Method and apparatus for driving elongated instrument, and storage medium

Abstract

The present application relates to the technical field of medical treatments, and in particular to a method and apparatus for driving an elongated instrument, and a storage medium. The method is applied to a driving apparatus of an interventional surgical robot. The driving apparatus comprises a delivery electric motor and a rotary electric motor. The method comprises: receiving a control instruction, wherein the control instruction is used for controlling an elongated instrument to move, and the control instruction carries rotation information of a rotary electric motor and / or rotation information of a delivery electric motor; determining a control mode of the elongated instrument on the basis of the control instruction, wherein the control mode comprises one of the following modes: delivery, rotation, and delivery and rotation; when the control mode is rotation, calculating compensation information of the delivery electric motor on the basis of the rotation information of the rotary electric motor carried in the control instruction; and on the basis of the rotation information of the rotary electric motor, controlling the rotary electric motor to rotate, and on the basis of the compensation information of the delivery electric motor, controlling the delivery electric motor to rotate, so as to drive the elongated instrument. By means of the present application, the movement of an elongated instrument can be accurately controlled.

Description

Method, device and storage medium for driving an elongated instrument

[0001] This application claims priority to a Chinese patent application filed on September 1, 2023, with application number 202311118085.9, entitled “Method, device and storage medium for driving an elongated instrument”. The entire contents of this Chinese patent application are incorporated herein by reference. Technical Field

[0002] The present application relates to the field of medical technology, and in particular to a method, a device and a storage medium for driving an elongated instrument. Background Art

[0003] Vascular interventional surgery is a minimally invasive procedure in which a small incision is made in the skin, a puncture needle is used to penetrate into the blood vessel, a channel is then established, and a special catheter and guide wire are passed along the vascular channel to the site of the problematic blood vessel. After reaching the designated location, the guide wire is pulled out, and then therapeutic drugs or embolic materials or stents, balloons, etc. are delivered to the designated location through the hollow catheter, thereby treating the problematic blood vessel within the blood vessel.

[0004] At present, this type of vascular interventional surgery can be completed by an interventional surgical robot. Specifically, the doctor can operate the master end of the interventional surgical robot to remotely control the driving device of the slave end of the interventional surgical robot outside the operating room (catheterization room) to coordinately control the slender instrument (including catheters, guidewires, balloon catheters, etc.) to complete the interventional surgery. The driving device of the slave end can also be understood as a driving device of the slender instrument, which can realize the control of the movement of the slender instrument. At present, the driving device of the slender instrument includes a delivery motor, a rotating motor, a delivery motor gear set, a rotating motor gear set, a delivery slender instrument power output shaft, a rotating slender instrument power output shaft, a slender instrument delivery gear, and a slender instrument rotating gear. When the delivery motor is started, power is transmitted to the delivery slender instrument power output shaft through the delivery motor gear set, and the delivery slender instrument power output shaft drives the slender instrument delivery gear to rotate, thereby driving the delivery of the slender instrument. The delivery of the slender instrument refers to the movement of the slender instrument along its axial direction. When the rotary motor is started, power is transmitted through the rotary motor gear set to the power output shaft of the rotating elongated instrument. The power output shaft of the rotating elongated instrument drives the rotation of the elongated instrument's rotating gear, thereby driving the rotation of the elongated instrument. Slender instrument rotation refers to the rotation of the elongated instrument about its axis. Furthermore, in current drive device designs for elongated instruments, rotation of the elongated instrument's rotating gear drives the elongated instrument's delivery gear in the same direction, while rotation of the elongated instrument's delivery gear does not drive the rotation of the elongated instrument's rotating gear. However, this design, in which rotation of the elongated instrument's rotating gear drives the elongated instrument's delivery gear in the same direction, can lead to delivery deviations when controlling the rotation of the elongated instrument, thus preventing precise control of the elongated instrument's movement.

[0005] Summary of the Invention

[0006] The purpose of the present application is to provide a method and device for delivering and rotating a slender instrument, aiming to solve the technical problem that the mechanical structure design of the current driving device of the slender instrument cannot accurately control the movement of the slender instrument.

[0007] In a first aspect, embodiments of the present application provide a method for driving an elongated instrument, which is applied to a driving device of an interventional surgical robot, wherein the driving device includes a delivery motor and a rotation motor, and the method includes:

[0008] receiving a control instruction for controlling the movement of the elongated instrument, the control instruction carrying rotation information of the rotary motor and / or rotation information of the delivery motor;

[0009] determining a control mode of the elongated instrument according to the control instruction, the control mode comprising one of the following modes: delivery, rotation, and delivery and rotation;

[0010] When the control mode is rotation, calculating compensation information of the delivery motor according to the rotation information of the rotating motor carried by the control instruction;

[0011] The rotation motor is controlled to rotate according to the rotation information of the rotation motor, and the delivery motor is controlled to rotate according to the compensation information of the delivery motor to drive the elongated instrument.

[0012] Furthermore, after the step of determining the control mode of the elongated instrument according to the control instruction, the method further includes:

[0013] When the control mode is delivery and rotation, calculating compensation information of the delivery motor according to the rotation information of the rotating motor carried in the control instruction;

[0014] Calculating actual rotation information of the delivery motor according to the delivery motor rotation information carried by the control instruction and the compensation information of the delivery motor;

[0015] The rotation motor is controlled to rotate according to the rotation information of the rotation motor, and the delivery motor is controlled to rotate according to the actual rotation information of the delivery motor to drive the slender instrument.

[0016] Furthermore, after the step of determining the control mode of the elongated instrument according to the control instruction, the method further includes:

[0017] When the control mode is delivery, the delivery motor is controlled to rotate according to the delivery motor rotation information carried in the control instruction to drive the elongated instrument.

[0018] Further, the rotation information of the rotating motor includes a rotation speed of the rotating motor, or the rotation information of the rotating motor includes a rotation speed of the rotating motor and a rotation angle of the rotating motor.

[0019] Further, the delivery motor rotation information includes the delivery motor rotation speed, or the delivery motor rotation information includes the delivery motor rotation speed and the delivery motor rotation angle.

[0020] Furthermore, the driving device further includes a delivery motor gear set and a rotating motor gear set, and is characterized in that, when the rotating motor rotation information includes the rotating motor rotation speed, the calculation of the delivery motor compensation information based on the rotating motor rotation information carried by the control instruction includes:

[0021] According to the formula v m =v2×k to calculate the delivery motor compensation speed; where v m is the compensation speed of the delivery motor, v2 is the rotation speed of the rotation motor, and k is a ratio value calculated according to the number of gears of each gear of the delivery motor gear set and the number of gears of each gear of the rotation motor gear set.

