Interventional instrument, interventional instrument control method, computer-readable storage medium, and controller

Abstract

Provided in the embodiments of the present disclosure are an interventional instrument, an interventional instrument control method, a computer-readable storage medium, and a controller, relating to the technical field of surgical instruments. The interventional instrument control method comprises: acquiring the position of an end effector unit of an interventional instrument; and locking or unlocking the end effector unit on the basis of the position of the end effector unit and a preset position relationship. The interventional instrument control method can achieve rapid, efficient and accurate adjustment of end effector units, so as to achieve locking or unlocking.

Description

Interventional instrument, interventional instrument control method, computer readable storage medium, and controller

[0001] Cross Reference to Related Applications

[0002] The present disclosure claims priority to the Chinese patent application No. 2024107352804, filed on June 7, 2024, entitled “Interventional instrument, interventional instrument control method, storage medium, and controller”, the entire content of which is incorporated herein by reference. TECHNICAL FIELD

[0003] The present disclosure relates to the technical field of surgical instruments, in particular, to an interventional instrument, an interventional instrument control method, a computer readable storage medium, and a controller. BACKGROUND

[0004] An interventional instrument is an instrument that needs to extend a terminal execution unit into the human body for surgery. Common interventional instruments generally include endoscopic instruments, such as an anastomat, a high-frequency electrotome, etc. Generally, the terminal execution unit of some interventional instruments can swing relative to the main unit thereof, so as to adjust the position.

[0005] For such interventional instruments, since the prior art is all manual adjustment of the position, when it is necessary to adjust to a preset position, it is often not accurate, which affects the work efficiency.

[0006] SUMMARY

[0007] Embodiments of the present disclosure provide an interventional instrument, an interventional instrument control method, a computer readable storage medium, and a controller, which can realize fast, efficient, and accurate adjustment of the terminal execution unit, so as to realize locking or unlocking.

[0008] Embodiments of the present disclosure can be implemented as follows:

[0009] Embodiments of the present disclosure provide an interventional instrument control method, which comprises:

[0010] obtaining the position of the terminal execution unit of the interventional instrument;

[0011] locking or unlocking the terminal execution unit according to the relationship between the position of the terminal execution unit and a preset position.

[0012] Optionally, the preset position comprises a preset pulled-out position of the terminal execution unit.

[0013] The step of locking or unlocking the terminal execution unit according to the relationship between the position of the terminal execution unit and a preset position comprises:

[0014] In the case that the end execution unit is moved to the preset pulling-out position, the end execution unit is locked so that the end execution unit is kept in the preset pulling-out position.

[0015] Optionally, the step of acquiring the position of the end execution unit of the interventional instrument comprises:

[0016] An angle of oscillation of the end execution unit of the interventional instrument relative to the main unit of the interventional instrument is acquired.

[0017] According to the angle of oscillation, the position of the end execution unit of the interventional instrument is determined.

[0018] Optionally, the step of acquiring the position of the end execution unit of the interventional instrument comprises:

[0019] Operation data of a driving source is acquired.

[0020] According to the operation data, the position of the end execution unit is determined.

[0021] The driving source is configured to drive the end execution unit of the interventional instrument to move relative to the main unit.

[0022] Optionally, the step of acquiring the position of the end execution unit of the interventional instrument comprises:

[0023] A position signal representing the position of the end execution unit output by a position sensor is acquired.

[0024] According to the position signal, the position of the end execution unit is determined.

[0025] Optionally, the step of acquiring the position of the end execution unit of the interventional instrument comprises:

[0026] Operation data of a driving source is acquired; a first position of the end execution unit is determined according to the operation data; the driving source is configured to drive the end execution unit of the interventional instrument to move relative to the main unit.

[0027] A position signal representing the position of the end execution unit output by a position sensor is acquired; a second position of the end execution unit is determined according to the position signal.

[0028] In the case that the first position and the second position are consistent, the first position or the second position is determined as the position of the end execution unit; in the case that the first position and the second position are inconsistent, the position of the end execution unit is determined according to a preset rule.

[0029] Optionally, the step of determining the position of the end execution unit according to the preset rule comprises:

[0030] determining a position intermediate between the first position and the second position as the position of the end execution unit.

[0031] Optionally, the step of locking the end execution unit comprises:

[0032] locking a driving source to lock the end execution unit;

[0033] wherein the driving source is configured to drive the end execution unit of the interventional instrument to be active relative to a main body unit.

[0034] Optionally, after the step of locking the end execution unit, the interventional instrument control method further comprises:

[0035] unlocking the end execution unit in the case that a preset unlocking condition is met.

[0036] Optionally, the step of unlocking the end execution unit in the case that a preset unlocking condition is met comprises:

[0037] unlocking the end execution unit in the case that a first trigger signal is acquired;

[0038] wherein the first trigger signal is triggered by a control key.

[0039] Optionally, the step of unlocking the end execution unit in the case that a preset unlocking condition is met comprises:

[0040] unlocking the end execution unit in the case that a second trigger signal is acquired;

[0041] wherein the second trigger signal is characterized by the end execution unit moving away from a preset pull-out position under the control of a control key.

