Rapid-exchange instrument delivery state detection apparatus and detection method, and interventional operation robot

Abstract

A rapid-exchange instrument delivery state detection apparatus (10) and detection method, and an interventional operation robot (20). The rapid-exchange instrument delivery state detection apparatus (10) comprises a first apparatus body (100), a second apparatus body (200), a fixed valve (300), a delivery mechanism (400), a first detection component (500), a second detection component (600), and a third detection component (700), wherein in the length direction of a guide wire (40), the first apparatus body (100) and the second apparatus body (200) are spaced apart, the fixed valve (300) is disposed on the first apparatus body (100), and the delivery mechanism (400) is disposed on the second apparatus body (200). The forward movement state and the backward movement state of a balloon catheter (30) can be detected, and damage to the balloon catheter (30) during forward movement and backward movement can be avoided.

Description

Fast delivery instrument delivery status detection device, detection method and interventional surgery robot

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on September 27, 2023, with application number 202311261651.1 and application name “Express delivery instrument delivery status detection device, detection method and interventional surgical robot”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of medical devices, and in particular to a fast-delivery device delivery status detection device, a detection method, and an interventional surgical robot. Background Art

[0003] Interventional surgery is a method of in-vivo diagnosis and localized treatment performed under the guidance of medical imaging equipment using specialized catheters, guidewires, and other precision instruments. Interventional surgical robots are commonly used in interventional surgery. Rapid delivery devices, such as guidewires and catheters, are commonly used in interventional surgery and play a vital role in the treatment of various vascular diseases.

[0004] The inventors discovered that when doctors use robots to perform interventional surgeries, such as percutaneous coronary intervention, they need to check the advance and retreat of the rapid delivery device on the screen. This requires manual real-time monitoring of the delivery status of the rapid delivery device, which can easily make it difficult for doctors to fully devote themselves to the surgery.

[0005] Application Contents

[0006] The first purpose of the present application is to provide a device for detecting the delivery status of an express delivery device, which aims to solve the technical problem in the related art of requiring manual real-time monitoring of the delivery status of the express delivery device.

[0007] To achieve the above objectives, the solution provided by this application is:

[0008] A fast delivery device delivery status detection device is capable of delivering a balloon catheter so that the balloon catheter moves along the length direction of a guidewire, wherein the balloon catheter includes a first section and a second section connected in sequence, wherein the first section and the second section intersect with the guidewire to form an intersection, and the end of the second section away from the intersection is defined as the tail end, wherein the fast delivery device delivery status detection device includes:

[0009] a first body, a second body, a fixed valve, a delivery mechanism, a first detection component, a second detection component, and a third detection component,

[0010] In the length direction of the guidewire, the first body and the second body are spaced apart, the fixed valve is provided in the first body, and the balloon catheter can be passed through the fixed valve along the length direction of the guidewire;

[0011] The delivery mechanism is provided on the second body and is used to deliver at least the second segment so that the first segment moves forward or backward along the length direction of the guidewire; the first detection component is used to trigger the delivery mechanism to stop moving when detecting the intersection following the retreat of the first segment;

[0012] The second body is capable of moving when the first detection component triggers the delivery mechanism to stop moving, and drives the balloon catheter to retreat, so as to drive the balloon of the balloon catheter to withdraw from the fixed valve; the second detection component is used to trigger the second body to stop moving when detecting the balloon of the balloon catheter withdrawing;

[0013] The third detection component is used to trigger the delivery mechanism to stop moving when detecting that the tail end portion is in a forward state.

[0014] In some embodiments, the first detection component includes a first detection member and a first elastic member, the first detection member is provided with a first rotating portion, and the first detection member is rotatably connected to the second body via the first rotating portion;

[0015] One end of the first elastic member is connected to the second body, and the other end of the first elastic member is connected to the first detecting member to provide a preset pressure to limit the movement of the first detecting member;

[0016] When the first detecting member detects the intersection, it overcomes the preset pressure under the pushing action of the second section to rotate around the first rotating part and triggers the delivery mechanism to stop moving.

[0017] In some embodiments, the second body is provided with an intersection detection position, and the first detection member is used to detect the intersection when the intersection retreats to the intersection detection position.

[0018] In some embodiments, the second body is provided with a first guide groove and a second guide groove, the first guide groove being used to guide the balloon catheter, and the second guide groove being used to guide the guide wire;

[0019] The first guiding groove and the second guiding groove are respectively located on two sides of the first detecting member, and the first guiding groove and the second guiding groove intersect at the intersection detection position.

[0020] In some embodiments, the second detection component includes an emitting portion and a receiving portion disposed opposite to each other, the emitting portion emits light to the receiving portion, a detection area is formed between the emitting portion and the receiving portion, and the balloon catheter and the guidewire can both pass through the detection area.

[0021] The receiving part is used to detect whether the light intensity value decreases during the withdrawal of the balloon catheter to determine whether the balloon has passed through the detection area, and when the light intensity value detected is less than a set value, it is determined that the balloon is withdrawn from the fixed valve and triggers the second body to stop moving.

[0022] In some embodiments, a blocking member is provided in the fixed valve, the blocking member has a through hole for the first section to pass through, and the diameter of the balloon is larger than the aperture of the through hole;

[0023] The second detection component includes a force detection portion and a force transmission portion, wherein one end of the force transmission portion is connected to the fixed valve, and the other end of the force transmission portion contacts the force detection portion, so as to transmit the force applied to the fixed valve to the force detection portion;

[0024] When the balloon retreats through the perforation, the blocking member applies resistance to the balloon, and under the reaction of the balloon, drives the fixed valve to generate a movement trend toward the second body;

[0025] The force detection unit is provided on the first body, and is used to obtain the force feedback value transmitted by the force transmission unit, and detect whether the amplitude of the force feedback value increases instantaneously, so as to determine whether the maximum diameter of the balloon is withdrawn from the fixed valve;

[0026] The force detection unit is used to determine that when the balloon is withdrawn from the fixed valve at the point where its diameter is the largest, trigger the second body to stop moving, and trigger the delivery mechanism to deliver the second section, so that the balloon retreats following the second section to completely withdraw from the fixed valve.

[0027] In some embodiments, the first body includes a fixed seat body and a floating seat body, the floating seat body is connected to the fixed seat body, and the fixed valve is provided on the floating seat body;

[0028] The force detection portion is provided on the fixed seat body, and one end of the force transmission portion away from the force detection portion is connected to the floating seat body, so as to transmit the force received by the floating seat body to the force detection portion;

[0029] The floating seat is used to generate a movement tendency toward the second body driven by the fixed valve when the balloon retreats through the perforation.

[0030] In some embodiments, the third detection component includes a second detection member and a third elastic member, the second detection member is provided with a second rotating portion on opposite sides, and the second detection member is rotatably connected to the second body through the second rotating portion;

[0031] One end of the third elastic member is connected to the second body, and the other end of the third elastic member is connected to the second detecting member to limit the movement of the second detecting member;

[0032] The second detecting member is used to compress the third elastic member and trigger the delivery mechanism to stop moving when the tail end portion moves forward to push against the second detecting member.

