Catheter instrument and catheter system

Abstract

Disclosed in the present application is a catheter instrument. An instrument box of the catheter instrument comprises: a plurality of drive wheels, one end of a drive wire being fixed to the drive wheels, the other end of the drive wire extending along a flexible main body and fixed to the end of the flexible main body, and the plurality of drive wheels including a wire pull wheel and a wire release wheel; a meshing mechanism, which is at least arranged on the wire release wheel and can switch the wire release wheel and a power portion between a meshing state and a non-meshing state; and a tensioning mechanism, which has one end connected to a bottom frame and the other end fixedly connected to the wire release wheel, and enables the drive wire on the wire release wheel to be maintained in a tensioned state and, when the wire release wheel and the power portion are in the non-meshing state, enables the drive wire on the wire release wheel to be released accordingly under the pulling action of the wire pull wheel, such that the length of the drive wire on the wire release wheel varies the same as the length of the drive wire on the wire pull wheel. Further disclosed in the present application is a catheter system. In the present application, it is possible to prevent slack in the drive wire or insufficient bending angle of the end of the catheter instrument.

Description

Catheter devices and catheter systems

[0001] This application claims priority to the Chinese patent application with application number "2023110375192" filed on August 16, 2023 and invention name "Catheter Device and Catheter System", the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application belongs to the field of medical device technology, and in particular relates to a catheter device and a catheter system. Background Art

[0003] Minimally invasive medical technology is mainly aimed at reducing damage to patient tissues during medical procedures, and has the advantages of less trauma, less pain, and faster recovery. This minimally invasive technology can be performed through natural orifices or surgical incisions in the patient's anatomical structure, so that the catheter instrument reaches the target tissue location under the control of a controller. The catheter instrument is usually a flexible and / or steerable slender device that can be inserted into an anatomical through-hole and navigated toward the target area within the patient's anatomical structure. The control of the catheter instrument involves advancement, retraction, and bending and steering, among which bending and steering are mainly achieved by controlling the rotation of the transmission part of the catheter instrument through a power unit (such as a motor), and transmitting the tension to the end of the catheter instrument through a drive wire, thereby achieving steering control of the end of the catheter instrument.

[0004] Among them, the driving wire involves the corresponding pulling side and releasing side in the steering control of the catheter instrument end, but the length changes of the pulling side and the releasing side are not always the same. There is often a situation where the releasing side is released too much or too little, which leads to the problem of loosening the driving wire or the bending angle of the catheter instrument end being not in place.

[0005] Summary of the Invention

[0006] The main purpose of the present application is to provide a catheter device and a catheter system, aiming to solve the technical problems of loose driving wires of existing catheter devices or inadequate bending angles of the distal ends of the catheter devices.

[0007] To achieve the above objectives, the present application provides a catheter instrument, which is configured to engage with a power unit of a robotic arm. The catheter instrument includes an instrument box configured to engage with the power unit and a flexible body connected to the instrument box. The instrument box includes:

[0008] a chassis configured to be connected to a power unit of the robotic arm so as to engage the instrument box with the power unit;

[0009] A plurality of driving wheels are configured to be carried by the base frame, and one end of a driving wire is fixed to the driving wheel, and the other end of the driving wire extends along the flexible body and is fixed to the end of the flexible body; the plurality of driving wheels include a wire pulling wheel and a wire paying wheel;

[0010] an engagement mechanism, which is provided at least on the pay-off wheel and is capable of switching a connection state between the pay-off wheel and the power unit under the control of the power unit, wherein the connection state includes an engaged state and a non-engaged state; and

[0011] The tensioning mechanism has one end connected to the base frame and the other end fixedly connected to the pay-out wheel, so that the driving wire on the pay-out wheel remains in a tensioned state, and can, when the pay-out wheel and the power unit are in a non-meshing state, cause the driving wire on the pay-out wheel to pay out the wire accordingly under the pulling action of the pulling wheel, so that the length change of the driving wire on the pay-out wheel and the driving wire on the pulling wheel are the same.

[0012] Optionally, the driving wheel includes a driving shaft rotatably connected to the base frame, and the instrument box also includes an input disk fixedly connected to the driving shaft and engaged with the power unit; the engaging mechanism includes a protrusion fixed on the driving shaft, and a matching portion arranged on the input disk and abutting against the protrusion, and the matching portion is configured to rotate in a first direction to abut against the protrusion under the drive of the power unit so that the pay-off wheel and the power unit are in an engaged state, and is also configured to rotate in a second direction opposite to the first direction under the drive of the power unit to leave the protrusion so that the pay-off wheel and the power unit are in a non-engaged state.

[0013] Optionally, the driving wheel includes a driving shaft rotatably connected to the base frame, and a transmission wheel body connected to the driving shaft and used for winding the driving wire; the engaging mechanism includes a protrusion fixed on the driving shaft, and a matching portion arranged on the transmission wheel body and abutting against the protrusion, the protrusion being configured to rotate in a first direction to abut against the matching portion under the drive of the power unit so that the pay-off wheel and the power unit are in an engaged state, and is also configured to rotate in a second direction opposite to the first direction under the drive of the power unit to leave the matching portion so that the pay-off wheel and the power unit are in a non-engaged state.

[0014] Optionally, the driving wheel includes a driving shaft rotatably connected to the base frame; the base frame is provided with a convex receiving portion, and the receiving portion is configured to accommodate the tensioning mechanism, and the tensioning mechanism includes a coil spring, one end of the coil spring is connected to the driving shaft and the other end is fixed to the base frame, so that the driving wire on the pay-off wheel remains in a tensioned state.

[0015] Optionally, the driving wheel further includes a transmission wheel body connected to the driving shaft and used for winding the driving wire; the diameter of the transmission wheel body is comparable to the diameter of the receiving portion.

[0016] Optionally, the instrument box also includes a shell that is snapped onto the base frame, a water-gas connector fixed to the shell, and a joint fixed to the base frame and connected to the flexible body. The catheter instrument has a symmetrical plane, and the water-gas connector and the joint are both located on the symmetrical plane.

[0017] Optionally, the driving wheel further comprises an input disc fixedly connected to the driving shaft and engaged with the power unit, wherein the input disc is provided with an arcuate groove in a direction away from the power unit, and the arcuate groove is arranged along the circumference of the input disc.

[0018] The present application also provides a catheter system, which includes an imaging vehicle, a trolley and a main controller respectively connected to the imaging vehicle, and a catheter instrument as described above that can be coupled to the trolley. The catheter instrument is configured to advance, retract or bend and turn under the control instructions triggered by the main controller through the drive of the trolley.

[0019] The present application also provides a catheter system, comprising:

[0020] robotic arm;

[0021] an external catheter instrument having a first engagement mechanism, configured to engage with a power portion of one of the robotic arms, the external catheter instrument comprising an external catheter;

[0022] an inner catheter instrument having a second engagement mechanism, configured to engage with a power portion of another of the robotic arms, the inner catheter instrument comprising an inner catheter configured to be driven through the lumen of the outer catheter; and

[0023] A processor in communication with the robotic arm, the processor being configured to perform the following steps:

[0024] obtaining a current distance between a distal end of the inner catheter and a distal end of the outer catheter;

[0025] determining a control mode to be entered by the inner catheter and the outer catheter according to the current distance;

[0026] According to the control mode, the first engagement mechanism and / or the second engagement mechanism are correspondingly controlled to enter a non-engagement state, so as to control at least one of the outer catheter and the inner catheter to enter a zero-force mode.

[0027] Optionally, the processor is configured to perform the following specific steps:

[0028] If the current distance reaches a first preset distance, determining that the outer catheter enters an active control mode and the inner catheter enters a zero-force mode;

[0029] In response to determining that the inner catheter enters the zero-force mode, controlling the second engagement mechanism to enter a non-engaged state;

[0030] In response to determining that the outer catheter enters the active control mode, at least one of the first engagement mechanisms is controlled to enter an engagement state, so that the distal end of the inner catheter passively follows the rotation of the distal end of the outer catheter.

[0031] Optionally, the processor is configured to perform the following specific steps:

[0032] If the current distance reaches a second preset distance, determining that the outer catheter enters a zero-force mode and the inner catheter enters an active control mode;

[0033] In response to determining that the outer catheter enters the zero-force mode, controlling the first engagement mechanism to enter a non-engaged state;

[0034] In response to determining that the inner catheter enters the active control mode, at least one of the second engagement mechanisms is controlled to enter an engagement state, so that the distal end of the outer catheter passively follows the rotation of the distal end of the inner catheter.

[0035] Optionally, the processor is configured to perform the following specific steps:

[0036] If the current distance remains at a third preset distance within a predetermined time, determining that the outer catheter and the inner catheter enter a forward or backward control mode;

[0037] In response to determining that the outer catheter and the inner catheter enter the forward or backward control mode, the first engagement mechanism and the second engagement mechanism are both controlled to enter a non-engaged state.

[0038] Optionally, a torque sensor is provided on the power unit to detect the tension value of the drive wire of the outer catheter instrument or the inner catheter instrument, and the processor is configured to perform the following specific steps:

[0039] Obtaining a tension value of the driving wire detected by the torque sensor;

[0040] When the tension value of the driving wire reaches a predetermined value, it is determined that the outer catheter or the inner catheter has entered the zero-force mode.

[0041] Optionally, the processor is further configured to perform the following steps:

[0042] obtaining a current value of the power unit;

[0043] If the current value reaches a first threshold, it is determined that the outer catheter or the inner catheter has entered the zero-force mode.

[0044] Optionally, the first engagement mechanism and the second engagement mechanism both have a protrusion and a mating portion that can engage with each other, and the processor is further configured to perform the following steps:

[0045] In response to the outer catheter or the inner catheter switching from the zero-force mode to the active control mode, determining whether there is a gap between the protrusion and the mating portion;

[0046] If so, the corresponding power unit is controlled to rotate rapidly at a first preset speed.

