Catheter robot

Abstract

The utility model discloses a kind of catheter robots, including inner catheter instrument and outer catheter instrument, the inner catheter instrument is at least partially movably arranged in the outer catheter instrument, the inner catheter instrument includes first instrument box, first catheter and first end device, the proximal end of the first catheter is connected to the first instrument box, the first end device is connected to the distal end of the first catheter, the periphery and end surface of the first end device are equipped with multiple first force sensors, for detecting the external force that the first end device receives;The first instrument box includes multiple first driving ropes for driving the movement of the first catheter, multiple first tension sensors for detecting the tension of the first driving rope are arranged on the first driving rope.The catheter robot of the utility model can prevent the inner catheter instrument from damaging human tissue.

Description

Technical Field

[0001] This utility model relates to the field of medical device technology, and in particular to a catheter robot. Background Technology

[0002] Currently, lung diseases have become one of the most serious health problems in the world, with lung cancer being one of the leading causes of death. Early and accurate diagnosis can prevent the further deterioration of lung diseases and improve cure rates. However, due to the inherently complex structure of the lungs, diagnosing lung diseases remains a global challenge.

[0003] In minimally invasive surgery, accurate control of the catheter robot is a crucial factor in ensuring surgical success and patient safety. However, when the end effector of the catheter robot turns in a narrow airway, it is impossible to control the amount of pressure applied to human tissue, which can easily damage the tissue. Utility Model Content

[0004] In order to overcome the shortcomings and deficiencies of the existing technology, the purpose of this utility model is to provide a catheter robot that can prevent internal catheter instruments from damaging human tissue.

[0005] The objective of this utility model is achieved through the following technical solution:

[0006] This utility model provides a catheter robot, including an internal catheter device and an external catheter device. The internal catheter device is at least partially movably disposed within the external catheter device. The internal catheter device includes a first device box, a first catheter, and a first end device. The proximal end of the first catheter is connected to the first device box, and the first end device is connected to the distal end of the first catheter. The peripheral and end surfaces of the first end device are provided with a plurality of first force sensors for detecting external forces acting on the first end device. The first device box includes a plurality of first drive ropes for driving the first catheter to move, and the plurality of first drive ropes are provided with first tension sensors for detecting their tension.

[0007] Furthermore, the catheter robot includes a first driving device and a control device. The first driving device is connected to the first instrument box. The first driving device drives the first end device to contact human tissue through each of the first driving ropes. The control device is communicatively connected to the first driving device. The control device is used to collect the magnitude of the driving current of the first driving device and adjust the pressure applied to the human tissue by the first end device according to the magnitude of the driving current, the data of the first force sensor and the data of the first tension sensor.

[0008] Furthermore, the catheter robot also includes a Kalman filter, which is communicatively connected to the control device and is used to filter the drive current.

[0009] Furthermore, the internal catheter device also includes a camera, which is mounted on the first end device. The catheter robot also includes a display, which is communicatively connected to the internal catheter device and the control device. The display is used to display images captured by the camera and the direction of pressure applied to human tissue by the first end device.

[0010] Furthermore, the first catheter includes a first flexible tube and a first joint portion. One end of the first flexible tube is connected to the first instrument box, and the other end of the first flexible tube is connected to the first joint portion. The end of the first joint portion away from the first flexible tube is connected to the first end device. Each of the first drive ropes passes through the first flexible tube and the first joint portion and is connected to the first end device.

[0011] Furthermore, the first instrument box also includes a plurality of first spools, the ends of each first drive rope are wound on each first spool, the first drive device includes a plurality of first drivers, the output end of each first driver is connected to each first spool, and each first driver drives each first spool to rotate to realize the winding and unwinding of each first drive rope.

[0012] Furthermore, the internal catheter device also includes a first conductor and a first shape memory alloy wire. The first shape memory alloy wire is disposed on the first joint. The first conductor is connected to the first shape memory alloy wire and is used to energize or heat the first shape memory alloy wire to change the stiffness of the first shape memory alloy wire, so that the internal catheter device supports the movement of the external catheter device.

[0013] Furthermore, the first instrument box also includes a first heater, which is connected to the first shape memory alloy wire through the first conductor. The first heater heats the first shape memory alloy wire through the first conductor, and the temperature of the first shape memory alloy wire is directly or inversely proportional to the stiffness of the first joint.

[0014] Furthermore, the external catheter device includes a second device box, a second catheter, and a second end device. The proximal end of the second catheter is connected to the second device box, and the second end device is connected to the distal end of the second catheter. The peripheral and end surfaces of the second end device are provided with multiple second force sensors for detecting the external force on the second end device. The second device box includes multiple second drive ropes for driving the movement of the second catheter, and the multiple second drive ropes are provided with second tension sensors for detecting their tension.

[0015] Furthermore, the second catheter includes a second flexible tube and a second joint portion. One end of the second flexible tube is connected to the second instrument box, and the other end of the second flexible tube is connected to the second joint portion. The end of the second joint portion away from the second flexible tube is connected to the second end device. Each of the second drive ropes passes through the second flexible tube and the second joint portion and is connected to the second end device.