[0033] The second object of the present application is to provide a method for detecting the delivery status of an express delivery device, which is applied to the above-mentioned express delivery device delivery status detection device. The method for detecting the delivery status of an express delivery device comprises:

[0034] controlling the delivery mechanism to deliver the second segment so as to cause the first segment to retreat;

[0035] obtaining a first trigger signal emitted by the first detection component when detecting the intersection, controlling the delivery mechanism to stop moving so that the intersection stops retreating, and controlling the second body to move;

[0036] obtaining a second trigger signal emitted when the second detection component detects the balloon of the balloon catheter, determining that the balloon of the balloon catheter is withdrawn from the fixed valve, and controlling the second body to stop moving; and

[0037] The delivery mechanism is controlled to deliver the second segment to enable the first segment to advance, a third trigger signal is obtained when the third detection component detects the tail end portion, and the delivery mechanism is controlled to stop moving to enable the first segment to stop advancing.

[0038] The third object of the present application is to provide an interventional surgical robot, comprising a robot body and the above-mentioned fast-delivery instrument delivery status detection device, wherein the first body and the second body are both arranged on the robot body.

[0039] The fourth object of the present application is to provide a computer storage medium, wherein the computer storage medium stores one or more computer instructions, and the one or more computer instructions implement the above-mentioned fast delivery device delivery status detection method when executed.

[0040] The delivery status detection device provided by this application has the following beneficial effects:

[0041] The fast delivery device delivery status detection device of the embodiment of the present application is provided with a first detection component to detect the intersection point of the balloon catheter during the retraction process after the operation is completed, and triggers the delivery mechanism to stop delivery when the intersection point is detected. The second body is provided to move in a direction away from the first body only when the first detection component detects the intersection point and triggers the delivery mechanism to stop delivery, so as to drive the entire balloon catheter to move backward, which is conducive to withdrawing the balloon of the balloon catheter from the fixed valve and preventing the balloon catheter from being damaged during the retraction process. In addition, a second detection component is provided to detect whether the balloon has been withdrawn from the fixed valve, thereby detecting the retraction state of the balloon catheter, facilitating the determination of the operating status of the balloon catheter during the retraction process and determining whether the balloon has been withdrawn from the fixed valve. At the same time, the first detection component and the second detection component can respectively trigger the delivery mechanism and the second body to stop movement when the intersection point and the balloon are detected. When the second detection component triggers the second body to stop movement, the balloon catheter is withdrawn from the fixed valve. In this way, there is no need for manual real-time monitoring of the retraction state of the balloon catheter.

[0042] The fast delivery device delivery status detection device of the embodiment of the present application also provides a third detection component to detect the advancing tail end portion during the advancement of the balloon catheter, and triggers the delivery mechanism to stop delivering the second segment of advancement when the tail end portion is detected, thereby determining that the balloon catheter cannot be delivered further forward, and helps to avoid the phenomenon that the balloon catheter is damaged by continuing to be delivered forward during the advancement process because its length is not enough to reach the lesion location. In this way, there is no need for manual real-time monitoring of the advancement status of the balloon catheter. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art.

[0044] FIG1 is a schematic structural diagram of an interventional surgery robot provided in an embodiment of the present application;

[0045] FIG2 is a schematic structural diagram of a delivery status detection device for a fast delivery device provided in an embodiment of the present application in a delivery balloon catheter state;

[0046] FIG3 is a top view of a portion of the structure of a delivery status detection device for an express delivery device according to an embodiment of the present application;

[0047] FIG4 is a schematic diagram of a portion of the structure of FIG3 at a viewing angle;

[0048] FIG5 is a partial enlarged view of point a in FIG4 ;

[0049] FIG6 is a schematic diagram of the partial structure of FIG3 from another perspective;

[0050] FIG7 is a schematic diagram of a state where a balloon catheter is passed through a fixed valve in a fast delivery device delivery status detection device provided in an embodiment of the present application;

[0051] FIG8 is a top view of the first body of the delivery status detection device for a fast delivery device provided in an embodiment of the present application;

[0052] FIG9 is a schematic cross-sectional view of the structure along the AA direction in FIG8 ;

[0053] FIG10 is a top view of a fixed valve in a delivery status detection device for a fast delivery device according to an embodiment of the present application;

[0054] FIG11 is a schematic cross-sectional view of the structure along the BB direction in FIG10;

[0055] FIG12 is a schematic structural diagram of one embodiment of the first detection component of the delivery status detection device of the express delivery device provided in the embodiment of the present application;

[0056] FIG13 is a schematic structural diagram of one type of the third detection component in the fast delivery device delivery status detection device provided in an embodiment of the present application.

[0057] Explanation of the accompanying numbers: 10. Fast delivery instrument delivery status detection device; 20. Interventional surgical robot; 30. Balloon catheter; 40. Guide wire; 100. First body; 110. Fixed seat body; 120. Floating seat body; 130. Second elastic member; 200. Second body; 210. First receiving groove; 220. Cross point detection position; 230. First guide groove; 240. Second guide groove; 250. Second receiving groove; 300. Fixed valve; 310. Blocking member; 320. First valve body; 330. Second valve body; 400. Delivery mechanism; 410. Clamping assembly; 411. First roller; 412. Second roller; 500. First detection component; 510. First detection component; 511. First detection part; 512. First induction magnet; 520. First elastic member; 530. First rotating part; 600. Second detection component; 610. Launch part; 620, receiving part; 630, detection area; 640, force detection part; 650, force transmission part; 700, third detection component; 710, second detection part; 711, second detection part; 712, second induction magnet; 713, guide groove; 714, latch; 720, third elastic part; 730, second rotating part; 21, robot body; 31, first section; 32, second section; 33, tail end; 34, balloon. DETAILED DESCRIPTION

[0058] The following will be combined with the accompanying 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. The technical solutions between the various embodiments can be combined with each other, but they 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.

[0059] In related technologies, when an interventional surgical robot's master manipulator controls a slave driver to deliver a rapid-action device, the doctor must monitor the balloon catheter's forward and backward movements on a real-time screen to monitor its delivery status, thereby reducing the likelihood of medical accidents. However, this requirement can easily distract the doctor during surgery.

[0060] Therefore, the embodiments of the present application provide a fast delivery instrument delivery status detection device 10, a detection method and an interventional surgical robot 20 to achieve automatic advancement and retreat of the balloon catheter 30 and solve the current problem of requiring manual real-time monitoring of the delivery status of the balloon catheter 30.

[0061] As shown in Figures 1, 2 and 3, and in combination with Figure 7, the fast delivery device delivery status detection device 10 provided in an embodiment of the present application is capable of delivering a balloon catheter 30 so that the balloon catheter 30 moves along the length direction of a guide wire 40 (such as a micro guide wire). The balloon catheter 30 includes a first section 31 and a second section 32 connected in sequence. The first section 31 and the second section 32 intersect with the guide wire 40 and form an intersection (not marked), and the end of the second section 32 away from the intersection is defined as the tail end 33. The fast delivery instrument delivery status detection device 10 includes a first body 100, a second body 200, a fixed valve 300, a delivery mechanism 400, a first detection component 500, a second detection component 600 and a third detection component 700. In the length direction of the guide wire 40, the first body 100 and the second body 200 are arranged at intervals, the fixed valve 300 is arranged in the first body 100, and the balloon catheter 30 can be inserted into the fixed valve 300 along the length direction of the guide wire 40. The balloon catheter 30 can move forward and backward in the fixed valve 300.