[0047] Optionally, the first engagement mechanism and the second engagement mechanism both have a protrusion and a mating portion that can engage with each other, and the processor is further configured to perform the following steps:

[0048] In response to the outer catheter or the inner catheter switching from the zero-force mode to the active control mode, detecting a current value of the power unit;

[0049] When the current value reaches a second threshold, it indicates that the first meshing mechanism or the second meshing mechanism is currently in a meshing state;

[0050] In response to the received user instruction, a corresponding force is applied to the power unit to rotate the distal end of the corresponding inner catheter or outer catheter.

[0051] Optionally, the catheter system further comprises a user input device communicatively connected to the robotic arm, the user input device being provided with a zero-force key, and the processor being configured to perform the following specific steps:

[0052] In response to the triggering instruction of the zero-force key, the corresponding power unit is controlled to quickly reverse at a second preset speed.

[0053] Optionally, the outer catheter device and / or the inner catheter device comprises more than two drive wheels, and the processor is further configured to perform the following steps:

[0054] In response to the outer catheter instrument or the inner catheter instrument switching from the active control mode to the zero-force mode, all driving wheels corresponding to the first engagement mechanism and / or the second engagement mechanism in the outer catheter instrument or the inner catheter instrument that are in an engaged state are controlled to reverse.

[0055] The catheter device and catheter system provided by the present application can keep the drive wire on the pay-off wheel in a tensioned state through a tensioning mechanism. Combined with the meshing mechanism provided on the pay-off wheel, when the pay-off wheel and the power unit are in a non-meshing state, the drive wire on the pay-off wheel can be pulled by the pulling wheel to correspondingly pay out the wire, so that the length change of the drive wire on the pay-off wheel and the drive wire on the pulling wheel is the same. In this way, it is possible to avoid the situation where the drive wire on the pay-off side is over- or under-released, thereby avoiding the situation where the drive wire is loose or the bending angle of the end of the catheter device is not in place. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] FIG1 is a simplified structural diagram of an embodiment of the catheter system of the present application;

[0057] FIG2 is a schematic structural diagram of an embodiment of the present invention when the catheter device cooperates with the power unit of the robotic arm;

[0058] FIG3 is a schematic structural diagram of an embodiment of the instrument box in FIG2 ;

[0059] FIG4 is a simplified structural diagram of an embodiment of the catheter device of the present application without the housing;

[0060] FIG5 is a schematic structural diagram of FIG3 from another perspective;

[0061] FIG6 is another simplified structural diagram of an embodiment of the catheter system of the present application;

[0062] FIG7 is a schematic structural diagram of an embodiment of the cooperation among the drive wheel, the tensioning mechanism, and the input disk in the catheter device of the present application;

[0063] FIG8 is a simplified structural diagram of the engagement mechanism of the catheter device of the present application in an engaged state and a non-engaged state;

[0064] FIG9 is a schematic structural diagram of a first embodiment of an engagement mechanism in a catheter device of the present application;

[0065] FIG10 is a schematic structural diagram of a second embodiment of the engagement mechanism in the catheter device of the present application;

[0066] FIG11 is a schematic structural diagram of a first embodiment of the input disk in FIG5;

[0067] FIG12 is a schematic structural diagram of a second embodiment of the input disk in FIG5;

[0068] FIG13 is a schematic structural diagram of an embodiment of the tensioning mechanism in FIG7 ;

[0069] FIG14 is a schematic diagram of an embodiment of an engagement mechanism corresponding to a pay-off wheel during bending and steering of the catheter device of the present application;

[0070] FIG15 is a schematic cross-sectional view of the drive wheel, tensioning mechanism, and chassis of the catheter device of the present application;

[0071] FIG16 is a schematic diagram of the partial structure of FIG3 with the housing removed;

[0072] FIG17 is a schematic structural diagram of another embodiment of the instrument box in FIG2;

[0073] FIG18 is a schematic diagram of a portion of the structure of FIG17 from a perspective after the housing is removed;

[0074] FIG19 is a simplified schematic diagram of the structure of the embodiment of FIG18 from a top view;

[0075] FIG20 is a simplified schematic diagram of the structure of another embodiment of FIG18 from a top view;

[0076] FIG21 is a schematic structural diagram of an embodiment of a fixing portion of the catheter device of the present application;

[0077] FIG22 is a schematic diagram of the partial structure of FIG17 from another perspective after removing the housing;

[0078] FIG23 is a schematic structural diagram of another embodiment of the instrument box in FIG2;

[0079] FIG24 is a schematic flow chart of a method for controlling the driving of a catheter according to an embodiment of the present application;

[0080] FIG25 is a schematic structural diagram of an inner catheter device and an outer catheter device during forward movement according to an embodiment of the present application;

[0081] FIG26 is a flow chart of a method for controlling the driving of a catheter according to another embodiment of the present application;

[0082] FIG27 is a schematic diagram of an embodiment of the present invention where the distal ends of the inner and outer catheters advance to level 3-4 branches of the patient's anatomical structure;

[0083] FIG28 is a schematic flow chart of a method for controlling the driving of a catheter according to another embodiment of the present application;

[0084] FIG29 is a schematic diagram of an embodiment of the present invention in which the distal ends of the inner and outer catheters advance to level 6-7 branches of the patient's anatomical structure;

[0085] FIG30 is a schematic flow chart of a method for controlling the driving of a catheter according to another embodiment of the present application;

[0086] FIG31 is a schematic flow chart of a method for controlling the driving of a catheter according to another embodiment of the present application;

[0087] FIG32 is a schematic flow chart of a method for controlling the driving of a catheter according to another embodiment of the present application;

[0088] FIG33 is a schematic flow chart of a method for controlling the driving of a catheter according to another embodiment of the present application;

[0089] FIG34 is a schematic flow chart of a method for controlling the driving of a catheter according to another embodiment of the present application;

[0090] FIG35 is a schematic structural diagram of an embodiment of a user input device provided with a zero-force key in the present application;

[0091] FIG36 is a schematic diagram of the structure of a control system of a catheter system provided in one embodiment of the present application;

[0092] Figure 37 is a schematic diagram of a computer-readable storage medium provided in an embodiment of the present application. DETAILED DESCRIPTION

[0093] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0094] It should be noted that all directional indications in the embodiments of the present application (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0095] In this application, unless otherwise specified or limited, the terms "connection" and "fixation" should be understood in a broad sense. For example, "fixation" can mean fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. For those skilled in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0096] In addition, the descriptions of "first", "second", etc. in this application are for descriptive purposes only and should not be understood as indicating or implying their relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but this must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0097] FIG1 shows a catheter system 1000 according to one embodiment. The catheter system 1000 includes an imaging cart 100, a trolley 200 and a user input device 300 connected to the imaging cart 100, a catheter instrument 400 that can be coupled to the trolley 200, a sensor system 500 connected to the trolley 200, and a control system 600 for achieving control between the catheter instrument 400, the user input device 300, the sensor system 500, and the imaging cart 100. The user input device 300 can be connected to the trolley 200 by wire or wirelessly. When the operator performs various procedures on a patient next to the trolley 200, the operator can trigger control instructions by operating the user input device 300, and control the catheter instrument 400 to advance, retract, bend, and turn, etc., through the drive of the trolley 200.

[0098] The trolley 200 can typically be moved to the side of the operating table to engage the catheter instrument 400 and, under control instructions, control the catheter instrument 400 to move vertically, horizontally, or in non-vertical and non-horizontal directions, thereby providing a better preoperative preparation angle for the operation of the catheter instrument 400. The control instructions can be instructions triggered by the operator through the user input device 300, or instructions triggered by the operator directly clicking or pressing a button on the trolley 200. Of course, in other embodiments, the control instructions can also be instructions triggered by voice control or a force feedback mechanism.

[0099] As shown in Figure 1, further, the trolley 200 may include a base 210, a sliding seat body 220 that can be lifted and lowered along the base 210, and two mechanical arms 230 fixedly connected to the sliding seat body 220. The mechanical arm 230 may include multiple arm segments connected at a joint, and the multiple arm segments provide the mechanical arm 230 with multiple degrees of freedom, for example, seven degrees of freedom corresponding to seven arm segments. The end of the mechanical arm 230 is equipped with a power unit (not shown in the figure), and the power unit of the mechanical arm 230 is used to engage the catheter instrument 400 and control the end of the catheter instrument 400 to bend and turn accordingly under the driving action of the power unit. Among them, the two mechanical arms 230 can be structures that are exactly the same or partially identical, one mechanical arm 230 is used to engage the inner catheter instrument 410, and the other mechanical arm 230 is used to engage the outer catheter instrument 420. During installation, the outer catheter device 420 may be installed first. After the outer catheter device 420 is installed, the flexible body of the inner catheter device 410 may be inserted into the flexible body of the outer catheter device 420 .

[0100] The sensor system 500 has one or more subsystems for receiving information about the catheter device 400. The subsystems may include: a position sensor system; a shape sensor system for determining the position, orientation, speed, velocity, pose, and / or shape of the tip of the catheter device 400 and / or along one or more segments that may comprise the flexible body of the catheter device 400; and / or a visualization system for capturing images from the tip of the catheter device 400.

[0101] The imaging vehicle 100 may be provided with a display system 110 and an irrigation system (not shown). The display system 110 is used to display images or representations of the surgical site and the catheter instrument 400 generated by the subsystems of the sensor system 500. Real-time images of the surgical site and the catheter instrument 400 captured by the visualization system may also be displayed. Preoperative or intraoperative images of the surgical site recorded using imaging technologies such as computed tomography (CT), magnetic resonance imaging (MRI), optical coherence tomography (OCT), and ultrasound may also be used to present images of the surgical site. The preoperative or intraoperative image data may be presented as two-dimensional, three-dimensional, or four-dimensional (e.g., time-based or rate-based) images and / or as images from a model created based on the preoperative or intraoperative image data set. A virtual navigation image may also be displayed in which the actual position of the catheter instrument 400 is registered with the preoperative image to present a virtual image of the catheter instrument 400 within the surgical site to the operator from the outside.