[0022] Furthermore, the driving device further includes a delivery motor gear set and a rotating motor gear set, and is characterized in that, when the rotating motor rotation information includes the rotating motor rotation speed and the rotating motor rotation angle, the calculation of the delivery motor compensation information based on the rotating motor rotation information carried by the control instruction includes:

[0023] According to the formula v m =v2×k to calculate the delivery motor compensation speed; where v m is the compensation speed of the delivery motor, v2 is the rotation speed of the rotation motor, and k is a ratio value calculated based on the number of gears of each gear of the delivery motor gear set and the number of gears of each gear of the rotation motor gear set;

[0024] According to the formula x m = -x2×k to calculate the delivery motor compensation angle; where x m is the compensation angle of the delivery motor, and x2 is the rotation angle of the rotation motor.

[0025] Furthermore, the driving device further includes a delivery motor gear set and a rotating motor gear set. When the rotating motor rotation information includes the rotating motor rotation speed and the rotating motor rotation angle, and the delivery motor rotation information includes the delivery motor rotation speed and the delivery motor rotation angle, the actual rotation information of the delivery motor is calculated based on the delivery motor rotation information carried by the control instruction and the compensation information of the delivery motor, including:

[0026] The actual rotational speed of the delivery motor is calculated according to the formula v=v2×k+v1; wherein v1 is the rotational speed of the delivery motor, v2 is the rotational speed of the rotational motor, k is a ratio calculated based on the number of gears of each gear of the delivery motor gear set and the number of gears of each gear of the rotational motor gear set, v2×k is the compensation speed of the delivery motor, and v is the actual rotational speed of the delivery motor;

[0027] The actual rotation angle of the delivery motor is calculated according to the formula x=x1-x2×k; wherein x1 is the rotation angle of the delivery motor, x2 is the rotation angle of the rotation motor, -x2×k is the compensation angle of the delivery motor, and x is the actual rotation angle of the delivery motor.

[0028] In a second aspect, an embodiment of the present application provides a device for driving an elongated instrument, which is applied to a driving device of an interventional surgical robot. The driving device includes a delivery motor and a rotation motor. The device for driving an elongated instrument includes:

[0029] A receiving module, configured to receive a control instruction; the control instruction is used to control the movement of the elongated instrument, the control instruction carrying rotation information of the rotary motor and / or rotation information of the delivery motor;

[0030] a control mode determination module, configured to determine a control mode of the elongated instrument according to the control instruction, the control mode comprising one of the following modes: delivery, rotation, and delivery and rotation;

[0031] a calculation module, configured to calculate compensation information of the delivery motor according to the rotation information of the rotating motor carried in the control instruction when the control mode is rotation;

[0032] A control module is used to control the rotation of the rotating motor according to the rotation information of the rotating motor, and to control the rotation of the delivery motor according to the compensation information of the delivery motor.

[0033] In a third aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements any of the above-described methods for driving an elongated instrument.

[0034] The embodiment of the present application calculates the compensation information of the delivery motor according to the rotation information of the rotating motor carried in the control instruction when determining that the control mode of the slender instrument is rotation, and then controls the rotation of the delivery motor according to the compensation information of the delivery motor, thereby controlling the delivery gear of the slender instrument to perform compensation, thereby solving the problem of delivery deviation caused by the rotation of the rotating gear of the slender instrument driving the delivery gear of the slender instrument to rotate in the same direction, ensuring that the slender instrument can rotate independently, that is, the movement of the slender instrument can be accurately controlled. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solution of the present application, the following is a brief introduction to the drawings required for use in the implementation. Obviously, the drawings described below are only some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0036] FIG1 is a schematic structural diagram of a driving device provided in an embodiment of the present application;

[0037] FIG2 is a schematic structural diagram of a power box provided in an embodiment of the present application;

[0038] FIG3 is a flow chart of a method for driving an elongated instrument provided in an embodiment of the present application.

[0039] Figure markings: 1. Delivery motor; 2. Rotating motor; 4. Delivery motor gear set; 5. Rotating motor gear set; 6. Power output shaft for delivering slender instrument; 7. Power output shaft for rotating slender instrument; 8. Slender instrument delivery gear; 9. Slender instrument rotating gear, 10 clamping assembly; 11. Sterile box; 12. Power box. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0041] Those skilled in the art will understand that, unless expressly stated otherwise, the singular forms "a", "an", "above", and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of this application refers to the presence of features, integers, steps, operations, elements, modules, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, modules, components, and / or groups thereof. It should be understood that when we refer to an element as being "connected" or "coupled" to another element, it may be directly connected or coupled to the other element, or there may be intermediate elements. In addition, "connected" or "coupled" as used herein may include wireless connections or wireless couplings. The term "and / or" used herein includes all or any module and all combinations of one or more associated listed items.

[0042] It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by those skilled in the art to which this application belongs. It should also be understood that terms such as those defined in common dictionaries should be understood to have meanings consistent with their meanings in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless specifically defined as herein.

[0043] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, apparatus, article, or method comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, apparatus, article, or method. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, apparatus, article, or method comprising the element.

[0044] Currently, a drive device for an elongated instrument can control the movement of the elongated instrument. As shown in Figure 1, the drive device for an elongated instrument currently includes a sterile box 11 and a power box 12. The sterile box 11 is mounted on the power box 12, which is used to provide power to the sterile box 11. The sterile box 11 includes an elongated instrument delivery gear 8, an elongated instrument rotation gear 9, and a clamping assembly 10, which is used to clamp the elongated instrument. A schematic structural diagram of the power box 12 is shown in Figure 2, which includes a delivery motor 1, a rotation motor 2, a delivery motor gear set 4, a rotation motor gear set 5, a power output shaft 6 for delivering the elongated instrument, and a power output shaft 7 for rotating the elongated instrument. As shown in FIG2 , when the delivery motor 1 is started, power is transmitted through the delivery motor gear set 4 to the delivery elongated instrument power output shaft 6. Specifically, power is transmitted through gear a, in sequence, to gear b, gear c, and gear d, and finally to the delivery elongated instrument power output shaft 6. The delivery elongated instrument power output shaft 6 then drives the elongated instrument delivery gear 8 shown in FIG1 to rotate. The elongated instrument delivery gear 8 drives the clamping assembly 10 to axially move the elongated instrument, thereby driving the elongated instrument delivery. Elongated instrument delivery refers to the axial movement of the elongated instrument. When the rotary motor 2 is started, power is transmitted through the rotary motor gear set 5 to the rotary elongated instrument power output shaft 7. Specifically, power is transmitted through gear e, in sequence, to gear f, gear g, and gear h, and finally to the rotary elongated instrument power output shaft 7. The rotary elongated instrument power output shaft 7 then drives the elongated instrument rotation gear 9 shown in FIG1 to rotate. The rotation of the elongated instrument rotation gear 9 drives the clamping assembly 10, which drives the elongated instrument to rotate about its axis, thereby driving the elongated instrument rotation. Elongated instrument rotation refers to the rotation of the elongated instrument about its axis. Furthermore, in current designs of drive devices for elongated instruments, rotation of the elongated instrument rotation gear 9 not only drives the clamping assembly 10 to rotate the elongated instrument about its axis, but also drives the elongated instrument delivery gear 8 to rotate in the same direction. Rotation of the elongated instrument delivery gear 8 does not drive rotation of the elongated instrument rotation gear 9. However, this design, in which rotation of the elongated instrument rotation gear 9 drives rotation of the elongated instrument delivery gear 8 in the same direction, can lead to delivery deviations when controlling the rotation of the elongated instrument, thus failing to accurately control the movement of the elongated instrument.