[0062] Furthermore, the delivery mechanism 400 is disposed in the second body 200 and is configured to at least advance or retract the second segment 32, thereby causing the first segment 31 to advance or retract along the length of the guidewire 40. The first detection component 500 is configured to trigger the delivery mechanism 400 to stop moving upon detecting an intersection following the retraction of the first segment 31. Consequently, upon sensing the intersection by the first detection component 500, the first detection component 500 generates a sensing trigger signal to trigger the delivery mechanism 400 to stop delivery. The second body 200 is capable of moving when the first detection component 500 triggers the delivery mechanism 400 to stop moving, thereby causing the balloon catheter 30 to retract, thereby causing the balloon 34 of the balloon catheter 30 to withdraw from the fixed valve 300. The second detection component 600 is configured to trigger the second body 200 to stop moving upon detecting the retracted balloon 34 of the balloon catheter 30.

[0063] The second body 200 moves as a whole only when the first detection component 500 detects the intersection and triggers the delivery mechanism 400 to stop delivery, thereby driving the balloon catheter 30 to retreat and withdraw from the fixed valve 300. Compared with the method of continuously retracting the first section 31 to drive the balloon catheter 30 to retreat and withdraw from the fixed valve 300, or the method of directly moving the second body 200 to drive the balloon catheter 30 to retreat and withdraw from the fixed valve 300 without detecting the intersection, this method can prevent the balloon catheter 30 from being damaged by the machine during the retreat process. The third detection component 700 is used to trigger the delivery mechanism 400 to stop movement when it detects the tail section 33 in an advanced state, thereby preventing the balloon catheter 30 from being damaged by the machine during the advancement process.

[0064] It can be understood that the fast delivery instrument delivery status detection device 10 of the embodiment of the present application delivers the balloon catheter 30 by setting up a delivery mechanism 400 to realize the automatic advance and retreat of the balloon catheter 30, and detects the intersection of the balloon catheter 30 during the retreat process after the operation is completed by setting a first detection component 500, and triggers the delivery mechanism 400 to stop delivery when the intersection is detected, and the second body 200 is set to move along the length direction of the guide wire 40 away from the first body 100 only when the first detection component 500 detects the intersection and triggers the delivery mechanism 400 to stop delivery, so as to drive the balloon catheter 30 to move backward as a whole, which is conducive to withdrawing the balloon 34 from the fixed valve 300 and avoiding damage to the balloon catheter 30 during the retreat process.

[0065] Furthermore, a second detection component 600 is provided to detect whether the balloon 34 has been withdrawn from the fixed valve 300. When the second detection component 600 detects the retreating balloon 34, the second body 200 is triggered to stop moving, thereby stopping the balloon catheter 30 from retracting. At this point, it can be determined that the balloon 34 has been withdrawn from the fixed valve 300. It will be understood that the withdrawal of the balloon 34 from the fixed valve 300 includes both complete withdrawal of the balloon 34 from the fixed valve 300 and partial withdrawal of the balloon 34 from the fixed valve 300. When the second detection component 600 detects that the balloon 34 has partially withdrawn from the fixed valve 300, the second body 200 is triggered to stop moving, and the delivery mechanism 400 is then used to deliver the second segment 32 backward a certain distance, so that the remaining portion of the balloon 34 is withdrawn from the fixed valve 300.

[0066] The fast delivery device delivery status detection device 10 of the embodiment of the present application detects the retraction status of the balloon catheter 30 by moving the first body 100 to cause the entire balloon catheter 30 to retract, and detects whether the retracted balloon 34 has been withdrawn from the fixed valve 300. This facilitates determining the operating status of the balloon catheter 30 during the retraction process and determining whether the balloon 34 has been withdrawn from the fixed valve 300. Furthermore, the first detection component 500 and the second detection component 600 can respectively trigger the delivery mechanism 400 and the second body 200 to stop moving upon detecting the intersection and the balloon 34. When the second detection component 600 triggers the second body 200 to stop moving, the balloon catheter 30 is withdrawn from the fixed valve 300. This eliminates the need for manual real-time monitoring of the retraction status of the balloon catheter 30.

[0067] The fast delivery instrument delivery status detection device 10 of the embodiment of the present application is also provided with a third detection component 700 to detect the advancing tail portion 33 during the advancement of the balloon catheter 30, and triggers the delivery mechanism 400 to stop delivering the second segment 32 when the tail portion 33 is detected, thereby determining that the balloon catheter cannot be delivered further forward, and helping to avoid the phenomenon that the balloon catheter 30 is damaged by continuing to be delivered forward during the advancement process because its length is not enough to reach the lesion location. In this way, there is no need to manually monitor the advancement status of the balloon catheter 30 in real time, which helps the doctor to devote himself to the operation.

[0068] As shown in Figures 2 and 3, as one embodiment, the first detection component 500 includes a first detection member 510 and a first elastic member 520. The first detection member 510 is provided with a first rotating portion 530, and the first detection member 510 is rotatably connected to the second body 200 via the first rotating portion 530. One end of the first elastic member 520 is connected to the second body 200, and the other end of the first elastic member 520 is connected to the first detection member 510, thereby providing a predetermined pressure to limit the movement of the first detection member 510. This restricts the movement of the first detection member 510 when not being pushed by the second section 32, and maintains the detection position of the first detection member 510 in a starting state, thereby improving the structural stability of the first detection component 500. When the first detection member 510 detects an intersection, the push of the second section 32 overcomes the predetermined pressure and compresses the first elastic member 520, causing it to rotate about the first rotating portion 530, thereby triggering the delivery mechanism 400 to stop moving. At this point, the detection position of the first detection member 510 is in a detection state, simplifying the detection method of the intersection. In addition, the first elastic member 520 is also used to elastically extend and push the first detection member 510 when the pushing force of the second section 32 is removed, so that the detection position of the first detection member 510 returns to the initial state. Exemplarily, the first elastic member 520 is a spring and the first rotating portion 530 is a rotating shaft.

[0069] As shown in Figures 2, 4, and 5, in one embodiment, the second body 200 is provided with a first sensor (not shown), such as a Hall switch sensor. When the first detection member 510 overcomes a preset pressure and swings to a sensing position above the first sensor, the first sensor emits a first sensing signal, such as a light-on signal, indicating that the first detection member 510 has detected an intersection. In one embodiment, the second body 200 is provided with a first receiving slot 210 for accommodating a portion of the first detection member 510. In conjunction with Figure 12, in the embodiment provided with the first sensor, the first detection member 510 includes a first detection portion 511 and a first sensing magnet 512. A first rotating portion 530 passes through the first detection portion 511 and connects the first detection portion 511 to the second body 200. A first elastic member 520 is located at the top of the first rotating portion 530. The end of the first elastic member 520 away from the delivery mechanism 400 is connected to the first detection portion 511 to limit the swing of the first detection portion 511. The first sensing magnet 512 is connected to the end of the first detection portion 511 away from the first elastic member 520. During the process of the catheter retreating, when the first detection part 511 detects the intersection, the first elastic member 520 is compressed under the pushing action of the second section 32 to swing around the first rotating part 530, thereby driving the first induction magnet 512 to swing to the induction position of the first sensor.

