Perfusion device capable of automatically flushing bubbles and surgical robot

Abstract

The utility model provides a perfusion device capable of automatically flushing bubbles and a surgical robot. The device comprises a perfusion pipeline and a perfusion pump, the perfusion pipeline comprises an input interface, a two-connection two-way valve, a bubble flushing outlet and a conduit saline perfusion port; the filling pump comprises a core system control module, a bubble detection module and a peristaltic pump; the bubble detection module is used for detecting whether bubbles exist in a perfusion solution in a pipeline in front of the input end of the two-connection two-way valve or not; when bubbles exist, the output end of the two-connection two-way valve is controlled to be switched to a bubble flushing outlet, and the peristaltic pump is controlled to increase the liquid flow rate at one end of the input connector of the filling pipeline; and when no bubble exists, the output end of the two-connection two-way valve is controlled to be switched to the saline water filling port of the conduit. The bubble generation condition in the pipeline can be automatically monitored, when the monitored bubble volume exceeds a set value, automatic alarm can be achieved, meanwhile, bubble flushing operation is completed, the operation process is simplified, and operation safety and operation efficiency are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of medical instruments, in particular to an automatic bubble flushing perfusion device and a surgical robot. Background Art

[0002] Common ablation modes for interventional arrhythmia surgery in clinical practice include RFA (Radio Frequency Ablation), cryoablation, and PFA (Pulsed Field Ablation). In the RFA and PFA ablation procedures, the perfusion pump is usually an important component, which delivers perfusion solution from the connected perfusion solution bag to the compatible perfusion catheter through a compatible perfusion pipeline system, and delivers the perfusion solution to the catheter ablation tip through the channel in the catheter lumen. Physiological saline is perfused to reduce the temperature of the ablation electrode and surrounding myocardial tissue to prevent scab or adhesion of the target tissue, and also to increase the depth and area of ​​the ablated damaged tissue; at the same time, it flushes microbubbles in high-voltage pulsed electric field ablation scenarios, and is a very important clinical device.

[0003] In the existing perfusion system, when bubbles appear in the perfusion pipeline, the bubbles will enter the human body and have an adverse effect on the patient. When the volume of the bubbles is greater than 5 ml, it may even cause death. In clinical practice, when the volume of bubbles detected is greater than 0.4 ml, the ablation surgery needs to be stopped, the catheter saline is manually closed, and then the catheter saline perfusion road is manually started to flush until there are no bubbles in the pipeline. The catheter saline is then reopened and the ablation surgery is restarted. Therefore, the ablation process will be interrupted during the operation because of the need to remove bubbles, and the flushing pipeline is manually switched to remove bubbles, which affects the efficiency of the ablation surgery. Utility Model Content

[0004] The technical problem to be solved by the utility model is how to automatically and quickly eliminate bubbles in a perfusion solution; in view of this, the utility model provides a perfusion device and a surgical robot for automatically flushing bubbles.

[0005] The technical solution adopted by the utility model is a perfusion device for automatically flushing bubbles, comprising:

[0006] Infusion pipeline and infusion pump;

[0007] The perfusion pipeline includes an input interface, a two-way two-way valve, and a bubble flushing outlet and a catheter saline perfusion port respectively connected to the output ends of the two-way two-way valve;

[0008] The perfusion pump includes a core system control module, a bubble detection module connected to the core system control module, and a peristaltic pump;

[0009] Wherein, the bubble detection module is used to detect whether there are bubbles in the perfusion solution in the pipeline before the input end of the two-way two-way valve;

[0010] When bubbles exist, the core system control module controls the output end of the two-way two-way valve to switch to the bubble flushing outlet, and controls the peristaltic pump to increase the liquid flow rate at one end of the perfusion pipeline input interface to discharge the current perfusion solution;

[0011] When there are no bubbles, the core system control module controls the output end of the two-way two-way valve to switch to the catheter saline perfusion port, so that the perfusion solution is used for subsequent perfusion treatment.