[0045] To solve the above-mentioned technical problems, an embodiment of the present application provides a method for driving an elongated instrument, which is applied to a driving device of an interventional surgical robot. The driving device includes a delivery motor and a rotation motor. The method includes steps S1-S4, as shown in FIG3 :

[0046] S1. Receive a control instruction, wherein the control instruction is used to control the movement of the slender instrument, and the control instruction carries rotation information of the rotating motor and / or rotation information of the delivery motor.

[0047] In step S1, the interventional surgical robot's drive device, acting as a slave, remotely receives control commands from the doctor's console (master). These control commands are used to control the movement of an elongated instrument, including delivery, rotation, and both delivery and rotation. The elongated instrument can be a guidewire, catheter, or other elongated instrument used for interventional therapy. Rotational motor rotation information is used to control the rotation of the rotational motor, while delivery motor rotation information is used to control the rotation of the delivery motor.

[0048] S2. Determine a control mode of the elongated instrument according to the control instruction, wherein the control mode comprises one of the following modes: delivery, rotation, and delivery and rotation.

[0049] In step S2, the control modes of the elongated instrument include delivery, rotation, and delivery and rotation. Delivery refers to the movement of the elongated instrument along its axis, specifically including forward and backward movement. Forward movement of the elongated instrument refers to the movement of the elongated instrument in the direction of entering the patient's blood vessel, and backward movement of the elongated instrument refers to the movement of the elongated instrument in the direction of exiting the patient's blood vessel. Rotation refers to the movement of the elongated instrument around its axis, including clockwise and counterclockwise rotation. Each control instruction corresponds to a control mode. When the control instruction carries rotation information of the rotation motor but does not carry rotation information of the delivery motor, the control mode of the elongated instrument is rotation, i.e., the elongated instrument is controlled to rotate. When the control instruction carries both rotation information of the rotation motor and rotation information of the delivery motor, the control mode of the elongated instrument is delivery and rotation, i.e., the elongated instrument is controlled to deliver and rotate. When the control instruction carries rotation information of the delivery motor but does not carry rotation information of the rotation motor, the control mode of the elongated instrument is delivery.

[0050] S3. When the control mode is rotation, the compensation information of the delivery motor is calculated according to the rotation information of the rotating motor carried by the control instruction.

[0051] In step S3, if the elongated instrument is to be controlled to rotate clockwise, the elongated instrument rotation gear must rotate clockwise. As previously mentioned, the mechanical structure of conventional elongated instrument drive devices is designed such that rotation of the elongated instrument rotation gear drives the elongated instrument delivery gear in the same direction. This means that conventional mechanical structure design results in delivery deviation, thus failing to ensure independent clockwise rotation of the elongated instrument. To address this issue and ensure independent clockwise rotation of the elongated instrument, the elongated instrument delivery gear must rotate counterclockwise at a certain ratio. This requires compensation for the elongated instrument delivery gear to ensure independent clockwise rotation of the elongated instrument. Furthermore, since the elongated instrument rotation gear is driven by a rotary motor, and the elongated instrument delivery gear is driven by the delivery motor, to ensure independent clockwise rotation of the elongated instrument, compensation information for the delivery motor must be calculated based on the rotation information of the rotary motor. This compensation information is then used to control the rotation of the delivery motor, thereby controlling the elongated instrument delivery gear to rotate counterclockwise at a certain ratio. Similarly, To control the counterclockwise rotation of the elongated instrument, the elongated instrument rotation gear must rotate counterclockwise. As previously mentioned, the mechanical structure of existing elongated instrument drive devices is designed so that rotation of the elongated instrument rotation gear drives the elongated instrument delivery gear in the same direction. This results in delivery deviations, making it impossible to guarantee counterclockwise rotation of the elongated instrument. To address this issue, to ensure counterclockwise rotation of the elongated instrument, the elongated instrument delivery gear must rotate clockwise at a certain ratio. This requires compensation from the elongated instrument delivery gear to ensure counterclockwise rotation of the elongated instrument. Furthermore, since the elongated instrument rotation gear is driven by a rotary motor, and the elongated instrument delivery gear is driven by the delivery motor, to ensure counterclockwise rotation of the elongated instrument, compensation information for the delivery motor must be calculated based on the rotation information of the rotary motor. This compensation information is then used to control the rotation of the delivery motor, thereby controlling the clockwise rotation of the elongated instrument delivery gear at a certain ratio.

[0052] S4. Control the rotation motor to rotate according to the rotation information of the rotation motor, and control the delivery motor to rotate according to the compensation information of the delivery motor to drive the elongated instrument.

[0053] In step S4, as can be seen from the above, if the slender instrument is to be controlled to rotate clockwise, the slender instrument rotating gear needs to rotate clockwise. Since the slender instrument rotating gear is driven by a rotary motor, it is necessary to control the rotary motor to rotate, specifically according to the rotary motor rotation information carried by the control instruction. Since the clockwise rotation of the slender instrument rotating gear will drive the slender instrument delivery gear to rotate clockwise, if it is to be ensured that the slender instrument can rotate clockwise alone, that is, no delivery deviation is generated or the delivery deviation is very small, then the slender instrument delivery gear needs to rotate counterclockwise at a certain ratio. Since the slender instrument rotating gear is driven by the delivery motor, it is necessary to control the delivery motor to rotate, specifically according to the compensation information of the delivery motor.