[0102] The control system 600 includes at least one memory and at least one processor communicatively connected to the robotic arm. It is understandable that the control system 600 can be integrated into the trolley 200 or the imaging trolley 100, or can be independently provided. The control system 600 can support wireless communication protocols such as IEEE 802.11, IrDA, Bluetooth, HomeRF, DECT, and wireless telemetry. The control system 600 can transmit one or more signals instructing the catheter instrument 400 to move, which are used to move the catheter instrument 400 by the power unit. The catheter instrument 400 can extend to a surgical location in the body through an opening of the patient's natural cavity or a surgical incision.

[0103] Furthermore, the control system 600 may include a mechanical control system (not shown) and an image processing system (not shown). The mechanical control system is used to control the movement of the catheter instrument 400 and can therefore be integrated into the trolley 200. The image processing system is used for virtual navigation path planning and can therefore be integrated into the imaging vehicle 100. Of course, the various subsystems of the control system 600 are not limited to the specific ones listed above and can be reasonably configured according to actual circumstances. The image processing system can use the above-mentioned imaging techniques to image the surgical site based on preoperative or intraoperative images of the surgical site. Software, which can also be used in conjunction with manual input, can convert the recorded images into two-dimensional or three-dimensional composite images of a portion or the entire anatomical organ or region. During the virtual navigation procedure, the sensor system 500 can be used to calculate the position of the catheter instrument 400 relative to the patient's anatomy. This position can be used to generate external tracking images and internal virtual images of the patient's anatomy, achieving registration of the actual position of the catheter instrument 400 with the preoperative images, thereby allowing a virtual image of the catheter instrument 400 within the surgical site to be presented to the operator from the outside.

[0104] The structural composition of the inner catheter instrument 410 and the outer catheter instrument 420 is substantially the same, and each has an elongated inner flexible body 41 and an outer flexible body 42, wherein the diameter of the outer flexible body 42 is slightly larger than that of the inner flexible body 41, so that the inner flexible body 41 can pass through the outer flexible body 42 and provide a certain support for the inner flexible body 41, so that the inner flexible body 41 can reach the target position in the patient's body, so as to facilitate operations such as tissue or cell sampling from the target position.

[0105] Certain movements of the user input device 300 can cause corresponding movements of the catheter instrument 400. For example, when the operator manipulates the directional lever of the user input device 300 to move upward or downward, the movement of the directional lever of the user input device 300 can be mapped to a corresponding pitch movement of the distal end of the catheter instrument 400. When the operator manipulates the directional lever of the user input device 300 to move left or right, the movement of the directional lever of the user input device 300 can be mapped to a corresponding yaw movement of the distal end of the catheter instrument 400. In this embodiment, the user input device 300 can control the movement of the distal end of the catheter instrument 400 within a 360-degree spatial range.

[0106] Figure 2 illustrates a catheter device 400 according to one embodiment. The catheter device 400 is configured to engage with the power unit 240 of the robotic arm 230. The catheter device 400 includes an instrument case 45 configured to engage with the power unit 240 and a flexible body 48 connected to the instrument case 45. "Engagement" refers to a state in which, when the instrument case 45 is mounted to the power unit 240, the driving force of the power unit 240 is transmitted to the instrument case 45 and enables the flexible body 48 to move normally. For example, under the driving force of the power unit 240, the distal end of the flexible body 48 can bend or turn. A portion of the flexible body, including the distal end, is a controllable section 49, the distal end of which serves as the distal end of the catheter 48. The controllable section 49 may be a joint assembly having high stiffness in the extension direction and low stiffness in the bending direction, allowing it to bend under driving force, thereby enabling the distal end to turn. In certain embodiments, this joint assembly may be referred to as a snake-bone joint.

[0107] As shown in Figures 3 and 4, the instrument box 45 can further include a chassis 452, a plurality of drive wheels 456 carried by the chassis 452, and a housing 450 that is fastened to the chassis 452, wherein the chassis 452 and the housing 450 form a receiving space to accommodate structures such as the drive wheels 456. As shown in Figure 5, the instrument box 45 also includes an input disk 458 corresponding to the position of the drive wheels 456 on the side facing the power unit from the chassis 452, wherein the input disk 458 is used to engage with the output disk 241 (shown in Figure 2) of the power unit 240 on one side and is connected to the drive wheels 456 on the other side to transmit the driving force of the power unit 240 to the drive wheels 456, thereby driving the distal end of the catheter device 400 to undergo a corresponding bending turn.

[0108] As shown in Figure 4, one end of a drive wire 470 is fixed to each of the drive wheels 456. The other end of the drive wire 470, which is wound around the drive wheel 456 for a number of turns and extends along the flexible body 48, is fixed to the end of the flexible body 48. The number of the drive wheels 456 can be 2, 3, 4, 5 or 6, etc., and accordingly, the number of the corresponding drive wires 470 can be 2, 3, 4, 5 or 6, etc. The end in this application, which can also be referred to as the distal end or head, refers to the end away from the instrument box 45. It is understandable that the drive wheels 456 and the corresponding drive wires 470 can constitute at least part of the structure of the transmission portion.

[0109] In this embodiment, the number of drive wheels 456 can be four, and the four drive wheels 456 can be arranged in a square, rectangular, or diamond shape. The four drive wheels 456 can be connected by independent drive wires 470, or they can be connected in series to form a closed loop. Two drive wheels 456 form a pair of drive wheels, and the other two drive wheels form another pair of drive wheels. One of the paired drive wheels is responsible for pulling the wires, while the other is responsible for releasing the wires, thereby achieving corresponding bending and turning of the distal end of the catheter device 400. In one embodiment, the drive wires 470 wound around the pair of drive wheels and the other pair of drive wheels are arranged in a mirror image. This mirrored arrangement can make the structure of the device box 45 more compact and neat. In another embodiment, the drive wires 470 wound around the pair of drive wheels and the other pair of drive wheels are arranged in the same pattern. It should be understood that in other embodiments, for example, in the external catheter instrument 420, based on different material properties, in order to achieve corresponding bending and turning of the distal end of the external catheter instrument 420, one driving wheel is required to pull the wire and two driving wheels are required to release the wire.

[0110] As shown in Figure 6, the multiple drive wheels 456 may include a wire-pulling wheel 468 located on the wire-pulling side and a pay-off wheel 469 located on the pay-off side. It should be understood that, in one embodiment, the nature of the drive wheel 456 can always be the wire-pulling wheel 468 located on the wire-pulling side, or always be the pay-off wheel 469 located on the pay-off side. In another embodiment, the nature of the drive wheel 456 can be switched accordingly to meet different bending and steering control requirements. For example, in one bending and steering control, if the current drive wheel 456 is the pay-off wheel 469 located on the pay-off side, then in another bending and steering control, the current drive wheel 456 is switched to the wire-pulling wheel 468 on the wire-pulling side. Similarly, in one bending and steering control, if the current drive wheel 456 is the wire-pulling wheel 468 located on the wire-pulling side, then in another bending and steering control, the current drive wheel 456 is switched to the pay-off wheel 469 located on the pay-off side.

[0111] Furthermore, as shown in FIG7 , in one embodiment, the drive wheel 456 includes a drive shaft 481 rotatably connected to the base frame 452, and a transmission wheel body 482 connected to the drive shaft 481 and used to wind the drive wire 470. The transmission wheel body 482 can be fixedly connected to the drive shaft 481 or movably connected to the drive shaft 481. In conjunction with FIG5 , the input disc 458 is connected to the drive shaft 481 to engage the power unit, thereby transmitting the driving force of the power unit to the drive wheel 456. Similarly, the input disc 458 can be fixedly connected to the drive shaft 481 or movably connected to the drive shaft 481.

[0112] As shown in Figure 8, in one embodiment, the instrument box also includes a meshing mechanism 80 arranged on the drive wheel 456. The meshing mechanism 80 can be arranged only on the pay-off wheel 469. In other embodiments, the meshing mechanism 80 can be arranged on both the pull-up wheel 468 and the pay-off wheel 469. The meshing mechanism 80 can switch the connection state between the drive wheel 456 and the power unit under the control of the power unit, and the connection state includes an engaged state (b) and a non-engaged state (c). It is understandable that when the pay-off wheel 469 is in an engaged state with the power unit, the current pay-off wheel 469 is switched to the pull-up wheel 468; when the pull-up wheel 468 is in a non-engaged state with the power unit, the current pull-up wheel 468 is switched to the pay-off wheel 469. That is, each drive wheel 456 can switch between the pull-up wheel 468 and the pay-off wheel 469. As shown in Figure 8, taking a single wire pulling wheel 468 as an example, when the power unit drives the relationship between the driving wheel 456 and the power unit to change from the initial meshing state (a) to the meshing state (b), the driving wheel 456 is the wire pulling wheel 468; when the power unit drives the relationship between the driving wheel 456 and the power unit to change from the meshing state (b) to the non-meshing state (c), the current wire pulling wheel 468 is switched to the pay-off wheel 469.

