot slave end 200 is configured to retract the microcatheter at a preset constant speed in response to the thrombectomy stent release command, thereby releasing the thrombectomy stent.

[0038] In some embodiments, the robot slave end 200 is further configured to monitor the resistance experienced by the microcatheter during the retraction of the microcatheter; and to determine that the thrombectomy stent has been fully deployed in response to detecting that the change in resistance within a preset time period is greater than a preset change threshold.

[0039] In some embodiments, the robot slave end 200 is further configured to simultaneously monitor and record the resistance change of the microcatheter and the release position of the thrombectomy stent during the process of retracting the microcatheter to release the thrombectomy stent, generate force-displacement correlation information characterizing the relationship between the resistance change and the release position, and send the force-displacement correlation information to the robot master end 100; the robot master end 100 is configured to acquire and display the force-displacement correlation information.

[0040] In some embodiments, the robot master end 100 is further configured to acquire and output the arrival progress information of the thrombectomy stent during the process of the robot slave end 200 controlling the thrombectomy stent to advance to the distal end of the target blood vessel, and send a pause delivery command to the robot slave end 200 after the thrombectomy stent is delivered to the target release site; the robot slave end 200 is further configured to stop driving the thrombectomy stent to advance to the distal end in response to the pause delivery command.

[0041] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific workflow of the control system described above can be referred to the following embodiments, which will not be repeated here.

[0042] The following will combine Figure 1 The architecture described in this disclosure provides a detailed overview of the control system provided by the embodiments of this disclosure. It should be noted that... Figure 1 The architecture described herein is only used to explain the control system provided in the embodiments of the present invention, but does not constitute a limitation on the application architecture of the control system provided in the embodiments of the present invention.

[0043] Please see Figure 3 , Figure 3 This is a schematic diagram of the process of thrombectomy stent delivery, constant force maintenance and release in the control system of a vascular interventional robot provided in an embodiment of the present invention.

[0044] like Figure 3 As shown, the workflow of the control system of the vascular intervention robot includes steps S101 to S106.

[0045] Step S101: The robot master end obtains the delivery control command of the thrombectomy bracket and sends the delivery control command to the robot slave end.

[0046] In this embodiment, the delivery control command is used to instruct the thrombectomy stent to be delivered to the target release site in the target blood vessel. The target blood vessel refers to a blood vessel containing a thrombus that requires thrombectomy intervention, such as the middle cerebral artery or internal carotid artery in the brain. The robot's master end acquires the delivery control command, providing the task basis for subsequent fully automated delivery.

[0047] The target release site refers to the specific location within the target blood vessel where the thrombectomy stent needs to be released. In actual clinical scenarios, the target release site can be selected based on the lesion type, vascular condition, and treatment strategy. In some embodiments, the target release site is the proximal location of the thrombus, allowing the thrombectomy stent to deploy within the thrombus and embed itself into it. In some embodiments, the target release site is the distal location of the thrombus, allowing the thrombectomy stent to first deploy and anchor distally to the thrombus before covering it proximally. In some embodiments, the target release site is the center of the stenotic or occluded segment of the blood vessel, allowing the thrombectomy stent to restore the vessel lumen through radial support after deployment in the lesion segment. In some embodiments, the target release site is the location where a lesion exists in the vessel wall requiring stent support.

[0048] It is understood that the aforementioned proximal thrombus location, distal thrombus location, and central location of the stenotic or occluded segment of the vessel are merely exemplary embodiments of the target release site and do not constitute a limitation on the scope of protection of this application. Any specific location within the target vessel requiring interventional intervention by delivering a thrombectomy stent can be considered as the target release site described in this application.

[0049] In some embodiments, the robot master receives delivery control commands triggered by the user. The user can trigger delivery control commands via physical buttons on the robot master, virtual controls on a touchscreen, buttons on a control handle, or voice commands. For example, the user can observe angiographic images of the target blood vessel on the robot master's display interface, manually mark the target release site, and then click the confirmation button. The robot master responds to the user's action by generating delivery control commands.

