Master-slave interventional surgical robot and interventional surgical system

Abstract

A master-slave interventional surgical robot and an interventional surgical system. The master-slave interventional surgical robot comprises a master end control device (10) and a slave end driving device (20); the slave end driving device (20) acquires attribute information of at least one control instrument installed on the slave end driving device (20), and sends the attribute information to the master end control device (10); and the master end control device (10) receives in real time the attribute information of the at least one control instrument sent by the slave end driving device (20), and displays at least one target instrument area (121), wherein each target instrument area (121) correspondingly displays the at least one control instrument and the attribute information of the control instrument. The attribute information of the control instrument is shared and displayed between a master end and a slave end, so that a user can see, on the master end control device (10), the attribute information of the control instrument on the slave end, thereby reducing operation errors of the user and reducing the operation costs.

Description

A master-slave interventional surgery robot and interventional surgery system Technical Field

[0001] The present application relates to the field of medical robot control technology, and in particular to a master-slave interventional surgical robot and an interventional surgical system. Background Art

[0002] Interventional therapy is a minimally invasive treatment performed using modern high-tech means. Under the guidance of medical imaging equipment, special catheters, guide wires and other precision instruments are introduced into the human body to diagnose and locally treat internal diseases.

[0003] Traditional vascular interventional surgery exposes users to long-term X-ray radiation, posing a significant safety hazard. To address this, a remotely operated master-slave interventional surgery system has been developed. This system can operate in high-radiation environments, allowing users to control it from outside the radiation environment. During surgery, the user operates the master-slave interventional surgical robot to control the remote slave drive, which in turn controls the movement of instruments such as catheters and guidewires to perform the procedure.

[0004] After the user loads the instrument according to the instructions on the slave side, they return to the master side to remotely operate the instrument. The master side does not display the loaded instrument, and the instrument displays between the master and slave are not linked. If the master side user forgets what instrument is loaded on the slave side and its size, or if the master side user is unsure of what instrument is loaded on the slave side and its size after a change of operator, this may affect the master side's judgment accuracy. If this causes a misjudgment, it may lead to incorrect operation, thus creating risks.

[0005] Summary of the Invention

[0006] The present application proposes a master-slave interventional surgical robot and an interventional surgical system, which can enable the master and slave ends of the master-slave interventional surgical robot to share the attribute information of the display and control instruments, thereby reducing user operation errors and lowering operation costs.

[0007] In a first aspect, the present application provides a master-slave interventional surgical robot for controlling at least one manipulation instrument, comprising: a master-end control device and a slave-end drive device communicatively connected to the master-end control device; at least one manipulation instrument is mounted on the slave-end drive device;

[0008] The slave-end driving device includes a setting area, wherein the setting area is used to obtain attribute information of at least one of the manipulation devices installed on the slave-end driving device and send the attribute information to the master-end control device;

[0009] The master-end control device includes a receiving module and a display module; the receiving module is used to receive in real time the attribute information of at least one manipulated device sent by the slave-end driving device; the display module is used to display at least one target device area, and each target device area displays at least one manipulated device and the attribute information of the manipulated device.

[0010] In a possible implementation, a formula button is displayed on a display screen of the slave driving device, and the formula button is connected to the setting area.

[0011] In a possible implementation, the master-end control device further includes at least one operating component and an operator; the operating component is used for user operation to generate operation information;

[0012] The operator is used to generate an operation instruction based on the operation information of at least one of the operating components and send it to the slave-end driving device, so that the slave-end driving device performs an action to control the movement of at least one manipulation device, and triggers the target device area of ​​the display module to generate a feedback signal based on the operation information, and the attribute information is associated with the feedback signal.

[0013] In one possible implementation, the target instrument area of ​​the display module includes at least one instrument type area, and the operating components correspond to the instrument type areas one by one; the operator triggers an instrument type area to generate a feedback signal based on the operating information of an operating component;

[0014] One of the operating components includes at least one of a lever, an operating rod and a roller; the lever, the operating rod and the roller are operated simultaneously or non-simultaneously to generate operating information of the operated device; the operator triggers the feedback signal generated by the instrument type area based on the operating information of the operated device.

[0015] In a possible implementation, the lever is operated to generate operation information of the lever; and the operator triggers enhanced display of the instrument type area based on the operation information of the lever.

[0016] In a possible implementation, the instrument type area includes a first instrument area and a second instrument area; the manipulation instrument includes at least a first instrument and a second instrument;

[0017] The operator triggers enhanced display of the instrument type area based on the operation information of the lever, including:

[0018] The operation information is that the lever is moved to the first position, and the operator triggers the enhanced display of the first instrument area;

[0019] The operation information is that the lever is moved to the second position, and the operator triggers the enhanced display of the second instrument area;

[0020] The operation information is that the lever is moved to the third position, and the operator triggers the enhanced display of the first instrument area and the second instrument area.