[0042] Optionally, the step of unlocking the end execution unit in the case that a preset unlocking condition is met comprises:

[0043] unlocking the end execution unit in the case that a first release trigger signal is acquired and a third trigger signal is acquired;

[0044] wherein the first release trigger signal is characterized by one of the control keys being triggered to perform an action of controlling the end execution unit to be active towards a preset pull-out position being released, and the third trigger signal is characterized by the other control key being triggered.

[0045] Optionally, the step of unlocking the end execution unit in the case that a preset unlocking condition is met comprises:

[0046] In a case where the second release trigger signal is acquired and the fourth trigger signal is acquired after the interval of the first preset time length, the end execution unit is unlocked.

[0047] The second release trigger signal represents that the control key is triggered by the set action to control the end execution unit to rotate in a single direction to be unlocked, and the fourth trigger signal represents that the control key is triggered again by the set action to control the end execution unit to rotate in a single direction.

[0048] Optionally, the step of unlocking the end execution unit in a case where the preset unlocking condition is met comprises:

[0049] In a case where the duration of the trigger signal of the control key is greater than or equal to the second preset time length, the end execution unit is unlocked.

[0050] Embodiments of the present disclosure also provide an interventional instrument, which comprises:

[0051] a main body unit;

[0052] an end execution unit, which is movable relative to the main body unit;

[0053] a driving source, which is configured to drive the end execution unit of the interventional instrument to move relative to the main body unit; and

[0054] a controller, which is communicatively connected with the driving source, and is configured to implement the interventional instrument control method described above.

[0055] Optionally, the controller is further configured to determine the position of the end execution unit according to the operation data of the driving source, and to lock or unlock the end execution unit according to the relationship between the position of the end execution unit and a preset position.

[0056] Optionally, the interventional instrument further comprises a position sensor, which is installed on the main body unit or the end execution unit; the position sensor is communicatively connected with the controller, and is configured to detect the position of the end execution unit relative to the main body unit.

[0057] The controller is configured to lock or unlock the end execution unit according to the relationship between the position of the end execution unit and a preset position.

[0058] Optionally, the interventional instrument further comprises a control key, which is communicatively connected with the controller.

[0059] The controller is configured to control the driving source according to a signal of the control key.

[0060] Optionally, the number of the control keys is multiple.

[0061] At least one side of the main unit is provided with at least one control key; or,

[0062] The same side of the main unit is provided with multiple control keys, and at least one of the multiple control keys on the same side is configured to control the forward rotation of the end execution unit, and at least one of the multiple control keys on the same side is configured to control the reverse rotation of the end execution unit.

[0063] Optionally, the interventional instrument further comprises an intermediate transmission unit, and the driving source drives the end execution unit to move relative to the main unit through the intermediate transmission unit.

[0064] Optionally, the intermediate transmission unit comprises a screw mechanism, a traction member, a gear and rack mechanism, and a gear assembly.

[0065] The screw mechanism comprises a screw rod, a nut and a sliding block mounted on the main unit, the driving source is connected with the screw rod, the screw rod is threadedly connected with the nut, and the nut is connected with the sliding block.

[0066] The gear and rack mechanism comprises a limiting rack and a first gear mounted on the main unit, the limiting rack is connected with the sliding block through the traction member, and the limiting rack and the first gear are engaged.

[0067] The gear assembly comprises a second gear and an articulated gear, the second gear is mounted on the main unit, the second gear and the first gear are engaged, and the articulated gear is mounted on the end execution unit and engaged with the second gear.

[0068] Embodiments of the present disclosure further provide a computer readable storage medium, which stores computer programs / instructions, and the computer programs / instructions are executed to implement the interventional instrument control method.

[0069] Embodiments of the present disclosure further provide a controller, which comprises computer programs / instructions, and the computer programs / instructions are executed to implement the interventional instrument control method.

[0070] The beneficial effects of the embodiments of the present disclosure include, for example:

[0071] The intervention instrument control method comprises: acquiring a position of an end execution unit of the intervention instrument; and locking or unlocking the end execution unit according to a relationship between the position of the end execution unit and a preset position. For example, when the end execution unit needs to be adjusted to the preset position, the end execution unit can be manually controlled to be adjusted in a normal manner, and when the end execution unit is adjusted to the preset position, the end execution unit is locked, so that the adjustment can be quickly, efficiently and accurately realized. For example, after the intervention instrument is suddenly powered off and restarted, or in the case of accidental locking, it can be judged whether the position of the end execution unit is at the preset position. In some scenarios, if the end execution unit is at the preset position, it means that the end execution unit can normally work, and the end execution unit can be unlocked. If the end execution unit is not at the preset position, it means that manual maintenance is needed, and the end execution unit can be kept locked. In some scenarios, if the end execution unit is at the preset position, manual maintenance is needed, and the end execution unit can be kept locked. If the end execution unit is not at the preset position, it means that the end execution unit can normally work, and the end execution unit can be unlocked. BRIEF DESCRIPTION OF DRAWINGS

[0072] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present disclosure, and therefore should not be considered as a limitation to the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0073] FIG. 1 is a schematic diagram of the intervention instrument from a first perspective according to an embodiment of the present disclosure;

[0074] FIG. 2 is a schematic diagram of the intervention instrument in different states according to an embodiment of the present disclosure;

[0075] FIG. 3 is a schematic diagram of the intervention instrument from a second perspective according to an embodiment of the present disclosure;

[0076] FIG. 4 is a partial enlarged schematic diagram of part of the structure in FIG. 3;

[0077] FIG. 5 is a schematic diagram of the circuit of each component in the intervention instrument according to an embodiment of the present disclosure;

[0078] FIG. 6 is a schematic diagram of an intervention instrument control method according to an embodiment of the present disclosure;

[0079] FIG. 7 is a schematic diagram of the specific steps of S100 shown in FIG. 6;

[0080] FIG. 8 is a schematic diagram of the specific steps of S200 shown in FIG. 6;

[0081] FIG. 9 is a schematic diagram of specific steps of the S300 shown in FIG. 6.