[0050] Step S102: The robot responds to the delivery control command from the slave end and controls the thrombectomy stent to advance towards the distal end of the target blood vessel until the thrombectomy stent is delivered to the target release site in the target blood vessel.

[0051] In this embodiment, the thrombectomy stent is carried within a microcatheter. The robot, driven by a push rod connected to the stent, moves the stent distally within the microcatheter until it is delivered to the target release site. The delivery process is automatically executed by the robot, eliminating the need for manual pushing by the user and fundamentally solving the problem of inaccurate positioning caused by hand tremors and subjective judgment errors.

[0052] In some embodiments, the robot advances the thrombectomy stent from the end at a preset constant speed to ensure a smooth pushing process and reduce the risk of stimulation and damage to the blood vessel wall.

[0053] Step S103: After the thrombectomy bracket is delivered to the target release point, the robot master end obtains the constant force holding command and sends the constant force holding command to the robot slave end.

[0054] In this embodiment, the constant force holding command is used to instruct that the contact force between the microcatheter tip and the tissue at the target release site be maintained at the target contact force. After the thrombectomy stent is delivered in place, the constant force holding command establishes a stable operational benchmark for subsequent release, reducing the deviation of the release initiation point caused by vascular pulsation, blood flow impact, or microcatheter slippage.

[0055] In some embodiments, after the user confirms that the thrombectomy bracket is in place, a constant force holding command is triggered via the robot master. For example, the robot master's display interface has a constant force holding button. When the user clicks this button, the robot master generates a constant force holding command and sends it to the robot slave.

[0056] Step S104: The robot responds to the constant force holding command from the slave end and controls the contact force between the tip of the microcatheter and the tissue at the target release site to maintain the target contact force.

[0057] In this embodiment, after receiving the constant force maintenance command from the slave end, the robot controls the contact force between the microcatheter tip and the tissue at the target release site to maintain the target contact force. Specifically, the robot acquires the current contact force between the microcatheter tip and the tissue at the target release site from the slave end, and adjusts the microcatheter according to the deviation between the current contact force and the target contact force to maintain the contact force at the target contact force.

[0058] For example, if the current contact force is less than the target contact force, it indicates that the microcatheter tip is prone to detachment. The robot then controls the microcatheter to advance slightly distally to increase the contact force. If the current contact force is greater than the target contact force, it indicates that the microcatheter tip is applying excessive pressure to the tissue. The robot then controls the microcatheter to retract slightly proximally to reduce the contact force. Thus, the contact force between the microcatheter tip and the tissue at the target release site is stably maintained at the target contact force, providing a stable operational benchmark for subsequent release.

[0059] In some embodiments, the target contact force is a preset constant thrust along the distal end of the microcatheter axially. The preset constant thrust is determined based on at least one of the thickness, properties, or hemodynamic parameters of the tissue at the target release site.

[0060] For example, the target contact force can range from 0.5mN to 2.0mN.

[0061] The target contact force is set within a preset range between the minimum anti-slip threshold and the maximum tissue damage threshold. The minimum anti-slip threshold is the minimum forward force required to counteract vascular pulsation, blood flow impact, and microcatheter slippage; the maximum tissue damage threshold is the maximum forward force that will not cause compressive damage to the tissue at the target release site. The minimum anti-slip threshold is greater than the axial resultant force of the microcatheter under peak blood flow impact, and the maximum tissue damage threshold is less than or equal to the contact force corresponding to the elastic deformation limit of the tissue.

[0062] Step S105: The robot master end obtains the release command of the retrieval bracket and sends the release command of the retrieval bracket to the robot slave end.

[0063] In this embodiment, after the contact force is maintained at the target contact force, the user confirms that the release operation can be performed, and triggers a release command for the detachment bracket via the robot master. The robot master receives the release command and sends it to the robot slave.