[0054] The embodiment of the present application calculates the compensation information of the delivery motor according to the rotation information of the rotating motor carried in the control instruction when determining that the control mode of the slender instrument is rotation, and then controls the rotation of the delivery motor according to the compensation information of the delivery motor, thereby controlling the delivery gear of the slender instrument to perform compensation, thereby solving the problem of delivery deviation caused by the rotation of the rotating gear of the slender instrument driving the delivery gear of the slender instrument to rotate in the same direction, ensuring that the slender instrument can rotate independently, that is, the movement of the slender instrument can be accurately controlled.

[0055] In some embodiments, after the step of determining the control mode of the elongated instrument according to the control instruction, the method further comprises:

[0056] When the control mode is delivery and rotation, calculating compensation information of the delivery motor according to the rotation information of the rotating motor carried in the control instruction;

[0057] Calculating actual rotation information of the delivery motor according to the delivery motor rotation information carried by the control instruction and the compensation information of the delivery motor;

[0058] The rotation motor is controlled to rotate according to the rotation information of the rotation motor, and the delivery motor is controlled to rotate according to the actual rotation information of the delivery motor to drive the slender instrument.

[0059] In an embodiment of the present application, when a control instruction carries both rotation information of the rotating motor and rotation information of the delivery motor, the control mode of the elongated instrument is delivery and rotation, i.e., the elongated instrument is controlled to deliver and rotate. As previously mentioned, when the elongated instrument rotates, the elongated instrument delivery gear requires compensation. Therefore, the delivery motor compensation information needs to be calculated based on the rotation information of the rotating motor. Furthermore, since the control mode includes delivery, the actual delivery motor rotation speed needs to be calculated based on the delivery motor compensation information and the delivery motor rotation information carried in the control instruction. To ensure that the elongated instrument can accurately achieve a combined motion, it is necessary to control the rotation of the rotating motor based on the rotation information of the rotating motor and to control the rotation of the delivery motor based on the actual rotation information of the delivery motor to drive the combined motion of the elongated instrument.

[0060] In some embodiments, after the step of determining the control mode of the elongated instrument according to the control instruction, the method further comprises:

[0061] When the control mode is delivery, the delivery motor is controlled to rotate according to the delivery motor rotation information carried in the control instruction to drive the elongated instrument.

[0062] In the embodiment of the present application, when a control instruction carries the delivery motor rotation information but does not carry the rotation motor rotation information, it indicates that the control mode of the elongated instrument is delivery, i.e., controlling the delivery of the elongated instrument. As previously mentioned, the rotation of the elongated instrument delivery gear does not cause the rotation gear of the elongated instrument to rotate. Therefore, the elongated instrument can be controlled to be delivered independently by simply controlling the delivery motor to rotate according to the delivery motor rotation information carried in the control instruction.

[0063] In some embodiments, the rotation information of the rotating motor includes a rotation speed of the rotating motor, or the rotation information of the rotating motor includes a rotation speed of the rotating motor and a rotation angle of the rotating motor.

[0064] In an embodiment of the present application, the method for controlling the rotation of the elongated instrument includes controlling the rotation of the elongated instrument in a speed mode or controlling the rotation of the elongated instrument in a position mode. Controlling the rotation of the elongated instrument in a speed mode refers to controlling the rotation of the elongated instrument at a set speed, for example, controlling the rotation of the elongated instrument at 3 revolutions per second. Since the rotation of the elongated instrument requires power from a rotary motor, the rotation speed of the elongated instrument needs to be converted into the rotation speed of the rotary motor. The rotation speed of the elongated instrument is obtained by the doctor's console and converted into the rotation speed of the rotary motor. For example, the doctor inputs the rotation speed of the elongated instrument into the doctor's console. This input can be performed in various ways, such as through a screen or by operating a joystick. The doctor's console then obtains the rotation speed of the elongated instrument and converts it into the rotation speed of the rotary motor. It should be understood that the rotation speed of the rotary motor is the rotation speed of the rotary motor. Controlling the rotation of the elongated instrument in a position mode refers to controlling the rotation of the elongated instrument at a set speed and for a set angle. For example, a slender instrument is controlled to rotate at 3 rpm (revolutions per second) and 720°. When the slender instrument has rotated 720°, it stops rotating. Because the rotation of the slender instrument requires power from a rotary motor, the rotational speed of the slender instrument must be converted into the rotational speed of the rotary motor, and the rotational angle of the slender instrument must be converted into the rotational angle of the rotary motor. The rotational speed and rotational angle of the slender instrument are obtained by the doctor's console and converted into the rotational speed and rotational angle of the rotary motor by the doctor's console. For example, the doctor inputs the rotational speed and rotational angle of the slender instrument into the doctor's console, which then obtains the rotational speed and rotational angle of the slender instrument. The doctor's console then converts the rotational speed of the slender instrument into the rotational speed of the rotary motor, and the rotational angle of the slender instrument into the rotational angle of the rotary motor. It should be understood that the rotational angle of the rotary motor is the rotational angle of the rotary motor. During interventional surgery, the slender instrument can be rotated within the patient's blood vessel in either speed mode or position mode. Since speed mode simply rotates the slender instrument at a set speed, it cannot effectively control the desired rotation angle of the slender instrument. When the speed is too high, the deviation will be greater. Since the position mode stops rotating at the set angle, it can accurately control the rotation of the slender instrument to the desired angle. In other words, compared with the speed mode, the position mode can more accurately control the rotation of the slender instrument to the desired angle.

[0065] In some embodiments, the delivery motor rotation information includes the delivery motor rotation speed, or the delivery motor rotation information includes the delivery motor rotation speed and the delivery motor rotation angle.

