Catheter robot

Abstract

The utility model discloses a catheter robot, including outer catheter instrument and inner catheter instrument, the inner catheter instrument at least partially movably set in outer catheter instrument, the outer catheter instrument includes first conductor, first joint part and first memory alloy silk, first memory alloy silk sets up on first joint part, first conductor is connected with first memory alloy silk, and is used for the electrification or heating of first memory alloy silk to change the rigidity of first joint part to make outer catheter instrument support inner catheter instrument movement. The catheter robot of the utility model is strong.

Description

Technical Field

[0001] This utility model relates to the field of catheter robot 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] Currently, catheter robots are used to treat or perform biopsies on lung diseases. When a catheter robot works, an external catheter is first inserted into the target location in the lung, and then an internal catheter is inserted through the external catheter. Because the external and / or internal catheters have a fixed rigidity, they cannot be moved further into complex lesion locations in the lung or kidney, and cannot reach the desired lesion location more precisely; their accessibility is poor. 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 with strong accessibility.

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

[0006] This utility model provides a catheter robot, including an external catheter device and an internal catheter device. The internal catheter device is at least partially movably disposed in the external catheter device. The external catheter device includes a first conductor, a first joint, 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 joint so that the external catheter device supports the movement of the internal catheter device.

[0007] 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.

[0008] Furthermore, the external catheter device also includes a first flexible tube, a first instrument box, and a first end device. The first flexible tube is connected to the first joint portion, the other end of the first flexible tube is connected to the first instrument box, and the end of the first joint portion away from the first flexible tube is connected to the first end device.

[0009] Furthermore, the first shape memory alloy wire is disposed on the outer wall of the first joint portion, and the first shape memory alloy wire is arranged along the length direction of the first joint portion, or the first joint portion is provided with at least one first inner hole, the first inner hole is arranged along the length direction of the first joint portion, and the first shape memory alloy wire is disposed in the first inner hole.

[0010] Furthermore, the first flexible tube is provided with a first wiring hole, which communicates with the first inner hole, and the first conductor is at least partially disposed in the first wiring hole.

[0011] Furthermore, the catheter robot also includes a first drive device, which is connected to the external catheter instrument. The first instrument box includes a plurality of first drive ropes for driving the first end device to move. One end of each first drive rope is linked to the first drive device, and the other end of each first drive rope passes through the first flexible tube and the first joint and is connected to the first end device. The first drive device drives the first end device to move in multiple degrees of freedom through each first drive rope.

[0012] Furthermore, the first instrument box 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.

[0013] Furthermore, the first end device is provided with a plurality of first force sensors, which are used to detect the external force applied to the first end device.

[0014] Furthermore, the catheter robot also includes a control device, which is communicatively connected to the external catheter instrument. The control device is used to determine whether the first pressure value of the first end device on human tissue exceeds a set first threshold; when the first pressure value is greater than or equal to the first threshold, the control device is used to reduce the stiffness of the external catheter instrument.

[0015] Furthermore, the internal catheter device includes a second conductor, a second joint, and a second shape memory alloy wire. The second shape memory alloy wire is disposed on the second joint. 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 joint, so that the internal catheter device supports the movement of the external catheter device.

[0016] Furthermore, the internal catheter device also includes a second flexible tube, a second instrument box, and a second end device. The second flexible tube is connected to the second joint portion, the other end of the second flexible tube is connected to the second instrument box, and the end of the second joint portion away from the second flexible tube is connected to the second end device.

[0017] Furthermore, the second shape memory alloy wire is disposed on the outer wall of the second joint portion, and the second shape memory alloy wire is arranged along the length direction of the second joint portion, or the second joint portion is provided with a second inner hole, the second inner hole is arranged along the length direction of the second joint portion, and the second shape memory alloy wire is disposed in the second inner hole.

[0018] Furthermore, the second flexible tube is provided with a second wiring hole, which is connected to the second inner hole, and the second conductor is at least partially disposed in the second wiring hole.