[0012] In one embodiment, the device further comprises: an interaction module;

[0013] The interactive module is connected to the core system control module and is used to respond to the operator's interactive operation through the interactive module. The core system control module generates corresponding control instructions to enable the peristaltic pump to adjust the liquid flow rate at one end of the perfusion pipeline input interface.

[0014] In one embodiment, the device further comprises: an alarm module;

[0015] The alarm module is used to warn the operator when bubbles are detected in the perfusion pipeline.

[0016] In one embodiment, the device further comprises: a communication module;

[0017] The communication module is externally connected to an ablation device and is used to configure different perfusion flow rate parameters according to the working state of the catheter ablation.

[0018] In one embodiment, the input interface of the perfusion pipeline is a solution bag plug connected to the infusion bag, and the main body of the pipeline is a squeeze-resistant hose.

[0019] In one embodiment, the bubble monitoring module includes an ultrasonic sensor and a comparator;

[0020] The ultrasonic sensor is used to monitor the bubbles in the perfusion pipeline in real time. The ultrasonic sensor includes an ultrasonic generator and an ultrasonic receiver which are relatively arranged on both sides of the perfusion pipeline. The generator transmits ultrasonic waves through the perfusion pipeline and the physiological saline in the perfusion pipeline and returns to the ultrasonic receiver. The comparator compares the received ultrasonic signals and determines the volume of the bubbles in the perfusion pipeline based on the comparison result. When the volume is greater than a preset value, it is determined that there are bubbles in the perfusion pipeline.

[0021] In one embodiment, the infusion bag externally connected to the perfusion pipeline is constructed in multiple stages in series.

[0022] In one embodiment, the flow rate control of the peristaltic pump includes the following three modes:

[0023] Low flow rate mode, the flow rate range is set to: 2ml / min to 5ml / min;

[0024] High flow rate mode, the flow rate range is set to: 6ml / min to 60ml / min;

[0025] In flushing mode, the flow rate is set to: 100 ml / min.

[0026] In one embodiment, the communication module is further used to obtain the working status of an external ablation device, switch to the high flow rate mode during radiofrequency thermal ablation, and switch to the low flow rate mode when ablation is stopped or pulsed electric field ablation is performed.

[0027] Another aspect of the utility model provides a surgical robot, which includes an automatic bubble flushing perfusion device as described in any one of the above items, and is used to respond to the operator's operation to complete the ablation surgery.

[0028] By adopting the above technical solution, the utility model has at least the following advantages:

[0029] The automatic bubble flushing perfusion device provided by the utility model can realize automatic monitoring of bubble generation in the pipeline. When the monitored bubble volume exceeds a set value, an automatic alarm can be realized and the bubble flushing operation can be completed at the same time, thereby simplifying the surgical process and improving surgical safety and efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of the composition of the automatic flushing bubble filling device according to an embodiment of the present application;

[0031] Figure 2 It is a schematic diagram of the principle of the perfusion process of automatic flushing bubbles according to the application example of the present application;

[0032] Figure 3 A schematic diagram of the composition structure of an automatic bubble flushing perfusion device according to an application example of the present application;

[0033] Figure 4 It is a structural schematic diagram of a perfusion pipeline device according to an application example of the present application;

[0034] Figure 5 It is a structural schematic diagram of the installation of a brine pipeline according to an application example of the present application;

[0035] Figure 6 It is a schematic diagram of the overall structure of the perfusion flow pump according to the application example of the present application;

[0036] Figure 7 A schematic diagram of a perfusion pump feedback device when bubbles are detected in a perfusion pipeline according to an application example of the present application;

[0037] Figure 8 It is a schematic diagram of the perfusion pump feedback device in the saline flushing mode according to the application example of the present application.

[0038] Reference numerals

[0039] Irrigation pump 100;

[0040] Core system control module 101, bubble detection module 102, peristaltic pump 103, interaction module 104, alarm module 105, communication module 106;

[0041] perfusion line 200;

[0042] Input interface 201, two-way two-way valve 202, bubble flushing outlet 203, catheter saline infusion port 204. DETAILED DESCRIPTION

[0043] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined purpose, the present invention is described in detail below in conjunction with the accompanying drawings and preferred embodiments.