[0016] Furthermore, the catheter robot includes a second drive device connected to the second instrument box. The second drive device drives the second end device to contact human tissue via each of the second drive ropes. The control device is communicatively connected to the second drive device. The control device is used to collect the magnitude of the drive current of the second drive device and adjust the pressure applied to the human tissue by the second end device based on the magnitude of the drive current, the data of the second force sensor, and the data of the second tension sensor.

[0017] Furthermore, the second instrument box also includes a plurality of second spools, the ends of each second drive rope are wound on each second spool, and the second drive device includes a plurality of second drivers, the output end of each second driver is connected to each second spool, and each second driver drives each second spool to rotate to realize the winding and unwinding of each second drive rope.

[0018] Furthermore, the external catheter device includes a second conductor and a second shape memory alloy wire. The second shape memory alloy wire is disposed on the second joint portion. The second conductor is connected to the second shape memory alloy wire and is used to energize or heat the second shape memory alloy wire to change the stiffness of the second shape memory alloy wire, so that the external catheter device supports the movement of the internal catheter device.

[0019] Furthermore, the second instrument box includes a second heater, which is connected to the second shape memory alloy wire via the second conductor. The second heater heats the second shape memory alloy wire via the second conductor, and the temperature of the second shape memory alloy wire is directly or inversely proportional to the stiffness of the external catheter instrument.

[0020] Furthermore, the stiffness of the external catheter device after enhancement is greater than that of the internal catheter device, and the stiffness of the external catheter device after weakening is less than that of the internal catheter device.

[0021] The beneficial effects of this invention are as follows: The catheter robot can detect the pressure of the first end device in contact with human tissue through multiple first force sensors, and adjust the pressure of the inner catheter instrument on the human tissue according to the detected pressure, preventing the inner catheter instrument from damaging the human tissue. Furthermore, the catheter robot uses a first tension sensor to detect the tension of the first drive rope in real time, and adjusts the pressure applied to the human tissue by the first end device according to the tension of the first drive rope, further preventing the inner catheter instrument from damaging the human tissue. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the catheter robot of this application.

[0023] Figure 2 This is a control diagram of the catheter robot of this application.

[0024] Figure 3 This is a schematic diagram showing the disassembled structure of the drive device and catheter instrument of this application.

[0025] Figure 4 This is a partially disassembled schematic diagram of the first or second instrument box of this application.

[0026] Figure 5 This is a schematic diagram of the structure of the first or second end device of this application.

[0027] Figure 6 This is a schematic diagram of the screen displayed on the monitor according to this application.

[0028] Figure 7 This is a schematic diagram of the structure of the first catheter in this application.

[0029] Figures 8 to 10 This is a schematic diagram showing the alternating movement of the external and internal catheter devices in this application.

[0030] Figure 11 This is a partial structural schematic diagram of the external catheter device of this application.

[0031] In the diagram: Internal catheter instrument 12, first instrument box 121, first catheter 122, first end effector 123, first force sensor 124, camera 125, first conductor 126, first shape memory alloy wire 127, first drive rope 1211, first tension sensor 1212, first wire wheel 1213, first heater 1214, first catheter 122, first flexible tube 1221, first joint 1222, external catheter instrument 13, second instrument box 131, second catheter 132, second end effector 133, Second force sensor; 134, Second conductor; 136, Second shape memory alloy wire; 137, Second drive rope; 1311, Second tension sensor; 1312, Second wire wheel; 1313, Second heater; 1314, Second flexible tube; 1321, Second joint; 1322, First actuator; 21, Second actuator; 22, Control device; 30, Kalman filter; 40, Display; 50, Pressure mark A; Electronic equipment trolley; 71, Manipulator device; 72, First robotic arm; 721, Second robotic arm; 722. Detailed Implementation

[0032] The following specific embodiments illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification.

[0033] In the following description, reference is made to the accompanying drawings, which illustrate several embodiments of the present application. It should be understood that other embodiments may also be used, and changes in mechanical composition, structure, electrical and operational aspects may be made without departing from the spirit and scope of the present application. The following detailed description should not be considered limiting, and the terminology used herein is for describing particular embodiments only and is not intended to limit the present application.

[0034] Although the terms first, second, etc., are used in some instances to describe various elements herein, these elements should not be limited by these terms. These terms are only used to distinguish one element from another.

[0035] Furthermore, as used herein, the singular forms “a,” “an,” and “the” are intended to include the plural forms as well, unless the context indicates otherwise. It should be further understood that the terms “comprising,” “including,” indicate the presence of a feature, step, operation, element, component, item, kind, and / or group, but do not exclude the presence, occurrence, or addition of one or more other features, steps, operations, elements, components, items, kinds, and / or groups. The terms “or” and “and / or” as used herein are interpreted as inclusive, or mean any one or any combination thereof. Thus, “A, B, or C” or “A, B, and / or C” means “any one of: A; B; C; A and B; A and C; B and C; A, B, and C.” Exceptions to this definition arise only when combinations of elements, functions, steps, or operations are inherently mutually exclusive in some way.