[0019] Furthermore, the catheter robot also includes a second drive device, which is connected to the internal catheter instrument. The second instrument box includes a plurality of second drive ropes for driving the movement of the second end device. One end of each second drive rope is linked to the second drive device, and the other end of each second drive rope passes through the second flexible tube and the second joint and is connected to the second end device. The second drive device drives the second end device to move in multiple degrees of freedom through each second drive rope.

[0020] Furthermore, the second drive device 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 second joint.

[0021] Furthermore, the second end device is provided with a second force sensor, which is used to detect the external force applied to the second end device.

[0022] Furthermore, the catheter robot also includes a control device, which is communicatively connected to the internal catheter instrument. The control device is used to determine whether the second pressure value of the second end device on human tissue exceeds a set second threshold; when the second pressure value is greater than or equal to the second threshold, the internal catheter instrument is controlled to reduce its stiffness.

[0023] Furthermore, the second force sensor is also used to detect the stiffness between the second end device and the first joint, and the control device is used to determine whether the detected stiffness exceeds a set third threshold; when the stiffness of the first joint is less than the third threshold, the control device controls the first joint to increase its stiffness.

[0024] The beneficial effects of this utility model are as follows: the outer catheter device of the catheter robot controls the stiffness of the first joint by switching the first memory alloy wire on and off, thereby supporting the movement of the inner catheter device. The inner and outer catheter devices can move alternately to reach any position, that is, the catheter robot of this application has strong accessibility. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the catheter robot of this application.

[0026] Figure 2 This is a schematic diagram showing the separation of the external or internal catheter device and the first or second driving device of this application.

[0027] Figures 3 to 5 This is a partial schematic diagram of the alternating movement of the external and internal catheter devices in this application.

[0028] Figure 6 This is a partial schematic diagram of the external catheter device of this application.

[0029] Figure 7 This is a schematic diagram showing the disassembled external or internal catheter devices of this application.

[0030] Figure 8 This is a schematic diagram of the structure of the first or second end device of this application.

[0031] Figure 9 This is a partial schematic diagram of the internal catheter device of this application.

[0032] In the figure: external catheter instrument 12, first conductor 121, first joint 122, first shape memory alloy wire 123, first flexible tube 124, first instrument box 125, first end effector 126, first force sensor 127, first drive rope 1251, first wire wheel 1252, first heater 1253, internal catheter instrument 13, second conductor 131, second joint 132, second shape memory alloy wire 133, second flexible tube 134, second instrument box 135, second end effector 136, second force sensor 137, second drive rope 1351, second wire wheel 1352, second heater 1353, first drive device 14, first driver 141, second drive device 15, second driver 151, electronic equipment trolley 71, manipulator device 72, first robotic arm 721, second robotic arm 722. Detailed Implementation

[0033] 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.

[0034] 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.

[0035] 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.

[0036] 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.

[0037] Figure 1 This is a schematic diagram of the catheter robot of this application. Figure 2 This is a schematic diagram showing the disassembled external or internal catheter device and the first or second driving device of this application. Figures 3 to 5 This is a partial schematic diagram showing the alternating movement of the external and internal catheter devices in this application. Figure 6 This is a partial schematic diagram of the external catheter device of this application. Please refer to it. Figures 1 to 6 The catheter robot includes an external catheter device 12 and an internal catheter device 13. The internal catheter device 13 is at least partially movably disposed in the external catheter device 12. The external catheter device 12 includes a first conductor 121, a first joint portion 122, and a first shape memory alloy wire 123. The first shape memory alloy wire 123 is disposed on the first joint portion 122. The first conductor 121 is connected to the first shape memory alloy wire 123 and is used to energize or heat the first shape memory alloy wire 123 to change the stiffness of the first joint portion 122 so that the external catheter device 12 supports the movement of the internal catheter device 13.