[0082] Icon: 100 - interventional instrument; 10 - main body unit; 20 - tip execution unit; 30 - drive source; 40 - intermediate transmission unit; 41 - screw mechanism; 411 - screw; 412 - nut; 413 - slider; 42 - traction member; 43 - rack and pinion mechanism; 431 - limit rack; 432 - first gear; 44 - gear assembly; 441 - second gear; 442 - joint gear; 50 - controller; 60 - control key; 61 - first control key; 62 - second control key; 70 - position sensor; 80 - computer readable storage medium. DETAILED DESCRIPTION

[0083] In order to make the objects, technical solutions and advantages of the embodiments of the present disclosure clearer, the technical solutions in the embodiments of the present disclosure will be described clearly and completely below with reference to the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only some of the embodiments of the present disclosure but not all of the embodiments. The components of the embodiments of the present disclosure described and shown in the drawings can be arranged and designed in various different configurations.

[0084] Therefore, the following detailed description of the embodiments of the present disclosure provided in the drawings is not intended to limit the scope of the claimed present disclosure, but only represents selected embodiments of the present disclosure. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present disclosure without creative labor are within the scope of protection of the present disclosure.

[0085] It should be noted that: similar reference numerals and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0086] In the description of the present disclosure, it should be noted that if the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship when the product is usually placed, which is only for the convenience of describing the present disclosure and simplifying the description, and does not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, therefore, it cannot be understood as a limitation on the present disclosure.

[0087] In addition, if the terms "first", "second", "third" and the like appear, they are only configured to distinguish the description and cannot be understood as indicating or implying relative importance.

[0088] In addition, if the terms "horizontal", "vertical", "suspended" and the like appear, it does not mean that the component must be absolutely horizontal or suspended, but can be slightly inclined. For example, "horizontal" only means that it is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0089] In the description of the present disclosure, it should also be noted that, unless otherwise explicitly specified and limited, if the terms "arrangement", "installation", "connection", "connection" and the like appear, they should be understood in a broad sense. For example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present disclosure can be understood according to the specific circumstances.

[0090] It should be noted that the features in the embodiments of the present disclosure can be combined with each other without conflict.

[0091] Interventional instruments are instruments that need to extend the end execution unit into the human body for surgery. Common interventional instruments generally include endoscopic instruments, which can include an anastomat, a high-frequency electrotome, etc. Generally, the end execution unit of part of the interventional instrument can swing relative to its main unit to adjust the position. For such interventional instruments, since the prior art is all manually adjusted, when it is necessary to adjust to a preset position, it is often not accurate, affecting work efficiency.

[0092] Therefore, referring to FIGS. 1-9, the interventional instrument 100, the interventional instrument control method, the computer readable storage medium 80 and the controller 50 provided by the embodiments of the present disclosure can realize fast, efficient and accurate adjustment of the end execution unit 20, thereby realizing locking or unlocking.

[0093] The following will be described in detail.

[0094] Referring to FIGS. 1-5, FIGS. 1-5 show the related structure schematic diagram of the interventional instrument 100 provided by the present embodiment. In the present embodiment, the interventional instrument 100 is taken as an example of an anastomat in an endoscopic instrument. It should be understood that, without violating the overall design concept, it can also be configured as an instrument with other end execution elements that need position or state adjustment, which will not be described in detail later.

[0095] Specifically, the interventional instrument 100 includes a main unit 10, an end execution unit 20, a driving source 30 and a controller 50.

[0096] Generally, during the operation, the proximal end portion of the main unit 10 is manipulated by the doctor, the distal end execution unit 20 is connected to the distal end portion of the main unit 10, which is generally configured to extend into the human body to perform the corresponding operation, the distal end execution unit 20 is movable relative to the main unit 10, so that the position or state of the distal end execution unit 20 can be adjusted for the doctor to perform the corresponding manipulation. The driving source 30 is configured to drive the distal end execution unit 20 of the interventional instrument 100 to move relative to the main unit 10, in other words, automatic control can be achieved by using the driving source 30.

[0097] In this embodiment, the distal end execution unit 20 can include a clamping sub-unit, a suturing sub-unit, and a cutting sub-unit, which will not be described in detail here. The driving source 30 can be selected as a motor, of course, without excluding the use of a hydraulic motor, a pneumatic motor, a gas cylinder, an oil cylinder, etc. in specific implementation.