[0036] Figure 1 This is a schematic diagram of the catheter robot of this application. Figure 2 This is a control diagram of the catheter robot of this application. Figure 3 This is a schematic diagram showing the disassembled structure of the drive device and catheter instrument of this application. Figure 4 This is a partially disassembled schematic diagram of the first or second instrument box of this application. Figure 5 This is a schematic diagram of the structure of the first or second end device of this application. Please refer to it. Figures 2 to 5 The catheter robot includes an internal catheter device 12 and an external catheter device 13. The internal catheter device 12 is at least partially movably disposed in the external catheter device 13. The internal catheter device 12 includes a first device box 121, a first catheter 122, and a first end effector 123. The proximal end of the first catheter 122 is connected to the first device box 121, and the first end effector 123 is connected to the distal end of the first catheter 122. The peripheral and end faces of the first end effector 123 are provided with a plurality of first force sensors 124 for detecting the external force on the first end effector 123. The first device box 121 includes a plurality of first drive ropes 1211 for driving the first catheter 122 to move, and the plurality of first drive ropes 1211 are provided with first tension sensors 1212 for detecting their tension.

[0037] The catheter robot of this application can detect the pressure of the first end effector 123 in contact with human tissue through multiple first force sensors 124, and adjust the pressure of the inner catheter instrument 12 on the human tissue according to the detected pressure to prevent the inner catheter instrument 12 from damaging the human tissue. Moreover, the catheter robot uses a first tension sensor 1212 to detect the tension of the first drive rope 1211 in real time, and adjusts the pressure applied by the first end effector 123 on the human tissue according to the tension of the first drive rope 1211, ensuring that the bending or turning of the first end effector 123 is carried out in the expected manner, further preventing the inner catheter instrument 12 from damaging the human tissue.

[0038] It is worth mentioning that after the internal catheter device 12 has been used for a certain period of time, the length of the first drive rope 1211 may change due to repeated opening and closing. At this time, the pressure applied to the tissue will also change. The tension of the first drive rope 1211 is detected by the first tension sensor 1212 to determine whether the length of the first drive rope 1211 has changed, and then the pressure applied to the human tissue is adjusted.

[0039] Optionally, such as Figure 2 and Figure 3 As shown, the catheter robot includes a first drive unit 20a and a control unit 30. The first drive unit 20a is connected to a first instrument box 121. The first drive unit 20a drives the first end device 123 to contact human tissue via first drive ropes 1211. The control unit 30 is communicatively connected to the first drive unit 20a. The control unit 30 is used to collect the magnitude of the drive current of the first drive unit 20a and adjust the pressure applied to the human tissue by the first end device 123 based on the magnitude of the drive current, the data of the first force sensor 124, and the data of the first tension sensor 1212. When the first end device 123 of the internal catheter instrument 12 moves or turns within the airway, the drive current of the first drive unit 20a changes accordingly. By monitoring the changes in the magnitude of the drive current, the pressure applied to the surrounding tissue by the first end device 123 can be obtained.

[0040] The catheter robot of this application can obtain the pressure exerted by the first end device 123 on the surrounding tissue by monitoring the changes in the magnitude of the driving current, and can realize real-time monitoring and adjustment of the internal catheter instrument 12 operation process, improve the flexibility and accuracy of the catheter robot, improve surgical safety, and provide effective support for actual operation.

[0041] To facilitate the acquisition of the pressure exerted by the first end-effector 123 on the surrounding tissue, a friction model can be established in the control device 30 to calculate the pressure applied to the first end-effector 123. The friction model can be established using input experimental data. For example, a first force sensor 124 can be installed on the first end-effector 123 of the internal catheter instrument 12 under test. When the first driving device 20a drives the first end-effector 123 to bend by 1°, the magnitude of the driving current output by the first driving device 20a and the corresponding pressure value are recorded. Similarly, bending angles of the first end-effector 123 of 2°, 3°, 4°…n° are recorded, along with the corresponding current magnitude and pressure value. Experiments can also be conducted using internal catheter instruments 12 made of different materials and first driving ropes 1211 of different lengths to acquire a large amount of experimental data, which can then be input into the control device 30 to establish a friction model. Therefore, when the control device 30 acquires different driving currents in real time, it can output different pressure magnitudes accordingly.

[0042] Optionally, such as Figure 2 As shown, the duct robot also includes a Kalman filter 40, which is communicatively connected to the control device 30. The Kalman filter 40 is used to filter the drive current. The Kalman filter 40 of this application is used to filter out noise and interference. After Kalman filtering, the current value is converted into a force representation, that is, the current is converted into torque, and the torque is converted into tension.

[0043] Optionally, Figure 6 This is a schematic diagram of the screen displayed on the monitor according to this application, such as... Figure 2 and Figure 6 As shown, the internal catheter instrument 12 also includes a camera 125, which is mounted on the first end effector 123. The catheter robot also includes a display 50, which is communicatively connected to the internal catheter instrument 12 and the control device 30. The display 50 is used to display images captured by the camera 125 and the direction of pressure applied to human tissue by the first end effector 123. In this embodiment, the display 50 can display the endoscopic field of view captured by the camera 125, which is circular, and an arc-shaped pressure mark A is displayed next to the circular image, with an arrow indicating the direction of force application. When the applied pressure reaches a set maximum value, the pressure mark A turns red, for example. The feedback system with visual warnings can provide real-time alerts to the user, improving the safety and accuracy of the operation and reducing the potential risk of tissue damage.