[0113] In the first embodiment, as shown in FIG9 , the engagement mechanism 80 includes a protrusion 810 fixed to the drive shaft 481 and a mating portion 820 disposed on the input disk 458 and abutting against the protrusion 810. When the power unit drives the input disk 458 to rotate in a first direction, the mating portion 820 abuts against the protrusion 810, causing the drive wheel 456 to engage with the power unit. At this point, the drive wheel 456 switches to function as the wire-pulling reel 468. Thus, the driving force of the power unit causes the drive wheel 456 to rotate accordingly, thereby causing the distal end of the flexible body 48 to bend and turn accordingly. When the power unit drives the input disk 458 to rotate in a second direction, opposite to the first direction, the mating portion 820 moves away from the protrusion 810, causing the drive wheel 456 to disengage from the power unit. At this point, the drive wheel 456 switches to function as the wire-paying reel 469. It can be understood that, in this embodiment, the input disc 458 and the drive shaft 481 can be movably connected, and the transmission wheel body 482 and the drive shaft 481 can be fixedly connected.

[0114] In a second embodiment, as shown in FIG10 , the engagement mechanism 80 includes a protrusion 810 fixed to the drive shaft 481 and a mating portion 820 disposed on the transmission wheel body 482 that abuts the protrusion 810. When the power unit drives the input disk 458 to rotate in a first direction, the protrusion 810 abuts the mating portion 820, causing the drive wheel 456 to engage with the power unit. At this point, the drive wheel 456 switches to function as the wire-pulling wheel 468. Thus, the driving force of the power unit causes the drive wheel 456 to rotate accordingly, thereby causing the distal end of the flexible body 48 to bend and turn accordingly. When the power unit drives the input disk 458 to rotate in a second direction, opposite to the first direction, the protrusion 810 disengages the mating portion 820, causing the drive wheel 456 to disengage from the power unit. At this point, the drive wheel 456 switches to function as the wire-paying wheel 469. It can be understood that, in this embodiment, the input disc 458 and the drive shaft 481 can be fixedly connected, and the transmission wheel body 482 and the drive shaft 481 can be movably connected.

[0115] It can be understood that when the protrusion 810 abuts against the matching portion 820, the engagement mechanism 80 is in an engaged state; when the protrusion 810 leaves the matching portion 820, the engagement mechanism 80 is in a non-engaged state.

[0116] Furthermore, as shown in FIG11 , in the first embodiment, the input tray 458 is recessed with two oppositely disposed receiving grooves 488 in a direction away from the power unit. The two receiving grooves 488 may have different shapes; for example, one receiving groove 488 may have an opening compared to the other receiving groove 488 to facilitate positioning of the instrument cassette. As shown in FIG12 , in the second embodiment, the input tray 458 is recessed with an arcuate groove 489 in a direction away from the power unit. The arcuate groove 489 is disposed along the circumference of the input tray 458. It is understood that, to facilitate positioning, the arcuate groove 489 may be disposed along a portion of the circumference of the input tray 458.

[0117] As shown in Figure 13, in one embodiment, the instrument case further includes a tensioning mechanism 460 having one end connected to the base frame 452 and the other end fixedly connected to the drive wheel 456. The tensioning mechanism can be provided solely on the pay-off wheel 469, or can be provided on both the pull-on wheel 468 and the pay-off wheel 469. The tensioning mechanism can pull the drive wheel 456 so that the drive wire 470 on the drive wheel 456 remains in a tensioned state whether the drive wheel 456 is stationary or in motion, thereby preventing the drive wire 470 wound around the drive wheel 456 from loosening. It is understood that the tensioning mechanism can also be provided outside the drive wheel 456 and remain connected to the drive wheel 456. The direction in which the tensioning mechanism pulls the drive wheel 456 to rotate is opposite to the direction in which the drive wire 470 is wound around the drive wheel 456.

[0118] Furthermore, as shown in Figure 13, the tensioning mechanism 460 includes a coil spring 461, a protrusion 462 extending outward from one end of the coil spring 461, and a snap-on portion 463 detachably connected to the protrusion 462. Furthermore, the coil spring 461 has two ends, one end 464 being the end of the outer coil, and the other end 465 being the end of the inner coil. The protrusion 462 may be a separate structure fixed to the end 464 of the coil spring 461 by welding or other means, or it may be integral with the coil spring 461, for example, forming a thickened, curved structure at the end 464 of the coil spring 461. It is understood that the tensioning mechanism may also be a tension spring or other elastic structure capable of tensioning the drive wire 470. The coil spring 461 may be any of a hairspring, a constant torque spring, or a constant force spring.

[0119] For example, as shown in Figure 14, in a bending steering control, a pay-off wheel 469 located on the pay-off side and a pull-on wheel 468 located on the pull-on side are involved. At this time, the power unit can drive the pull-on wheel 468 to rotate clockwise or counterclockwise. When the power unit drives the pay-off wheel 469 to rotate clockwise, which is opposite to the current counterclockwise direction, the pay-off wheel 469 and the power unit are in a non-meshing state. At this time, the tensioning mechanism can keep the drive wire 470 wound on the pay-off wheel 469 in a tensioned state. At the same time, since the pay-off wheel 469 and the power unit are in a non-meshing state, the pull-on wheel 468 can cause the drive wire 470 on the pay-off wheel 469 on the pay-off side to release the line accordingly, thereby making the length of the drive wire 470 on the pay-off wheel 469 and the drive wire 470 on the pull-on wheel 468 the same. In this way, it is possible to avoid the situation where the driving wire 470 on the release side is released too much or too little, thereby avoiding the situation where the driving wire 470 becomes loose or the bending angle of the catheter instrument end is not in place.

[0120] As shown in FIG15 , the base frame 452 is provided with a protruding receiving portion 466, which is configured to accommodate the tensioning mechanism 460 and the drive wheel 456. The receiving portion 466 is provided with a mounting hole 480 (shown in FIG4 ), which can be located on a sidewall of the receiving portion 466. The shape of the mounting hole 480 can be adapted to fit the protrusion 462 of the coil spring 461. In one embodiment, the mounting hole 480 can be simply a circular hole into which the protrusion 462 can be inserted. In another embodiment, the mounting hole 480 can include the aforementioned circular hole located at the bottom of the receiving portion 466, and can also include an elongated viewing window (not shown) extending from the circular hole away from the base frame 452. The viewing window facilitates observation of the specific position of the coil spring 461 during installation in the receiving portion 466, allowing for quick insertion of the protrusion 462 into the mounting hole 480. Of course, to adapt to the shape of the mounting hole 480, a flat surface can be provided on the sidewall of the receiving groove so that the mounting hole 480 is a complete flat hole-like structure. To improve the connection strength between the protrusion 462 and the receiving portion 466, after the protrusion 462 is inserted into the mounting hole 480, the protrusion 462 is fixed in the position of the mounting hole 480 by the snap portion 463, thereby preventing the protrusion 462 from moving. It is understood that to improve the fixing strength between the snap portion 463 and the protrusion 462, a groove can be provided on the protrusion 462 for the snap portion 463 to snap into and achieve cooperation with the protrusion 462, thereby preventing the snap portion 463 from falling off the protrusion 462.

[0121] Correspondingly, as shown in Figure 15 , the drive shaft 481 is provided with a fixing hole 487 at a position corresponding to the coil spring 461. Specifically, when the coil spring 461 is installed, the fixing hole 487 is provided at a height relative to the drive shaft 481. The ends of the coil spring 461 are secured by snapping one end 464 of the coil spring 461, i.e., the protrusion 462, into the installation hole 480, while the other end 465 is secured within the fixing hole 487. In some embodiments, since the other end 465 of the coil spring 461 is a bent structure, simply snapping the bent structure into the fixing hole 487 can achieve securement. In other embodiments, the fixing hole 487 may be omitted, and the other end 465 of the coil spring 461 may be directly welded to the drive shaft 481. This embodiment does not limit the method or position of securing the ends of the coil spring 461. For example, one end 464 of the coil spring 461 is not limited to being fixed to the receiving portion 466. Other structures may be added to the base frame 452 to secure one end 464 of the coil spring 461 to other structures of the base frame 452. The other end 465 of the coil spring 461 is not limited to being fixed to the drive shaft 481. It may also be indirectly connected to the drive shaft 481, such as by securing the other end 465 of the coil spring 461 to other structures connected to the drive shaft 481. The specific solution will not be described in detail. In other words, any method can be used to enable the coil spring 461 to drive the drive wheel 456 to rotate and tension the drive wire 470 during elastic recovery. When both ends of the coil spring 461 are fixed, the coil spring 461 can be caused to store or release force by rotating either end of the coil spring 461 in different directions.

[0122] Furthermore, as shown in FIG15 , in one embodiment, the diameter of the transmission wheel body 482 is comparable to the diameter of the receiving portion 466. Compared to the existing solution in which the diameter of the transmission wheel body 482 is smaller than the diameter of the receiving portion 466, this embodiment can increase the torque (force multiplied by the lever arm) of the driving wheel 456, thereby making the distal end of the flexible body more compliant.

[0123] 15 , the driving wheel 456 further includes a C-shaped ring 483 for fixing the transmission wheel body 482 to the driving shaft 481. In this embodiment, the transmission wheel body 482 and the driving shaft 481 can be fixed only by the buckle of the C-shaped ring 483, which simplifies assembly.

[0124] As shown in Figure 15, in one embodiment, the drive wheel 456 further includes a first bearing 492 connected to the drive shaft 481, a second bearing 493 connected to the drive shaft 481 and disposed adjacent to the coil spring 461, and the second bearing 493 is fixedly connected to the input disc 458. Specifically, the first bearing 492, the coil spring 461, and the second bearing 493 are sequentially received within the receiving portion 466. The receiving portion 466 can be further divided into a plurality of receiving slots to respectively accommodate the first bearing 492, the coil spring 461, and the second bearing 493, although further description is not provided here. It is understood that the diameters of the respective receiving slots can vary, for example, increasing or decreasing in sequence. Each receiving slot within the receiving portion 466 can be provided with a protruding top wall or a corresponding stopper to restrict movement of the corresponding structure within the receiving slot in a direction away from or toward the power unit 240.