[0038] The external catheter device 12 of this application is used to assist the movement of the internal catheter device 13. When the external catheter device 12 moves to the target position, it stops moving. At this time, the first shape memory alloy wire 123 is energized, and the stiffness of the first shape memory alloy wire 123 increases. The stiffness of the first joint 122 is also increased synchronously. At this time, the external catheter device 12 can support the internal catheter device 13. The movement of the internal catheter device 13 is controlled. When the internal catheter device 13 moves to the target position, it stops moving. At this time, the first shape memory alloy wire 123 is de-energized, and the stiffness of the first shape memory alloy wire 123 and the first joint 122 is weakened. The movement of the external catheter device 12 is controlled. The internal catheter device 13 and the external catheter device 12 move alternately, which can reach any position such as the lung or kidney.

[0039] In other embodiments, the stiffness of the first shape memory alloy wire 123 decreases when it is energized and increases when it is de-energized.

[0040] The external catheter device 12 of the catheter robot of this application controls the stiffness of the first joint 122 by switching the first shape memory alloy wire 123 on and off, so as to support the movement of the internal catheter device 13. The internal catheter device 13 and the external catheter device 12 move alternately and can reach any position, that is, the catheter robot of this application has strong accessibility.

[0041] Optionally, the first joint 122 may be a hinge structure or a continuum, but is not limited thereto.

[0042] Optionally, the first shape memory alloy wire 123 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 123 has low stiffness when it is not heated by electricity, and high stiffness after heating.

[0043] Optionally, the stiffness of the external catheter device 12 after enhancement is greater than that of the internal catheter device 13. That is, after the first shape memory alloy wire 123 is energized, the stiffness of the external catheter device 12 is enhanced, and at this time the stiffness of the external catheter device 12 is greater than that of the internal catheter device 13. The stiffness of the external catheter device 12 after weakening is less than that of the internal catheter device 13. That is, after the first shape memory alloy wire 123 is de-energized, the stiffness of the external catheter device 12 is weakened, and at this time the stiffness of the external catheter device 12 is less than that of the internal catheter device 13.

[0044] Optionally, the external catheter device 12 further includes a first flexible tube 124, a first device housing 125, and a first end device 126. The first flexible tube 124 is connected to a first joint portion 122, and the other end of the first flexible tube 124 is connected to the first device housing 125. The end of the first joint portion 122 away from the first flexible tube 124 is connected to the first end device 126. In this embodiment, the first joint portion 122 is composed of multiple hinged joints and has low stiffness. The stiffness of the first joint portion 122 can be controlled by switching the first shape memory alloy wire 123 on and off. The first flexible tube 124 is composed of polyetheretherketone material and has high stiffness.

[0045] Optionally, such as Figure 6 As shown, a first shape memory alloy wire 123 is disposed on the outer wall of the first joint portion 122, and the first shape memory alloy wire 123 is arranged along the length direction of the first joint portion 122. In this embodiment, a plurality of first shape memory alloy wires 123 are provided on the outer wall of the first joint portion 122, and the plurality of first shape memory alloy wires 123 are arranged at intervals around the circumference of the first joint portion 122.

[0046] In another embodiment, the first joint portion 122 is provided with at least one first inner hole, which is arranged along the length direction of the first joint portion 122, and the first shape memory alloy wire 123 is disposed in the first inner hole. In this embodiment, the first joint portion 122 is provided with a plurality of first inner holes, which are arranged at intervals around the circumference of the first joint portion 122, and the plurality of first shape memory alloy wires 123 are respectively disposed in each of the first inner holes.

[0047] Optionally, the first flexible tube 124 is provided with a first wiring hole, which communicates with the first inner hole, and the first conductor 121 is at least partially disposed in the first wiring hole. In this embodiment, the number of first conductors 121 is the same as the number of first shape memory alloy wires 123, or one first conductor 121 is electrically connected to multiple first shape memory alloy wires 123. For example, the ends of the first flexible tube 124 and the first joint portion 122 are provided with connectors, and multiple first shape memory alloy wires 123 are electrically connected to the connectors, and the ends of the first conductors 121 are electrically connected to the connectors.