[0070] As shown in FIG5 , as an embodiment, the second body 200 is provided with an intersection detection position 220, and the first detection member 510 is used to detect the intersection when the intersection retreats to the intersection detection position 220. In the embodiment of the present application, the intersection detection position 220 is fixedly provided on the second body 200, and the first detection member 510 is capable of detecting whether the intersection retreats to the intersection detection position 220 to determine whether the intersection is detected. This simplifies the method of detecting the intersection, and the provision of the intersection detection position 220 assists the first detection member 510 in detecting the intersection during the retreat of the balloon catheter 30, thereby protecting the balloon catheter 30 to a certain extent and preventing the balloon catheter 30 from being damaged during the retreat process.

[0071] As shown in Figures 2, 4 and 5, as an embodiment, the second body 200 is provided with a first guide groove 230 and a second guide groove 240, the first guide groove 230 is used to guide the balloon catheter 30, and the second guide groove 240 is used to guide the guide wire 40. The first guide groove 230 and the second guide groove 240 are respectively located on both sides of the first detection member 510, and the first guide groove 230 and the second guide groove 240 intersect at the intersection detection position 220. The embodiment of the present application provides the first guide groove 230 and the second guide groove 240, which helps to guide the intersection of the balloon catheter 30 and the guide wire 40, and avoids the phenomenon that the second section 32 as a whole is offset when the first section 31 of the balloon catheter 30 moves along the length direction of the guide wire 40.

[0072] As shown in Figure 2, in one embodiment, the guide wire 40 passes through a local portion between the two ends of the balloon catheter 30 and exits from another local portion between the two ends of the balloon catheter 30, so that the first section 31 moves back and forth along the axial direction of the guide wire 40, and the first section 31 of the balloon catheter 30 is coaxial with the guide wire 40.

[0073] As shown in FIG2 , as one embodiment, the first detection component 500 includes a first visual imaging device (not labeled) and a first light source module (not labeled). Both the first visual imaging device and the first light source module are located above the balloon catheter 30. Below the first visual imaging device, a first detection zone (not labeled) is formed. The first detection zone can be understood as the image recognition area of ​​the first visual imaging device, and the first visual imaging device can capture images of the first detection zone in real time. The intersection can pass through the first detection zone during its retreat. The first light source module is used to emit light into the first detection zone to enhance the image quality captured by the first visual imaging device. The first visual imaging device is used to trigger the delivery mechanism 400 to stop moving when it captures an image of the intersection retreating to the first detection zone. It is understood that when the intersection reaches the first detection zone as it retreats following the first segment 31, the first visual imaging device can capture an image of the intersection in the first detection zone. The image is then processed by a corresponding algorithm and a signal output is generated to determine whether the intersection has retreated to the first detection zone. Exemplarily, the first visual imaging device is a camera.

[0074] As shown in FIG7 , as one embodiment, the second detection component 600 includes a second visual imaging device (not labeled) and a second light source module (not labeled). Both the second visual imaging device and the second light source module are located above the balloon catheter 30. Below the second visual imaging device, a second detection zone (not labeled) is formed. The second detection zone can be understood as the image recognition area of ​​the second visual imaging device, and the second visual imaging device can capture images of the second detection zone in real time. The balloon 34 can pass through the second detection zone during its retreat. The second light source module is used to emit light into the second detection zone to enhance the image quality captured by the second visual imaging device. The second visual imaging device is used to trigger the second body 200 to stop moving when it captures an image of the balloon 34 retreating to the second detection zone. It can be understood that when the balloon 34 reaches the second detection zone as it retreats following the balloon catheter 30, the second visual imaging device can capture an image of the balloon 34 in the second detection zone. The image is then processed by a corresponding algorithm and a signal output is generated to determine whether the balloon 34 has retreated to the second detection zone. Exemplarily, the second visual imaging device is an industrial camera.

[0075] As shown in Figures 1, 2, and 7, in one embodiment, the second detection component 600 includes an emitting portion 610 and a receiving portion 620 disposed opposite each other. The emitting portion 610 emits light toward the receiving portion 620, forming a detection region 630 between the emitting portion 610 and the receiving portion 620. Both the balloon catheter 30 and the guidewire 40 can pass through the detection region 630. The diameter of the first section 31 is smaller than the diameter of the balloon 34, and the diameter of the guidewire 40 is smaller than the diameter of the balloon catheter 30. The diameter of the balloon 34 gradually increases from both ends to the center of the balloon 34, and the guidewire 40 passes through the balloon catheter 30. The receiving portion 620 is configured to detect whether the light intensity value decreases during the withdrawal of the balloon catheter 30 to determine whether the balloon 34 has passed through the detection region 630. When the light intensity value is detected to be less than a set value, it is determined that the balloon 34 has been withdrawn from the fixed valve 300, and the second body 200 is triggered to stop moving.

[0076] It will be appreciated that as the balloon catheter 30 moves backward, the receiving unit 620 detects changes in the area of ​​the light beam obscured by the balloon 34 within the detection area 630, thereby detecting changes in the light intensity. When the balloon catheter 30 passes through the detection area 630 and partially blocks the light beam emitted by the transmitting unit 610 to the receiving unit 620, the light intensity detected by the receiving unit 620 decreases. As the balloon 34 moves backward through the detection area 630, it blocks more of the light beam than the balloon catheter 30, and the receiving unit 620 receives less of the light beam, causing the light intensity detected by the receiving unit 620 to continue to decrease. When the middle of the balloon 34 reaches the detection area 630, the light beam is blocked to its maximum extent. At this point, the light intensity detected by the receiving unit 620 decreases again and falls below the set value, thereby determining that the balloon 34 has been withdrawn from the fixed valve 300. In one embodiment, the transmitter 610 and the receiver 620 are both located on the outside of the first body 100 near the second body 200. Thus, when the receiver 620 detects the balloon 34, the balloon 34 has already been completely withdrawn from the fixed valve 300. This prevents the delivery mechanism 400 from driving the balloon catheter 30 backward upon detecting that the balloon 34 has exited the fixed valve 300, thereby preventing damage to the balloon catheter 30. The transmitter 610 and the receiver 620 can be considered a set of optical sensors.