[0066] In an embodiment of the present application, the method for controlling the delivery of a slender instrument includes controlling the delivery of the slender instrument in a speed mode or controlling the delivery of the slender instrument in a position mode. Controlling the delivery of the slender instrument in a speed mode means controlling the delivery of the slender instrument at a set speed, for example, controlling the delivery of the slender instrument at 3 m / s (meters per second). Since the delivery of the slender instrument requires power from a delivery motor, it is necessary to convert the delivery speed of the slender instrument into the rotational speed of the delivery motor. The delivery speed of the slender instrument is obtained by the doctor's console and converted into the rotational speed of the delivery motor by the doctor's console. For example, the doctor inputs the delivery speed of the slender instrument into the doctor's console. There are various input methods, such as the doctor inputting it through a screen or by operating a joystick. In this way, the doctor's console obtains the delivery speed of the slender instrument and then converts the delivery speed of the slender instrument into the rotational speed of the delivery motor. Controlling the delivery of the slender instrument in a position mode means controlling the delivery of the slender instrument at a set speed and delivering a set displacement (distance). For example, a slender instrument is controlled to deliver at 3 m / s and deliver 3 mm (millimeter). When the slender instrument delivers 3 mm, the slender instrument stops delivering. Since the delivery of the slender instrument requires power from the delivery motor, it is necessary to convert the delivery speed of the slender instrument into the rotation speed of the delivery motor and the delivery displacement of the slender instrument into the rotation angle of the delivery motor. The delivery speed and delivery displacement of the slender instrument are obtained by the doctor's console and converted into the rotation speed and rotation angle of the delivery motor by the doctor's console. For example, the doctor inputs the delivery speed and delivery displacement of the slender instrument into the doctor's console. There are various input methods, such as the doctor inputting through the screen or by operating the joystick. In this way, the doctor's console obtains the delivery speed and delivery displacement of the slender instrument, and then the doctor's console converts the delivery speed of the slender instrument into the rotation speed of the delivery motor and the delivery displacement of the slender instrument into the rotation angle of the delivery motor. During interventional procedures, a slender device can be delivered within a patient's blood vessels in either speed mode or position mode. Since speed mode simply delivers at a set speed, it cannot effectively control the desired displacement (i.e., the desired distance) of the slender device. When the speed is too high, the deviation is even greater. Position mode, on the other hand, stops delivery after reaching the set displacement, allowing precise control of the slender device's desired displacement. In other words, compared to speed mode, position mode allows for more precise control of the slender device's desired displacement.

[0067] As can be seen from the above, in addition to simple rotation and delivery, there is also delivery and rotation. When controlling the delivery and rotation of a slender instrument, the control instructions carry rotation information of the rotation motor and rotation information of the delivery motor. The rotation information of the rotation motor includes the rotation speed of the rotation motor, or the rotation information of the rotation motor includes the rotation speed and the rotation angle of the rotation motor. The delivery motor rotation information includes the rotation speed of the delivery motor, or the delivery motor rotation information includes the rotation speed and the rotation angle of the delivery motor. In other words, delivery and rotation include four modes: rotation in speed mode and delivery in speed mode, rotation in speed mode and delivery in position mode, rotation in position mode and delivery in speed mode, and rotation in position mode and delivery in position mode. Compared with the other three modes, rotation in position mode and delivery in position mode can more accurately control the combined motion of the slender instrument. It should be understood that the combined motion here refers to delivery and rotation.

[0068] In some embodiments, the driving device further includes a delivery motor gear set and a rotating motor gear set. When the rotating motor rotation information includes the rotating motor rotation speed, calculating the compensation information of the delivery motor based on the rotating motor rotation information carried by the control instruction includes:

[0069] According to the formula v m =v2×k to calculate the delivery motor compensation speed; where v m is the compensation speed of the delivery motor, v2 is the rotation speed of the rotation motor, and k is a ratio value calculated according to the number of gears of each gear of the delivery motor gear set and the number of gears of each gear of the rotation motor gear set.

[0070] In the embodiment of the present application, when the control instruction carries the rotation information of the rotary motor but does not carry the rotation information of the delivery motor, and the rotation information of the rotary motor carries the rotation speed of the rotary motor but does not carry the rotation angle of the rotary motor, it means that the slender instrument is controlled to rotate in the speed mode. In this case, the compensation speed of the delivery motor is calculated based on the rotation speed of the rotary motor and the k value, as shown in the formula v m =v2×k. To ensure that the slender instrument rotates independently, the rotary motor is controlled to rotate according to the rotary motor rotation speed carried by the control instruction and the delivery motor is controlled to rotate in the opposite direction at the compensation speed. The k value here is a ratio calculated based on the number of gears of each gear of the delivery motor gear set and the number of gears of each gear of the rotary motor gear set. When the delivery motor gear set and the rotary motor gear set are as shown in Figure 2, the k value is specifically calculated according to the formula Calculated; where a, b, c, d, e, f, g, and h represent the number of gear teeth respectively. The transmission ratio between the delivery motor gears a and b is a / b, and the transmission ratio between c and d is c / d. Similarly, the transmission ratio between the rotating motor gears e and f is e / f, and the transmission ratio between g and h is g / h.

[0071] In some embodiments, the driving device further includes a delivery motor gear set and a rotating motor gear set, wherein when the rotating motor rotation information includes the rotating motor rotation speed and the rotating motor rotation angle, the calculating the compensation information of the delivery motor according to the rotating motor rotation information carried by the control instruction includes:

[0072] According to the formula v m =v2×k to calculate the delivery motor compensation speed; where v m is the compensation speed of the delivery motor, v2 is the rotation speed of the rotation motor, and k is a ratio value calculated based on the number of gears of each gear of the delivery motor gear set and the number of gears of each gear of the rotation motor gear set;

[0073] According to the formula x m = -x2×k to calculate the delivery motor compensation angle; where x m is the compensation angle of the delivery motor, and x2 is the rotation angle of the rotation motor.

[0074] In the embodiment of the present application, when the control instruction carries the rotation information of the rotary motor but does not carry the rotation information of the delivery motor, and the rotation information of the rotary motor carries the rotation speed of the rotary motor and the rotation angle of the rotary motor, it means that the slender instrument is controlled to rotate in the position mode. In this case, the compensation speed of the delivery motor is calculated based on the rotation speed of the rotary motor and the k value, and the compensation angle of the delivery motor is calculated based on the rotation angle of the rotary motor and the k value, as shown in formula v m =v2×k and formula x m =-x2×k, these two formulas indicate that when the rotary motor rotates clockwise at a speed of v2 and rotates to the position x2, the delivery motor needs to rotate counterclockwise at a speed of v2×k to the position x2×k to ensure that the slender instrument can achieve a separate clockwise rotational motion. When the rotary motor rotates counterclockwise at a speed of v2 and rotates to the position x2, the delivery motor needs to rotate clockwise at a speed of v2×k to the position x2×k to ensure that the slender instrument can achieve a separate counterclockwise rotational motion. In addition, the k value here is a proportional value calculated based on the number of gears of each gear of the delivery motor gear set and the number of gears of each gear of the rotary motor gear set. When the delivery motor gear set and the rotary motor gear set are as shown in FIG2 , the k value is specifically calculated according to the formula Calculated; where a, b, c, d, e, f, g, and h represent the number of gear teeth respectively. The transmission ratio between the delivery motor gears a and b is a / b, and the transmission ratio between c and d is c / d. Similarly, the transmission ratio between the rotating motor gears e and f is e / f, and the transmission ratio between g and h is g / h.