[0048] Optionally, Figure 7 This is a disassembled schematic diagram of the external or internal catheter device of this application, as shown below. Figure 7As shown, the catheter robot also includes a first drive device 14, which is connected to the external catheter instrument 12. The first instrument box 125 includes a plurality of first drive ropes 1251 for driving the first end device 126. One end of each first drive rope 1251 is linked to the first drive device 14, and the other end of each first drive rope 1251 passes through the first flexible tube 124 and the first joint 122 and is connected to the first end device 126. The first drive device 14 drives the first end device 126 to move in multiple degrees of freedom through each first drive rope 1251.

[0049] Optionally, such as Figure 7 As shown, the first instrument box 125 also includes a plurality of first spools 1252, and the ends of each first drive rope 1251 are wound around each first spool 1252. The first drive device 14 includes a plurality of first drivers 141, the output end of each first driver 141 being connected to each first spool 1252. Each first driver 141 drives each first spool 1252 to rotate, thereby releasing and retracting each first drive rope 1251. At this time, the posture of the first end device 126 will change accordingly. In this embodiment, each first driver 141 is, for example, a motor, and the relationship between current and force is calibrated using known motor operating characteristics.

[0050] In another embodiment, such as Figure 7 As shown, the first instrument box 125 includes a first heater 1253, which is connected to a first shape memory alloy wire 123 via a first conductor 121. The first heater 1253 heats the first shape memory alloy wire 123 via the first conductor 121. The temperature of the first shape memory alloy wire 123 is directly or inversely proportional to the stiffness of the first joint 122. For example, when the first heater 1253 heats the first shape memory alloy wire 123, the temperature of the first shape memory alloy wire 123 increases, and the stiffness of the first joint 122 increases. When the first heater 1253 stops heating the first shape memory alloy wire 123, the temperature of the first shape memory alloy wire 123 decreases, and the stiffness of the first joint 122 weakens.

[0051] Optionally, Figure 8 This is a schematic diagram of the structure of the first or second end device of this application, as shown below. Figure 8 As shown, the first end effector 126 is provided with a plurality of first force sensors 127, which are used to detect the external force acting on the first end effector 126. In this embodiment, the plurality of first force sensors 127 on the sidewall of the first end effector 126 are spaced apart from each other in the circumferential direction of the first end effector 126, and at least one first force sensor 127 is provided on the end face of the first end effector 126. Each first force sensor 127 is used to detect the first pressure value of the first end effector 126 in contact with human tissue.

[0052] Optionally, the catheter robot also includes a control device (not shown), which is communicatively connected to the external catheter device 12. The control device is used to determine whether the first pressure value of the first end device 126 on human tissue exceeds a set first threshold. When the first pressure value is greater than or equal to the first threshold, the external catheter device 12 is controlled to reduce its stiffness, for example, by reducing the current supplied to the first shape memory alloy wire 123, to prevent the first shape memory alloy wire 123 from damaging human tissue.

[0053] Optionally, the first end device 126 is provided with a first camera (not shown) for taking images during the surgery.

[0054] Optionally, Figure 9 This is a partial schematic diagram of the internal catheter device of this application, as shown below. Figure 9 As shown, the internal catheter device 13 includes a second conductor 131, a second joint portion 132, and a second shape memory alloy wire 133. The second shape memory alloy wire 133 is disposed on the second joint portion 132. The second conductor 131 is connected to the second shape memory alloy wire 133 and is used to energize or heat the second shape memory alloy wire 133 to change the stiffness of the second joint portion 132 so that the internal catheter device 13 supports the movement of the external catheter device 12.