[0077] As shown in Figures 2, 8 and 9, and in combination with Figures 10 and 11, as an embodiment, a blocking member 310 is provided in the fixed valve 300, and the blocking member 310 has a perforation (not marked) for the first section 31 to pass through. The diameter of the balloon 34 is larger than the aperture of the perforation, so that when the balloon 34 passes through the perforation, the blocking member 310 produces a certain resistance to the balloon 34, and when the largest diameter of the balloon 34 passes through the aperture, the resistance of the blocking member 310 to the balloon 34 will be significantly increased. Since the force is mutual, the balloon 34 will produce a certain pulling force on the blocking member 310 when passing through the perforation. The second detection component 600 includes a force detection part 640 and a force transmission part 650. One end of the force transmission part 650 is connected to the fixed valve 300, and the other end of the force transmission part 650 contacts the force detection part 640 to transmit the force applied to the fixed valve 300 to the force detection part 640. For example, the force transmission part 650 obtains the pulling force applied to the fixed valve 300 and transmits it to the force detection part 640 in a numerical form.

[0078] When the balloon 34 retreats through the perforation, the blocking member 310 exerts resistance on the balloon 34, and the reaction of the balloon 34 drives the fixed valve 300 to move toward the second body 200. The force detection unit 640 is disposed on the first body 100. The force detection unit 640 is used to obtain the force feedback value transmitted by the force transmission unit 650 and detect whether the amplitude of the force feedback value increases instantaneously to determine whether the maximum diameter of the balloon 34 has been withdrawn from the fixed valve 300. As the balloon 34 retreats through the perforation, the resistance of the blocking member 310 to the balloon 34 increases significantly when the maximum diameter of the balloon 34 passes through the perforation. This causes the force feedback value detected by the force detection unit 640 to increase instantaneously, thereby determining that the maximum diameter of the balloon 34 has been withdrawn from the fixed valve 300. The force detection unit 640 is also configured to, when it determines that the largest diameter portion of the balloon 34 has been removed from the fixed valve 300, trigger the second body 200 to stop moving and trigger the delivery mechanism 400 to deliver the second segment 32, causing the balloon 34 to retreat along with the second segment 32, thereby completely withdrawing the balloon 34 from the fixed valve 300. In this embodiment of the present application, the delivery mechanism 400 is activated to deliver the second segment 32 backward only after it is determined that the largest diameter portion of the balloon 34 has been removed from the fixed valve 300, thereby withdrawing the remaining portion of the balloon 34 from the fixed valve 300. This helps prevent the largest diameter portion of the balloon 34 from becoming stuck in the perforation during the withdrawal process, potentially damaging the balloon 34. Exemplarily, the force detection portion 640 is a force detection sensor, the force transmission portion 650 is a force transmission rod, the fixed valve 300 is a T valve, the T valve has a first valve body 320 extending along the length direction of the guide wire 40, and a second valve body 330 perpendicular to the first valve body 320, the blocking member 310 is arranged in the first valve body 320, and the blocking member 310 is a sealing ring.

[0079] As shown in Figures 1, 8, and 9, and in conjunction with Figure 7, as one embodiment, the first body 100 includes a fixed seat body 110 and a floating seat body 120. The floating seat body 120 is connected to the fixed seat body 110, and the fixed valve 300 is disposed on the floating seat body 120. The floating seat body 120 can be connected to the fixed base via a slide rail and has the freedom to slide relative to the fixed seat body 110 in the longitudinal direction of the guidewire 40. The fixed valve 300 is fixedly connected to the floating seat body 120. The force detection portion 640 is disposed on the fixed seat body 110, and the force transmission portion 650 is connected to the floating seat body 120 at one end away from the force detection portion 640 for transmitting the force applied to the floating seat body 120 to the force detection portion 640. It will be appreciated that when the balloon 34 passes through the perforation, it pulls on the blocking member 310, thereby pulling on the fixed valve 300, and further pulling on the floating base. Consequently, the floating base is also indirectly subjected to the pulling force of the balloon 34. The force transmission unit 650 detects the pulling force on the floating base and transmits it numerically to the force detection unit 640, so that the force detection unit 640 can obtain the force feedback value transmitted by the force transmission unit 650. The floating base 120 is configured to generate a movement tendency toward the second body 200 when the balloon 34 retreats through the perforation, driven by the fixed valve 300. The provision of the floating base 120 prevents damage to the balloon 34 during the process of retreating and pulling on the blocking member 310.

[0080] As shown in Figures 7, 8, and 9, in one embodiment, a second elastic member 130 is disposed between the fixed seat 110 and the floating seat 120. The second elastic member 130 has two ends connected to the fixed seat 110 and the floating seat 120, respectively, and abuts against the fixed seat 110 and the floating seat 120. The second elastic member 130 stabilizes the floating seat 120 in its initial state. When the balloon 34 pulls on the fixed valve 300, the floating seat 120, under the action of the fixed valve 300, tends to move toward the second body 200, rather than sliding away from the fixed seat 110. This improves the connection stability between the fixed seat 110 and the floating seat 120. Exemplarily, the second elastic member 130 is a spring.

[0081] As shown in Figures 2 and 3, as an embodiment, the third detection component 700 includes a second detection component 710 and a third elastic member 720. The second detection component 710 is provided with a second rotating portion 730 on both sides of the second detection component 710. The second detection component 710 is rotatably connected to the second body 200 through the second rotating portion 730. One end of the third elastic member 720 is connected to the second body 200, and the other end of the third elastic member 720 is connected to the second detection component 710 to limit the movement of the second detection component 710, thereby limiting the movement of the third detection component when it is not pushed by the tail end portion 33, thereby improving the structural stability of the second detection component 600. The second detection component 710 is used to compress the third elastic member 720 when the tail end portion 33 advances to push against the movement of the second detection component 710, and trigger the delivery mechanism 400 to stop moving. The detection method is simple. Exemplarily, the third elastic member 720 is a spring and the second rotating portion 730 is a rotating shaft.

[0082] As shown in Figures 2, 3, and 6, in one embodiment, the second body 200 is provided with a second sensor (not shown), such as a Hall switch sensor. When the second detection member 710 compresses the third elastic member 720 and swings to the sensing position at the top of the second sensor, the second sensor emits a second sensing signal, such as a light-on signal, indicating that the second detection member 710 is pushed against by the tail portion 33 and the balloon catheter 30 cannot continue to advance. In one embodiment, the second body 200 is provided with a second receiving groove 250 for receiving the second detection member 710.

[0083] In conjunction with Figure 13 , in an embodiment equipped with a second sensor, the second detecting member 710 includes a second detecting portion 711 and a second sensing magnet 712. Two second rotating portions 730 are connected to opposite sides of the second detecting portion 711. The third elastic member 720 is connected to the second detecting portion 711 at the end facing away from the delivery mechanism 400 to restrict the second detecting portion 711 from swinging. The second sensing magnet 712 is connected to the end of the second detecting portion 711 facing away from the second section 32. During advancement of the balloon catheter 30, when the second detecting portion 711 is pushed against the tail portion 33 and compresses the third elastic member 720, causing it to swing about the second rotating portion 730, the second detecting portion 711 can drive the second sensing magnet 712 to swing to the sensing position at the top of the second sensor. The direction in which the second detecting portion 711 compresses the third elastic member 720 corresponds to the advancing direction of the second section 32, while the direction in which the second sensing magnet 712 swings corresponds to the retreating direction of the second section 32.