[0021] In one possible implementation, the shift lever and the operating lever are operated to generate operation information of the shift lever and the operating lever; the operator triggers the enhanced display of the instrument type area based on the operation information of the shift lever and the operating lever and displays the motion change status of the instrument on the slave robot in the instrument type area.

[0022] In a possible implementation, the motion change state includes a change in the shape of the instrument, and the change in the shape of the instrument includes a change from a bent state to a straightened state, or from a straightened state to a bent state.

[0023] In a possible implementation, the instrument type area includes a first instrument area and a second instrument area; the manipulation instrument includes at least a first instrument and a second instrument;

[0024] The operator triggers the enhanced display of the device type area based on the operation information of the shift lever and the operation lever and displays the motion change state of the device on the slave robot in the device type area, including:

[0025] The operation information is that the operating lever is pushed, pulled, or rotated after the operating lever is moved to the first position, and the operator triggers the enhanced display of the first instrument area and triggers the first instrument area to display the movement change state of the first instrument;

[0026] The operation information is that the operating lever is pushed, pulled, or rotated after the lever is moved to the second position, and the operator triggers the enhanced display of the second instrument area and triggers the second instrument area to display the movement change state of the second instrument;

[0027] The operation information is pushing, pulling, or rotating the operating lever after the lever is moved to the third position. The operator triggers the enhanced display of the first instrument area and the second instrument area, and simultaneously triggers the first instrument area to display the motion change state of the first instrument, and the second instrument area to display the motion change state of the second instrument; wherein the motion change state of the first instrument is the same as the motion change state of the second instrument.

[0028] In one possible implementation, the shift lever, the operating lever and the roller are operated to generate operation information of the shift lever, the operating lever and the roller; based on the operation information of the shift lever, the operating lever and the roller, the operator triggers the enhanced display of the instrument type area and displays the motion change status of the instrument on the slave robot in the instrument type area.

[0029] In a possible implementation, the instrument type area includes a first instrument area and a second instrument area; the manipulation instrument includes at least a first instrument and a second instrument;

[0030] The operator triggers enhanced display of the device type area and displays the motion change state of the device on the slave robot in the device type area based on the operation information of the shift lever, the operation lever, and the roller, including:

[0031] The operation information is that the movement of the operating lever and the scroll wheel is triggered after the lever is moved to the first position, the display module enhances the display of the first instrument area and the second instrument area, the operator controls the first instrument area to display the movement change state of the first instrument based on the operation information of the lever and the operating lever, and the operator controls the second instrument area to display the movement change state of the second instrument based on the operation information of the lever and the scroll wheel, wherein the movement change state of the first instrument and the movement change state of the second instrument are different;

[0032] The operation information is that the movement of the operating lever and the scroll wheel is triggered after the shift lever is moved to the second position, the display module enhances the display of the first instrument area and the second instrument area, the operator controls the second instrument area to display the movement change state of the second instrument based on the operation information of the shift lever and the operating lever, and the operator controls the first instrument area to display the movement change state of the first instrument based on the operation information of the shift lever and the scroll wheel, wherein the movement change state of the first instrument and the movement change state of the second instrument are different;

[0033] The operation information is that the roller is in a disabled state after the lever is moved to the third position;

[0034] The roller is in a triggered state only when the operating lever is triggered. When the operating lever is not triggered, the roller is in an inactive state.

[0035] In a possible implementation, the feedback signal includes at least an enhanced target instrument area and a changed state of the manipulated instrument.

[0036] In one possible implementation, the master-end control device includes a linkage button and a precision button. The linkage button is used to control at least two control devices installed on the slave-end drive device to enter a linkage state, and the precision button is used to control the movement speed of at least one control device installed on the slave-end drive device to slow down to a preset ratio.

[0037] In a possible implementation, the linkage button and the precision button each include at least a physical button or an interface button.

[0038] In the second aspect, the present application provides an interventional surgery system, comprising the master-slave interventional surgery robot described in the first aspect above, and a DSA image display device communicatively connected to the master control device; the DSA image display device is used to display the display module and DSA image.

[0039] Compared to the prior art, the master-slave interventional surgical robot and interventional surgical system provided in the embodiment of the present application include a master-end control device and a slave-end drive device in communication with the master-end control device; at least one manipulation instrument is installed on the slave-end drive device; the slave-end drive device includes a setting area, the setting area is used to obtain the attribute information of at least one manipulation instrument installed on the slave-end drive device, and send the attribute information to the master-end control device; the master-end control device includes a receiving module and a display module; the receiving module is used to receive the attribute information of at least one manipulation instrument sent by the slave-end drive device in real time; the display module is used to display at least one target instrument area, and each target instrument area corresponds to displaying at least one manipulation instrument and the attribute information of the manipulation instrument. It can be seen that compared to the current situation where there is no linkage between the master and slave ends in terms of instrument display, the present application shares the attribute information of the manipulation instrument between the master and slave ends, enabling the user to see the attribute information of the manipulation instrument on the slave end on the master-end control device, thereby reducing user operation errors and reducing operation costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present application. The same reference symbols are used throughout the drawings to represent the same components. In the drawings:

[0041] FIG1 shows a schematic structural diagram of a master-slave interventional surgical robot provided by the present application;

[0042] FIG2 shows a schematic diagram of a display interface of a display module on a master-side control device;

[0043] FIG3 shows a schematic structural diagram of a master-end control device provided by the present application;

[0044] FIG4 shows a schematic structural diagram of two operating components on the master-side control device;

[0045] FIG5 is a schematic diagram showing the correspondence between the operating components and the instrument type areas;

[0046] FIG6 shows a schematic diagram of a DSA image display screen provided by the present application.