[0044] In the drawings, the thickness, size and shape of objects have been slightly exaggerated for ease of explanation. The drawings are only examples and are not drawn strictly to scale.

[0045] It should also be understood that the terms "comprises", "including", "having", "includes" and / or "comprising", when used in this specification, indicate the presence of the stated features, wholes, steps, operations, elements and / or parts, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, parts and / or combinations thereof. In addition, when expressions such as "at least one of..." appear after a list of listed features, they modify the entire listed features rather than modifying the individual elements in the list. In addition, when describing embodiments of the present application, "may" is used to mean "one or more embodiments of the present application". And, the term "exemplary" is intended to refer to an example or illustration.

[0046] As used herein, the terms "substantially," "approximately," and similar terms are used as terms of approximation, not degree, and are intended to account for the inherent variations in measurements or calculations that would be recognized by those of ordinary skill in the art.

[0047] Unless otherwise defined, all terms (including technical terms and scientific terms) used in this article have the same meaning as commonly understood by ordinary technicians in the field to which this application belongs. It should also be understood that terms (such as terms defined in commonly used dictionaries) should be interpreted as having the same meaning as their meaning in the context of the relevant technology, and will not be interpreted in an idealized or overly formal sense unless explicitly defined in this article.

[0048] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0049] The first embodiment of the utility model is a perfusion device for automatically flushing bubbles, such as Figure 1 As shown, including:

[0050] The technical solution adopted by the utility model is a perfusion device for automatically flushing bubbles, comprising:

[0051] A perfusion pump 100 and a perfusion pipeline 200;

[0052] The perfusion pipeline 200 includes an input interface 201, a two-way valve 202, and a bubble flushing outlet 203 and a catheter saline perfusion port 204 respectively connected to the output ends of the two-way valve 202;

[0053] The perfusion pump 100 includes a core system control module 101, a bubble detection module 102 connected to the core system control module 101, and a peristaltic pump 103;

[0054] Furthermore, the bubble detection module 102 is used to detect whether there are bubbles in the perfusion solution in the pipeline before the input end of the two-way two-way valve 202;

[0055] When bubbles exist, the core system control module 101 controls the output end of the two-way two-way valve 202 to switch to the bubble flushing outlet 203, and controls the peristaltic pump 103 to increase the liquid flow rate at one end of the perfusion pipeline input interface 201 to discharge the current perfusion solution;

[0056] When there are no bubbles, the core system control module 101 controls the output end of the two-way two-way valve 202 to switch to the catheter saline infusion port 204, so that the infusion solution is used for subsequent infusion treatment.

[0057] In one embodiment, the apparatus further includes: an interaction module 104;

[0058] The interaction module 104 is connected to the core system control module 101 and is used to respond to the operator's interaction operation through the interaction module 104. The core system control module 101 generates corresponding control instructions to enable the peristaltic pump 103 to adjust the liquid flow rate at one end of the perfusion pipeline input interface 201.

[0059] In one embodiment, the device further comprises: an alarm module 105;

[0060] The alarm module 105 is used to warn the operator when bubbles are detected in the perfusion pipeline 200 .

[0061] In one embodiment, the device further comprises: a communication module 106;

[0062] The communication module 106 is externally connected to the ablation apparatus and is used to configure different irrigation flow rate parameters according to the working state of the catheter ablation.

[0063] In one embodiment, the input interface 201 of the perfusion pipeline 200 is a solution bag plug connected to the infusion bag, and the main body of the pipeline is a squeeze-resistant hose.

[0064] In one embodiment, the bubble monitoring module 102 includes an ultrasonic sensor and a comparator;

[0065] The ultrasonic sensor is used to monitor the bubbles in the perfusion pipeline 200 in real time. The ultrasonic sensor includes an ultrasonic generator and an ultrasonic receiver which are relatively arranged on both sides of the perfusion pipeline. The generator transmits ultrasonic waves through the perfusion pipeline and the physiological saline in the perfusion pipeline and returns to the ultrasonic receiver. The comparator compares the received ultrasonic signals and determines the volume of the bubbles in the perfusion pipeline based on the comparison result. When the volume is greater than a preset value, it is determined that there are bubbles in the perfusion pipeline.