[0084] As shown in Figures 2, 6, and 13, in one embodiment, the second detecting member 710 is provided with a guide groove 713 for guiding the balloon catheter 30. The portion of the second detecting member 710 located below the guide groove 713 is used to block the advancement of the tail portion 33. In one embodiment, the second detecting member 710 is provided with a latching protrusion 714 on opposite sides thereof, and the opposite side walls of the second receiving groove 250 are provided with a latching groove (not shown). When the second detecting member 710 is received in the second receiving groove 250, the two latching protrusions 714 extend into the two latching grooves, respectively, to improve the installation stability of the second detecting member 710.

[0085] As shown in Figure 2, as one embodiment, the third detection component 700 includes a third visual imaging device (not labeled) and a third light source module (not labeled). Both the third visual imaging device and the third light source module are located above the second segment 32. Below the third visual imaging device, a third detection zone (not labeled) is formed. The first detection zone can be understood as the image recognition area of ​​the first visual imaging device, which can capture images of the first detection zone in real time. The second segment 32 can pass through the third detection zone during its advancement. The third light source module is used to emit light into the third detection zone to enhance the image quality captured by the first visual imaging device. The third visual imaging device is used to capture an image of the tail end portion 33 advancing into the third detection zone, triggering the delivery mechanism 400 to stop moving. It is understood that as the tail end portion 33 advances along the second segment 32, when the tail end portion 33 reaches the third detection zone, the third visual imaging device can capture an image of the tail end portion 33 in the third detection zone, then perform algorithmic processing on the image and output a signal to determine whether the tail end portion 33 has reached the third detection zone. Exemplarily, the third visual imaging device is an industrial camera.

[0086] As shown in Figures 2 and 3, as an embodiment, the delivery mechanism 400 includes a driving member (not marked), a transmission assembly (not marked) and a clamping assembly 410. The driving member drives the clamping assembly 410 through the transmission assembly. The clamping assembly 410 is used to clamp and deliver the balloon catheter 30 under the action of the transmission assembly, thereby realizing the automatic advancement and automatic retreat of the balloon catheter 30. Exemplarily, the driving member is a motor. In one embodiment, in the length direction of the second section 32, the first detection component 500 and the third detection component 700 are respectively located on both sides of the clamping assembly 410, and the first detection component 500 and the third detection component 700 are reasonably arranged to respectively detect the intersection and the tail end 33. In one embodiment, the clamping assembly 410 includes a first roller 411 and a second roller 412 arranged opposite to each other, and a gap is formed between the first roller 411 and the second roller 412 to allow the balloon catheter 30 to pass through. The transmission assembly is respectively connected to the first roller 411 and the second roller 412 to drive the first roller 411 and the second roller 412 to rotate. The first roller 411 and the second roller 412 are used to cooperate to clamp and deliver the balloon catheter 30. Further, the transmission assembly is a gear transmission group.

[0087] In conjunction with FIG. 1 , FIG. 2 , FIG. 3 , and FIG. 7 , an embodiment of the present application further provides a method for detecting the delivery status of an express delivery device, which is applied to the above-mentioned express delivery device delivery status detection device 10 . The detection method includes:

[0088] Controlling the delivery mechanism 400 to deliver the second segment 32 so as to cause the first segment 31 to retreat;

[0089] Obtaining a first trigger signal sent by the first detection component 500 when detecting the intersection, controlling the delivery mechanism 400 to stop moving so that the intersection stops retreating, and simultaneously controlling the second body 200 to move;

[0090] Obtaining a second trigger signal generated when the second detection component 600 detects the balloon 34 of the balloon catheter 30 , determining that the balloon 34 of the balloon catheter 30 is withdrawn from the fixing valve 300 , and controlling the second body 200 to stop moving; and

[0091] The delivery mechanism 400 is controlled to deliver the second section 32 to advance the first section 31 , a third trigger signal is obtained when the third detection component 700 detects the tail end portion 33 , and the delivery mechanism 400 is controlled to stop moving to stop the first section 31 from advancing.

[0092] As can be understood, in the fast delivery device delivery status detection method of the embodiment of the application, the first detection component 500 detects the intersection point during the retraction of the balloon catheter 30. Upon detection of the intersection point, the delivery mechanism 400 is controlled to stop the retraction of the second section 32 and simultaneously move the second body 200 to cause the entire balloon catheter 30 to retract. A third detection component 700 is also provided to detect whether the balloon 34 has withdrawn from the fixed valve 300 during the retraction of the balloon catheter 30. Furthermore, the first detection component 500 and the second detection component 600 can respectively trigger the delivery mechanism 400 and the second body 200 to stop movement upon detection of the intersection point and the balloon 34, eliminating the need for manual real-time monitoring of the retraction status of the balloon catheter 30.

[0093] In the fast delivery device delivery status detection method of the embodiment of the present application, a third detection component 700 is provided to detect the tail end portion 33 in the forward state, and when detected, the delivery mechanism 400 is triggered to stop moving, thereby determining that the balloon catheter cannot be delivered forward any further. This helps to avoid the phenomenon that the balloon catheter 30 is damaged by continuing to be delivered forward during the forward process because its length is not enough to reach the lesion location. This setting also eliminates the need for manual real-time monitoring of the forward state of the balloon catheter 30, which helps the doctor to fully devote himself to the operation.

[0094] In combination with Figures 1, 2, 3, and 7, an embodiment of the present application also provides an interventional surgical robot 20, including a robot body 21 and the above-mentioned fast delivery instrument delivery status detection device 10, and the first body 100 and the second body 200 are both arranged on the robot body 21.

[0095] It can be understood that the interventional surgical robot 20 provided in the embodiment of the present application utilizes the aforementioned fast-delivery instrument delivery status detection device 10. Specifically, the first detection component 500 detects the intersection point during the retraction of the balloon catheter 30. Upon detecting the intersection point, the robot controls the delivery mechanism 400 to stop the retraction of the second section 32 and simultaneously moves the second body 200 to cause the entire balloon catheter 30 to retract. A third detection component 700 is also provided to detect whether the balloon 34 has withdrawn from the fixed valve 300 during the retraction of the balloon catheter 30. Furthermore, the first detection component 500 and the second detection component 600 can trigger the delivery mechanism 400 and the second body 200 to stop moving, respectively, upon detecting the intersection point and the balloon 34. This eliminates the need for manual real-time monitoring of the retraction status of the balloon catheter 30. At the same time, a third detection component 700 is provided to detect the advancing tail end portion 33 and, upon detection, trigger the delivery mechanism 400 to stop moving, thereby determining that the balloon catheter cannot be delivered further. This helps prevent the balloon catheter 30 from being damaged by continued delivery during its advancement due to insufficient length to reach the lesion. This configuration also eliminates the need for manual real-time monitoring of the advancement status of the balloon catheter 30, helping the surgeon to fully focus on the surgery. Thus, in this embodiment, by providing the first detection component 500, the second detection component 600, and the third detection component 700 to respectively detect the intersection, the balloon 34, and the tail end portion 33, the robot can independently determine the delivery status of the balloon catheter 34, thereby achieving automatic advancement and retraction of the balloon catheter 34.