[0047] DETAILED DESCRIPTION

[0048] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments described herein. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0049] It should be noted that, unless otherwise specified, the technical or scientific terms used in this application should have the common meanings understood by those skilled in the art to which this application belongs.

[0050] In addition, the terms "first" and "second" are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or elements is not limited to the listed steps or elements, but may optionally include steps or elements not listed, or may optionally include other steps or elements inherent to the process, method, product, or apparatus.

[0051] To facilitate understanding, the structure of the master-slave interventional surgery robot and the interventional surgery system of this application is first introduced.

[0052] The master-slave interventional surgical robot of the present application is composed of a master-end control device and a slave-end drive device in communication with the master-end control device. The interventional surgical system includes the master-slave interventional surgical robot and a DSA imaging display device, where DSA refers to angiography technology.

[0053] Master-end control device: It is installed on the operating table outside the operating room. The master-end control device is provided with at least one operating component, which can be a lever, operating rod, roller, operating button and switching switch, etc. The user operates at least one operating component to control the slave-end drive device.

[0054] Slave-end driving device: It is set in the operating room. At least one control instrument can be installed on the slave-end driving device. The control instrument can be a catheter, guidewire, quick-release, etc. The corresponding driving mechanism on the slave-end driving device clamps the catheter and / or guidewire to realize operations such as forward delivery of the catheter and / or guidewire, backward withdrawal of the catheter and / or guidewire, and rotation of the catheter and / or guidewire. Under the control of the main-end control device, the control instrument is operated to perform surgery.

[0055] DSA image display device: It is installed on the operating table outside the operating room and has a DSA display screen. It displays the patient's DSA angiography image during the operation by controlling the instrument from the end. The angiography image can show the information of the patient's blood vessels and catheter guidewire position.

[0056] The above are some examples of master-slave interventional surgical robots and interventional surgical systems. Below, the master-slave interventional surgical robots and interventional surgical systems provided by this application are described in detail with reference to the accompanying drawings and specific embodiments. It is understood that in the following embodiments, the same or corresponding contents can be referenced to each other, and for the sake of simplicity, they will not be repeated in detail.

[0057] Please refer to Figure 1, which shows a schematic diagram of a master-slave interventional surgical robot provided in an embodiment of the present application. The master-slave interventional surgical robot can control at least one control instrument, which can be a catheter, a guidewire, a quick-release, etc. As shown in Figure 1, the master-slave interventional surgical robot includes a master-end control device 10 and a slave-end drive device 20 that is communicatively connected to the master-end control device 10, and at least one of the control instruments is specifically installed on the slave-end drive device 20. For example, the slave-end drive device can be installed with one tube and one wire, one tube and one wire and one quick-release, two tubes and one wire, two tubes and one wire and one quick-release, three tubes and one wire, etc. as needed. Among them, tube refers to tube, and wire refers to wire.

[0058] The slave-end driving device 20 includes a setting area, which is used to obtain attribute information of at least one of the manipulation devices installed on the slave-end driving device and send the attribute information to the master-end control device 10.

[0059] The master-end control device 10 includes a receiving module 110 and a display module 120; the receiving module 110 receives in real time the attribute information of at least one control device sent by the slave-end driving device, and the display module 120 displays at least one target device area 121, and each target device area 121 displays at least one control device and the attribute information of the control device.

[0060] Specifically, a procedure button is displayed on the display screen of the slave driver 20. The user selects the procedure button to enter the settings area, where they can set the attributes of the instrumentation installed on the slave driver 20. The procedure button is used to select the instrumentation required for the procedure. For example, the procedure button can be a "one tube, one wire" button, a "one tube, one wire, one quick delivery" button, a "two tubes, one wire" button, etc. Attribute information includes, but is not limited to, the instrument type, model, dimensions, specifications, and instrument image. For example, the user sets the catheter attributes in the settings area as follows: model: intermediate catheter, diameter: 5 French, length: 150 cm.

[0061] It can be seen that sharing the attribute information of the display control instruments between the master and slave ends enables the user to see the attribute information of the control instruments on the slave end in the operating room on the master end control device, avoiding the user forgetting the multiple control instruments being controlled when controlling multiple control instruments on the slave end drive device through the master end control device outside the operating room, thereby reducing user operation errors and reducing operation costs.