[0098] In combination with FIGS. 1 and 2, in this embodiment, the main body is taken as an example for the oscillation of the distal end execution unit 20 relative to the main unit 10, that is, the movement mode is rotation, and the rotation angle is less than 360 degrees. Specifically, the driving source 30 can drive the distal end execution unit 20 to rotate forward or reverse relative to the main unit 10.

[0099] Of course, in specific implementation, the rotatable angle of the distal end execution unit 20 relative to the main unit 10 can be 360 degrees or more than 360 degrees. Alternatively, the distal end execution unit 20 can also move linearly relative to the main unit 10. Alternatively, the movement includes rotation and translation, or multi-degree-of-freedom movement in space, or irregular movement.

[0100] It should be noted that, alternatively, the connection position of the distal end execution unit 20 relative to the main unit 10 is relatively fixed, but the posture of the distal end execution unit 20 changes, resulting in the change of the position of the distal end execution unit 20 as a whole relative to the main unit 10, which can also be understood as the movement of the distal end execution unit 20 relative to the main unit 10.

[0101] In combination with FIG. 2, it can be understood that the A direction is the forward rotation direction, and the B direction is the reverse rotation direction. For example, in FIG. 2, the distal end execution unit 20 is shown in different positions, i.e., P1 position, P2 position, and P3 position.

[0102] If the distal end execution unit 20 at the P1 position rotates forward in the A direction, the position of the distal end execution unit 20 below (i.e., the P3 position) can be presented. In combination with FIG. 2, the forward rotation angle is a, and the oscillation angle can be understood as the angle a.

[0103] If the end executing unit 20 in the P1 position is reversed in the B direction, the position of the end executing unit 20 in the upper position (i.e., the P1 position) is presented. As shown in FIG. 2, the reverse angle is b, and it can be understood that the swing angle is angle b.

[0104] It should be noted that the descriptions of forward rotation and reverse rotation are only used to show the relative relationship in combination with the figures, and are not absolute limitations on the rotation direction.

[0105] Generally, it can be understood that when the end executing unit 20 needs to be pulled out of the human body, the coaxial locking between the end executing unit 20 and the main body unit 10 needs to be controlled. For example, in combination with FIG. 2, the end executing unit 20 is in a preset pulling-out position, which can be referred to as the P2 position.

[0106] The controller 50 is in communication connection with the driving source 30, and the controller 50 is configured to control the driving source 30, for example, to control the driving source 30 to work or stop, or to control the driving source 30 to perform corresponding actions according to instructions, etc. In the embodiment, the controller 50 is also configured to implement an interventional instrument control method.

[0107] For example, the controller 50 is configured to obtain the position of the end executing unit 20 of the interventional instrument 100;

[0108] According to the relationship between the position of the end executing unit 20 and the preset position, the end executing unit 20 is locked or unlocked.

[0109] Specifically, the preset position is set as a preset pulling-out position (P2 position), so that when the end executing unit 20 needs to be pulled out of the human body, the driving source 30 can be manually controlled to work, and when the end executing unit 20 swings to the preset pulling-out position, the controller 50 can control the end executing unit 20 to be locked, which is beneficial to pull out the end executing unit 20.

[0110] Of course, the preset position can also be set as several commonly used positions, which can be set according to the commonly used types of surgery or the habits of doctors. In other words, according to the normal operation of the doctor, when the end executing unit 20 is in the preset position, the end executing unit 20 will be locked to maintain the current state, which is beneficial to the doctor to quickly locate and operate.

[0111] Of course, if the interventional instrument 100 suddenly loses power or is accidentally locked during use or testing, and suddenly restarts, the interventional instrument 100 can also give a warning by judging the relationship between the position of the end executing unit 20 and the preset position, and further judging whether it needs to be unlocked.

[0112] Specifically, the interventional instrument control method will be described in detail later.

[0113] Of course, in order to facilitate information input to the controller 50, the interventional instrument 100 further comprises a control key 60, which is in communication connection with the controller 50; the controller 50 is configured to control the driving source 30 according to the signal of the control key 60.

[0114] For example, the number of the control key 60 is one, and different signal inputs are given to the controller 50 by pressing or releasing, or long pressing or short pressing. For example, pressing the control key 60 realizes the operation of the driving source 30, and releasing the control key 60 realizes the stop of the driving source 30. For example, when the number of the control key 60 is two, optionally, one control key 60 is configured to control the driving source 30 to rotate forward, thereby realizing the forward rotation of the end executing unit 20, and the other control key 60 is configured to control the driving source 30 to rotate reversely, thereby realizing the reverse rotation of the end executing unit 20.

[0115] In the embodiment, when the number of the control key 60 is more, optionally, there are other control keys 60 configured to control the driving source 30 to rotate at different gears, for example, pressing the control key 60 once, and in the subsequent control scenario of the driving source 30, the driving source 30 runs at a low gear speed, and pressing the control key 60 again, and in the subsequent control scenario of the driving source 30, the driving source 30 runs at a high gear speed.

[0116] Optionally, the control key 60 can also not exist in the form of pressing, for example, the control key 60 exists in the form of a joystick, and by pulling the joystick to different directions, the forward rotation or the reverse rotation of the driving source 30 is realized. For another example, by twisting the joystick, the adjustment of the output rotating speed of the driving source 30 is realized.