[0055] The inner catheter device 13 of the catheter robot of this application is used to assist the movement of the outer catheter device 12. When the inner catheter device 13 moves to the target position and stops moving, the second shape memory alloy wire 133 is energized, the stiffness of the second shape memory alloy wire 133 increases, and the stiffness of the second joint 132 is simultaneously enhanced. At this time, the inner catheter device 13 can support the outer catheter device 12. The movement of the outer catheter device 12 is controlled. When the outer catheter device 12 moves to the target position and stops moving, the second shape memory alloy wire 133 is de-energized, and the stiffness of the second shape memory alloy wire 133 and the second joint 132 is weakened. The movement of the inner catheter device 13 is controlled. The outer catheter device 12 and the inner catheter device 13 move alternately, which can reach any position such as the lung or kidney.

[0056] In other embodiments, the stiffness of the second shape memory wire 133 decreases when it is energized and increases when it is de-energized.

[0057] The inner catheter device 13 of the catheter robot of this application controls the stiffness of the second joint 132 by switching the second shape memory alloy wire 133 on and off, so as to support the movement of the outer catheter device 12. The inner catheter device 13 and the outer catheter device 12 can reach any position by alternating forward movement, that is, the catheter robot of this application has strong accessibility.

[0058] Optionally, the second shape memory alloy wire 133 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 133 has low stiffness when it is not heated by electricity, and high stiffness after heating.

[0059] Optionally, the second joint 132 may be, for example, a hinge structure or a continuum, but is not limited thereto.

[0060] Optionally, the internal catheter device 13 further includes a second flexible tube 134, a second device holder 135, and a second end device 136. The second flexible tube 134 is connected to the second joint portion 132, and the other end of the second flexible tube 134 is connected to the second device holder 135. The end of the second joint portion 132 away from the second flexible tube 134 is connected to the second end device 136. In this embodiment, the second joint portion 132 is composed of multiple hinged joints and has low stiffness. The stiffness of the second joint portion 132 can be controlled by switching the second shape memory alloy wire 133 on and off. The second flexible tube 134 is composed of polyetheretherketone material and has high stiffness.

[0061] Optionally, a second shape memory alloy wire 133 is disposed on the outer wall of the second joint portion 132, and the second shape memory alloy wire 133 is arranged along the length direction of the second joint portion 132. In this embodiment, a plurality of second shape memory alloy wires 133 are provided on the outer wall of the second joint portion 132, and the plurality of second shape memory alloy wires 133 are arranged at intervals around the circumference of the second joint portion 132.

[0062] In another embodiment, the second joint portion 132 is provided with a second inner hole, which is arranged along the length direction of the second joint portion 132, and the second shape memory alloy wire 133 is disposed in the second inner hole. In this embodiment, the second joint portion 132 is provided with a plurality of second inner holes, which are arranged at intervals around the circumference of the second joint portion 132, and the plurality of second shape memory alloy wires 133 are respectively disposed in each of the second inner holes.

[0063] Optionally, the second flexible tube 134 is provided with a second wiring hole, which communicates with the second inner hole, and the second conductor 131 is at least partially disposed in the second wiring hole. In this embodiment, the number of second conductors 131 is the same as the number of second shape memory alloy wires 133, or one second conductor 131 is electrically connected to multiple second shape memory alloy wires 133. For example, the ends of the second flexible tube 134 and the second joint portion 132 are provided with connectors, and multiple second shape memory alloy wires 133 are electrically connected to the connectors, and the ends of the second conductors 131 are electrically connected to the connectors.

[0064] Optionally, such as Figure 7As shown, the catheter robot also includes a second drive device 15, which is connected to the internal catheter instrument 13. The second instrument box 135 includes a plurality of second drive ropes 1351 for driving the movement of the second end device 136. One end of each second drive rope 1351 is linked to the second drive device 15, and the other end of each second drive rope 1351 passes through the second flexible tube 134 and the second joint 132 and is connected to the second end device 136. The second drive device 15 drives the second end device 136 to move in multiple degrees of freedom through each second drive rope 1351.