[0062] For ease of understanding, the present application provides a display interface of the display module 120 as shown in FIG2. As shown in FIG2, the target device area corresponding to the guide catheter and the target device area corresponding to the angiographic guidewire are shown. The target device area corresponding to the guide catheter displays the guide catheter and its attribute information such as diameter and length, and the target device area corresponding to the angiographic guidewire displays the angiographic guidewire and its attribute information such as diameter and length.

[0063] Specifically, in the master-slave interventional surgical robot of the present application, the control instruments and their attribute information installed on the slave-side drive device in the operating room are synchronized to the operation interface of the master-side control device outside the operating room, allowing the user to accurately judge the various information of the control instruments without any extra thinking. During the operation, the user can clearly understand the multiple control instruments and their attribute information on each slave-side drive device through the information on the master-side operation interface, thereby accurately judging the use of the instruments, thereby reducing user operation errors and lowering operation costs.

[0064] In some embodiments, as shown in FIG. 3 , the master-end control device 10 further includes at least one operating component 130 and an operator 140 .

[0065] The operating component 130 is used for user operation and generation of operation information; the operator 140 is used to generate an operation instruction based on the operation information of at least one operating component 130 to send to the slave-end driving device 20, so that the slave-end driving device performs an action to control the movement of at least one manipulation device, and triggers the target device area of ​​the display module 120 to generate a feedback signal based on the operation information, and the attribute information is associated with the feedback signal.

[0066] In this embodiment, when a controlled device is being controlled, attribute information and feedback signals are linked and fed back, allowing the user to quickly and promptly understand the attribute information and operation of the controlled device controlled by the master-side control device. Feedback signals include, but are not limited to, enhanced target device areas and changes in the controlled device's state.

[0067] Furthermore, the master control device 10 triggers the target instrument area of ​​the display module 120 to generate a feedback signal based on the operation information and / or the operating status of the slave drive device. Specifically, a sensor is provided on the slave drive device to detect whether the controlled instrument is moving according to the operation instructions. When the sensor detects that the controlled instrument is moving according to the operation instructions, the operating status of the slave drive device is normal. The slave drive device transmits a normal status signal to the master control device. The master control device triggers the target instrument area of ​​the display module 120 to generate a feedback signal based on the normal status information and the operation information. The attribute information is associated with the feedback signal and fed back. This ensures correct operation feedback while allowing the user to understand the attribute information and operation of the controlled instrument controlled by the master control device.

[0068] In one embodiment, as shown in FIG4 , there may be two operating components on the master-end control device, each of which may include a shift lever, an operating rod, and a roller. The operator 140 generates an operating instruction based on the operating information of the shift lever, the operating rod, and the roller.

[0069] Specifically, the target instrument area 121 of the display module 120 includes at least one instrument type area, and the manipulated instruments controlled by the operating component 130 correspond one-to-one with each instrument type area. For example, if two tubes, one wire, and one quick-release device are installed on the slave end drive device, then, as shown in FIG5 , the target instrument area corresponding to the left operating component is divided into two instrument type areas: catheter 1 and catheter 2, and the target instrument area corresponding to the right operating component is divided into two instrument type areas: guidewire and quick-release device. The number of instrument type areas can also be determined based on the maximum number of instruments that can be installed on the slave end drive device. The operator 140 can trigger the generation of a feedback signal for each instrument type area based on the operation information of an operating component. This feedback signal can be, for example, an enhanced display, such as a change in the catheter's morphology (straightened or bent), a numerical change corresponding to the rotation angle, or a color change corresponding to force feedback. An operating component can include at least one of a lever, an operating rod, and a scroll wheel.

[0070] The shift lever, operating lever, and scroll wheel are operated simultaneously or at different times to generate operational information about the operated device. Based on the operational information from the operated device, the operator 140 triggers the feedback signal generated by the device type area. Specifically, there are three scenarios: the shift lever is operated; the shift lever and operating lever are operated; and the shift lever, operating lever, and scroll wheel are operated. These three scenarios are described in detail below.

[0071] The first case: the lever on the operating component 130 is operated to generate operation information of the lever. The operator 140 triggers enhanced display of the corresponding instrument type area on the display module 120 based on the operation information of the lever.

[0072] The instrument type area includes a first instrument area and a second instrument area, and the manipulated instruments include at least the first instrument and the second instrument. The operator triggers enhanced display of the instrument type area based on operation information of the shift lever, including: when the operation information is that the shift lever is moved to a first position, the operator triggers enhanced display of the first instrument area; when the operation information is that the shift lever is moved to a second position, the operator triggers enhanced display of the second instrument area; and when the operation information is that the shift lever is moved to a third position, the operator triggers enhanced display of the first instrument area and the second instrument area.

[0073] The lever can be positioned in multiple positions to accommodate the user's need to operate a single instrument or multiple instruments during surgery, providing greater intelligence and compatibility. When the lever is moved to different positions to operate different instruments, the corresponding instrument area is enhanced, allowing the user to quickly and accurately view the corresponding attribute information and the controlled instrument on the main control device, thereby reducing user operation errors and lowering operating costs.