[0064] Step S106: The robot responds to the release command of the retrieval bracket by releasing the retrieval bracket.

[0065] In this embodiment, after receiving a release command from the end, the robot performs a thrombectomy stent release operation. For example, the robot retracts the microcatheter from the end at a preset constant speed, causing the thrombectomy stent to be gradually released from the distal end of the microcatheter and to unfold on its own, embedding itself into the tissue at the target release site.

[0066] In some embodiments, the preset constant speed is a retraction speed pre-set based on the release characteristics of the thrombectomy stent, the diameter of the target vessel, and clinical safety operating experience. For example, the preset constant speed can be 1.0 mm / s. This speed remains constant throughout the retraction process and does not change due to variations in the retraction stroke, thereby ensuring a smooth and controllable release of the microcatheter from the thrombectomy stent and avoiding uneven stent release or disturbance to the tissue at the target release site due to speed fluctuations.

[0067] In some embodiments, during the retraction of the microcatheter by the robot, the resistance experienced by the microcatheter is also monitored. When the change in resistance within a preset time period is detected to be greater than a preset threshold, it is determined that the thrombectomy stent has been fully deployed. In this way, the automatic detection of sudden changes in resistance provides an objective basis for determining whether the release is complete.

[0068] In some embodiments, during the process of retracting the microcatheter to release the thrombectomy stent, the robot simultaneously monitors and records the changes in resistance experienced by the microcatheter and the release position of the thrombectomy stent, generating force-displacement correlation information characterizing the relationship between resistance changes and release position, and sending this force-displacement correlation information to the robot master. The robot master acquires and displays the force-displacement correlation information, allowing the user to assess whether the release process is smooth and whether the stent is adequately integrated with the tissue.

[0069] Through steps S101 to S106, this embodiment achieves fully automated control of the entire process of thrombectomy stent delivery, constant force maintenance, and release. In the delivery phase, the robot automatically advances the thrombectomy stent, eliminating positioning deviations caused by hand tremors and subjective judgment errors during manual pushing, thus improving delivery accuracy. In the constant force maintenance phase, the robot adjusts the microcatheter in real time to stably maintain the contact force between the microcatheter tip and the tissue at the target release site at the target contact force, establishing a stable operational benchmark for subsequent release and avoiding deviation of the release starting point caused by vascular pulsation, blood flow impact, or microcatheter slippage. In the release phase, the robot retracts the microcatheter at a preset constant speed, ensuring a smooth and controllable thrombectomy stent deployment process. By monitoring resistance and recording force-displacement correlation information, it provides an objective basis for judging the completion of release. All three phases are automatically executed by the robot, eliminating individual differences among operators, achieving standardized operation of thrombectomy stent release, and improving the accuracy, efficiency, and safety of the release process.

[0070] Please see Figure 4 , Figure 4 This is a schematic diagram of the delivery progress feedback process in the control system of a vascular interventional robot provided in an embodiment of the present invention.

[0071] like Figure 4As shown, the delivery progress feedback process includes steps S201 to S202.

[0072] Step S201: During the process of the robot master end controlling the thrombectomy stent to advance to the distal end of the target blood vessel, the robot master end acquires and outputs the arrival progress information of the thrombectomy stent, and after the thrombectomy stent is delivered to the target release site, it sends a pause delivery command to the robot slave end.

[0073] In this embodiment, during the process of the robot controlling the thrombectomy stent to advance towards the distal end of the target blood vessel, the robot master acquires the stent's positioning progress information. This positioning progress information reflects the relationship between the current position of the thrombectomy stent and the target release site, such as the distance advanced, remaining distance, or relative position. The robot master outputs this positioning progress information, for example, by displaying it on an interface, allowing the user to monitor the real-time progress.

[0074] Once the thrombectomy stent is delivered to the target release site, the master robot sends a pause delivery command to the slave robot, instructing the slave robot to stop driving the thrombectomy stent further distally to avoid excessive advancement that could damage the blood vessel.