[0075] In some embodiments, the driving device further includes a delivery motor gear set and a rotating motor gear set. When the rotating motor rotation information includes the rotating motor rotation speed and the rotating motor rotation angle, and the delivery motor rotation information includes the delivery motor rotation speed and the delivery motor rotation angle, calculating the actual rotation information of the delivery motor based on the delivery motor rotation information carried by the control instruction and the compensation information of the delivery motor includes:

[0076] The actual rotational speed of the delivery motor is calculated according to the formula v=v2×k+v1; wherein v1 is the rotational speed of the delivery motor, v2 is the rotational speed of the rotational motor, k is a ratio calculated based on the number of gears of each gear of the delivery motor gear set and the number of gears of each gear of the rotational motor gear set, v2×k is the compensation speed of the delivery motor, and v is the actual rotational speed of the delivery motor;

[0077] The actual rotation angle of the delivery motor is calculated according to the formula x=x1-x2×k; wherein x1 is the rotation angle of the delivery motor, x2 is the rotation angle of the rotation motor, -x2×k is the compensation angle of the delivery motor, and x is the actual rotation angle of the delivery motor.

[0078] In an embodiment of the present application, when a control instruction carries both rotation information of the rotating motor and rotation information of the delivery motor, and the rotating motor rotation information carries both the rotating motor rotation speed and the rotating motor rotation angle, and the delivery motor rotation information carries both the delivery motor rotation speed and the delivery motor rotation angle, this indicates that the elongated instrument is controlled to control the combined motion of the elongated instrument in position mode, i.e., rotation is controlled in position mode and delivery is controlled in position mode. Specifically, the delivery motor's compensation speed is calculated based on the rotating motor's rotation speed and the k value carried in the control instruction. The actual delivery motor's rotation speed is then calculated by adding the delivery motor's compensation speed to the delivery motor's rotation speed carried in the control instruction. The delivery motor's compensation angle is calculated based on the rotating motor's rotation angle and the k value carried in the control instruction. The actual delivery motor's rotation angle is then calculated by adding the delivery motor's compensation angle to the delivery motor's rotation angle carried in the control instruction. To ensure precise control of the combined motion of the elongated instrument, it is necessary to control the rotation of the rotating motor based on the rotating motor's rotation speed and rotation angle carried in the control instruction, and to control the rotation of the delivery motor based on the delivery motor's actual rotation speed and actual rotation angle carried in the control instruction. It should be noted that the speeds mentioned here are not positive or negative, but only magnitude.

[0079] The present application also provides a device for driving an elongated instrument, which is applied to a driving device of an interventional surgical robot. The driving device includes a delivery motor and a rotation motor. The device for driving an elongated instrument includes:

[0080] A receiving module, configured to receive a control instruction; the control instruction is used to control the movement of the elongated instrument, the control instruction carrying rotation information of the rotary motor and / or rotation information of the delivery motor;

[0081] a control mode determination module, configured to determine a control mode of the elongated instrument according to the control instruction, the control mode comprising one of the following modes: delivery, rotation, and delivery and rotation;

[0082] a first calculation module, configured to calculate compensation information of the delivery motor according to the rotation information of the rotating motor carried in the control instruction when the control mode is rotation;

[0083] The first control module is configured to control the rotation of the rotating motor according to the rotation information of the rotating motor and to control the rotation of the delivery motor according to the compensation information of the delivery motor.

[0084] In some embodiments, the means for driving the elongated instrument further comprises:

[0085] a second calculation module, configured to calculate compensation information of the delivery motor according to the rotation information of the rotating motor carried in the control instruction when the control mode is delivery and rotation;

[0086] a third calculation module, configured to calculate actual rotation information of the delivery motor according to the delivery motor rotation information carried by the control instruction and the compensation information of the delivery motor;

[0087] The second control module is configured to control the rotation of the rotary motor according to the rotation information of the rotary motor and control the rotation of the delivery motor according to the actual rotation information of the delivery motor, so as to drive the elongated instrument.

[0088] In some embodiments, the means for driving the elongated instrument further comprises:

[0089] The third control module is configured to control the rotation of the delivery motor according to the delivery motor rotation information carried in the control instruction to drive the elongated instrument when the control mode is delivery.

[0090] In some embodiments, the rotation information of the rotating motor includes a rotation speed of the rotating motor, or the rotation information of the rotating motor includes a rotation speed of the rotating motor and a rotation angle of the rotating motor.

[0091] In some embodiments, the delivery motor rotation information includes the delivery motor rotation speed, or the delivery motor rotation information includes the delivery motor rotation speed and the delivery motor rotation angle.

[0092] In some embodiments, the driving device further includes a delivery motor gear set and a rotating motor gear set. When the rotating motor rotation information includes the rotating motor rotation speed, the first calculation module is specifically configured to:

[0093] According to the formula v m =v2×k to calculate the delivery motor compensation speed; where v m is the compensation speed of the delivery motor, v2 is the rotation speed of the rotation motor, and k is a ratio value calculated according to the number of gears of each gear of the delivery motor gear set and the number of gears of each gear of the rotation motor gear set.

[0094] In some embodiments, the driving device further includes a delivery motor gear set and a rotation motor gear set. When the rotation information of the rotation motor includes a rotation speed and a rotation angle of the rotation motor, the third calculation module is specifically configured to:

[0095] According to the formula v m =v2×k to calculate the delivery motor compensation speed; where v m is the compensation speed of the delivery motor, v2 is the rotation speed of the rotation motor, and k is a ratio value calculated based on the number of gears of each gear of the delivery motor gear set and the number of gears of each gear of the rotation motor gear set;

[0096] According to the formula x m = -x2×k to calculate the delivery motor compensation angle; where x m is the compensation angle of the delivery motor, and x2 is the rotation angle of the rotation motor.

[0097] In some embodiments, the driving device further includes a delivery motor gear set and a rotation motor gear set. It is characterized in that when the rotation information of the rotation motor includes the rotation speed of the rotation motor and the rotation angle of the rotation motor, and the delivery motor rotation information includes the delivery motor rotation speed and the delivery motor rotation angle, the third calculation module is specifically used to:

[0098] The actual rotational speed of the delivery motor is calculated according to the formula v=v2×k+v1; wherein v1 is the rotational speed of the delivery motor, v2 is the rotational speed of the rotational motor, k is a ratio calculated based on the number of gears of each gear of the delivery motor gear set and the number of gears of each gear of the rotational motor gear set, v2×k is the compensation speed of the delivery motor, and v is the actual rotational speed of the delivery motor;

[0099] The actual rotation angle of the delivery motor is calculated according to the formula x=x1-x2×k; wherein x1 is the rotation angle of the delivery motor, x2 is the rotation angle of the rotation motor, -x2×k is the compensation angle of the delivery motor, and x is the actual rotation angle of the delivery motor.