[0117] In order to facilitate the understanding of the relative position relationship, the XYZ direction is shown in Figure 3 for auxiliary indication. In the figure, the Z axis represents the vertical direction, that is, the up-down position, and the positive direction of the Z axis (that is, the arrow direction of the Z axis) represents the up, and the negative direction of the Z axis represents the down. In the figure, the X axis represents the front-back position, and the positive direction of the X axis (that is, the arrow direction of the X axis) represents the front side, and the negative direction of the X axis represents the back side. In the figure, the Y axis represents the horizontal direction, and is designated as the left-right position, and the positive direction of the Y axis (that is, the arrow direction of the Y axis) represents the right side, and the negative direction of the Y axis represents the left side. It should be noted that the above-mentioned meanings of the Z axis, the Y axis and the X axis are only for facilitating the description of the embodiment and simplifying the description, and are not indicative or suggestive of the fact that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the embodiment.

[0118] Optionally, in combination with FIG. 3-5, the number of control keys 60 is multiple, where "multiple" can be understood as greater than or equal to two. Based on this, at least one control key 60 is distributed on at least one side of the main unit 10, in other words, one or more control keys 60 can be provided on one side of the main unit 10, or one or more control keys 60 can be provided on both sides of the main unit 10.

[0119] Optionally, multiple control keys 60 are distributed on the same side of the main unit 10, and among the multiple control keys 60 on the same side, at least one control key 60 is configured to control the forward rotation of the end execution unit 20, and at least one control key 60 is configured to control the reverse rotation of the end execution unit 20.

[0120] For example, in the scenario of manual operation, at least one control key 60 on the left side of the main unit 10 is configured to control the forward rotation of the driving source 30 to realize the forward rotation of the end execution unit 20, and at least one control key 60 on the left side of the main unit 10 is configured to control the reverse rotation of the driving source 30 to realize the reverse rotation of the end execution unit 20.

[0121] Specifically, the multiple control keys 60 include a first control key 61 and a second control key 62 on one side of the main unit 10. Among them, the first control key 61 is configured to control the forward rotation of the driving source 30 to realize the forward rotation of the end execution unit 20, and the second control key 62 is configured to control the reverse rotation of the driving source 30 to realize the reverse rotation of the end execution unit 20.

[0122] Of course, it is not excluded that different control keys 60 on the left and right sides of the main unit 10 are configured to control the forward rotation and reverse rotation of the driving source 30, respectively.

[0123] Therefore, as known from the above, the control key 60 can be an on-off key, a speed regulation key, or a direction key, etc.

[0124] In combination with FIG. 3 and FIG. 4, in this embodiment, the interventional instrument 100 further includes an intermediate transmission unit 40, and the driving source 30 drives the end execution unit 20 to move relative to the main unit 10 through the intermediate transmission unit 40. In other words, the driving source 30 does not directly drive the end execution unit 20, but indirectly drives.

[0125] For example, the intermediate transmission unit 40 includes a speed reducer to achieve speed reduction. For example, the intermediate transmission unit 40 includes various mechanisms to achieve long-distance driving through connecting rod mechanisms, worm gear mechanisms, chain wheel and chain mechanisms, belt wheel mechanisms, etc. Of course, it is not excluded that in specific implementation, the driving source 30 is installed on the main unit 10 and directly drives the end execution unit 20 to move relative to the main unit 10. Alternatively, the driving source 30 is installed on the end execution unit 20 and directly drives the end execution unit 20 to move relative to the main unit 10.

[0126] In this embodiment, the intermediate transmission unit 40 comprises a screw mechanism 41, a traction member 42, a rack and pinion mechanism 43 and a gear assembly 44.

[0127] The screw mechanism 41 comprises a screw rod 411, a screw nut 412 and a sliding block 413 which are mounted on the main body unit 10, the driving source 30 is connected with the screw rod 411, the screw rod 411 is threadedly connected with the screw nut 412, and the screw nut 412 is connected with the sliding block 413;

[0128] The rack and pinion mechanism 43 comprises a limiting rack 431 and a first gear 432 which are mounted on the main body unit 10, the limiting rack 431 is connected with the sliding block 413 through the traction member 42, and the limiting rack 431 is engaged with the first gear 432;

[0129] The gear assembly 44 comprises a second gear 441 and an articulated gear 442, the second gear 441 is mounted on the main body unit 10, the second gear 441 is engaged with the first gear 432, and the articulated gear 442 is mounted on the end execution unit 20, and the articulated gear 442 is engaged with the second gear 441.

[0130] Specifically, the driving source 30 directly drives the screw rod 411 to rotate, the screw rod 411 rotates to drive the screw nut 412 to move linearly, thereby driving the sliding block 413 to move linearly in the front-rear direction. Since the sliding block 413 is connected with the traction member 42 (for example, a pull tab), the traction member 42 is also driven to move linearly in the front-rear direction, the traction member 42 is connected with the limiting rack 431, the limiting rack 431 is engaged with the first gear 432, thus, in the process of movement of the traction member 42, the limiting rack 431 is driven to move, thereby realizing the rotation of the first gear 432. Since the first gear 432 and the second gear 441 are engaged, the rotation of the second gear 441 is realized. The articulated gear 442 is fixed relative to the end linear unit, since the articulated gear 442 and the second gear 441 are engaged, the second gear 441 forcibly drives the articulated gear 442 to rotate, and finally drives the end execution unit 20 to rotate (i.e., swing) relative to the main body unit 10.