[0075] Step S202: The robot responds to the pause delivery command from the slave end and stops driving the thrombectomy bracket to advance to the distal end.

[0076] In this embodiment, after receiving a pause delivery command from the end, the robot stops driving the thrombectomy stent distally to avoid excessive advancement and potential vascular damage. Subsequently, the process enters the constant force maintenance phase.

[0077] Through steps S201 to S202 described above, in this embodiment, during the delivery of the thrombectomy stent, the robot's master end acquires and outputs the stent's delivery progress information in real time. This allows the user to intuitively grasp the delivery progress of the thrombectomy stent without needing repeated angiography to confirm its location, thus reducing the number of angiography sessions and radiation exposure. Once the thrombectomy stent has been delivered to the target release site, the robot's master end promptly sends a pause delivery command to the robot's slave end, causing the slave end to stop driving. This avoids damage to the blood vessel wall caused by excessive advancement, further improving the safety and controllability of the delivery process.

[0078] Please see Figure 5 , Figure 5 This is a schematic diagram of the fully unfolded process for determining resistance mutations in the control system of a vascular interventional robot provided in an embodiment of the present invention.

[0079] like Figure 5 As shown, the fully expanded process for determining resistance mutation includes steps S301 to S302.

[0080] Step S301: During the process of retracting the microcatheter from the robot end, the resistance encountered by the microcatheter is monitored.

[0081] In this embodiment, during the process of the robot retracting the microcatheter from one end to release the thrombectomy stent, the robot monitors the resistance experienced by the microcatheter in real time from the other end. The resistance experienced by the microcatheter can be obtained in real time by force sensors installed on the microcatheter or the push rod.

[0082] Step S302: The robot responds to the detection that the change in resistance within a preset time period is greater than a preset change threshold, and determines that the thrombectomy bracket has been fully deployed.

[0083] In this embodiment, the robot performs real-time analysis of the monitored resistance. When the detected change in resistance within a preset time period exceeds a preset threshold, it indicates that the thrombectomy stent has fully deployed and is sufficiently integrated with the tissue at the target release site. At this point, the robot determines that the thrombectomy stent has fully deployed, completing the release determination. The automatic detection of sudden changes in resistance provides an objective and quantifiable basis for determining the completion of release, eliminating reliance on the user's subjective experience.

[0084] Through steps S301 to S302 above, in this embodiment, during the microcatheter retraction process, the robot monitors the resistance experienced by the microcatheter in real time from the end, and automatically determines whether the thrombectomy stent has been fully deployed based on the change in resistance within a preset time period. This transforms the determination of release completion from relying on the surgeon's feel to an objective and quantifiable automatic detection, avoiding judgment deviations caused by differences in subjective experience. This makes the timing of thrombectomy stent release more accurate and reliable, reducing the risk of insufficient or excessive release.

[0085] Please see Figure 6 , Figure 6 This is a schematic diagram of the process for generating and displaying force-displacement correlation information in the control system of a vascular interventional robot provided in an embodiment of the present invention.

[0086] like Figure 6 As shown, the process for generating and displaying force-displacement correlation information includes steps S401 to S402.

[0087] Step S401: During the process of retracting the microcatheter to release the thrombectomy stent, the robot slave end simultaneously monitors and records the resistance change of the microcatheter and the release position of the thrombectomy stent, generates force-displacement correlation information characterizing the relationship between resistance change and release position, and sends the force-displacement correlation information to the robot master end.

[0088] In this embodiment, during the retraction of the microcatheter and release of the thrombectomy stent, the robot simultaneously collects resistance information of the microcatheter and release position information of the thrombectomy stent from the slave end. Resistance information can be collected in real time via a force sensor, while release position information can be obtained via a displacement sensor or image recognition module. The robot slave end correlates the resistance change with the release position to generate force-displacement correlation information. This correlation information objectively reflects the mechanical state of the thrombectomy stent throughout the entire process, from the ejection of the microcatheter and contact with the tissue at the target release site to complete deployment and integration. Subsequently, the robot slave end sends this force-displacement correlation information to the robot master end.