[0125] The provision of two bearings not only restricts the movement of the drive wheel 456 in a direction perpendicular to the drive shaft 481, but also prevents the pulling force of the drive wire 470 on the transmission wheel body 482 from being concentrated at the transmission wheel body 482, thereby preventing the drive wheel 456 from shaking. This ensures the control accuracy of the catheter instrument. Of course, in other embodiments, only one, three, or more bearings may be provided, depending on the actual situation. This embodiment does not limit the number of bearings.

[0126] As shown in Figure 16, in one embodiment, the housing 450 and the base frame 452 can be connected by a fixing method such as snap fastening, gluing, threading, or welding. To prevent moisture from entering the instrument box during sterilization of the catheter instrument, a sealing ring 454 is provided between the housing 450 and the base frame 452. A groove for accommodating the sealing ring 454 can be provided along the circumferential edge of the housing 450 or the base frame 452. The sealing ring 454 can be made of a waterproof material such as silicone. It is understood that the shape of the sealing ring 454 should be compatible with the shape of the circumferential edge of the housing 450 or the base frame 452.

[0127] As shown in Figures 16 and 17, in one embodiment, the instrument case further includes a water-gas connector 455 fixed to the housing 450, and a joint 457 fixed to the base frame 452 and connected to the flexible body. As shown in Figure 18, in one embodiment, the instrument case further includes a channel tube 459 connected to the water-gas connector 455. One end of the channel tube 459 is fixedly connected to the water-gas connector 455, and the other end extends into the flexible body and to the distal end of the flexible body. The channel tube 459 not only provides a working channel for surgical tools such as sampling needles, but also enables the injection and withdrawal of fluids such as flushing fluids.

[0128] Furthermore, as shown in FIG18 , the catheter device has a symmetry plane Y, and the water-gas connector 455 and the joint 457 are both located on the symmetry plane Y. This ensures that the channel tube 459 enters the flexible body in a straight line, thereby avoiding any impact on the flexible body and ensuring the control accuracy of the catheter device.

[0129] As shown in FIG19 , in one embodiment, the instrument case further includes a reversing wheel 490 located between the joint 457 and the drive wheel 456. The reversing wheel 490 is configured to guide the drive wire 470 wound from the drive wheel 456 into the flexible body along the length direction of the flexible body. For ease of description and understanding, in this embodiment, the length direction of the flexible body is referenced when the flexible body is in a naturally straight state, rather than a bent state. In this embodiment, the reversing wheel 490 includes four wheel bodies, each corresponding to a drive wheel 456. It is understood that the two wheel bodies corresponding to the two drive wheels 456 located on the same side of the symmetry plane Y are coaxially arranged. The two coaxially arranged wheel bodies are of different heights. Correspondingly, the heights between the transmission wheel bodies 482 of the two drive wheels 456 located on the same side of the symmetry plane Y are also different. Optionally, the corresponding transmission wheel body 482 and the wheel body located on the same side of the symmetry plane Y are at the same height on the base frame 452, so that the drive wire 470 wound on the transmission wheel body 482 can enter the flexible body in a direction parallel to the base frame 452. In addition, combined with the reversing effect of the wheel body, the drive wire 470 entering the flexible body can be extended along the length direction of the flexible body, thereby avoiding affecting the flexible body and ensuring the control accuracy of the catheter instrument. In an optional embodiment, based on the shape and material properties of the drive wire 470 used in the external catheter instrument, for example, the drive wire 470 used in the external catheter instrument is a flat wire, which can be applied to the reversing wheel 490, so this embodiment can be applied to the external catheter instrument.

[0130] In another embodiment, FIG20 shows a fixing portion 44 and a spring tube 46 according to an embodiment, wherein the fixing portion 44 is fixed to the chassis 452 and has a fan-shaped or arc-shaped shape so that each of the drive wires 470 can pass through the spring tube 46 in a straight line. The spring tube 46 is arranged in the flexible body 48, and one end of the spring tube 46 is fixed to the end of the flexible body 48 away from the instrument box 45 (specifically, it can be fixed to the snake joint at the end of the flexible body 48), and the other end of the spring tube 46 is connected to the fixing portion 44. It is understandable that there is no fixed connection between the other end of the spring tube 46 and the fixed end, and the spring tube 46 can be limited to move in the direction of the flexible body 48 by the interference or blocking effect of the fixing portion 44. Therefore, the driving wire 470 passes through the arc-shaped fixing portion 44 in a straight line and enters the spring tube 46, which can avoid the driving wire 470 from being damaged during the stretching or contraction process, thereby increasing the service life of the driving wire 470.

[0131] Furthermore, as shown in Figure 21, the fixing portion 44 includes a main body 441 fixed on the base frame 452, and a guide member 442 fixed on the main body 441. The guide member 442 is configured to allow the driving wire 470 to pass through and enter the spring tube 46, and to limit the movement of the spring tube 46 along the direction of the flexible body 48 by resisting the spring tube 46.

[0132] In an optional embodiment, since the above-mentioned flat wire is not suitable for the serpentine joint structure at the end of the flexible body, the shape and material properties of the driving wire 470 used in the inner catheter instrument are different from the shape and material properties of the driving wire 470 used in the outer catheter instrument. For example, the driving wire 470 used in the inner catheter instrument is a multi-strand round wire, so this embodiment can be applied to the inner catheter instrument.

[0133] As shown in FIG22 , in one embodiment, the device case further includes a PCB 700 secured to the chassis 452. The catheter device further includes at least one of a position sensor, a camera, and an LED located at the distal end of the flexible body. The PCB 700 is configured to connect cables to at least one of the position sensor, the camera, and the LED. Each of the cables originates from the PCB 700, enters the flexible body through the joint 457, and extends to the distal end of the flexible body.

[0134] As shown in Figure 23, in one embodiment, the instrument case further includes an electronic connector 710 that plugs into the PCB board 700, and a sealing portion 720 that is removably secured to the housing 450. The housing 450 also includes a through-hole 730 corresponding to the position of the electronic connector 710, allowing an external cable to electrically connect to the electronic connector 710 through the through-hole 730 and providing a secure location for the sealing portion 720. Specifically, the sealing portion 720 can be shaped like a cap, with a portion of its structure being inserted into the through-hole 730. The two can be removably secured together using a snap-fit ​​or interference fit. The sealing portion 720 can be provided with a waterproof ring around the contact area with the housing 450 to isolate it from external moisture. This way, when the catheter device is sterilized after use, the sealing portion 720 can be secured to the through-hole 730 to prevent moisture from entering the instrument case.

[0135] The processor of the control system 600 is configured to execute the following steps to implement the catheter drive control method provided in the first embodiment of the present application. As shown in FIG24 , the method includes:

[0136] Step S10, obtaining a current distance between the inner catheter end and the outer catheter end;

[0137] In this embodiment, the outer catheter instrument has at least one first engagement mechanism, the outer catheter instrument is configured to engage with the power unit of one of the robotic arms, and the outer catheter instrument includes an outer catheter. The inner catheter instrument has at least one second engagement mechanism, the inner catheter instrument is configured to engage with the power unit of another of the robotic arms, and the inner catheter instrument includes an inner catheter, and the inner catheter is configured to be driven through the cavity of the outer catheter. It should be understood that the outer catheter can correspond to the above-mentioned outer flexible body, and the inner catheter can correspond to the above-mentioned inner flexible body. For the sake of simplicity of description, the outer flexible body and the inner flexible body are referred to as the outer catheter and the inner catheter, respectively. It can be understood that the first engagement mechanism corresponds to the drive wheel in the outer catheter instrument, and each drive wheel can be provided with a corresponding first engagement mechanism; similarly, the second engagement mechanism corresponds to the drive wheel in the inner catheter instrument, and each drive wheel can be provided with a corresponding second engagement mechanism.

[0138] As shown in FIG25 , in one embodiment, the length L1 of the inner tube and the length L2 of the outer tube can be obtained. The length information of L1 and L2 is known and can be retrieved from the factory information of the inner tube and the outer tube. Based on the kinematics of the manipulator, the position information of the two power units can be calculated according to the joint angle of the manipulator, thereby obtaining the distance d between the two power units. The current distance between the end of the inner tube and the end of the outer tube can be calculated using the formula: D c = L1 - L2 - d. In other embodiments, a position sensor disposed at the end of the inner catheter can be used to obtain the spatial position coordinates of the inner catheter, and a position sensor disposed at the end of the outer catheter can be used to obtain the spatial position coordinates of the outer catheter. The current distance between the inner and outer catheter ends can be calculated based on these two spatial position coordinates. Of course, the present application is not limited to obtaining the current distance between the inner and outer catheter ends through the above embodiment; other reasonable solutions are also possible, and the present application does not specifically limit this.

[0139] Step S20: determining a control mode to be entered by the inner catheter and the outer catheter according to the current distance;

[0140] In this embodiment, the control modes to be adopted by the inner and outer catheters include: the outer catheter in active control mode and the inner catheter in zero-force mode; or the inner catheter in active control mode and the outer catheter in zero-force mode; or both the outer and inner catheters in zero-force mode. Furthermore, specific scenarios may include curved direction control, or straight forward and backward control.

[0141] Step S30: According to the control mode, correspondingly control the first engagement mechanism and / or the second engagement mechanism to enter a non-engagement state, so as to control at least one of the outer catheter and the inner catheter to enter a zero-force mode.

[0142] In this embodiment, according to the control mode, when only the outer catheter needs to enter the zero-force mode, the first engaging mechanism can be controlled to enter a non-engaging state, thereby causing the outer catheter to enter the zero-force mode; when only the inner catheter needs to enter the zero-force mode, the second engaging mechanism can be controlled to enter a non-engaging state, thereby causing the inner catheter to enter the zero-force mode; when both the outer catheter and the inner catheter need to enter the zero-force mode, both the first engaging mechanism and the second engaging mechanism can be controlled to enter a non-engaging state, thereby causing the outer catheter and the inner catheter to enter the zero-force mode.