[0074] Taking the main end control device shown in FIG5 as an example, the left operating component corresponds to operating catheter 1 and catheter 2, and the right operating component corresponds to operating the guidewire and quick delivery.

[0075] 1. For the left operating component:

[0076] When the lever is moved to the left: the relevant information module of catheter 1 will be highlighted (lit up, etc.);

[0077] When the lever is moved to the right: the relevant information module of catheter 2 will be highlighted;

[0078] When the lever is moved to the middle: the relevant information modules of catheter 1 and catheter 2 will be displayed in an enhanced manner.

[0079] 2. For the right operating component:

[0080] When the lever is moved to the left: the guidewire related information module will be highlighted;

[0081] When the lever is moved to the right: the module with the information related to the quick-handling device will be highlighted;

[0082] When the lever is moved to the middle: the relevant information modules of the guidewire and fast delivery instrument will be highlighted.

[0083] In the second scenario, the lever and operating rod on the operating component 130 are operated, generating operation information of the lever and operating rod. Based on the operation information of the lever and operating rod, the operator 140 triggers the enhanced display of the instrument type area and displays the motion change state of the instrument on the slave robot in the instrument type area. The motion change state can be a change in the instrument's morphology, for example, from a bent state to a straightened state, or from a straightened state to a bent state.

[0084] The device type area includes a first device area and a second device area, the manipulated device includes at least a first device and a second device, and the operator triggers enhanced display of the device type area based on operation information of the shift lever and the operating lever and displays the motion change state of the device on the slave robot in the device type area, including:

[0085] The operation information is that the operating lever is pushed, pulled, or rotated after the operating lever is moved to the first position, and the operator triggers the enhanced display of the first instrument area and triggers the first instrument area to display the movement change state of the first instrument;

[0086] The operation information is that the operating lever is pushed, pulled, or rotated after the lever is moved to the second position, and the operator triggers the enhanced display of the second instrument area and triggers the second instrument area to display the movement change state of the second instrument;

[0087] The operation information is that after the lever is moved to the third position, the operating lever is pushed, pulled, or rotated. The operator triggers the enhanced display of the first instrument area and the second instrument area, and simultaneously triggers the first instrument area to display the motion change state of the first instrument, and the second instrument area to display the motion change state of the second instrument; wherein the motion change state of the first instrument and the motion change state of the second instrument are the same. For example, when the first instrument and the second instrument are of the same type, the motion change states can be set to be the same.

[0088] It is worth mentioning that when the hand is on the operating stick for operation, all touch buttons on the screen are in an invalid state. When the hand releases the operating stick, the touch buttons on the screen are in a triggerable state and touch operations can be performed.

[0089] The multiple positions of the lever and the operating lever allow users to operate a single instrument, control two instruments separately, or control the movement of two instruments simultaneously, all from a single operating component, achieving a more intelligent operation. When the lever and operating lever are moved to different positions to control different instruments, the corresponding instrument area is enhanced. The movement status of each instrument is also displayed, allowing users to quickly and accurately see the corresponding attribute changes on the main control device, thereby reducing user errors and lowering operating costs.

[0090] Taking the main end control device shown in FIG5 as an example, the left operating component corresponds to operating catheter 1 and catheter 2, and the right operating component corresponds to operating the guidewire and quick delivery.

[0091] 1. For the left operating component:

[0092] After the lever is moved to the left, push or pull or rotate the left operating lever, the catheter 1 instrument area on the display module 120 will be triggered to display. At the same time, the instrument area will display: the bending and straightening status of the catheter 1 (instrument shape change), the rotation angle of the catheter 1 (digital change), the movement distance of the catheter 1 (digital change), and the force feedback of the catheter 1 (color change);

[0093] After the lever is moved to the right, push or pull or rotate the left operating lever, the catheter 2 instrument area on the display module 120 will be triggered and displayed. At the same time, the instrument area will display: the bending and straightening status of the catheter 2 (instrument shape change), the rotation angle of the catheter 2 (digital change), the movement distance of the catheter 2 (digital change), and the force feedback of the catheter 2 (color change);

[0094] After the lever is moved to the middle, push, pull or rotate the left operating lever, and the catheter 1 and catheter 2 instrument areas on the display module 120 will be triggered to display. At the same time, both instrument areas will display: the bending and straightening status of catheter 1 and catheter 2 (instrument shape change), the rotation angle of catheter 1 and catheter 2 (digital change), the movement distance of catheter 1 and catheter 2 (digital change), and the force feedback of catheter 1 and catheter 2 (color change).