[0065] Optionally, such as Figure 7 As shown, the second instrument box 135 also includes a plurality of second sheaves 1352, and the ends of each second drive rope 1351 are wound around each second sheave 1352. The second drive device 15 includes a plurality of second drivers 151, the output end of each second driver 151 being connected to each second sheave 1352. Each second driver 151 drives each second sheave 1352 to rotate, thereby releasing and retracting each second drive rope 1351. At this time, the posture of the second end device 136 will change accordingly. In this embodiment, each second driver 151 is, for example, a motor, and the relationship between current and force is calibrated using known motor operating characteristics.

[0066] In another embodiment, such as Figure 7 As shown, the second drive device 15 includes a second heater 1353, which is connected to the second shape memory alloy wire 133 via a second conductor 131. The second heater 1353 heats the second shape memory alloy wire 133 via the second conductor 131. The temperature of the second shape memory alloy wire 133 is directly or inversely proportional to the stiffness of the second joint 132. For example, when the second heater 1353 heats the second shape memory alloy wire 133, the temperature of the second shape memory alloy wire 133 increases, and the stiffness of the second joint 132 increases. When the second heater 1353 stops heating the second shape memory alloy wire 133, the temperature of the second shape memory alloy wire 133 decreases, and the stiffness of the second joint 132 weakens.

[0067] Optionally, such as Figure 8 As shown, the second end-effector 136 is provided with a second force sensor 137, which is used to detect the external force acting on the second end-effector 136. In this embodiment, a plurality of second force sensors 137 on the sidewall of the second end-effector 136 are spaced apart from each other in the circumferential direction of the second end-effector 136, and at least one second force sensor 137 is provided on the end face of the second end-effector 136. Each second force sensor 137 is used to detect the second pressure value of the second end-effector 136 in contact with human tissue.

[0068] Optionally, the control device is communicatively connected to the internal catheter device 13. The control device is used to determine whether the second pressure value of the second end device 136 on human tissue exceeds the set second threshold. When the second pressure value is greater than or equal to the second threshold, the internal catheter device 13 is controlled to reduce its stiffness, for example, by reducing the current supplied to the second memory alloy wire 133, to prevent the second memory alloy wire 133 from damaging human tissue.

[0069] Optionally, the second force sensor 137 is also used to detect the stiffness of the second end effector 136 and the first joint 122. The control device is used to determine whether the detected stiffness exceeds a set third threshold. When the stiffness of the first joint 122 is less than the third threshold, the control device increases the stiffness of the first joint 122, for example, by increasing the current supplied to the first shape memory alloy wire 123. Specifically, the second force sensor 137 is used to detect the stiffness of the second end effector 136 and the first joint 122. When the stiffness of the first joint 122 is less than the third threshold, the control device increases the stiffness of the first joint 122, for example, by increasing the current supplied to the first shape memory alloy wire 123. If the stiffness of the first joint 122 is detected to be less than the third threshold, then the first joint 122 is insufficient to support the movement of the internal catheter device 13. In this case, the current to the first shape memory alloy wire 123 is increased to increase the stiffness of the first shape memory alloy wire 123 and the first joint 122.

[0070] Optionally, the second end device 136 is provided with a second camera for capturing images during the surgery.

[0071] Optionally, the catheter robot of this application can be used for, for example, surgery, diagnosis, treatment or biopsy.

[0072] Optionally, such as Figure 1 As shown, the catheter robot also includes a manipulator device 72. An external catheter instrument 12 and an internal catheter instrument 13 are detachably mounted on the manipulator device 72. The external catheter instrument 12 or the internal catheter instrument 13 is used to enter the human body through natural cavities or surgical incisions to perform relevant surgical operations. 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 14. Movement of the first robotic arm 721 drives the first drive device 14 and the external catheter instrument 12 together, enabling the external catheter instrument 12 to move forward or backward. The second robotic arm 722 is connected to a second drive device 15. Movement of the second robotic arm 722 drives the second drive device 15 and the internal catheter instrument 13 together, enabling the internal catheter instrument 13 to move forward or backward.