[0131] Optionally, the diameter of the first gear 432 is larger than the diameter of the second gear 441, of course, in specific implementation, the diameter relationship of the first gear 432, the second gear 441 and the articulated gear 442 is not limited.

[0132] Optionally, the rotation axis of the end execution joint present relative to the main body unit 10 is coaxial with the rotation axis of the second gear 441, that is, the axes are both the axis C in FIG. 4. In this way, the running stability is stronger.

[0133] It should be noted that, in combination with Fig. 2 and Fig. 4, the end execution unit 20 can rotate relative to the main body unit 10 around the axis C. It can be understood that, if the end execution unit 20 rotates in the direction indicated by the arrow, it is forward rotation, and if the end execution unit 20 rotates in the direction opposite to the direction indicated by the arrow, it is reverse rotation, so that the end execution unit 20 swings around the axis C.

[0134] In this embodiment, the controller 50 can be used to lock the end execution unit 20 to the desired position, or to unlock. For example:

[0135] The controller 50 is further configured to determine the position of the end execution unit 20 according to the operation data of the driving source 30, and to lock or unlock the end execution unit 20 according to the relationship between the position of the end execution unit 20 and the preset position.

[0136] For example, in combination with Fig. 2, when it is necessary to lock the end execution unit 20 to remain at the P1 position, the preset position can be set as the P1 position, and the position of the end execution unit 20 can be determined by using the operation data of the driving source 30. When the end execution unit 20 swings in the normal swinging process, once it swings to the preset position, the controller 50 immediately controls the end execution unit 20 to stop swinging and lock it at the position.

[0137] The operation data can include driving data, encoder data, etc., which can reflect the angle through which the end execution unit 20 turns, and thus can reflect the position of the end execution unit 20.

[0138] Alternatively, the locking can be achieved by stopping the driving source 30. For example, the locking of the end execution unit 20 can be achieved by applying a brake to the driving source 30. In combination with the above, after the driving source 30 stops running, the locking function can be achieved by using the driving source 30 itself, for example, the driving source 30 is a stepper motor, which has a stop locking function. Or the locking of the end execution unit 20 can be achieved by using the self-locking function of the screw mechanism 41 in the intermediate transmission unit 40. Alternatively, a separate locking structure can be designed, which is installed near the driving source 30, or directly installed on any component of the intermediate transmission unit 40, and the locking of the end execution unit 20 can be achieved by clamping and fixing any component.

[0139] Similarly, the preset position can be set as the P2 position, or the P3 position, or any position. For example, several positions commonly used in surgery can be set as preset positions. When the preset position is selected as the P2 position, the position can also be used as the pulling-out position of the end execution unit 20. That is, the relative preferred position when pulled out of the human body.

[0140] It should be noted that the preset position can be directly set as the above-mentioned several positions, or only one position can be set as the preset position, and one control key 60 can be used to increase or decrease a certain angle on the basis of the preset position. When the end executing unit 20 reaches a position that is the preset position plus or minus a certain angle, the end executing unit 20 is locked.

[0141] For example, in combination with FIG. 2, the preset position can be set as the P2 position, and one control key 60 is used to increase, for example, 30 degrees. Then, the end executing unit 20 will be locked at the P3 position, and at this time, the P3 position is 30 degrees away from the P2 position in the rotation direction of the end executing unit 20.

[0142] Of course, a sensor can also be used to directly detect the position. For example, the interventional instrument 100 further comprises a position sensor 70, which is installed on the main body unit 10 or the end executing unit 20. The position sensor 70 is in communication connection with the controller 50, and the position sensor 70 is configured to detect the position of the end executing unit 20 relative to the main body unit 10. Similarly, the controller 50 is configured to lock or unlock the end executing unit 20 according to the relationship between the position of the end executing unit 20 and the preset position.

[0143] Of course, it should be noted that the number of position sensors 70 is not limited. For example, the number of position sensors 70 can be two. The data detected by the two position sensors 70 are compared. When the two detected positions are the same, the result output by one of the position sensors 70 can be selected. If the positions detected by the two position sensors 70 are different, and the deviation is within a preset range, the intermediate position of the positions detected by the two position sensors 70 can be taken as the position of the end executing unit 20 relative to the main body unit 10. If the positions detected by the two position sensors 70 are different, and the deviation is outside the preset range, it can be determined that at least one of the position sensors 70 has failed, and needs to be stopped for maintenance.

[0144] Alternatively, in the present embodiment, the end executing unit 20 is swingably arranged relative to the main body unit 10. Therefore, the position sensor 70 can be an angle sensor, which is configured to detect the swing angle of the end executing unit 20 relative to the main body unit 10, so as to determine the position of the end executing unit 20 relative to the main body unit 10.

[0145] Of course, the position sensor 70 can also be a distance sensor, which is configured to detect the distance between one or more points on the end executing unit 20 and one or more points on the main body unit 10, so as to determine the position of the end executing unit 20 relative to the main body unit 10.