[0100] One embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon. When executed by a processor, the computer program implements a method for driving an elongated instrument. The method is applied to a drive device of an interventional surgical robot, wherein the drive device includes a delivery motor and a rotation motor. The method comprises: receiving a control instruction for controlling the movement of the elongated instrument, the control instruction carrying rotation information of the rotation motor and / or rotation information of the delivery motor; determining a control mode of the elongated instrument based on the control instruction, the control mode including one of the following modes: delivery, rotation, and delivery and rotation; when the control mode is rotation, calculating compensation information for the delivery motor based on the rotation information of the rotation motor carried in the control instruction; controlling the rotation of the rotation motor based on the rotation information of the rotation motor, and controlling the rotation of the delivery motor based on the compensation information of the delivery motor to drive the elongated instrument. It is understood that the computer-readable storage medium in this embodiment can be a volatile readable storage medium or a non-volatile readable storage medium.

[0101] Those skilled in the art will understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media provided in this application and used in the embodiments may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct RAMbus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM).

[0102] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, apparatus, article, or method comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, apparatus, article, or method. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, apparatus, article, or method comprising the element.

[0103] The above description is only a preferred embodiment of the present application and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

[0104] The above description is only a preferred embodiment of the present application and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for driving an elongated instrument, applied to a driving device of an interventional surgical robot, the driving device comprising a delivery motor and a rotation motor, characterized in that: The method comprises: receiving a control instruction, the control instruction being used to control the movement of the elongated device, the control instruction carrying rotation information of the rotary motor and / or rotation information of the delivery motor; Determining a control mode of the elongated instrument according to the control instruction, the control mode comprising one of the following modes: delivery, rotation, and delivery and rotation; When the control mode is rotation, the compensation information of the delivery motor is calculated according to the rotation information of the rotating motor carried by the control instruction; The rotation motor is controlled to rotate according to the rotation information of the rotation motor, and the delivery motor is controlled to rotate according to the compensation information of the delivery motor to drive the elongated instrument.

2. The method for driving an elongated instrument according to claim 1, characterized in that: After the step of determining the control mode of the elongated instrument according to the control instruction, the method further comprises: When the control mode is delivery and rotation, the compensation information of the delivery motor is calculated according to the rotation information of the rotating motor carried by the control instruction; Calculating actual rotation information of the delivery motor according to the delivery motor rotation information carried by the control instruction and the compensation information of the delivery motor; The rotation motor is controlled to rotate according to the rotation information of the rotation motor, and the delivery motor is controlled to rotate according to the actual rotation information of the delivery motor to drive the elongated instrument.

3. The method for driving an elongated instrument according to claim 1, characterized in that: After the step of determining the control mode of the elongated instrument according to the control instruction, the method further comprises: When the control mode is delivery, the delivery motor is controlled to rotate according to the delivery motor rotation information carried by the control instruction to drive the elongated instrument.

4. A method for driving an elongated instrument according to claim 1 or 2, characterized in that: The rotating electric machine rotation information includes the rotating electric machine rotation speed, or the rotating electric machine rotation information includes the rotating electric machine rotation speed and the rotating electric machine rotation angle.

5. A method for driving an elongated instrument according to any one of claims 2 or 3, characterized in that: The delivery motor rotation information includes the delivery motor rotation speed, or the delivery motor rotation information includes the delivery motor rotation speed and the delivery motor rotation angle.

6. The method for driving an elongated instrument according to claim 4, wherein the driving device further comprises a delivery motor gear set and a rotation motor gear set, wherein: When the rotation information of the rotating electric machine includes the rotation speed of the rotating electric machine, the step of calculating the compensation information of the delivered electric machine according to the rotation information of the rotating electric machine carried by the control instruction includes: According to the formula v m =v2×k to calculate the delivery motor compensation speed; where v m is the compensation speed of the delivery motor, v2 is the rotation speed of the rotation motor, and k is a proportional value calculated according to the number of gears of each gear of the delivery motor gear set and the number of gears of each gear of the rotation motor gear set.

7. The method for driving an elongated instrument according to claim 4, wherein the driving device further comprises a delivery motor gear set and a rotation motor gear set, wherein: When the rotation information of the rotating motor includes the rotation speed of the rotating motor and the rotation angle of the rotating motor, the step of calculating the compensation information of the delivered motor according to the rotation information of the rotating motor carried by the control instruction includes: According to the formula v m =v2×k to calculate the delivery motor compensation speed; where v m is the compensation speed of the delivery motor, v2 is the rotation speed of the rotation motor, and k is a ratio value calculated according to the number of gears of each gear of the delivery motor gear set and the number of gears of each gear of the rotation motor gear set; According to the formula x m =-x2×k to calculate the delivery motor compensation angle; where x m is the compensation angle of the delivery motor, and x2 is the rotation angle of the rotation motor.

8. The method for driving an elongated instrument according to claim 2, wherein the driving device further comprises a delivery motor gear set and a rotation motor gear set, wherein: When the rotation information of the rotating motor includes the rotation speed of the rotating motor and the rotation angle of the rotating motor, and the rotation information of the delivery motor includes the rotation speed of the delivery motor and the rotation angle of the delivery motor, the actual rotation information of the delivery motor is calculated according to the rotation information of the delivery motor carried by the control instruction and the compensation information of the delivery motor, including: The actual rotation speed of the delivery motor is calculated according to the formula v=v2×k+v1; wherein v1 is the rotation speed of the delivery motor, v2 is the rotation speed of the rotary motor, k is a ratio value calculated according to the number of gears of each gear of the delivery motor gear set and the number of gears of each gear of the rotary motor gear set, v2×k is the compensation speed of the delivery motor, and v is the actual rotation speed of the delivery motor; The actual rotation angle of the delivery motor is calculated according to the formula x=x1-x2×k; wherein x1 is the rotation angle of the delivery motor, x2 is the rotation angle of the rotating motor, -x2×k is the compensation angle of the delivery motor, and x is the actual rotation angle of the delivery motor.