[0073] 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 of the catheter robot receives input from the input device to control the movement of the manipulator device 72, the external catheter instrument 12, and the internal catheter instrument 13. The input from the input device can cause corresponding movements of the external catheter instrument 12 and / or the internal 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 of the input device can be mapped to a corresponding pitch movement of the end effector of the external catheter instrument 12 and / or the internal catheter instrument 13; when the operator operates the direction lever of the input device to move left or right, the movement of the direction lever of the input device can be mapped to a corresponding yaw movement of the end effector of the external catheter instrument 12 and / or the internal catheter instrument 13. The input device can control the end effector of the external catheter instrument 12 and / or the internal catheter instrument 13 to move within a 360° spatial range.

[0074] 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 12 or internal catheter instrument 13) may be used. For example, the manipulator device 72 has only one robotic arm and uses one catheter instrument to perform a biopsy on the patient.

[0075] The catheter robot of this application is communicatively connected to a sensor system, which has one or more subsystems for receiving information about the catheter robot. 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 external catheter device 12 and / or the internal catheter device 13 and / or along one or more segments that may constitute the external catheter device 12 and / or the internal catheter device 13; and / or a visualization system for capturing images from the distal end of the external catheter device 12 and / or the internal catheter device 13.

[0076] Optionally, the catheter robot also includes an electronics cart 71, which is communicatively connected to the manipulator device 72. In this embodiment, the electronics cart 71 includes a display system and a flushing system, and the external catheter instrument 12 and the internal catheter instrument 13 are also communicatively connected to the display system and the flushing system. The display system is used to display images or representations of the surgical site and the external catheter instrument 12 and / or the internal catheter instrument 13 generated by the subsystems of the sensor system. Real-time images of the surgical site and the external catheter instrument 12 and / or the internal catheter instrument 13 captured by the 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. It can also display a virtual navigation image in which the actual position of the external catheter instrument 12 and / or the internal catheter instrument 13 is registered with the preoperative image to present a virtual image of the external catheter instrument 12 and / or the internal catheter instrument 13 within the surgical site to the operator from the outside.

[0077] Optionally, the control device described above includes at least one memory and at least one computer processor. It is understood that the control device can be integrated into the manipulator device 72 or can be set up independently. Communication between the control device and the input device / 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 can transmit one or more signals instructing the movement of the external catheter instrument 12 and / or the internal catheter instrument 13, driven by the first drive device 14 and / or the second drive device 15.

[0078] Optionally, the control device may include a mechanical control system and an image processing system. The mechanical control system is used to control the movement of the external catheter instrument 12 and / or the internal catheter instrument 13, and therefore can 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 are not limited to the specific cases listed above, and can be reasonably set according to actual conditions. Among them, the image processing system can image the surgical site based on images of the surgical site recorded before or during the operation, using the above-mentioned imaging technology. Software that can be used in conjunction with manual input can also convert the recorded images into two-dimensional or three-dimensional synthetic images of parts or the entire anatomical organ or segment. During the virtual navigation procedure, the sensor system can be used to calculate the position of the catheter robot relative to the patient's anatomical structure. This position can be used to generate external tracking images and internal virtual images of the patient's anatomical structure, realizing the registration of the actual position of the external catheter instrument 12 and / or the internal catheter instrument 13 with the preoperative images, thereby presenting a virtual image of the catheter robot within the surgical site to the operator from the outside.

[0079] Optionally, in the context of using external catheter device 12 and internal catheter device 13, external catheter device 12 can be detachably mounted on the first drive device 14, and internal catheter device 13 can be detachably mounted on the second drive device 15.

[0080] 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 external catheter device and an internal catheter device. The internal catheter device is at least partially movably disposed within the external catheter device. The external catheter device includes a first conductor, a first joint, 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 joint so that the external catheter device supports the movement of the internal catheter device.

2. The catheter robot as described in claim 1, characterized in that, The stiffness of the external catheter device after enhancement is greater than the stiffness of the internal catheter device, and the stiffness of the external catheter device after weakening is less than the stiffness of the internal catheter device; and / or, The external catheter device further includes a first flexible tube, a first instrument box, and a first end device. The first flexible tube is connected to the first joint, the other end of the first flexible tube is connected to the first instrument box, and the end of the first joint away from the first flexible tube is connected to the first end device.