[0066] In one embodiment, the infusion bag externally connected to the perfusion pipeline 200 is constructed in multiple stages in series.

[0067] In one embodiment, the flow rate control of the peristaltic pump 103 includes the following three modes:

[0068] Low flow rate mode, the flow rate range is set to: 2ml / min to 5ml / min;

[0069] High flow rate mode, the flow rate range is set to: 6ml / min to 60ml / min;

[0070] In flushing mode, the flow rate is set to: 100 ml / min.

[0071] In one embodiment, the communication module 106 is further used to obtain the working status of the external ablation device, switch to the high flow rate mode during radiofrequency thermal ablation, and switch to the low flow rate mode when ablation is stopped or pulsed electric field ablation is performed.

[0072] Compared with the prior art, this embodiment has at least the following advantages:

[0073] 1) This embodiment can be used to automatically monitor the bubble generation in the pipeline. When the monitored bubble volume exceeds the set value, an automatic alarm can be triggered and the bubble flushing operation can be completed at the same time, thereby simplifying the surgical process and improving surgical safety and efficiency.

[0074] 2) When the surgeon remotely controls the ablation surgery through the surgical robot, the surgeon does not need to manually perform bubble flushing operations. When bubbles appear in the irrigation pipeline, the irrigation pump will automatically trigger an alarm. The surgeon only needs to stop outputting ablation energy, and the irrigation pump will automatically perform a rapid flushing operation of the bubbles. After the alarm is lifted, the surgeon can continue ablation, thereby simplifying the surgeon's operation.

[0075] The second embodiment of the utility model, as Figures 2 to 8 As shown, this embodiment introduces an application example provided based on the first embodiment:

[0076] like Figure 2 The figure shows a schematic diagram of the principle of the perfusion process of automatic flushing of bubbles. The perfusion solution enters the bubble monitoring and flushing system from the infusion bag. If no bubbles are detected in the perfusion solution, the perfusion solution passes through the ablation catheter and the saline perfusion hole at the head end of the ablation catheter to cool the electrode at the head end of the ablation catheter and the ablated tissue. If bubbles are detected in the bubble detection system, the utility model can automatically change the flushing pipeline and control the perfusion flow pump to increase the flow rate of the perfusion solution so that the bubble section of the perfusion solution can be discharged from the saline flushing outlet as soon as possible.

[0077] The above process is automatically controlled by the core system control module, which consists of an embedded ARM processor and RTOS operating system, such as Figure 3 As shown, it is used to integrate and control the other five modules to achieve automated operation. The motor drive and peristaltic pump module is used to drive the peristaltic pump to adjust and control the flow rate according to the instructions of the core system control module. The alarm module is used to warn the operator when bubbles are detected in the perfusion pipeline. The warning methods include sound warnings, light warnings, etc. The control module includes a touch screen, which is used for manual input of flow control signals and feedback of information such as flow rate. The bubble monitoring module is used to monitor bubbles in the perfusion pipeline. If bubbles are detected, the alarm module will be triggered to alarm. The communication module is externally connected to the ablation device. The communication module automatically configures different perfusion flow rate parameters according to the working status of the catheter ablation.