[0146] It should be noted that the position sensor 70 can directly detect the position of the end execution unit 20 relative to the main body unit 10, or the position of the intermediate transmission unit 40 to obtain the position of the end execution unit 20. In other words, the position sensor 70 can be installed on any component of the intermediate transmission unit 40, which facilitates the position arrangement of the position sensor 70 and reduces the end size of the interventional instrument 100. For example, a plurality of trigger points are provided on the traction member 42, and the position sensor 70 is triggered by different trigger points to output a signal indicating that the end execution unit 20 is in different positions.

[0147] In addition, the position sensor 70 can directly detect the coordinate position of one or more points on the end execution unit 20 relative to the coordinate system established by the main body unit 10, and determine the position of the end execution unit 20 relative to the main body unit 10 by using the coordinate position.

[0148] Alternatively, X-ray can be used for position determination, for example, after X-ray, the position of the end execution unit 20 relative to the main body unit 10 can be directly determined by image recognition. Specifically, one or more developing points or developing areas can be provided on the end execution unit 20 and the main body unit 10 to achieve this.

[0149] Taking the angle sensor detection as an example, generally, for disposable instruments or less frequently used instruments, it is generally considered that the detected rotation angle of the end execution unit 20 relative to the main body unit 10 is 0 degrees, and it is considered that the end execution unit 20 reaches the preset pull-out position (for example, the P2 position in FIG. 2).

[0150] Of course, for some types of instruments that are used for a long time, the detected angle and the actual angle can be different. In the case that the detected angle and the actual angle are inconsistent through naked eye observation or other tool detection, the program can be used for fine adjustment. For example, when the detected angle is 0 degrees and the actual angle is 5 degrees, the preset angle 0 degrees corresponding to the preset position can be adjusted to -5 degrees.

[0151] In combination with FIG. 5, the present embodiment further provides a computer readable storage medium 80, and the computer readable storage medium 80 stores computer programs / instructions, and the computer programs / instructions are executed to implement the above-mentioned interventional instrument control method.

[0152] The computer readable storage medium 80 can be part of the interventional instrument 100 or a separate structure. Alternatively, the computer readable storage medium 80 is fixedly installed in the main body unit 10 in a fixed manner, and is in communication connection with the controller 50, and the controller 50 is configured to call the computer programs / instructions stored in the computer readable storage medium 80 to implement the interventional instrument control method.

[0153] Of course, the computer readable storage medium 80 can also be assembled with the main unit 10 in a detachable manner. For example, the main unit 10 is provided with a card slot, and the computer readable storage medium 80 is clamped in the card slot to realize communication with the controller 50 built in the main unit 10. Alternatively, the computer readable storage medium 80 can be a solid-state memory, a memory card, an optical disc, etc.

[0154] In combination with FIG. 5, it is to be noted that the present embodiment also provides a controller 50 comprising computer programs / instructions, which, when executed, realize the above-mentioned interventional instrument control method.

[0155] The controller 50 is generally built in the main unit 10. When the computer readable storage medium 80 is also built in the main unit 10, it can be understood that the computer readable storage medium 80 and the controller 50 can be two independent electrical components, and of course, they can also be integrated.

[0156] In combination with FIG. 5, the interventional instrument 100 further comprises a light source, which is electrically connected with the controller 50.

[0157] The light source can emit light when the driving source 30 is working. For example, different colors of light are emitted when the driving source 30 is rotating forward or reversing, or flashing light is emitted when the driving source 30 is locked, etc.

[0158] The interventional instrument 100 can further comprise a power supply configured to supply power to the above-mentioned various electrical components. Of course, the interventional instrument 100 can also be externally connected to a power grid for power supply through a wire.

[0159] Generally, the controller 50 can be integrated on a circuit board, which is provided with various ports / interfaces, so as to realize communication with various electrical components through a cable.

[0160] It should be noted that the intervention instrument control method provided in the embodiment can be implemented in hardware, firmware, or can be software or computer code that can be stored in a computer-readable storage medium such as a read-only memory (ROM), a random access memory (RAM), a floppy disk, a hard disk, or an optical disk, etc. or can be computer code originally stored on a remote recording medium or a non-transitory machine-readable medium, downloaded via a network and stored in a local recording medium, so that the method described herein can be presented by a general-purpose computer or a special processor or in programmable or special hardware such as an application-specific integrated circuit (ASIC) or a field-programmable gate array (FPGA) with software stored on a recording medium. As can be understood by those skilled in the art, the computer, processor, microprocessor, controller, or programmable hardware includes a memory component, such as RAM, ROM, flash memory, etc., which can store or receive software or computer code when the computer, processor, or hardware implements the processing method described herein by accessing and executing the software or computer code. In addition, when a general-purpose computer accesses code configured to implement the processes shown herein, the execution of the code will convert the general-purpose computer into a special-purpose computer configured to perform the processes shown herein.

[0161] If implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such understanding, the above technology can be embodied in the form of a software product, which is stored in a computer-readable storage medium, and includes several instructions for causing a controller to perform all or part of the method steps described above.