[0143] It is understood that in order to make the outer catheter or inner catheter enter the zero-force mode, the corresponding power unit can be reversed accordingly, that is, all the corresponding first meshing mechanisms or all the corresponding second meshing mechanisms enter a non-meshing state. At this time, the connection state between each drive wheel of the outer catheter device and the corresponding power unit is in a non-meshing state, or the connection state between each drive wheel of the inner catheter device and the corresponding power unit is in a non-meshing state. The position or angle of the power unit reversal can be reasonably set according to actual needs, so that the corresponding meshing mechanism can enter a non-meshing state, and the connection state between each drive wheel of the catheter device and the corresponding power unit is in a non-meshing state.

[0144] This embodiment can control the first and / or second engagement mechanisms to a disengaged state, depending on the control mode to be entered, thereby controlling at least one of the outer and inner catheters to enter a zero-force mode. This allows the catheter to be switched to a flexible state in a timely manner during bending reversal control or straight forward and backward control scenarios, thereby preventing damage to anatomical structures and improving safety.

[0145] Furthermore, as shown in FIG26 , in the first embodiment, step S20 and step S30 may include:

[0146] Step S201: If the current distance reaches a first preset distance, determining that the outer catheter enters an active control mode and the inner catheter enters a zero-force mode;

[0147] In this embodiment, the first preset distance may be 3 to 4 mm or other reasonable values, and this application does not limit the specific value. When the current distance between the inner catheter end and the outer catheter end reaches the first preset distance, specifically, when the current distance the inner catheter extends from the outer catheter end reaches the first preset distance, it is determined that the outer catheter is about to enter or will enter the active control mode, and the inner catheter is about to enter or will enter the zero-force mode.

[0148] Step S202: in response to determining that the inner catheter enters the zero-force mode, controlling the second engagement mechanism to enter a non-engaged state;

[0149] In this embodiment, when it is determined that the inner catheter is about to enter the zero-force mode, the power unit corresponding to the inner catheter will reverse, causing the second engagement mechanism to enter a non-engaged state. The position or angle of the power unit reversal can be appropriately set according to actual needs, so that the second engagement mechanism enters a non-engaged state, and the connection state between each drive wheel of the inner catheter device and the corresponding power unit is in a non-engaged state.

[0150] Step S301: In response to determining that the outer catheter enters the active control mode, controlling at least one of the first engagement mechanisms to enter an engagement state, so that the end of the inner catheter rotates passively following the end of the outer catheter.

[0151] In this embodiment, when it is determined that the outer catheter will enter the active control mode, the power unit corresponding to the outer catheter will drive the first meshing mechanism to enter the meshing state, so that the connection state between at least one drive wheel of the outer catheter instrument and the corresponding power unit is the meshing state. Specifically, the power unit can drive each drive wheel of the outer catheter instrument to rotate clockwise or counterclockwise. For example, when the power unit drives the drive wheel to rotate clockwise, the first meshing mechanism corresponding to the drive wheel enters the meshing state, so that the drive wheel and the power unit are in the meshing state. At this time, the drive wheel is a wire pulling wheel; when the power unit drives the drive wheel to rotate counterclockwise, the first meshing mechanism corresponding to the drive wheel enters the non-meshing state, so that the drive wheel and the power unit are in the non-meshing state. At this time, the drive wheel is a wire paying wheel.

[0152] It is understandable that when the outer catheter enters the active control mode, the power unit corresponding to the outer catheter will drive at least one of the first meshing mechanisms to enter the meshing state, and the other first meshing mechanisms will enter the non-meshing state. In this way, in the bending steering control, under the pulling action of the pulling wheel, the drive wire on the pay-off side can be paid out accordingly, thereby realizing the bending of the end of the outer catheter. Furthermore, combined with the tensioning action of the tensioning mechanism, the drive wire wound on the pay-off wheel can be kept in a tensioned state, so that the length change of the drive wire on the pay-off side is the same as that of the drive wire on the pulling side. In this way, it is possible to avoid the situation where the drive wire on the pay-off side is put in too much or too little, thereby avoiding the situation where the drive wire is loose or the bending angle of the end of the catheter instrument is not in place.

[0153] As shown in Figure 27, when the tips of the inner and outer catheters reach the 3rd or 4th level branches or the 1st or 2nd level branches of the patient's anatomy, the outer catheter can pass smoothly during this process. If a change of direction is required, the inner catheter can be controlled to enter zero-force mode and the outer catheter to enter active control mode. In this case, the angle of the inner and outer catheters' bending during the change of direction is small. In the outer catheter's active control mode, the tip of the inner catheter passively follows the rotation of the outer catheter. This prevents the inner catheter from interfering with the outer catheter's bending when a change of direction is required by promptly switching the inner catheter to a flexible state and allowing the inner catheter to passively follow the outer catheter's rotation. This improves the control accuracy of the catheter device. Furthermore, since the inner catheter tip extends beyond the outer catheter tip, timely switching the inner catheter to a flexible state can also prevent damage to the patient if the inner catheter tip accidentally contacts the patient's anatomy.

[0154] Furthermore, as shown in FIG28 , in the second embodiment, step S20 and step S30 may include:

[0155] Step S203: If the current distance reaches a second preset distance, determining that the outer catheter enters a zero-force mode and the inner catheter enters an active control mode;

[0156] In this embodiment, the second preset distance may be 5 mm or another reasonable value, and this application does not limit the specific value. When the current distance between the inner catheter end and the outer catheter end reaches the second preset distance, specifically, when the current distance the inner catheter extends from the outer catheter end reaches the second preset distance, it is determined that the outer catheter is about to enter or will enter the zero-force mode, and the inner catheter is about to enter or will enter the active control mode.

[0157] Step S204: in response to determining that the outer catheter enters the zero-force mode, controlling the first engagement mechanism to enter a non-engaged state;

[0158] In this embodiment, when it is determined that the external catheter is about to enter the zero-force mode, the power unit corresponding to the external catheter will reverse, causing the first engagement mechanism to enter a non-engaged state. The position or angle of the power unit reversal can be reasonably set according to actual needs, so that the first engagement mechanism enters a non-engaged state and the connection state between each drive wheel of the external catheter device and the corresponding power unit is in a non-engaged state.

[0159] Step S302: In response to determining that the inner catheter enters the active control mode, controlling at least one of the second engagement mechanisms to enter an engagement state, so that the end of the outer catheter passively follows the rotation of the end of the inner catheter.

[0160] In this embodiment, when it is determined that the inner catheter will enter the active control mode, the power unit corresponding to the inner catheter will drive the second meshing mechanism to enter the meshing state, so that the connection state between at least one drive wheel of the inner catheter instrument and the corresponding power unit is the meshing state. Specifically, the power unit can drive each drive wheel of the inner catheter instrument to rotate clockwise or counterclockwise. For example, when the power unit drives the drive wheel to rotate clockwise, the second meshing mechanism corresponding to the drive wheel enters the meshing state, so that the drive wheel and the power unit are in the meshing state, and at this time, the drive wheel is a wire pulling wheel; when the power unit drives the drive wheel to rotate counterclockwise, the second meshing mechanism corresponding to the drive wheel enters the non-meshing state, so that the drive wheel and the power unit are in the non-meshing state, and at this time, the drive wheel is a wire paying wheel.

[0161] It is understandable that when the inner catheter enters the active control mode, the power unit corresponding to the inner catheter will drive at least one of the second meshing mechanisms to enter the meshing state, and the other second meshing mechanisms will enter the non-meshing state. In this way, in the bending steering control, under the pulling action of the pulling wheel, the drive wire on the pay-off side can be paid out accordingly, thereby realizing the bending of the end of the inner catheter. Further, combined with the tensioning action of the tensioning mechanism, the drive wire wound on the pay-off wheel can be kept in a tensioned state, so that the length change of the drive wire on the pay-off side is the same as that of the drive wire on the pulling side. In this way, it is possible to avoid the situation where the drive wire on the pay-off side is put in too much or too little, thereby avoiding the situation where the drive wire is loose or the bending angle of the end of the catheter instrument is not in place.

[0162] As shown in Figure 29, when the end of the catheter needs to advance to the 6th to 7th level branches of the patient's anatomical structure, since the outer catheter cannot pass through, if reversal is required, the outer catheter can be controlled to enter zero-force mode and the inner catheter to enter active control mode. At this time, the angle of the inner catheter's reversal is larger. In the active control mode of the inner catheter, the end of the outer catheter will passively follow the rotation of the end of the inner catheter. In this way, when reversal is required, by promptly switching the outer catheter to a flexible state and making the end of the outer catheter passively follow the rotation of the end of the inner catheter, interference with the bending of the inner catheter can be avoided, thereby improving the control accuracy of the catheter instrument.

[0163] In another embodiment, in certain scenarios where large-angle bending is required, both the outer catheter and the inner catheter can be controlled to enter an active control mode. At this time, the outer catheter enters the active control mode in a rigid state, which can provide support for the bending reversal of the inner catheter so that the inner catheter can achieve large-angle bending.

[0164] Furthermore, as shown in FIG30 , in the third embodiment, step S20 and step S30 may include:

[0165] Step S205: If the current distance remains at a third preset distance within a predetermined time, determining that the outer catheter and the inner catheter enter a forward or backward control mode;

[0166] In this embodiment, the third preset distance can be 4 mm or another reasonable value, and this application does not limit the specific value. The predetermined time can be a reasonable value such as 10 seconds or 20 seconds, and this application does not limit the specific value. For example, if the inner catheter extends 4 mm outside the outer catheter for 20 seconds, it indicates that the outer catheter and the inner catheter are currently in a paired drive mode, that is, the outer catheter and the inner catheter will enter a forward control mode or a reverse control mode.