[0044] Optionally, Figure 7 This is a schematic diagram of the structure of the first catheter in this application, as shown below. Figure 3 , Figure 6 and Figure 7 As shown, the first catheter 122 includes a first flexible tube 1221 and a first joint portion 1222. One end of the first flexible tube 1221 is connected to the first instrument box 121, and the other end of the first flexible tube 1221 is connected to the first joint portion 1222. The end of the first joint portion 1222 away from the first flexible tube 1221 is connected to the first end device 123. Each first drive rope 1211 passes through the first flexible tube 1221 and the first joint portion 1222, and is connected to the first end device 123. In this embodiment, the first flexible tube 1221 is made of polyetheretherketone material and has high rigidity; the first joint portion 1222 is composed of multiple hinged joints and has low rigidity.

[0045] Optionally, the first joint 1222 may be a hinge structure or a continuum, but is not limited thereto.

[0046] Optionally, such as Figure 3 , Figure 4 and Figure 7As shown, the first instrument box 121 also includes a plurality of first spools 1213, with the ends of each first drive rope 1211 wound around each first spool 1213. The first drive device 20a includes a plurality of first drivers 21, the output end of each first driver 21 being connected to each first spool 1213. Each first driver 21 drives each first spool 1213 to rotate, thereby releasing and retracting each first drive rope 1211. At this time, the posture of the first end device 123 will change accordingly. In this embodiment, each first driver 21 is, for example, a motor, and the relationship between current and force is calibrated using known motor operating characteristics.

[0047] Optionally, Figures 8 to 10 This is a schematic diagram illustrating the alternating movement of the external and internal catheter devices in this application. Please refer to it. Figures 8 to 10 The internal catheter device 12 also includes a first conductor 126 and a first shape memory alloy wire 127. The first shape memory alloy wire 127 is disposed on the first joint portion 1222. The first conductor 126 is connected to the first shape memory alloy wire 127 and is used to energize or heat the first shape memory alloy wire 127 to change its stiffness, so that the internal catheter device 12 supports the movement of the external catheter device 13. In this embodiment, the internal catheter device 12 and the external catheter device 13 have the same structure or partially the same structure. During installation, the external catheter device 13 can be installed first, and after the external catheter device 13 is installed, the internal catheter device 12 is inserted into the external catheter device 13.

[0048] The internal catheter device 12 of this application is used to assist the movement of the external catheter device 13. When the internal catheter device 12 moves to the target position, it stops moving. At this time, the first shape memory alloy wire 127 is energized or heated, and the stiffness of the first shape memory alloy wire 127 increases. The stiffness of the first joint 1222 is also increased synchronously. At this time, the internal catheter device 12 can support the external catheter device 13. The movement of the external catheter device 13 is controlled. When the external catheter device 13 moves to the target position, it stops moving. At this time, the first shape memory alloy wire 127 is de-energized or stopped heating. The stiffness of the first shape memory alloy wire 127 and the first joint 1222 is weakened. The movement of the internal catheter device 12 is controlled. The external catheter device 13 and the internal catheter device 12 move alternately forward, which can reach any position such as the lung or kidney.

[0049] In other embodiments, the stiffness of the first shape memory alloy wire 127 decreases when it is energized or heated, and increases when it is de-energized or stopped being heated.

[0050] The rigidity of the inner catheter device 12 in this application is controlled by whether the first shape memory alloy wire 127 is powered on or off or heated, so as to support the movement of the outer catheter device 13. The outer catheter device 13 and the inner catheter device 12 can move alternately to reach any position, that is, the catheter robot of this application has strong accessibility.

[0051] Optionally, the first shape memory alloy wire 127 has a shape memory effect. When it is heated to a certain temperature by electricity, it will undergo a martensitic inverse phase transformation. The first shape memory alloy wire 127 has low stiffness when it is not heated by electricity, and high stiffness after heating.

[0052] Optionally, a first shape memory alloy wire 127 is disposed on the outer wall of the first joint portion 1222, and the first shape memory alloy wire 127 is arranged along the length direction of the first joint portion 1222. The outer wall of the first joint portion 1222 is provided with a plurality of first shape memory alloy wires 127, and the plurality of first shape memory alloy wires 127 are arranged at intervals around the circumference of the first joint portion 1222.

[0053] In another embodiment, the first joint portion 1222 has at least one first inner hole (not shown), which is arranged along the length of the first joint portion 1222, and the first shape memory alloy wire 127 is disposed in the first inner hole. In this embodiment, the first joint portion 1222 has a plurality of first inner holes, which are arranged at intervals around the circumference of the first joint portion 1222, and the plurality of first shape memory alloy wires 127 are respectively disposed in each of the first inner holes.

[0054] Optionally, the first flexible tube 1221 is provided with at least one first wiring hole (not shown), which communicates with the first inner hole. The first conductor 126 is at least partially disposed in the first wiring hole and electrically connected to the first shape memory alloy wire 127. In this embodiment, the number of first conductors 126 is the same as the number of first shape memory alloy wires 127, or one first conductor 126 is electrically connected to multiple first shape memory alloy wires 127. For example, the ends of the first flexible tube 1221 and the first joint portion 1222 are provided with connectors, and multiple first shape memory alloy wires 127 are electrically connected to the connectors, and the ends of the first conductors 126 are electrically connected to the connectors.