[0089] In some embodiments, the force-displacement correlation information is a force-displacement curve. The force-displacement curve plots the release position on the x-axis and the resistance experienced by the microcatheter on the y-axis, or the release position on the x-axis and the change in resistance on the y-axis. During the retraction of the microcatheter by the robot, each time a release position value and its corresponding resistance value are acquired, a data point is recorded in this coordinate system. Connecting all data points in the order of release positions generates the force-displacement curve. In other embodiments, the force-displacement correlation information is a force-displacement data table. The data table records the release position value and resistance value corresponding to each sampling point in the order of release position acquisition, forming a one-to-one data mapping relationship. In still other embodiments, the force-displacement correlation information is a sequence of ratios between the change in resistance and the change in release position, used to characterize the mechanical change trend at different stages of the release process.

[0090] Step S402: The robot master acquires and displays force-displacement correlation information.

[0091] In this embodiment, the robot's master end receives and displays force-displacement correlation information. When the force-displacement correlation information is a force-displacement curve, the robot's master end displays the curve on the interface, allowing the user to intuitively observe the changing trend of resistance with the release position during the release of the thrombectomy stent. For example, a sudden increase in resistance may indicate that the thrombectomy stent has fully deployed and is sufficiently embedded in the tissue at the target release site. When the force-displacement correlation information is a force-displacement data table, the robot's master end displays the data table on the interface, allowing the user to view the specific values ​​of each sampling point and perform quantitative analysis.

[0092] By visualizing the mechanical changes during the release process, users are provided with an objective basis for evaluating the release process, thereby improving the controllability and safety of the release process.

[0093] Through steps S401 to S402 described above, in this embodiment, during the microcatheter retraction and stent release process, the robot synchronously collects and correlates the resistance changes experienced by the microcatheter with the stent release position, generating force-displacement correlation information, which is then displayed by the robot's main end. This force-displacement correlation information transforms the release process from a "blind push" operation relying on feel into quantifiable and traceable process data. Users can intuitively understand the mechanical state of the entire stent release process, providing an objective basis for judging the release timing and evaluating the release quality. Simultaneously, it accumulates data for postoperative analysis and parameter optimization, further improving the controllability and safety of stent release.

[0094] Please see Figure 7 , Figure 7 This is a schematic block diagram of the structure of a control device for a vascular interventional robot provided in an embodiment of the present invention.

[0095] like Figure 7 As shown, the control device 110 of the vascular intervention robot includes a processor 111 and a memory 112. The processor 111 and the memory 112 are connected via a bus 113, such as an I2C bus.

[0096] Specifically, the processor 111 provides computing and control capabilities to support the operation of the entire control device. The processor 111 can be a central processing unit, or other general-purpose processors, digital signal processors, application-specific integrated circuits, field-programmable gate arrays or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0097] The memory 112 can be a Flash chip, read-only memory, disk, optical disk, USB flash drive, or portable hard drive, etc.

[0098] Those skilled in the art will understand that Figure 7 The structure shown is merely a block diagram of a portion of the structure related to the embodiments of the present invention, and does not constitute a limitation on the control device applied thereto. The specific control device may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0099] The processor 111 is used to run a computer program stored in the memory 112, and when executing the computer program, it implements the functions performed by each component in the control system of any of the vascular interventional robots provided in the embodiments of the present invention.

[0100] In some embodiments, the processor 111 is configured to run a computer program stored in memory, and to perform the following functions when executing the computer program: The system acquires and responds to the delivery control command for the thrombectomy stent, controlling the advancement of the thrombectomy stent towards the distal end of the target vessel until the thrombectomy stent is delivered to the target release site in the target vessel. Obtain and respond to the constant force holding command to maintain the contact force between the tip of the microcatheter and the tissue at the target release site at the target contact force; Obtain the stent release command and respond to the stent release command to release the stent.