[0095] 2. For the right operating component:

[0096] After the lever is moved to the left, push or pull or rotate the right operating lever, the guidewire instrument area on the display module 120 will be triggered and displayed. At the same time, the instrument area will display: guidewire rotation angle (digital changes), guidewire movement distance (digital changes), and guidewire force feedback (color changes);

[0097] After the lever is moved to the right, push or pull or rotate the right operating lever, and the quick delivery device area on the display module 120 will be triggered and displayed. At the same time, the device area will display: the quick delivery device movement distance (digital changes);

[0098] After the lever is moved to the middle, push, pull or rotate the right operating lever, and the guidewire and quick delivery instrument areas on the display module 120 will be triggered to display: the guidewire instrument area will display: guidewire rotation angle (digital changes), guidewire movement distance (digital changes), guidewire force feedback (digital changes); at the same time, the quick delivery instrument area will display: quick delivery instrument movement distance (color changes).

[0099] The third situation: the lever, operating lever and roller on the operating component 130 are operated to generate operation information of the lever, operating lever and roller being operated. Based on the operation information of the lever, operating lever and roller being operated, the operator 140 triggers the enhanced display of the instrument type area and displays the motion change status of the instrument on the slave robot in the instrument type area.

[0100] The instrument type area includes a first instrument area and a second instrument area; the manipulated instrument includes at least a first instrument and a second instrument; the operator triggers enhanced display of the instrument type area and displays the motion change state of the instrument on the slave robot in the instrument type area based on operation information of the shift lever, the operation lever, and the roller, including:

[0101] The operation information is the movement of the operating lever and the roller triggered after the lever is moved to the first position, the display module enhances the display of the first instrument area and the second instrument area, the operator controls the first instrument area to display the motion change state of the first instrument based on the operation information of the lever and the operating lever, and the operator controls the second instrument area to display the motion change state of the second instrument based on the operation information of the lever and the roller, wherein the motion change state of the first instrument and the motion change state of the second instrument are different; for example, when the first instrument and the second instrument are not the same type of instruments, the motion change states can be set to be different.

[0102] The operation information is that the movement of the operating lever and the scroll wheel is triggered after the shift lever is moved to the second position, the display module enhances the display of the first instrument area and the second instrument area, the operator controls the second instrument area to display the movement change state of the second instrument based on the operation information of the shift lever and the operating lever, and the operator controls the first instrument area to display the movement change state of the first instrument based on the operation information of the shift lever and the scroll wheel, wherein the movement change state of the first instrument and the movement change state of the second instrument are different;

[0103] The operation information is that the roller is in a disabled state after the lever is moved to the third position;

[0104] The roller is in a triggered state only when the operating lever is triggered. When the operating lever is not triggered, the roller is in an inactive state.

[0105] Multiple lever positions, operating rods, and scroll wheels are designed to meet the needs of actual surgery, allowing users to operate a single instrument, control two instruments separately, or control the different movements of two instruments simultaneously, all with a single operating component, making it more intelligent. When the lever, operating rod, and scroll wheel are moved to different positions to control different instruments to complete corresponding actions, the corresponding instrument area is enhanced, allowing users to quickly and accurately see the corresponding attribute changes on the main control device, thereby reducing user operation errors and lowering operating costs.

[0106] Taking the main end control device shown in FIG5 as an example, the left operating component corresponds to operating catheter 1 and catheter 2, and the right operating component corresponds to operating the guidewire and quick delivery.

[0107] 1. For the left operating component:

[0108] Move the joystick to the left (pushing, pulling, or rotating the left joystick controls catheter 1), and the left scroll wheel controls catheter 2. The catheter 1 and catheter 2 instrument areas on display module 120 will be triggered by the movement of the joystick and scroll wheel. Simultaneously, both instrument areas will display: the bending and straightening status of catheters 1 and 2 (changes in instrument shape), the rotation angle of catheters 1 and 2 (digital changes), the travel distance of catheters 1 and 2 (digital changes), and force feedback of catheters 1 and 2 (color changes).

[0109] Move the joystick to the right (pushing, pulling, or rotating the left joystick controls catheter 2), and the left scroll wheel controls catheter 1. The catheter 1 and catheter 2 instrument areas on display module 120 will be triggered and displayed according to the movement of the joystick and scroll wheel. Simultaneously, both instrument areas will display: the bending and straightening status of catheters 1 and 2 (change in instrument shape), the rotation angle of catheters 1 and 2 (digital changes), the travel distance of catheters 1 and 2 (digital changes), and the force feedback of catheters 1 and 2 (color changes).

[0110] When the lever is moved to the middle (at this time, pushing, pulling or rotating the left operating lever can be used to control the movement of catheter 1 and catheter 2 at the same time), the left roller is in a disabled state.

[0111] 2. For the right operating component:

[0112] Move the lever to the left (pushing, pulling, or rotating the right operating lever can now be used to control the guidewire). The right scroll wheel is used to control the quick delivery device. The guidewire and quick delivery device areas on the display module 120 will be triggered by the movement of the operating lever and scroll wheel. The guidewire device area will display: guidewire rotation angle, guidewire movement distance (digital changes), guidewire force feedback (color changes); at the same time, the quick delivery device area will display: quick delivery device movement distance (digital changes).