[0055] Optionally, such as Figure 4 As shown, the first instrument box 121 also includes a first heater 1214. The first heater 1214 is connected to the first shape memory alloy wire 127 through the first conductor 126. The first heater 1214 heats the first shape memory alloy wire 127 through the first conductor 126. The temperature of the first shape memory alloy wire 127 is directly proportional or inversely proportional to the stiffness of the first joint 1222. For example, when the first heater 1214 heats the first shape memory alloy wire 127, the temperature of the first shape memory alloy wire 127 increases. At this time, the stiffness of the first joint 1222 of the internal catheter instrument 12 increases. When the first heater 1214 stops heating the first shape memory alloy wire 127, the temperature of the first shape memory alloy wire 127 decreases. At this time, the stiffness of the first joint 1222 of the internal catheter instrument 12 weakens.

[0056] Optionally, the outer diameter of the inner catheter device 12 is smaller than the inner diameter of the outer catheter device 13, the inner catheter device 12 is movable within the outer catheter device 13, and the first end device 123 is able to extend from the end of the outer catheter device 13.

[0057] Optionally, Figure 11 This is a partial structural schematic diagram of the external catheter device of this application, as shown below. Figure 2 , Figure 3 and Figure 11 As shown, the external catheter device 13 includes a second device box 131, a second catheter 132, and a second end device 133. The proximal end of the second catheter 132 is connected to the second device box 131, and the second end device 133 is connected to the distal end of the second catheter 132. The peripheral and end surfaces of the second end device 133 are provided with a plurality of second force sensors 134 for detecting the external force on the second end device 133. The second device box 131 includes a plurality of second drive ropes 1311 for driving the movement of the second catheter 132, and the plurality of second drive ropes 1311 are provided with second tension sensors 1312 for detecting their tension.

[0058] The catheter robot of this application can detect the pressure of the second end effector 133 in contact with human tissue through multiple second force sensors 134, and adjust the pressure of the external catheter instrument 13 on the human tissue according to the detected pressure to prevent damage to the human tissue. Furthermore, the catheter robot uses a second tension sensor 1312 to detect the tension of the second drive rope 1311 in real time, and adjusts the pressure applied to the human tissue by the second end effector 133 according to the tension of the second drive rope 1311, further preventing damage to the human tissue by the external catheter instrument 13.

[0059] It is worth mentioning that after the external catheter device 13 has been used for a certain period of time, the length of the second drive rope 1311 may change due to repeated opening and closing. At this time, the pressure applied to the tissue will also change. The tension of the second drive rope 1311 can be detected by using the second drive rope 1311 to determine whether the length of the second drive rope 1311 has changed, and then the pressure applied to the human tissue can be adjusted.

[0060] Optionally, the catheter robot includes a second drive unit 20b, which is connected to a second instrument box 131. The second drive unit 20b drives the second end device 133 to contact human tissue via second drive ropes 1311. A control unit 30 is communicatively connected to the second drive unit 20b. The control unit 30 is used to collect the magnitude of the drive current of the second drive unit 20b and adjust the pressure applied to the human tissue by the second end device 133 based on the magnitude of the drive current, data from the second force sensor 134, and data from the second tension sensor 1312. When the second end device 133 of the external catheter instrument 13 moves or turns within the airway, the drive current of the second drive unit 20b changes accordingly. By monitoring the changes in the magnitude of the drive current, the pressure applied to the surrounding tissue by the second end device 133 can be obtained.

[0061] The catheter robot of this application can obtain the pressure exerted on the surrounding tissue by the second end device 133 by monitoring the changes in the magnitude of the driving current, and can realize real-time monitoring and adjustment of the external catheter instrument 13 operation process, improve the flexibility and accuracy of the catheter robot, improve surgical safety, and provide effective support for actual operation.

[0062] Optionally, such as Figure 3 , Figure 4 and Figure 11 As shown, the second conduit 132 includes a second flexible tube 1321 and a second joint portion 1322. One end of the second flexible tube 1321 is connected to the second instrument box 131, and the other end of the second flexible tube 1321 is connected to the second joint portion 1322. The end of the second joint portion 1322 away from the second flexible tube 1321 is connected to the second end device 133. Each second drive rope 1311 passes through the second flexible tube 1321 and the second joint portion 1322, and is connected to the second end device 133. In this embodiment, the second flexible tube 1321 is made of polyetheretherketone material and has high rigidity; the second joint portion 1322 is composed of multiple hinged joints and has low rigidity.

[0063] Optionally, the second joint 1322 may be, for example, a hinge structure or a continuum, but is not limited thereto.

[0064] Optionally, such as Figure 3 , Figure 4 and Figure 11As shown, the second instrument box 131 also includes a plurality of second sheaves 1313, with the ends of each second drive rope 1311 wound around each second sheave 1313. The second drive device 20b includes a plurality of second drivers 22, the output end of each second driver 22 being connected to each second sheave 1313. Each second driver 22 drives each second sheave 1313 to rotate, thereby releasing and retracting each second drive rope 1311. At this time, the posture of the second end device 133 will change accordingly. In this embodiment, each second driver 22 is, for example, a motor, and the relationship between current and force is calibrated using known motor operating characteristics.