[0101] In some embodiments, processor 111 is further configured to implement: Acquire angiographic images of the target blood vessel and send the angiographic images to the robot's main end; display the angiographic images, obtain the target release site information marked by the user based on the angiographic images, and generate delivery control instructions based on the target release site information.

[0102] In some embodiments, processor 111 is further configured to implement: The system acquires angiographic images of the target blood vessel, identifies the target release site using a target release site recognition model, determines the target release site information, and sends the target release site information to the robot's master end; delivery control commands are generated based on the target release site information.

[0103] In some embodiments, the processor 111 is further configured to implement: In response to the constant force maintenance command, the current contact force between the microcatheter tip and the tissue at the target release site is acquired. Based on the deviation between the current contact force and the target contact force, the microcatheter is adjusted to maintain the contact force between the microcatheter tip and the tissue at the target release site at the target contact force.

[0104] In some embodiments, the processor 111 is further configured to implement: The target contact force is a preset constant thrust along the distal end of the microcatheter axis. The preset constant thrust is determined based on at least one of the tissue thickness, properties, or hemodynamic parameters at the target release site. The target contact force is set to a preset force value range between the minimum anti-slip threshold and the maximum tissue damage threshold. The minimum anti-slip threshold is greater than the axial resultant force of the microcatheter under peak blood flow impact, and the maximum tissue damage threshold is less than or equal to the contact force value corresponding to the elastic deformation limit of the tissue.

[0105] In some embodiments, the processor 111 is further configured to implement: In response to the stent release command, the microcatheter is retracted at a preset constant speed to release the stent.

[0106] In some embodiments, the processor 111 is further configured to implement: During the retraction of the microcatheter, the resistance encountered by the microcatheter is monitored; in response to the detection that the change in resistance within a preset time period is greater than a preset change threshold, it is determined that the thrombectomy stent has been fully deployed.

[0107] In some embodiments, the processor 111 is further configured to implement: During the process of retracting the microcatheter to release the thrombectomy stent, the changes in resistance experienced by the microcatheter and the release position of the thrombectomy stent are monitored and recorded simultaneously. Force-displacement correlation information is generated to characterize the relationship between the resistance change and the release position, and the force-displacement correlation information is sent to the robot master end.

[0108] In some embodiments, the processor 111 is further configured to implement: During the process of the robot controlling the thrombectomy stent to advance to the distal end of the target blood vessel, the robot acquires and outputs the stent's arrival progress information, and sends a pause delivery command to the robot after the stent is delivered to the target release site.

[0109] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the control device described above can be referred to the corresponding process in the aforementioned embodiment of the control system of the vascular intervention robot, and will not be repeated here.

[0110] It will be understood by those skilled in the art that all or some of the functions in the systems and devices disclosed above, and the functional modules / units in the apparatus, can be implemented as software, firmware, hardware, and suitable combinations thereof. In hardware embodiments, the division between functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed collaboratively by several physical components. Some or all physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include computer storage media and communication media. As is known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information. Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital multifunction disk or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and is accessible by a computer. Furthermore, as is known to those skilled in the art, communication media typically contain computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0111] It should be understood that the term "and / or" as used in this specification and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes such combinations. It should be noted that, herein, the terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or system 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 system. 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 system that includes that element.

[0112] The sequence numbers of the above-described embodiments of the present invention are merely for descriptive purposes and do not represent the superiority or inferiority of the embodiments. The above descriptions are only specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A control system for a vascular interventional robot, characterized in that, Includes the robot master and the robot slave, among which: The robot master end is configured to acquire delivery control commands for the thrombectomy bracket and send the delivery control commands to the robot slave end; The robot slave is configured to control the thrombectomy stent to advance distally toward the target blood vessel in response to the delivery control command, until the thrombectomy stent is delivered to the target release site in the target blood vessel; The robot master end is further configured to acquire a constant force holding command after the thrombectomy stent is delivered to the target release site, and send the constant force holding command to the robot slave end, wherein the constant force holding command is used to instruct the contact force between the microcatheter tip and the tissue at the target release site to be maintained at the target contact force; The robot slave end is also configured to, in response to the constant force holding command, control the contact force between the microcatheter tip and the tissue at the target release site to be maintained at the target contact force. The robot master end is also configured to acquire a thrombectomy bracket release command and send the thrombectomy bracket release command to the robot slave end; The robot slave is configured to release the thrombectomy stent in response to the thrombectomy stent release command.