9. A method for driving an elongated instrument according to any one of claims 6 to 8, characterized in that The k is a ratio of the product of the transmission ratios of the gears of the delivery motor gear set to the product of the transmission ratios of the gears of the rotation motor gear set.

10. A device for driving a slender instrument, applied to a driving device of an interventional surgical robot, the driving device comprising a delivery motor and a rotation motor, characterized in that: The device for driving the elongated instrument comprises: A receiving module, used for receiving a control instruction; the control instruction is used for controlling the movement of the elongated device, and the control instruction carries the rotation information of the rotating motor and / or the rotation information of the delivery motor; a control mode determination module, configured to determine a control mode of the elongated instrument according to the control instruction, the control mode comprising one of the following modes: delivery, rotation, and delivery and rotation; A first calculation module, configured to calculate compensation information of the delivery motor according to the rotation information of the rotating motor carried by the control instruction when the control mode is rotation; The second control module is used to control the rotation of the rotating motor according to the rotation information of the rotating motor, and to control the rotation of the delivery motor according to the compensation information of the delivery motor.

11. The device for driving an elongated instrument according to claim 10, characterized in that The device for driving the elongated instrument further comprises: A second calculation module, configured to calculate compensation information of the delivery motor according to the rotation information of the rotating motor carried by the control instruction when the control mode is delivery and rotation; The third computing module is used to deliver the motor rotation information carried by the control instruction and the The compensation information of the delivery motor is used to calculate the actual rotation information of the delivery motor; The second control module is used to control the rotation of the rotating motor according to the rotation information of the rotating motor, and control the rotation of the delivery motor according to the actual rotation information of the delivery motor, so as to drive the slender instrument.

12. The device for driving an elongated instrument according to claim 10, characterized in that The device for driving the elongated instrument further comprises: The third control module is used to control the rotation of the delivery motor according to the rotation information of the delivery motor carried by the control instruction to drive the elongated instrument when the control mode is delivery.

13. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the following steps are implemented: receiving a control instruction, the control instruction being used to control the movement of the elongated instrument, the control instruction carrying rotation information of a rotary motor and / or rotation information of a delivery motor of a driving device of the interventional surgical robot; Determining a control mode of the elongated instrument according to the control instruction, the control mode comprising one of the following modes: delivery, rotation, and delivery and rotation; When the control mode is rotation, calculating compensation information of a delivery motor of a driving device of the interventional surgery robot according to rotation information of the rotary motor carried in the control instruction; The rotation motor is controlled to rotate according to the rotation information of the rotation motor, and the delivery motor is controlled to rotate according to the compensation information of the delivery motor to drive the elongated instrument.

14. The computer-readable storage medium according to claim 13, wherein: After the processor executes the step of determining the control mode of the elongated instrument according to the control instruction, the computer program further implements the following steps when executed by the processor: When the control mode is delivery and rotation, the compensation information of the delivery motor is calculated according to the rotation information of the rotating motor carried by the control instruction; Calculating actual rotation information of the delivery motor according to the delivery motor rotation information carried by the control instruction and the compensation information of the delivery motor; The rotation motor is controlled to rotate according to the rotation information of the rotation motor, and the delivery motor is controlled to rotate according to the actual rotation information of the delivery motor to drive the elongated instrument.

15. The computer-readable storage medium according to claim 13, wherein: After the processor executes the step of determining the control mode of the elongated instrument according to the control instruction, the computer program further implements the following steps when executed by the processor: When the control mode is delivery, the delivery motor is controlled to rotate according to the delivery motor rotation information carried by the control instruction to drive the elongated instrument.

16. The computer-readable storage medium according to claim 13 or 14, characterized in that: The rotating electric machine rotation information includes the rotating electric machine rotation speed, or the rotating electric machine rotation information includes the rotating electric machine rotation speed and the rotating electric machine rotation angle.

17. The computer-readable storage medium according to any one of claims 14 or 15, characterized in that: The delivery motor rotation information includes the delivery motor rotation speed, or the delivery motor rotation information includes the delivery motor rotation speed and the delivery motor rotation angle.

18. The computer-readable storage medium according to claim 16, wherein: When the rotation information of the rotating motor includes the rotation speed of the rotating motor, when the processor executes the step of calculating the compensation information of the delivery motor according to the rotation information of the rotating motor carried by the control instruction, the following steps are specifically performed: According to the formula v m =v2×k to calculate the delivery motor compensation speed; Among them, v m is the compensation speed of the delivery motor, v2 is the rotation speed of the rotation motor, and k is a proportional value calculated according to the number of gears of each gear of the delivery motor gear set of the driving device and the number of gears of each gear of the rotation motor gear set of the driving device.

19. The computer-readable storage medium according to claim 16, wherein: When the rotation information of the rotating motor includes the rotation speed of the rotating motor and the rotation angle of the rotating motor, when the processor executes the step of calculating the compensation information of the delivery motor according to the rotation information of the rotating motor carried by the control instruction, the following steps are specifically executed: According to the formula v m =v2×k to calculate the delivery motor compensation speed; Among them, v m is the compensation speed of the delivery motor, v2 is the rotation speed of the rotation motor, and k is a ratio value calculated according to the number of gears of each gear of the delivery motor gear set of the driving device and the number of gears of each gear of the rotation motor gear set of the driving device; According to the formula x m =-x2×k to calculate the delivery motor compensation angle; where x m is the compensation angle of the delivery motor, and x2 is the rotation angle of the rotation motor.

20. The computer-readable storage medium of claim 14, wherein: When the rotation information of the rotating motor includes the rotation speed of the rotating motor and the rotation angle of the rotating motor, and the rotation information of the delivered motor includes the rotation speed of the delivered motor and the rotation angle of the delivered motor, when the processor executes the step of calculating the actual rotation information of the delivered motor according to the rotation information of the delivered motor carried by the control instruction and the compensation information of the delivered motor, the following steps are specifically executed: Calculate the actual rotation speed of the delivery motor according to the formula v=v2×k+v1; Wherein, v1 is the rotation speed of the delivery motor, v2 is the rotation speed of the rotation motor, k is a ratio value calculated according to the number of gears of each gear of the delivery motor gear set of the driving device and the number of gears of each gear of the rotation motor gear set of the driving device, v2×k is the compensation speed of the delivery motor, and v is the actual rotation speed of the delivery motor; The actual rotation angle of the delivery motor is calculated according to the formula x=x1-x2×k; wherein x1 is the rotation angle of the delivery motor, x2 is the rotation angle of the rotating motor, -x2×k is the compensation angle of the delivery motor, and x is the actual rotation angle of the delivery motor.

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