3. The catheter robot as described in claim 2, characterized in that, The first shape memory alloy wire is disposed on the outer wall of the first joint portion, and the first shape memory alloy wire is arranged along the length direction of the first joint portion; or the first joint portion has at least one first inner hole, the first inner hole is arranged along the length direction of the first joint portion, and the first shape memory alloy wire is disposed in the first inner hole; and / or, The first flexible tube is provided with a first wiring hole, which communicates with the first inner hole, and the first conductor is at least partially disposed in the first wiring hole.

4. The catheter robot as described in claim 2, characterized in that, The catheter robot further includes a first drive device connected to the external catheter instrument. The first instrument box includes multiple first drive ropes for driving the movement of the first end effector. One end of each first drive rope is linked to the first drive device, and the other end of each first drive rope passes through the first flexible tube and the first joint, and is connected to the first end effector. The first drive device drives the first end effector to move in multiple degrees of freedom through each first drive rope; and / or, The first instrument box 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.

5. The catheter robot as described in claim 2, characterized in that, The first end device is equipped with a plurality of first force sensors, which are used to detect external forces acting on the first end device; and / or, The catheter robot also includes a control device, which is communicatively connected to the external catheter instrument. The control device is used to determine whether the first pressure value of the first end device on human tissue exceeds a set first threshold; when the first pressure value is greater than or equal to the first threshold, the control device is used to reduce the stiffness of the external catheter instrument.

6. The catheter robot as described in any one of claims 1 to 5, characterized in that, The internal catheter device includes a second conductor, a second joint, and a second shape memory alloy wire. The second shape memory alloy wire is disposed on the second joint. 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 joint so that the internal catheter device supports the movement of the external catheter device.

7. The catheter robot as described in claim 6, characterized in that, The internal catheter device further includes a second flexible tube, a second instrument box, and a second end device. The second flexible tube is connected to the second joint portion, the other end of the second flexible tube is connected to the second instrument box, and the end of the second joint portion away from the second flexible tube is connected to the second end device.

8. The catheter robot as described in claim 7, characterized in that, The second shape memory alloy wire is disposed on the outer wall of the second joint portion, and the second shape memory alloy wire is arranged along the length direction of the second joint portion; or the second joint portion has a second inner hole, and the second inner hole is arranged along the length direction of the second joint portion, and the second shape memory alloy wire is disposed in the second inner hole; and / or, The second flexible tube is provided with a second wiring hole, which is connected to the second inner hole, and the second conductor is at least partially disposed in the second wiring hole.

9. The catheter robot as described in claim 7, characterized in that, The catheter robot further includes a second drive unit connected to the internal catheter instrument. The second instrument box includes multiple second drive ropes for driving the movement of the second end-effector. One end of each second drive rope is linked to the second drive unit, and the other end of each second drive rope passes through the second flexible tube and the second joint, and is connected to the second end-effector. The second drive unit drives the second end-effector to move in multiple degrees of freedom through each second drive rope; and / or, The second drive device 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. The temperature of the second shape memory alloy wire is directly or inversely proportional to the stiffness of the second joint.

10. The catheter robot as described in claim 9, characterized in that, The second end device is provided with a second force sensor, which is used to detect the external force acting on the second end device; and / or, The catheter robot also includes a control device, which is communicatively connected to the internal catheter instrument. The control device is used to determine whether a second pressure value exerted by the second end-effector on human tissue exceeds a set second threshold; when the second pressure value is greater than or equal to the second threshold, it controls the internal catheter instrument to reduce its stiffness; and / or, The second force sensor is also used to detect the stiffness between the second end device and the first joint. The control device is used to determine whether the detected stiffness exceeds a set third threshold. When the stiffness of the first joint is less than the third threshold, the control device controls the first joint to increase its stiffness.

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