[0113] Move the lever to the right (pushing, pulling, or rotating the right operating lever can be used to control the quick delivery device). The right scroll wheel is used to control the guidewire. The guidewire and quick delivery device areas on the display module 120 will be triggered as the operating lever and scroll wheel are moved. The guidewire device area will display: guidewire rotation angle, guidewire movement distance (digital changes), guidewire force feedback (color changes); at the same time, the quick delivery device area will display: quick delivery device movement distance (digital changes).

[0114] When the lever is moved to the middle (at this time, pushing, pulling or rotating the right operating lever can be used to control the guide wire and quick delivery instrument at the same time), the left roller is in the disabled state.

[0115] In some embodiments, as shown in FIG4 , a linkage button 150 and a precision button 160 may also be provided on the master-end control device 10. The linkage button 150 is used to control at least two control devices installed on the slave-end drive device to enter a linkage state. The linkage state means that at least two control devices can be controlled to move simultaneously through the operating lever. The precision button 160 is used to control the movement speed of at least one control device installed on the slave-end drive device to slow down to a preset ratio, such as 50%. The linkage button and the precision button can be physical buttons or interface buttons. When it is an interface button, the interface button can only be operated when the operating lever is triggered.

[0116] As shown in Figure 4, the linkage button 150 can be used for tube-wire linkage. Pressing the linkage button immediately prompts the display module 120 to activate the linkage, followed by the linkage status display. Pushing or pulling the left or right joystick causes the instruments in the catheter instrument area and the guidewire / fast delivery instrument area to move simultaneously. Pressing the linkage button again immediately prompts the display module 120 to deactivate the linkage, deactivating the linkage operation.

[0117] Precision button 160 allows for precise control of the device. It's effective in any control mode. Pressing the button changes the display of the speed buttons in each control mode. Pushing or pulling the left or right joystick causes the guidewire, catheter, or rapid-action device to move forward or backward at a preset ratio of speed, such as 50%. Pressing the button again restores the original speed, and the speed buttons return to their original display.

[0118] It can be seen that this application moves some interface buttons to the operation part, and combines software and hardware operations with visual feedback, making the overall operation smoother and the feedback clearer, greatly reducing the possibility of misoperation and reducing learning costs.

[0119] The above is some description of the master-slave interventional surgical robot of this application.

[0120] Some embodiments of the present application also disclose an interventional surgery system, including the master-slave interventional surgery robot described in any of the above embodiments, and a DSA image display device communicatively connected to the master control device, wherein the DSA image display device is used to display the display module and DSA image.

[0121] Specifically, as shown in Figure 6, the triggering effects of the operating components and various physical control components on the main-end control device are moved to the DSA image display screen, which has a high degree of integration. The user does not need to look back and forth between the main-end operating device and the DSA image display screen. The user can see all the triggering information of the master and slave interventional surgical robots on the DSA image display screen, which greatly reduces the possibility of misoperation and is more convenient.

[0122] It should be noted that the flowcharts and block diagrams in the accompanying drawings show the possible architectures, functions and operations of the systems, methods and computer program products according to multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, program segment or a part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart, can be implemented with a dedicated hardware-based system that performs the specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0123] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0124] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interface, the indirect coupling or communication connection of the device or unit can be electrical, mechanical or other forms.

[0125] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0126] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0127] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, and other media that can store program code.

[0128] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application, and they should all be included in the scope of the claims and description of the present application.

Claims

1. A master-slave interventional surgical robot, used to control at least one manipulation instrument, wherein: include: A master-end control device and a slave-end driving device communicatively connected to the master-end control device; At least one of the control devices is mounted on the slave drive device; The slave end driving device comprises a setting area, wherein the setting area is used to obtain attribute information of at least one of the manipulation devices installed on the slave end driving device, and send the attribute information to the master end control device; The master-end control device comprises a receiving module and a display module; The receiving module is used to receive in real time the attribute information of at least one manipulated instrument sent from the end driving device; the display module is used to display at least one target instrument area, and each of the target instrument areas correspondingly displays at least one manipulated instrument and the attribute information of the manipulated instrument.

2. The master-slave interventional surgical robot according to claim 1, wherein: The master-end control device further comprises at least one operating component and an operator; the operating component is used for user operation to generate operation information; The operator is used to generate an operation instruction based on the operation information of at least one of the operating components and send it to the slave-end driving device, so that the slave-end driving device executes an action to control the movement of at least one manipulation device, and triggers the target device area of ​​the display module to generate a feedback signal based on the operation information, and the attribute information is associated with the feedback signal for feedback.

3. The master-slave interventional surgical robot according to claim 2, wherein: The target instrument area of ​​the display module includes at least one instrument type area, and the operating components correspond to the instrument type areas one by one; the operator triggers an instrument type area to generate a feedback signal based on the operating information of an operating component; One of the operating components includes at least one of a lever, an operating rod and a roller; the lever, the operating rod and the roller are operated simultaneously / non-simultaneously to generate operating information of the operated device; the operator triggers the feedback signal generated by the instrument type area based on the operating information of the operated device.