[0065] Optionally, such as Figure 11 As shown, the external catheter device 13 includes a second conductor 136 and a second shape memory alloy wire 137. The second shape memory alloy wire 137 is disposed on the second joint portion 1322. The second conductor 136 is connected to the second shape memory alloy wire 137 and is used to energize or heat the second shape memory alloy wire 137 to change the stiffness of the second shape memory alloy wire 137 so that the external catheter device 13 supports the movement of the internal catheter device 12.

[0066] The external catheter device 13 of this application is used to assist the movement of the internal catheter device 12. When the external catheter device 13 moves to the target position, it stops moving. At this time, the second shape memory alloy wire 137 is energized or heated, and the stiffness of the second shape memory alloy wire 137 increases. The stiffness of the second joint 1322 is also increased synchronously. At this time, the external catheter device 13 can support the internal catheter device 12. The movement of the internal catheter device 12 is controlled. When the external catheter device 13 moves to the target position, it stops moving. At this time, the second shape memory alloy wire 137 is de-energized or stopped heating. The stiffness of the second shape memory alloy wire 137 and the second joint 1322 is weakened. The movement of the external catheter device 13 is controlled. The internal catheter device 12 and the external catheter device 13 move alternately, which can reach any position such as the lung or kidney.

[0067] In other embodiments, the stiffness of the second shape memory wire 137 decreases when it is energized or heated, and increases when it is de-energized or stopped being heated.

[0068] The external catheter device 13 of this application controls the stiffness of the external catheter device 13 by switching the second shape memory alloy wire 137 on and off or heating it, so as to support the movement of the internal catheter device 12. The internal catheter device 12 and the external catheter device 13 can move alternately to reach any position, that is, the catheter robot of this application has strong accessibility.

[0069] Optionally, the second shape memory alloy wire 137 has a shape memory effect. When it is heated to a certain temperature by electricity, it will undergo a martensitic inverse phase transformation. The second shape memory alloy wire 137 has low stiffness when it is not heated by electricity, and high stiffness after heating.

[0070] Optionally, a second shape memory alloy wire 137 is disposed on the outer wall of the second joint portion 1322, and the second shape memory alloy wire 137 is arranged along the length direction of the second joint portion 1322. The outer wall of the second joint portion 1322 is provided with a plurality of second shape memory alloy wires 137, and the plurality of second shape memory alloy wires 137 are arranged at intervals around the circumference of the second joint portion 1322.

[0071] In another embodiment, the second joint portion 1322 is provided with at least one second inner hole (not shown), the second inner hole being disposed along the length direction of the second joint portion 1322, and the second shape memory alloy wire 137 being disposed in the second inner hole. In this embodiment, the second joint portion 1322 is provided with a plurality of second inner holes, the plurality of second inner holes being arranged at intervals around the circumference of the second joint portion 1322, and the plurality of second shape memory alloy wires 137 being disposed in each of the second inner holes.

[0072] Optionally, the second flexible tube 1321 is provided with at least one second wiring hole (not shown), which communicates with the second inner hole. The second conductor 136 is at least partially disposed in the second wiring hole and electrically connected to the second shape memory alloy wire 137. In this embodiment, the number of second conductors 136 is the same as the number of second shape memory alloy wires 137, or one second conductor 136 is electrically connected to multiple second shape memory alloy wires 137. For example, the ends of the second flexible tube 1321 and the second joint portion 1322 are provided with connectors, and multiple second shape memory alloy wires 137 are electrically connected to the connectors, and the ends of the second conductors 136 are electrically connected to the connectors.

[0073] Optionally, the second instrument box 131 includes a second heater 1314, which is connected to a second shape memory alloy wire 137 via a second conductor 136. The second heater 1314 heats the second shape memory alloy wire 137 via the second conductor 136. The temperature of the second shape memory alloy wire 137 is directly or inversely proportional to the stiffness of the external catheter instrument 13. For example, when the second heater 1314 heats the second shape memory alloy wire 137, the temperature of the second shape memory alloy wire 137 increases, and the stiffness of the second joint portion 1322 of the external catheter instrument 13 increases. When the second heater 1314 stops heating the second shape memory alloy wire 137, the temperature of the second shape memory alloy wire 137 decreases, and the stiffness of the second joint portion 1322 of the external catheter instrument 13 weakens.

[0074] Optionally, the stiffness of the external catheter device 13 after enhancement is greater than the stiffness of the internal catheter device 12, and the stiffness of the external catheter device 13 after weakening is less than the stiffness of the internal catheter device 12. In this embodiment, the first force sensor 124 of the internal catheter device 12 is also used to detect the stiffness of the external catheter device 13, and the control device 30 is used to determine whether the detected stiffness exceeds a set threshold; when the stiffness of the external catheter device 13 is less than the threshold, the external catheter device 13 is controlled to increase its stiffness, that is, when the stiffness of the external catheter device 13 is less than the threshold, the external catheter device 13 is controlled to increase its stiffness, for example, by increasing the current supplied to the second shape memory alloy wire 137.