[0078] like Figure 3 A two-connected two-way shunt channel is provided on the output port of the perfusion pipeline shown, and the flow direction of the solution in the perfusion pipeline is controlled by a conversion valve. The perfusion pipeline is connected to the bubble flushing outlet and the catheter saline perfusion port respectively by using the conversion valve. The bubble flushing outlet is used to discharge the bubble-containing segment in the pipeline solution out of the perfusion pipeline, and the catheter saline perfusion port is used to connect the catheter saline pipe interface to pump the perfusion solution into the catheter saline channel to cool the ablation electrode at the catheter head end. When the bubble monitoring module detects the presence of bubbles in the perfusion pipeline, the core system control module adjusts the conversion valve to the bubble flushing pipeline and increases the flow rate of the perfusion pipeline at the same time to quickly discharge the bubbles in the perfusion pipeline through the bubble flushing pipeline. After the bubbles are completely eliminated, the conversion valve is automatically opened to the catheter saline pipeline and the flow rate of the perfusion pipeline is reduced, so that the operator can continue the ablation operation.

[0079] like Figure 4 The figure shows the perfusion pipeline device. The perfusion pipeline device of the utility model is a disposable consumable design, including five parts: a solution bag plug, a squeeze-resistant hose, a two-way two-way interface, a catheter saline output, and a flushing pipeline output:

[0080] Among them, the solution bag plug is directly inserted into the saline solution bag to provide solution. The main body is an extrusion-resistant hose, which is extruded and perfused by a peristaltic pump. There is a two-connected two-way device at the end of the hose, one end of which is connected to the ablation catheter and the other end is connected to the flushing pipeline.

[0081] The structure of the brine pipeline installation, such as Figure 5 shown.

[0082] The saline pump uses a peristaltic pump to perfuse at a set flow rate. During normal perfusion, the saline pump is connected to the catheter saline interface through a two-way two-way structure. When bubbles are detected, the saline pump connects the two-way two-way to the flushing pipeline to complete the bubble flushing.

[0083] like Figure 6 As shown, during normal saline perfusion, the bubble monitoring module monitors the bubbles in the perfusion pipeline in real time by an ultrasonic sensor. The ultrasonic sensor includes an ultrasonic generator and an ultrasonic receiver relatively arranged on both sides of the perfusion pipeline. The generator transmits ultrasonic waves through the perfusion pipeline and the physiological saline in the perfusion pipeline and returns to the ultrasonic receiver, and the comparator compares the received ultrasonic signals.

[0084] Since the propagation speed of ultrasound in liquid is 1480m / s, and the propagation speed in gas is 344m / s, there is a very large difference between the propagation speeds of ultrasound in liquid medium and gas medium. When the perfusion liquid flows normally in the pipeline without bubbles mixed in, the amplitude of the ultrasonic pulse signal monitored by the ultrasonic receiving device is large enough, and a pulse signal consistent with the ultrasonic resonance frequency can be obtained through the comparator, so that no alarm signal is issued. When bubbles are mixed in the liquid, the amplitude of the ultrasonic pulse signal received by the receiving end will be greatly attenuated when the bubble passes through the sensor monitoring surface. During this period, the comparator output is low, triggering the alarm module to generate an alarm signal. The more bubbles are mixed in the liquid, or the larger the volume of a single bubble, the greater the attenuation of the ultrasonic pulse signal monitored by the receiving end. The bubble monitoring accuracy can be adjusted by setting the parameters for the comparator to trigger the alarm.

[0085] Specifically, in this embodiment, the bubble detection accuracy is set to 0.4 microliters. When more than 0.4 microliters of bubbles are generated in the perfusion pipe, the alarm module generates an alarm to prompt the operator to suspend ablation to flush the bubbles and discharge the bubbles in the perfusion tube.

[0086] In a feasible implementation, the motor drive and peristaltic pump module flow rate control are divided into three modes, as follows:

[0087] 1. The low flow rate mode range is set to: 2ml / min to 5ml / min;

[0088] 2. The high flow rate mode range is set to: 6ml / min to 60ml / min;

[0089] 3. The flow rate of flushing mode is set to: 100ml / min;

[0090] like Figure 6 The figure shows the overall structure of the perfusion flow pump. The front of the perfusion flow pump includes a touch screen, which normally displays the high-speed mode flow rate, low-speed mode flow rate and real-time current flow rate. The touch button allows the user to select high-speed or low-speed flow for adjustment. The front of the perfusion pump also includes 3 control buttons, namely the power button, flow rate knob and stop button. Each button has an LED light. When the button is enabled, the LED light automatically lights up. The peristaltic pump module includes a peristaltic pump door, a peristaltic pump and a peristaltic pump base. The liquid in the perfusion pipeline controls the flow rate through the peristaltic pump. A switch detection sensor is installed on the peristaltic pump door. When the pump door is not completely closed, an alarm will be triggered.