[0096] An embodiment of the present application further provides a computer storage medium storing one or more computer instructions, which implement the above-mentioned method for detecting the delivery status of an express delivery device when executed.

[0097] The computer storage medium provided in the embodiment of the present application contains computer instructions that can implement a method for detecting the delivery status of a fast delivery device when executed, eliminating the need for manual real-time monitoring of the forward and backward states of the balloon catheter 30, thereby helping doctors to fully devote themselves to the operation.

[0098] The above description is only a preferred embodiment of the present application and does not limit the patent scope of the present application.

Claims

1. A fast delivery device delivery status detection device, capable of delivering a balloon catheter, so that the balloon catheter moves along the length direction of a guide wire, the balloon catheter comprises a first section and a second section connected in sequence, the first section and the second section intersect with the guide wire to form an intersection, and the end of the second section away from the intersection is defined as the tail end, wherein: The fast delivery device delivery status detection device comprises: a first body, a second body, a fixed valve, a delivery mechanism, a first detection component, a second detection component, and a third detection component, In the length direction of the guide wire, the first body and the second body are spaced apart, the fixed valve is arranged on the first body, and the balloon catheter can be inserted into the fixed valve along the length direction of the guide wire; The delivery mechanism is provided on the second body and is used to deliver the second segment at least, so that the first segment moves forward or backward along the length direction of the guide wire; the first detection component is used to trigger the delivery mechanism to stop moving when detecting the intersection following the retreat of the first segment; The second body can move when the first detection component triggers the delivery mechanism to stop moving, and drive the balloon catheter to retreat, so as to drive the balloon of the balloon catheter to withdraw from the fixed valve; the second detection component is used to trigger the second body to stop moving when detecting the balloon of the balloon catheter withdrawing; The third detection component is used to trigger the delivery mechanism to stop moving when detecting the tail end portion in the forward state.

2. The fast delivery device delivery status detection device according to claim 1, wherein: The first detection component includes a first detection member and a first elastic member, the first detection member is provided with a first rotating portion, and the first detection member is rotatably connected to the second body through the first rotating portion; One end of the first elastic member is connected to the second body, and the other end of the first elastic member is connected to the first detection member to provide a preset pressure to limit the movement of the first detection member; When the first detecting member detects the intersection, it overcomes the preset pressure under the pushing action of the second section to rotate around the first rotating part and triggers the delivery mechanism to stop moving.

3. The fast delivery device delivery status detection device according to claim 2, wherein: The second body is provided with an intersection detection position, and the first detection member is used for detecting the intersection when the intersection retreats to the intersection detection position.

4. The fast delivery device delivery status detection device according to claim 3, wherein: The second body is provided with a first guide groove and a second guide groove, the first guide groove is used to guide the balloon catheter, and the second guide groove is used to guide the guide wire; The first guiding groove and the second guiding groove are respectively located on two sides of the first detecting member, and the first guiding groove and the second guiding groove intersect at the intersection detection position.

5. The fast delivery device delivery status detection device according to claim 1, wherein: The first detection component includes a first visual imaging device and a first light source module, and the first visual imaging device and the first light source module are both located above the balloon catheter; A first detection area is formed below the first visual imaging device, the intersection can pass through the first detection area, the first light source module is used to emit light to the first detection area, and the first visual imaging device is used to capture an image of the intersection retreating to the first detection area, triggering the delivery mechanism to stop moving.

6. The fast delivery device delivery status detection device according to any one of claims 1 to 5, wherein: The guide wire passes through a local portion between the two ends of the balloon catheter and passes through another local portion between the two ends of the balloon catheter, so that the first section moves along the axial direction of the guide wire.

7. The fast delivery device delivery status detection device according to any one of claims 1 to 5, wherein: The second detection component includes a transmitting part and a receiving part which are arranged opposite to each other, the transmitting part transmits light to the receiving part, a detection area is formed between the transmitting part and the receiving part, and the balloon catheter and the guide wire can both pass through the detection area. The receiving part is used to detect whether the light intensity value decreases during the withdrawal of the balloon catheter to determine whether the balloon Whether it passes through the detection area, and when it is detected that the light intensity value is less than the set value, it is determined that the balloon is withdrawn from the fixed valve, and the second body is triggered to stop moving.

8. The fast delivery device delivery status detection device according to any one of claims 1 to 5, wherein: The second detection component includes a second visual imaging device and a second light source module, and the second visual imaging device and the second light source module are both located above the balloon catheter; A second detection area is formed below the second visual imaging device, and the balloon can pass through the second detection area. The second light source module is used to emit light to the second detection area. When the second visual imaging device captures an image of the balloon retreating to the second detection area, it triggers the second body to stop moving.

9. The fast delivery device delivery status detection device according to any one of claims 1 to 5, wherein: A blocking member is provided in the fixed valve, the blocking member has a through hole for the first section to pass through, and the diameter of the balloon is larger than the aperture of the through hole; The second detection component includes a force detection part and a force transmission part, one end of the force transmission part is connected to the fixed valve, and the other end of the force transmission part contacts the force detection part, so as to transmit the force received by the fixed valve to the force detection part; When the balloon retreats through the perforation, the blocking member applies resistance to the balloon, and under the reaction of the balloon, drives the fixed valve to generate a movement trend toward the second body; The force detection unit is provided on the first body, and is used to obtain the force feedback value transmitted by the force transmission unit, and to detect whether the amplitude of the force feedback value increases instantaneously, so as to determine whether the maximum diameter of the balloon is withdrawn from the fixed valve; The force detection unit is used to determine that when the balloon is withdrawn from the fixed valve at the point where its diameter is the largest, trigger the second body to stop moving, and trigger the delivery mechanism to deliver the second section, so that the balloon follows the second section to retreat, so as to completely withdraw from the fixed valve.

10. The fast delivery device delivery status detection device according to claim 9, wherein: The first body comprises a fixed seat body and a floating seat body, the floating seat body is connected to the fixed seat body, and the fixed valve is arranged on the floating seat body; The force detection part is arranged on the fixed seat body, and one end of the force transmission part away from the force detection part is connected to the floating seat body, so as to transmit the force received by the floating seat body to the force detection part; The floating seat is used for generating a movement tendency to move toward the second body under the driving of the fixed valve when the balloon retreats through the perforation.

11. The fast delivery device delivery status detection device according to claim 10, wherein: A second elastic member is disposed between the fixed seat body and the floating seat body, and two ends of the second elastic member are respectively connected to the fixed seat body and the floating seat body, and are against the fixed seat body and the floating seat body.

12. The fast delivery device delivery status detection device according to any one of claims 1 to 5, wherein: The third detection component includes a second detection member and a third elastic member, the second detection member is provided with a second rotating portion on opposite sides, and the second detection member is rotatably connected to the second body through the second rotating portion; One end of the third elastic member is connected to the second body, and the other end of the third elastic member is connected to the second detecting member to limit the movement of the second detecting member; The second detecting member is used to compress the third elastic member and trigger the delivery mechanism to stop moving when the tail end portion moves forward to push against the second detecting member.