[0075] Optionally, such as Figure 1 As shown, the catheter robot also includes a manipulator device 72. An internal catheter instrument 12 and an external catheter instrument 13 are detachably mounted on the manipulator device 72. The internal and external catheter instruments 12 and 13 are used to enter the human body through natural cavities or surgical incisions to perform relevant surgical procedures. The manipulator device 72 includes a base and a first robotic arm 721 and a second robotic arm 722 movably mounted on the base. The first robotic arm 721 is connected to a first drive device 20a. Movement of the first robotic arm 721 drives the first drive device 20a and the internal catheter instrument 12 together, enabling the internal catheter instrument 12 to move forward or backward. The second robotic arm 722 is connected to a second drive device 20b. Movement of the second robotic arm 722 drives the second drive device 20b and the external catheter instrument 13 together, enabling the external catheter instrument 13 to move forward or backward.

[0076] Optionally, the first robotic arm 721 and the second robotic arm 722 include multiple arm segments connected at joints, providing multiple degrees of freedom for the first robotic arm 721 and the second robotic arm 722, for example, seven degrees of freedom corresponding to seven arm segments. In this embodiment, the control device 30 receives input from the input device to control the movement of the manipulator device 72, the external catheter instrument 13, and the internal catheter instrument 12. The input from the input device can cause corresponding movements of the internal catheter instrument 12 and / or the external catheter instrument 13. For example, when the operator operates the direction lever of the input device to move up or down, the movement of the direction lever can be mapped to the corresponding pitch movement of the first end effector 123 and the second end effector 133 of the catheter robot; when the operator operates the direction lever of the input device to move left or right, the movement of the direction lever can be mapped to the corresponding yaw movement of the first end effector 123 and the second end effector 133. The input device can control the first end effector 123 and the second end effector 133 to move within a 360° spatial range.

[0077] In some embodiments, for simple surgical situations, only one robotic arm (first robotic arm 721 or second robotic arm 722) and one catheter instrument (external catheter instrument 13 or internal catheter instrument 12) may be used. For example, the manipulator device has only one robotic arm, and a single catheter instrument is used to perform a biopsy on the patient.

[0078] The catheter robot of this application is communicatively connected to a sensor system, which has one or more subsystems for receiving information about the internal catheter device 12 and / or the external catheter device 13. The subsystems may include: a position sensor system; a shape sensor system for determining the position, orientation, velocity, rate, pose, and / or shape of the distal end of the internal catheter device 12 and / or the external catheter device 13 and / or along one or more segments that may constitute the internal catheter device 12 and / or the external catheter device 13; and / or a visualization system for capturing images from the distal end of the internal catheter device 12 and / or the external catheter device 13.

[0079] Optionally, such as Figure 1 As shown, the catheter robot also includes an electronics cart 71, which is communicatively connected to a manipulator device 72. In this embodiment, the electronics cart 71 includes a display 50 and a flushing system; the display 50 is used to display images or representations of the surgical site and catheter instruments generated by a subsystem of the sensor system. Real-time images of the surgical site and catheter instruments captured by a visualization system can also be displayed. Image data from imaging technologies such as computed tomography (CT), magnetic resonance imaging (MRI), optical coherence tomography (OCT), and ultrasound can also be used to present images of the surgical site recorded preoperatively or intraoperatively. Preoperative or intraoperative image data can be presented as two-dimensional, three-dimensional, or four-dimensional (e.g., time-based or rate-based information) images and / or as images from models created based on preoperative or intraoperative image datasets. Virtual navigation images can also be displayed, in which the actual position of the catheter instruments is registered with the preoperative images to present a virtual image of the catheter instruments within the surgical site to the operator from the outside.

[0080] Optionally, the control device 30 described above includes at least one memory and at least one computer processor. It is understood that the control device 30 can be integrated into the manipulator device 72 or can be set up independently. Communication between the control device 30 and the input device and the manipulator device 72 can be wired or wireless. Wired communication may include, but is not limited to, serial port, CAN, RS485, RS232, USB, SPI, etc., while wireless communication may include, but is not limited to, IEEE 802.11, IrDA, Bluetooth, HomeRF, DECT, WiFi, NB, Zigbee, RFID, and wireless telemetry, etc. The control device 30 can transmit one or more signals instructing the movement of catheter instruments by the first drive device 20a and / or the second drive device 20b.

[0081] Optionally, the control device 30 may include a mechanical control system and an image processing system. The mechanical control system is used to control the movement of the catheter instrument and can therefore be integrated into the manipulator device 72. The image processing system is used for virtual navigation path planning. Of course, the various subsystems of the control device 30 are not limited to the specific cases listed above and can be reasonably set according to actual conditions. The image processing system can image the surgical site using the aforementioned imaging techniques based on images of the surgical site recorded preoperatively or intraoperatively. Software used in conjunction with manual input can also convert the recorded images into two-dimensional or three-dimensional composite images of parts or entire anatomical organs or segments. During the virtual navigation procedure, the sensor system can be used to calculate the position of the medical device relative to the patient's anatomical structures. This position can be used to generate external tracking images and internal virtual images of the patient's anatomical structures, achieving registration of the actual position of the catheter instrument with the preoperative images, thereby presenting a virtual image of the catheter instrument within the surgical site to the operator from the outside.

[0082] Optionally, in the context of using external catheter device 13 and internal catheter device 12, internal catheter device 12 can be detachably mounted on the first drive device 20a, and external catheter device 13 can be detachably mounted on the second drive device 20b.