[0167] Step S303: In response to determining that the outer catheter and the inner catheter enter the forward or backward control mode, control the first engagement mechanism and the second engagement mechanism to enter a non-engaged state.

[0168] In this embodiment, when it is determined that the outer catheter and the inner catheter have entered the forward or reverse control mode, the corresponding power units of the outer catheter and the inner catheter will reverse, causing all first meshing mechanisms of the outer catheter device and all second meshing mechanisms of the inner catheter device to enter a non-meshing state. The position or angle of the power unit reversal can be reasonably set according to actual needs, so that both the first meshing mechanism and the second meshing mechanism can enter a non-meshing state, and the connection state between each drive wheel of the outer catheter device and the corresponding power unit is in a non-meshing state.

[0169] When the inner and outer catheters are advanced close to the patient's target tissue at the beginning of the operation or withdrawn from the patient's anatomical structure after the operation, by timely switching both the inner and outer catheters to a flexible state, damage to the patient can be avoided when the ends of the inner and outer catheters accidentally touch the patient's anatomical structure.

[0170] Furthermore, as shown in FIG31 , in the first embodiment, a torque sensor is provided on the power unit to detect the tension value of the drive wire of the outer catheter instrument or the inner catheter instrument, and the processor is configured to perform the following specific steps:

[0171] Step S40: obtaining the tension value of the driving wire detected by the torque sensor;

[0172] Step S41: When the tension value of the driving wire is a predetermined value, it is determined that the outer catheter or the inner catheter has entered the zero-force mode.

[0173] In this embodiment, the power unit is provided with a torque sensor that can detect the tension value of the corresponding drive wire. By detecting the tension value, it can be determined whether the outer catheter or the inner catheter is currently in zero-force mode. For example, the tension value can be preset to be 0, indicating that the outer catheter or the inner catheter is currently in zero-force mode; or, considering that the drive wire also has a certain tension when in a tensioned state, the tension value can be preset to be greater than 0 and less than a preset value, indicating that the outer catheter or the inner catheter is currently in zero-force mode.

[0174] This embodiment can further determine whether the outer catheter or the inner catheter has entered the zero-force mode by detecting the tension value of the drive wire, thereby avoiding the safety risks that may arise when the outer catheter or the inner catheter performs the next operation before entering the zero-force mode.

[0175] Furthermore, as shown in FIG32 , in the second embodiment, the processor is further configured to perform the following steps:

[0176] Step S42, obtaining the current value of the power unit;

[0177] Step S43: If the current value reaches a first threshold, it is determined that the outer catheter or the inner catheter has entered the zero-force mode.

[0178] In this embodiment, the current value of the power unit can be obtained. By detecting the current value, it can be determined whether the outer catheter or the inner catheter is currently in the zero-force mode. For example, when the current value reaches or is less than 0.3 mA, it indicates that the outer catheter or the inner catheter is currently in the zero-force mode. When the current value reaches 0.5 mA, it indicates that the corresponding engagement mechanism is still in the engagement state, and the corresponding drive wheel and the power unit are in the engagement state, that is, the outer catheter or the inner catheter is not currently in the zero-force mode.

[0179] This embodiment can further determine whether the outer catheter or the inner catheter has entered the zero-force mode by acquiring the current value of the power unit, thereby avoiding the safety risks that may arise from performing the next operation before the outer catheter or the inner catheter enters the zero-force mode.

[0180] Furthermore, as shown in FIG33 , in one embodiment, the first engagement mechanism and the second engagement mechanism both have a protrusion and a mating portion that can engage with each other, and the processor is further configured to perform the following steps:

[0181] Step 50: In response to the outer catheter or the inner catheter switching from the zero-force mode to the active control mode, determining whether there is a gap between the protruding portion and the mating portion;

[0182] In this embodiment, the protrusion and the mating portion can engage with each other. When the protrusion and the mating portion are engaged, the corresponding meshing mechanism is in an engaged state, in which case no gap exists between the protrusion and the mating portion. When the protrusion and the mating portion are spaced apart, the corresponding meshing mechanism is in a non-engaged state, in which case no gap exists between the protrusion and the mating portion. Determining whether a gap exists between the protrusion and the mating portion can be accomplished by detecting the tension of the corresponding drive wire using a torque sensor provided in the power unit. If it is determined that the outer catheter or the inner catheter is currently in zero-force mode, then the presence of a gap between the protrusion and the mating portion can be determined. Alternatively, determining whether the outer catheter or the inner catheter is currently in zero-force mode by obtaining a current value from the power unit can be accomplished. If it is determined that the outer catheter or the inner catheter is currently in zero-force mode, then the presence of a gap between the protrusion and the mating portion can be determined.

[0183] Step 51: If yes, control the corresponding power unit to rotate rapidly at a first preset speed.

[0184] In this embodiment, when the outer or inner conduit is in zero-force mode, the corresponding engagement mechanism is in a non-engaged state, that is, the protrusion and the mating portion are separated and have a certain gap. Therefore, if it is necessary to switch from the current zero-force mode to the active control mode, the power unit is reversed, causing the protrusion or mating portion to reverse and re-engage. During this process, by controlling the corresponding power unit to rotate rapidly at a first preset speed, the hysteresis caused by the gap can be eliminated. The first preset speed can be reasonably set according to actual needs, and this application does not limit its specific value.

[0185] Furthermore, as shown in FIG34 , in another embodiment, the first engagement mechanism and the second engagement mechanism both have a protrusion and a mating portion that can engage with each other, and the processor is further configured to perform the following steps:

[0186] Step 60: In response to the outer catheter or the inner catheter switching from the zero-force mode to the active control mode, detecting the current value of the power unit;

[0187] Step 61: When the current value reaches a second threshold, it indicates that the first meshing mechanism or the second meshing mechanism is currently in a meshing state;

[0188] In this embodiment, when it is necessary to switch the outer catheter or the inner catheter from the zero-force mode to the active control mode, the current value of the power unit can be obtained to determine whether the outer catheter or the inner catheter is currently in the zero-force mode. If it is determined that the outer catheter or the inner catheter is currently in the zero-force mode, it can be determined that there is a gap between the protrusion and the mating portion.

[0189] When the current value reaches a second threshold, such as 0.5 mA, it indicates that the corresponding engagement mechanism is still in an engagement state, and the corresponding driving wheel and the power unit are in an engagement state, that is, the outer catheter or the inner catheter is not in a zero-force mode.

[0190] Step 62: In response to the received user instruction, a corresponding force is applied to the power unit to rotate the distal end of the corresponding inner catheter or outer catheter.

[0191] In this embodiment, upon receiving a user instruction, a corresponding force can be applied to the power unit according to the user instruction, thereby rotating the distal end of the corresponding inner or outer conduit. It is understood that by obtaining the current value of the power unit, a gap between the protrusion and the mating portion is generally not present. However, in this embodiment, by detecting the current value, it is possible to further determine whether a gap exists between the protrusion and the mating portion, thereby avoiding safety risks that may arise from the next operation.

[0192] Furthermore, as shown in FIG35 , in one embodiment, the user input device is communicatively connected to the robotic arm. A zero-force key 900 may be provided on the user input device. The zero-force key 900 may be a shared zero-force key 900 for simultaneously controlling the inner and outer catheter instruments; or it may be an inner catheter zero-force key 900 for individually controlling the inner catheter instrument, or an outer catheter zero-force key 900 for individually controlling the outer catheter instrument. When the user triggers the zero-force key 900 on the user input device, the processor, in response to the triggering instruction of the zero-force key 900, controls the power units corresponding to the inner and outer catheter instruments to rapidly reverse at a second preset speed. The second preset speed may be appropriately set based on actual needs, and this application does not limit its specific value.

[0193] Furthermore, in one embodiment, when it is determined that the outer catheter and the inner catheter have switched from the active control mode to the zero-force mode, all drive wheels corresponding to the first meshing mechanism and / or the second meshing mechanism in the outer catheter device or the inner catheter device that are in a meshed state are reversed, so that all the first meshing mechanisms of the outer catheter device and all the second meshing mechanisms of the inner catheter device enter a non-meshed state. The position or angle at which the power unit and the drive wheels are reversed can be reasonably set according to actual needs, so that both the first meshing mechanism and the second meshing mechanism can enter a non-meshed state, and the connection state between each drive wheel of the outer catheter device and the inner catheter device and the corresponding power unit is a non-meshed state.

[0194] It should be understood that the "reach" mentioned in this application, such as the "reach" in the above-mentioned distance between the end of the inner catheter and the end of the outer catheter reaching the first preset distance, means that the two distances are equal; or close, such as having a certain distance range, which can also be considered to be reached.

[0195] Embodiments of the present application also provide a control system for a catheter system. Please refer to Figure 36, which shows a schematic diagram of the structure of a control system for a catheter system provided in one embodiment of the present application. As shown in Figure 36, control system 600 includes: a processor 60, a memory 61, a bus 62, and a communication interface 63. The processor 60, communication interface 63, and memory 61 are connected via bus 62. The memory 61 stores computer program instructions executable by the processor 60. When the processor 60 executes the computer program instructions, it performs the catheter drive control method provided in any of the aforementioned embodiments of the present application.

[0196] The memory 61 may include high-speed random access memory (RAM) and may also include non-volatile memory, such as at least one disk storage. The communication connection between the device network element and at least one other network element is achieved through at least one communication interface 63 (which may be wired or wireless), and may use the Internet, a wide area network, a local area network, a metropolitan area network, etc.

[0197] Bus 62 may be an ISA bus, a PCI bus, or an EISA bus. Such buses may be classified as address buses, data buses, and control buses. Memory 61 is used to store programs, and processor 60 executes the programs upon receiving execution instructions. The catheter drive control method disclosed in any of the aforementioned embodiments of the present application may be applied to or implemented by processor 60.