[0091] In this embodiment, the perfusion flow rate is a dual control mode, such as Figure 6As shown, when the irrigation pump is in use, the user can manually control the flow rate through the touch screen UI interface of the control module, or the core system control module can automatically control the flow rate. When the ablation device outputs ablation energy for ablation, the irrigation pump flow rate is automatically set to a maximum of 60ml / min. When the ablation is completed, the flow rate setting is automatically adjusted to a maximum of 5ml / min. When the bubble monitoring module detects bubbles in the irrigation pipeline, it automatically activates the alarm module to alarm. The core system control module controls the ablation device to stop outputting ablation energy through the communication module, and at the same time switches the irrigation pipeline system to the flushing mode. Wash the saline pipeline and automatically adjust the flow rate to a maximum of 100ml / min in the flushing mode. After the bubble-containing solution is discharged from the perfusion pipeline, the alarm module cancels the alarm, and the core system control module adjusts the flow rate setting to a maximum of 5ml / min. At the same time, the perfusion pipeline channel is switched to the catheter saline channel for normal cold saline ablation perfusion. Through the above method, automatic bubble flushing of the perfusion pipeline can be achieved. During the ablation process, after the alarm module cancels the alarm, the operator can continue the ablation operation. The automatic exhaust operation can be achieved without other complicated operations, which greatly improves the surgical efficiency of the surgeon.

[0092] The core system control module automatically controls the peristaltic pump to adjust the injection flow rate, controls the alarm module to sound an alarm, and controls the injection direction of the conversion valve. The automatic control method is as follows:

[0093] In the normal bubble-free mode of the perfusion pump, the perfusion pipeline is connected to the catheter saline perfusion pipeline through the conversion valve, and the peristaltic pump flow rate is set in the low flow rate mode. When the ablation device starts to output ablation energy, the communication module connected to the ablation device feeds back the ablation signal to the core system control module, and the core system control module autonomously controls the peristaltic pump to adjust the flow rate to the set high flow rate mode, increase the output of physiological saline, and reduce the temperature of the ablation electrode and surrounding myocardial tissue; when the ablation device stops outputting ablation energy, the core system control module automatically controls the peristaltic pump to adjust the flow rate back to the low flow rate mode;

[0094] When the bubble monitoring module detects bubbles in the perfusion pipeline, the core system control module first controls the alarm module to alarm, such as Figure 3 As shown, the alarm light flashes and an alarm sounds, and then the communication module feeds back the working status of the ablation instrument. If the ablation instrument is outputting ablation energy, the core system control module controls the ablation instrument to stop outputting ablation energy. The UI on the touch screen displays the current flow rate, indicating that there are bubbles in the perfusion pipeline. Figure 7 shown.

[0095] Finally, control the switching valve to adjust the perfusion pipeline switching valve passage to the flushing pipeline, such as Figure 8As shown, the peristaltic pump is controlled to adjust the flow rate to the flushing mode, and the touch screen UI displays the saline flushing mode, prompting the doctor that the bubbles are currently being flushed, and the bubble segment is discharged from the perfusion pipeline as quickly as possible until the bubble monitoring module no longer detects bubbles and automatically turns off the alarm module alarm. The peristaltic pump is controlled to adjust the flow rate to the low flow rate mode, and the conversion valve is turned back to the catheter saline perfusion pipeline, and the operator can continue the ablation operation.