2. The control system of the vascular interventional robot according to claim 1, characterized in that, The control system also includes an image recognition module; The image recognition module is configured to acquire angiographic images of the target blood vessel and send the angiographic images to the robot's main terminal. The robot's main terminal is also configured to display the imaging image, acquire target release site information marked by the user based on the imaging image, and generate the delivery control command based on the target release site information.

3. The control system of the vascular interventional robot according to claim 1, characterized in that, The control system also includes an image recognition module, which includes a target release site recognition model. The image recognition module is configured to recognize the angiographic image of the target blood vessel through the target release site recognition model, determine the target release site information, and send the target release site information to the robot master terminal. The robot master is also configured to generate the delivery control command based on the target release site information.

4. The control system of the vascular interventional robot according to claim 1, characterized in that, The robot slave is also configured to, in response to the constant force holding command, acquire the current contact force between the microcatheter tip and the tissue at the target release site, and adjust the microcatheter according to the deviation between the current contact force and the target contact force, so that the contact force between the microcatheter tip and the tissue at the target release site is maintained at the target contact force.

5. The control system of the vascular interventional robot according to claim 1, characterized in that, The target contact force is a preset constant thrust along the distal end of the microcatheter. The preset constant thrust is determined based on at least one of the tissue thickness, properties, or hemodynamic parameters at the target release site. The target contact force is set to a preset force value range between a minimum anti-slip threshold and a maximum tissue damage threshold. The minimum anti-slip threshold is greater than the axial resultant force of the microcatheter under peak blood flow impact, and the maximum tissue damage threshold is less than or equal to the contact force value corresponding to the elastic deformation limit of the tissue.

6. The control system of the vascular interventional robot according to claim 1, characterized in that, The robot slave end is configured to retract the microcatheter at a preset constant speed in response to the release command of the thrombectomy stent, so as to release the thrombectomy stent.

7. The control system of the vascular interventional robot according to claim 1, characterized in that, The robot slave end is also configured to monitor the resistance experienced by the microcatheter during the retraction of the microcatheter; The robot slave end is also configured to determine that the thrombectomy bracket has been fully deployed in response to detecting that the change in resistance within a preset time period is greater than a preset change threshold.

8. The control system of the vascular interventional robot according to claim 1, characterized in that, The robot slave end is also configured to simultaneously monitor and record the resistance change of the microcatheter and the release position of the thrombectomy stent during the process of retracting the microcatheter to release the thrombectomy stent, generate force-displacement correlation information characterizing the relationship between the resistance change and the release position, and send the force-displacement correlation information to the robot master end; The robot's main terminal is also configured to acquire and display the force-displacement correlation information.

9. The control system of the vascular interventional robot according to claim 1, characterized in that, The robot master is also configured to acquire and output the arrival progress information of the thrombectomy stent during the process of the robot slave controlling the thrombectomy stent to advance towards the distal end of the target blood vessel, and to send a pause delivery command to the robot slave after the thrombectomy stent is delivered to the target release site. The robot slave end is also configured to stop driving the thrombectomy bracket to the distal end in response to the pause delivery command.

10. A control device for a vascular interventional robot, characterized in that, It includes a processor, a memory, a computer program stored in the memory and executable by the processor, and a data bus for enabling communication between the processor and the memory, wherein the computer program, when executed by the processor, implements the functions of the control system of the vascular interventional robot as described in any one of claims 1 to 9.

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