[0198] The processor 60 may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method can be completed by hardware integrated logic circuits in the processor 60 or by software instructions. The processor 60 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the embodiments of this application can be directly implemented and executed by a hardware decoding processor, or by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium mature in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, etc. The storage medium is located in the memory 61 , and the processor 60 reads the information in the memory 61 and completes the steps of the above method in combination with its hardware.

[0199] The catheter system provided in the embodiment of the present application and the driving control method of the catheter provided in the embodiment of the present application are based on the same application concept and have the same beneficial effects as the methods adopted, operated or implemented therein.

[0200] An embodiment of the present application also provides a computer-readable storage medium corresponding to the catheter drive control method provided in the aforementioned embodiment. Please refer to Figure 37, which shows a computer-readable storage medium 6 on which computer program instructions are stored. When the computer program instructions are executed by a processor, they will implement the catheter drive control method provided in any of the aforementioned embodiments.

[0201] It should be noted that examples of the computer-readable storage medium may include, but are not limited to, optical discs, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other optical or magnetic storage media, which are not listed here one by one.

[0202] The above description is merely an optional embodiment of the present application and does not limit the patent scope of the present application. Any equivalent structural transformation made by using the contents of the present application specification and drawings under the application concept of the present application, or directly / indirectly applied in other related technical fields, is included in the patent protection scope of the present application.

Claims

1. A catheter device, characterized in that: The catheter instrument is configured to engage with a power unit of a mechanical arm, and the catheter instrument comprises an instrument box configured to engage with the power unit and a flexible body connected to the instrument box, wherein the instrument box comprises: A chassis, configured to be connected to a power unit of the mechanical arm so that the instrument box is engaged with the power unit; A plurality of driving wheels are arranged to be carried by the base frame, and one end of a driving wire is fixed on the driving wheel, and the other end of the driving wire extends along the flexible body and is fixed to the end of the flexible body; the plurality of driving wheels include a wire pulling wheel and a wire releasing wheel; an engagement mechanism, which is at least arranged on the pay-off wheel and is capable of switching the connection state between the pay-off wheel and the power unit under the control of the power unit, wherein the connection state includes an engagement state and a non-engagement state; and A tensioning mechanism has one end connected to the base frame and the other end fixedly connected to the pay-off wheel, so that the driving wire on the pay-off wheel remains in a tensioned state, and can make the driving wire on the pay-off wheel pay out accordingly under the pulling action of the wire pulling wheel when the pay-off wheel and the power unit are in a non-meshing state, so that the length change of the driving wire on the pay-off wheel and the driving wire on the wire pulling wheel is the same.

2. The catheter device according to claim 1, characterized in that The driving wheel includes a driving shaft rotatably connected to the base frame, and the instrument box also includes an input disk fixedly connected to the driving shaft and engaged with the power unit; the engaging mechanism includes a protrusion fixed on the driving shaft, and a matching portion arranged on the input disk and abutting against the protrusion, and the matching portion is configured to rotate in a first direction to abut against the protrusion under the drive of the power unit so that the pay-off wheel and the power unit are in a meshing state, and is also configured to rotate in a second direction opposite to the first direction under the drive of the power unit to leave the protrusion so that the pay-off wheel and the power unit are in a non-meshing state.

3. The catheter device according to claim 1, characterized in that The driving wheel includes a driving shaft rotatably connected to the base frame, and a transmission wheel body connected to the driving shaft and used for winding the driving wire; the engaging mechanism includes a protrusion fixed on the driving shaft, and a matching portion arranged on the transmission wheel body and abutting against the protrusion, the protrusion being arranged to rotate in a first direction to abut against the matching portion when driven by the power unit so that the pay-off wheel and the power unit are in an engaged state, and is also arranged to rotate in a second direction opposite to the first direction when driven by the power unit to leave the matching portion so that the pay-off wheel and the power unit are in a non-engaged state.

4. The catheter device according to claim 1, characterized in that The driving wheel includes a driving shaft rotatably connected to the base frame; the base frame is provided with a convex receiving portion, the receiving portion is configured to accommodate the tensioning mechanism, the tensioning mechanism includes a coil spring, one end of the coil spring is connected to the driving shaft and the other end is fixed to the base frame, so that the driving wire on the pay-off wheel remains in a tensioned state.

5. The catheter device according to claim 4, characterized in that The driving wheel also includes a transmission wheel body connected to the driving shaft and used for winding the driving wire; the diameter of the transmission wheel body is comparable to the diameter of the receiving portion.

6. The catheter device according to claim 1, characterized in that The instrument box also includes a shell that is snapped onto the base frame, a water-gas connector fixed to the shell, and a joint fixed to the base frame and connected to the flexible body. The catheter instrument has a symmetrical plane, and the water-gas connector and the joint are both located on the symmetrical plane.

7. The catheter device according to claim 1, characterized in that The driving wheel also includes an input disc fixedly connected to the driving shaft and engaged with the power unit. The input disc is provided with an arc groove in a direction away from the power unit, and the arc groove is arranged along the circumference of the input disc.

8. A catheter system, characterized in that: The catheter system includes an imaging vehicle, a trolley and a main controller respectively connected to the imaging vehicle, and a catheter instrument as described in any one of claims 1 to 7 that can be coupled to the trolley, wherein the catheter instrument is configured to advance, retract or bend and turn by being driven by the trolley under control instructions triggered by the main controller.

9. A catheter system, characterized in that: The catheter system comprises: Robotic arm; an outer catheter instrument having a first engagement mechanism, configured to engage with a power portion of one of the robotic arms, the outer catheter instrument comprising an outer catheter; an inner catheter instrument having a second engagement mechanism, configured to engage with a power portion of another of the robotic arms, the inner catheter instrument comprising an inner catheter configured to be driven through the lumen of the outer catheter; and A processor in communication with the robotic arm, the processor being configured to perform the following steps: obtaining a current distance between an end of the inner catheter and an end of the outer catheter; Determining a control mode to be entered by the inner catheter and the outer catheter according to the current distance; According to the control mode, the first engagement mechanism and / or the second engagement mechanism are correspondingly controlled to enter a non-engagement state, so as to control at least one of the outer catheter and the inner catheter to enter a zero-force mode.

10. The catheter system of claim 9, wherein: The processor is configured to perform the following specific steps: If the current distance reaches a first preset distance, determining that the outer catheter enters an active control mode and the inner catheter enters a zero-force mode; In response to determining that the inner catheter enters the zero-force mode, controlling the second engagement mechanism to enter a non-engaged state; In response to determining that the outer catheter enters the active control mode, at least one of the first engagement mechanisms is controlled to enter an engagement state so that the distal end of the inner catheter passively follows the rotation of the distal end of the outer catheter.

11. The catheter system of claim 10, wherein: The processor is configured to perform the following specific steps: If the current distance reaches a second preset distance, determining that the outer catheter enters a zero-force mode and the inner catheter enters an active control mode; In response to determining that the outer catheter enters the zero-force mode, controlling the first engagement mechanism to enter a non-engaged state; In response to determining that the inner catheter enters the active control mode, at least one of the second engagement mechanisms is controlled to enter an engagement state so that the distal end of the outer catheter passively follows the rotation of the distal end of the inner catheter.

12. The catheter system of claim 10, wherein: The processor is configured to perform the following specific steps: If the current distance is maintained at a third preset distance within a predetermined time, determining that the outer catheter and the inner catheter enter a forward or backward control mode; In response to determining that the outer catheter and the inner catheter enter the forward or backward control mode, the first engagement mechanism and the second engagement mechanism are both controlled to enter a non-engaged state.

13. The catheter system of claim 9, wherein: The power unit is provided with a torque sensor to detect the tension value of the drive wire of the outer catheter device or the inner catheter device. The processor is configured to perform the following specific steps: Obtaining the tension value of the driving wire detected by the torque sensor; When the tension value of the driving wire is a predetermined value, it is determined that the outer catheter or the inner catheter has entered the zero-force mode.

14. The catheter system of claim 9, wherein: The processor is further configured to perform the following steps: Obtaining a current value of the power unit; If the current value reaches a first threshold, it is determined that the outer catheter or the inner catheter has entered the zero-force mode.

15. The catheter system of claim 9, wherein: The first engagement mechanism and the second engagement mechanism both have a protrusion and a mating portion that can engage with each other, and the processor is further configured to perform the following steps: In response to the outer catheter or the inner catheter switching from the zero-force mode to the active control mode, determining whether there is a gap between the protrusion and the mating portion; If it exists, the corresponding power unit is controlled to rotate rapidly at a first preset speed.

16. The catheter system of claim 9, wherein: The first engagement mechanism and the second engagement mechanism both have a protrusion and a mating portion that can engage with each other, and the processor is further configured to perform the following steps: In response to the outer catheter or the inner catheter switching from the zero-force mode to the active control mode, detecting the current value of the power unit; When the current value reaches a second threshold, it indicates that the first meshing mechanism or the second meshing mechanism is currently in a meshing state; In response to the received user instruction, a corresponding force is applied to the power unit to rotate the corresponding distal end of the inner catheter or the outer catheter.

17. The catheter system of claim 9, wherein: The catheter system further includes a user input device communicatively connected to the robotic arm, the user input device being provided with a zero force key, and the processor being configured to perform the following specific steps: In response to the triggering instruction of the zero-force key, the corresponding power unit is controlled to quickly reverse at a second preset speed.

18. The catheter system of claim 9, wherein: The outer catheter device and / or the inner catheter device comprises more than two drive wheels, and the processor is further configured to perform the following steps: In response to the outer catheter instrument or the inner catheter instrument switching from the active control mode to the zero force mode, all driving wheels corresponding to the first engagement mechanism and / or the second engagement mechanism in the outer catheter instrument or the inner catheter instrument that are in an engaged state are controlled to reverse.

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