[0083] The above embodiments are merely illustrative of the principles and effects of this application and are not intended to limit this application. Furthermore, the structures or structural features involved can be arbitrarily combined and superimposed. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this application. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this application should still be covered by the claims of this application.

Claims

1. A catheter robot, characterized in that, The device includes an internal catheter device and an external catheter device. The internal catheter device is at least partially movably disposed within the external catheter device. The internal catheter device includes a first device box, a first catheter, and a first end device. The proximal end of the first catheter is connected to the first device box, and the first end device is connected to the distal end of the first catheter. The peripheral and end surfaces of the first end device are provided with a plurality of first force sensors for detecting external forces acting on the first end device. The first device box includes a plurality of first drive ropes for driving the movement of the first catheter, and the plurality of first drive ropes are provided with first tension sensors for detecting their tension.

2. The catheter robot as described in claim 1, characterized in that, The catheter robot includes a first drive device and a control device. The first drive device is connected to the first instrument box. The first drive device drives the first end device to contact human tissue through each of the first drive ropes. The control device is communicatively connected to the first drive device. The control device is used to collect the magnitude of the drive current of the first drive device and adjust the pressure applied to the human tissue by the first end device according to the magnitude of the drive current, the data of the first force sensor and the data of the first tension sensor.

3. The catheter robot as described in claim 2, characterized in that, The catheter robot also includes a Kalman filter, which is communicatively connected to the control device and is used to filter the drive current.

4. The catheter robot as described in claim 2, characterized in that, The internal catheter device also includes a camera, which is mounted on the first end device. The catheter robot also includes a display, which is communicatively connected to the internal catheter device and the control device. The display is used to display images captured by the camera and the direction of pressure applied to human tissue by the first end device.

5. The catheter robot as described in claim 2, characterized in that, The first catheter includes a first flexible tube and a first joint. One end of the first flexible tube is connected to the first instrument box, and the other end of the first flexible tube is connected to the first joint. The end of the first joint away from the first flexible tube is connected to the first end device. Each of the first drive ropes passes through the first flexible tube and the first joint and is connected to the first end device.

6. The catheter robot as described in claim 5, characterized in that, The first instrument box also includes a plurality of first spools, the ends of each first drive rope are wound on each first spool, the first drive device includes a plurality of first drivers, the output end of each first driver is connected to each first spool, and each first driver drives each first spool to rotate to realize the winding and unwinding of each first drive rope.

7. The catheter robot as described in claim 5, characterized in that, The internal catheter device further includes a first conductor and a first shape memory alloy wire. The first shape memory alloy wire is disposed on the first joint portion. The first conductor is connected to the first shape memory alloy wire and is used to energize or heat the first shape memory alloy wire to change its stiffness, so that the internal catheter device supports the movement of the external catheter device; and / or, The first instrument box also includes a first heater, which is connected to the first shape memory alloy wire through the first conductor. The first heater heats the first shape memory alloy wire through the first conductor. The temperature of the first shape memory alloy wire is directly or inversely proportional to the stiffness of the first joint.

8. The catheter robot as described in any one of claims 2 to 7, characterized in that, The external catheter device includes a second device box, a second catheter, and a second end device. The proximal end of the second catheter is connected to the second device box, and the second end device is connected to the distal end of the second catheter. Multiple second force sensors are provided on the circumferential and end surfaces of the second end device for detecting the external force applied to the second end device. The second device box includes multiple second drive ropes for driving the movement of the second catheter, and multiple second drive ropes are provided with second tension sensors for detecting their tension. And / or, The second catheter includes a second flexible tube and a second joint. One end of the second flexible tube is connected to the second instrument box, and the other end of the second flexible tube is connected to the second joint. The end of the second joint away from the second flexible tube is connected to the second end device. Each of the second drive ropes passes through the second flexible tube and the second joint and is connected to the second end device.

9. The catheter robot as described in claim 8, characterized in that, The catheter robot includes a second drive unit connected to the second instrument box. The second drive unit drives the second end device to contact human tissue via each of the second drive ropes. The control unit is communicatively connected to the second drive unit. The control unit is used to collect the magnitude of the drive current of the second drive unit and adjust the pressure applied by the second end device to the human tissue based on the magnitude of the drive current, the data of the second force sensor, and the data of the second tension sensor. And / or, The second instrument box also includes a plurality of second spools, the ends of each second drive rope are wound on each second spool, and the second drive device includes a plurality of second drivers, the output end of each second driver is connected to each second spool, and each second driver drives each second spool to rotate to realize the winding and unwinding of each second drive rope.

10. The catheter robot as described in claim 8, characterized in that, The external catheter device includes a second conductor and a second shape memory alloy wire. The second shape memory alloy wire is disposed on the second joint portion. The second conductor is connected to the second shape memory alloy wire and is used to energize or heat the second shape memory alloy wire to change its stiffness, so that the external catheter device supports the movement of the internal catheter device; and / or, The second instrument box includes a second heater, which is connected to the second shape memory alloy wire via a second conductor. The second heater heats the second shape memory alloy wire via the second conductor, and the temperature of the second shape memory alloy wire is directly or inversely proportional to the stiffness of the external catheter instrument; and / or, The stiffness of the external catheter device after enhancement is greater than that of the internal catheter device, and the stiffness of the external catheter device after weakening is less than that of the internal catheter device.

Images