[0096] In this embodiment, the perfusion pump is externally connected to an infusion bag, which is a multi-stage series structure to increase the saline storage capacity, reduce the frequency of replacing saline bags, and improve surgical efficiency. As shown in the figure, physiological saline enters the peristaltic pump from the infusion bag, and the peristaltic pump controls the physiological saline to enter the bubble sensor at a set flow rate, and finally leaves the perfusion pump from the catheter saline perfusion port and enters the catheter saline pipe. The output end of the bubble sensor is connected to two different saline channels through a conversion valve, namely the catheter saline pipe and the flushing saline pipe. When the bubble sensor detects that the perfusion pipe contains bubbles, the core system control module controls the two-way conversion valve to close the catheter saline pipe and open the flushing saline pipe, so that the bubbles in the perfusion pipe are discharged from the flushing saline pipe to the perfusion pump.

[0097] A third embodiment of the utility model is a surgical robot, which includes an automatic bubble flushing irrigation device as provided in the first embodiment or the second embodiment, and is used for responding to the operator's operation to complete the ablation surgery.

[0098] Through the description of the specific implementation methods, a deeper and more specific understanding of the technical means and effects adopted by the present invention to achieve the predetermined purpose should be obtained. However, the accompanying drawings are only for reference and illustration purposes and are not used to limit the present invention.

Claims

1. An automatic bubble flushing perfusion device, characterized in that: include: Infusion pipeline and infusion pump; The perfusion pipeline includes an input interface, a two-way two-way valve, and a bubble flushing outlet and a catheter saline perfusion port respectively connected to the output ends of the two-way two-way valve; The perfusion pump includes a core system control module, a bubble detection module connected to the core system control module, and a peristaltic pump; Wherein, the bubble detection module is used to detect whether there are bubbles in the perfusion solution in the pipeline before the input end of the two-way two-way valve; When bubbles exist, the core system control module controls the output end of the two-way two-way valve to switch to the bubble flushing outlet, and controls the peristaltic pump to increase the liquid flow rate at one end of the perfusion pipeline input interface to discharge the current perfusion solution; When there are no bubbles, the core system control module controls the output end of the two-way two-way valve to switch to the catheter saline perfusion port, so that the perfusion solution is used for subsequent perfusion treatment.

2. The automatic flushing bubble filling device according to claim 1, characterized in that: The device further comprises: an interaction module; The interactive module is connected to the core system control module and is used to respond to the operator's interactive operation through the interactive module. The core system control module generates corresponding control instructions to enable the peristaltic pump to adjust the liquid flow rate at one end of the perfusion pipeline input interface.

3. The automatic flushing bubble filling device according to claim 1, characterized in that: The device also includes: an alarm module; The alarm module is used to warn the operator when bubbles are detected in the perfusion pipeline.

4. The automatic flushing bubble filling device according to claim 1, characterized in that: The device further comprises: a communication module; The communication module is externally connected to an ablation device and is used to configure different perfusion flow rate parameters according to the working state of the catheter ablation.

5. The automatic flushing bubble filling device according to claim 1, characterized in that: The input interface of the perfusion pipeline is a solution bag plug connected to the infusion bag, and the main body of the pipeline is an extrusion-resistant hose.

6. The automatic flushing bubble filling device according to claim 1, characterized in that: The bubble monitoring module includes an ultrasonic sensor and a comparator; The ultrasonic sensor is used to monitor the bubbles in the perfusion pipeline in real time. The ultrasonic sensor includes an ultrasonic generator and an ultrasonic receiver which are relatively arranged on both sides of the perfusion pipeline. The generator transmits ultrasonic waves through the perfusion pipeline and the physiological saline in the perfusion pipeline and returns to the ultrasonic receiver. The comparator compares the received ultrasonic signals and determines the volume of the bubbles in the perfusion pipeline based on the comparison result. When the volume is greater than a preset value, it is determined that there are bubbles in the perfusion pipeline.

7. The automatic flushing bubble filling device according to claim 5, characterized in that: The infusion bag externally connected to the perfusion pipeline is constructed in multiple stages in series.

8. A surgical robot, characterized in that: The surgical robot comprises an automatic bubble flushing irrigation device as claimed in any one of claims 1 to 7, which is used for completing an ablation surgical treatment in response to an operator's operation.

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