13. The fast delivery device delivery status detection device according to claim 12, wherein: The second detection member is provided with a guide groove for guiding the balloon catheter.

14. The fast delivery device delivery status detection device according to any one of claims 1 to 5, wherein: The third detection component includes a third visual imaging device and a third light source module, and the third visual imaging device and the third light source module are both located above the second section; A third detection area is formed below the third visual imaging device, the second section can pass through the third detection area, the third light source module is used to emit light to the third detection area, and the third visual imaging device is used to capture an image of the tail end portion moving forward to the third detection area, thereby triggering the delivery mechanism to stop moving.

15. The fast delivery device delivery status detection device according to any one of claims 1 to 5, wherein: The delivery mechanism includes a driving member, a transmission assembly and a clamping assembly. The driving member is connected to the clamping assembly through the transmission assembly. The clamping assembly is used to clamp and deliver the balloon catheter under the action of the transmission assembly.

16. A method for detecting the delivery status of a fast delivery device, wherein: The fast delivery device delivery status detection method is applied to the fast delivery device delivery status detection device according to any one of claims 1 to 15, and the fast delivery device delivery status detection method includes: Controlling the delivery mechanism to deliver the second segment so that the first segment retreats; acquiring a first trigger signal sent by the first detection component when detecting the intersection, controlling the delivery mechanism to stop moving so that the intersection stops retreating, and controlling the second body to move; acquiring a second trigger signal sent when the second detection component detects the balloon of the balloon catheter, determining that the balloon of the balloon catheter is withdrawn from the fixed valve, and controlling the second body to stop moving; and The delivery mechanism is controlled to deliver the second section so that the first section moves forward, a third trigger signal sent by the third detection component when detecting the tail end portion is obtained, and the delivery mechanism is controlled to stop moving so that the first section stops moving forward.

17. The method for detecting the delivery status of a fast delivery device according to claim 16, wherein: The first detection component includes a first detection member and a first elastic member, the first detection member is provided with a first rotating portion, and the first detection member is rotatably connected to the second body through the first rotating portion; One end of the first elastic member is connected to the second body, and the other end of the first elastic member is connected to the first detection member to provide a preset pressure for the movement of the first detection member; The method in which the first detection component detects the intersection includes: During the retreat of the balloon catheter, when the first detecting member is subjected to a force applied by the second section that can overcome a preset pressure and is pushed by the second section to rotate around the first rotating portion, it is determined that the first detecting member detects the intersection.

18. The method for detecting the delivery status of a fast delivery device according to claim 17, wherein: The second body is provided with an intersection detection position. When the intersection retreats to the intersection detection position, the first detection member is subjected to a force exerted by the second section that can overcome a preset pressure.

19. The method for detecting the delivery status of a fast delivery device according to claim 16, wherein: The first detection component includes a first visual imaging device and a first light source module, the first visual imaging device and the first light source module are both located above the balloon catheter, and a first detection area is formed below the first visual imaging device; The method in which the first detection component detects the intersection includes: Controlling the first light source module to emit light to the first detection area; Controlling the first visual imaging device to photograph the first detection area; When the first visual imaging device captures the receding intersection, it is determined that the first visual imaging device has detected the intersection.

20. The method for detecting the delivery status of a fast delivery device according to claim 16, wherein: The second detection component comprises a transmitting part and a receiving part which are arranged opposite to each other, and a detection area is formed between the transmitting part and the receiving part; The method in which the second detection component detects the balloon includes: Controlling the transmitting unit to transmit light to the receiving unit; Controlling the receiving part to detect the light intensity value during the withdrawal of the balloon catheter; Determine whether the light intensity value is less than a set value; If yes, it is determined that the balloon has passed through the detection area; If not, continue to detect the light intensity value.

21. The method for detecting the delivery status of a fast delivery device according to claim 16, wherein: The second detection component includes a second visual imaging device and a second light source module, the second visual imaging device and the second light source module are both located above the balloon catheter, and a second detection area is formed below the second visual imaging device; The method in which the second detection component detects the balloon includes: Controlling the second light source module to emit light to the second detection area; Controlling the second visual imaging device to photograph the second detection area; When the second visual imaging device captures the balloon moving backward, it is determined that the second visual imaging device detects The balloon.

22. The method for detecting the delivery status of a fast delivery device according to claim 16, wherein: A blocking member is provided in the fixed valve, and the blocking member has a through hole for the first section to pass through, and the diameter of the balloon is larger than the aperture of the through hole. When the balloon retreats through the through hole, there is a force interaction between the blocking member and the balloon; The second detection component includes a force detection part and a force transmission part, one end of the force transmission part is connected to the fixed valve, and the other end of the force transmission part contacts the force detection part; The force detection unit is disposed on the first body; The method in which the second detection component detects the retreating balloon includes: Controlling the force transmission part to transmit the force exerted on the fixed valve to the force detection part in real time in the form of a force feedback value; Controlling the force detection unit to detect the force feedback value in real time, and judging whether the maximum diameter of the balloon is withdrawn from the fixed valve according to whether the amplitude of the force feedback value increases instantaneously; If the amplitude of the force feedback value increases instantaneously, it is determined that the fixed valve is withdrawn at the point where the diameter of the balloon is the largest, and it is determined that the retreating balloon is detected.

23. The method for detecting the delivery status of a fast delivery device according to claim 22, wherein: After the balloon is withdrawn from the fixed valve at the point where its diameter is the largest, the second body is controlled to stop moving, and the delivery mechanism is controlled to deliver the second section, so that the balloon follows the second section and retreats, so that the balloon is completely withdrawn from the fixed valve.

24. The method for detecting the delivery status of a fast delivery device according to claim 16, wherein: The third detection component includes a second detection member and a third elastic member, the second detection member is provided with a second rotating portion on opposite sides, and the second detection member is rotatably connected to the second body through the second rotating portion; One end of the third elastic member is connected to the second body, and the other end of the third elastic member is connected to the second detecting member to limit the movement of the second detecting member; The method in which the third detection component detects the tail end portion includes: During the advancement of the balloon catheter, when the second detecting member moves under the pushing action of the tail end portion and compresses the third elastic member, it is determined that the second detecting member detects the tail end portion.

25. The method for detecting the delivery status of a fast delivery device according to claim 16, wherein: The third detection component includes a third visual imaging device and a third light source module, the third visual imaging device and the third light source module are both located above the second section, and a third detection area is formed below the third visual imaging device; The method in which the third detection component detects the tail end portion includes: Controlling the third light source module to emit light to the third detection area; Controlling the third visual imaging device to photograph the third detection area; When the third visual imaging device captures the advancing tail end portion, it is determined that the third visual imaging device has detected the tail end portion.

26. An interventional surgery robot, wherein: It comprises a robot body and the express delivery device delivery status detection device as described in any one of claims 1 to 15, wherein the first body and the second body are both arranged on the robot body.

27. A computer storage medium, wherein: The computer storage medium stores one or more computer instructions, and when executed, the one or more computer instructions implement the fast delivery device delivery status detection method as described in any one of claims 16-25.

Images