4. The master-slave interventional surgical robot according to claim 3, wherein: The lever is operated to generate operation information of the lever; and the operator triggers enhanced display of the instrument type area based on the operation information of the lever.

5. The master-slave interventional surgical robot according to claim 4, wherein: The instrument type area includes a first instrument area and a second instrument area; The manipulation device comprises at least a first device and a second device; The operator triggers the enhanced display of the instrument type area based on the operation information of the lever, including: The operation information is that the lever is moved to the first position, and the operator triggers the enhanced display of the first instrument area; The operation information is that the lever is moved to the second position, and the operator triggers the enhanced display of the second instrument area; The operation information is that the lever is moved to the third position, and the operator triggers enhanced display of the first instrument area and the second instrument area.

6. The master-slave interventional surgical robot according to claim 3, wherein: The lever and the operating lever are operated to generate operating information of the lever and the operating lever; the operator triggers the enhanced display of the equipment type area based on the operating information of the lever and the operating lever and displays the motion change state of the equipment on the slave robot in the equipment type area.

7. The master-slave interventional surgical robot according to claim 6, wherein: The movement change state includes a change in the shape of the instrument, and the change in the shape of the instrument includes a change from a bent state to a straightened state, or from a straightened state to a bent state.

8. The master-slave interventional surgical robot according to claim 6, wherein: The instrument type area includes a first instrument area and a second instrument area; the manipulation instrument includes at least a first instrument and a second instrument; The operator triggers the enhanced display of the equipment type area based on the operation information of the lever and the operating lever and displays the motion change state of the equipment on the slave robot in the equipment type area, including: The operation information is that the lever is pushed, pulled or rotated after the lever is moved to the first position, and the operator triggers the enhanced display of the first instrument area and triggers the first instrument area to display the movement change state of the first instrument; The operation information is that the lever is pushed, pulled or rotated after the lever is moved to the second position, and the operator triggers the enhanced display of the second device area and triggers the second device area to display the movement change state of the second device; The operation information is pushing, pulling or rotating the operating lever after the lever is turned to the third position. The operator triggers the enhanced display of the first instrument area and the second instrument area, and simultaneously triggers the first instrument area to display the motion change state of the first instrument, and the second instrument area to display the motion change state of the second instrument; wherein the motion change state of the first instrument is the same as the motion change state of the second instrument.

9. The master-slave interventional surgical robot according to claim 3, wherein: The lever, the operating lever and the roller are operated to generate operation information of the lever, the operating lever and the roller being operated; based on the operation information of the lever, the operating lever and the roller being operated, the operator triggers the enhanced display of the equipment type area and displays the motion change state of the equipment on the slave robot in the equipment type area.

10. The master-slave interventional surgical robot according to claim 9, wherein: The instrument type area includes a first instrument area and a second instrument area; the manipulation instrument includes at least a first instrument and a second instrument; The operator triggers the enhanced display of the instrument type area and displays the motion change state of the instrument on the slave robot in the instrument type area based on the operation information of the lever, the operation lever and the roller, including: The operation information is that the movement of the operating lever and the roller is triggered after the lever is moved to the first position, the display module enhances the display of the first instrument area and the second instrument area, the operator controls the first instrument area to display the movement change state of the first instrument based on the operation information of the lever and the operating lever, and the operator controls the second instrument area to display the movement change state of the second instrument based on the operation information of the lever and the roller, wherein the movement change state of the first instrument is different from the movement change state of the second instrument; The operation information is that the movement of the operating lever and the roller is triggered after the lever is moved to the second position, the display module enhances the display of the first instrument area and the second instrument area, the operator controls the second instrument area to display the movement change state of the second instrument based on the operation information of the lever and the operating lever, and the operator controls the first instrument area to display the movement change state of the first instrument based on the operation information of the lever and the roller, wherein the movement change state of the first instrument is different from the movement change state of the second instrument; The operation information is that the roller is in a disabled state after the lever is moved to the third position; The roller is in a triggered state only when the operating lever is triggered, and when the operating lever is not triggered, the roller is in an ineffective state.

11. The master-slave interventional surgical robot according to claim 2, wherein: The feedback signal at least includes an enhanced target device area and a changed state of the manipulated device.

12. The master-slave interventional surgical robot according to claim 1, wherein: The master-end control device includes a linkage button and a precision button. The linkage button is used to control at least two control devices installed on the slave-end drive device to enter a linkage state, and the precision button is used to control the movement speed of at least one control device installed on the slave-end drive device to slow down to a preset ratio.

13. The master-slave interventional surgical robot according to claim 12, wherein: The linkage button and the precision button respectively include at least a physical button or an interface button.

14. An interventional surgery system, wherein: It comprises a master-slave interventional surgical robot as described in any one of claims 1-13, and a DSA image display device communicatively connected to the master control device; the DSA image display device is used to display the display module and the DSA image.

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