[0162] Each block in the flowcharts or block diagrams of FIGS. 6-9 can represent a module, a segment, or a portion of code, which includes one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur in a different order than that shown in the figures. For example, two blocks shown in succession can in fact be executed substantially concurrently or in the reverse order, depending on the functionality involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented by special-purpose hardware-based systems that perform the specified functions or actions, or can be implemented by a combination of special-purpose hardware and computer instructions.

[0163] Please refer to FIG. 6-FIG. 9, the intervention instrument control method provided by the embodiment, the specific structure of the intervention instrument 100 can refer to the related structure shown in FIG. 1-FIG. 5, which will not be repeated here, of course, can also refer to the related instrument commonly used in the prior art.

[0164] Please refer to FIG. 6, in particular, the intervention instrument control method comprises:

[0165] S100: acquiring the position of the end execution unit 20 of the intervention instrument 100;

[0166] S200: according to the relationship between the position of the end execution unit 20 and the preset position, locking or unlocking the end execution unit 20.

[0167] For example, when the end execution unit 20 needs to be adjusted to the preset position, the end execution unit 20 can be manually controlled to adjust in the normal way, and when the end execution unit 20 is adjusted to the preset position, the end execution unit 20 is locked, so that the adjustment can be quickly and accurately realized. For example, after the intervention instrument 100 is suddenly powered off and restarted, or accidentally locked, it can be judged whether the position of the end execution unit 20 is in the preset position.

[0168] In some scenarios, if the end execution unit 20 is in the preset position, it means that it can work normally, and the end execution unit 20 can be unlocked. If the end execution unit 20 is not in the preset position, it means that it needs to be manually repaired, so the end execution unit 20 can be kept locked.

[0169] In some scenarios, if the end execution unit 20 is in the preset position, it needs to be manually repaired, so the end execution unit 20 can be kept locked. If the end execution unit 20 is not in the preset position, it means that it can work normally, and the end execution unit 20 can be unlocked.

[0170] During the operation, the end execution unit 20 of the intervention instrument 100 needs to be accurately matched with the lesion, so as to facilitate the subsequent operation (such as anastomosis) through the end execution unit 20. The doctor can manually press the corresponding control key 60 to change the angle of the end execution unit 20 relative to the main unit 10, so as to realize the position adjustment of the end execution unit 20. However, when the end execution unit 20 needs to be pulled out of the human body after completing the corresponding operation, it is often difficult, such as in FIG. 2, if the end execution unit 20 is in the position of P1 or P3, directly pulling out the action will have certain safety hazards.

[0171] In this case, the doctor often manually controls the control key 60, so that the end executing unit 20 is adjusted to the state as coaxial as possible with the main body unit 10 (such as the position P2 in FIG. 2), however, the manual adjustment often has control error, for example, the swing angle is not enough, or the swing angle is excessive. Specifically, when the position adjustment of the end executing unit 20 is performed, there is usually no corresponding limit at the preset pulling-out position, and the end executing unit 20 is easily swung excessively during the swing, and the preset pulling-out position is deviated, which causes difficulty in pulling out, and even causes safety hazards.

[0172] To solve the technical problem, in the embodiment, the preset position includes the preset pulling-out position of the end executing unit 20.

[0173] In combination with FIGS. 6 and 8, the above-mentioned step of locking or unlocking the end executing unit 20 according to the relationship between the position of the end executing unit 20 and the preset position includes:

[0174] S210: In the case that the end executing unit 20 is moved to the preset pulling-out position, the end executing unit 20 is locked, so that the end executing unit 20 is kept at the preset pulling-out position.

[0175] Specifically, in the process that the doctor manually operates the control key 60 to control the end executing unit 20 to swing from the positions P1 and P3 to the position P2, when the end executing unit 20 is swung to the position P2, the controller 50 locks the end executing unit 20, for example, locks the driving source 30, so that the end executing unit 20 is kept at the preset pulling-out position. At this time, the space required by the end executing unit 20 during the pulling-out process is small, which is beneficial to the pulling-out of the end executing unit 20, and at the same time, can avoid the damage to the human body during the pulling-out.

[0176] Therefore, by acquiring the position of the end executing unit 20 during the swing, it can be judged whether the end executing unit 20 is swung to the preset pulling-out position according to the position of the end executing unit 20 during the swing, in the case that the end executing unit 20 is swung to the preset pulling-out position, for example, the end executing unit 20 is swung to the coaxial position with the main body unit 10, the end executing unit 20 is locked and controlled, so that the end executing unit 20 cannot continue to swing, and the end executing unit 20 is kept at the preset pulling-out position, thereby avoiding that the end executing unit 20 is swung excessively and deviates from the preset pulling-out position. By using this method, the accuracy of the pulling-out position can be improved, the difficulty of manual control can be reduced, and the collision of the end executing unit 20 during the pulling-out can be avoided.

[0177] It should be noted that the preset position can not only include the preset pulling-out position. For example, several positions commonly used by the doctor can also be set as the preset position, so as to facilitate the accurate positioning of the end executing unit 20.

[0178] In combination with FIGS. 6 and 7, in the embodiment, the step of acquiring the position of the end execution unit 20 of the interventional instrument 100 includes:

[0179] S110: Acquire the swing angle of the end execution unit 20 of the interventional instrument 100 relative to the main unit 10 of the interventional instrument 100; and determine the position of the end execution unit 20 of the interventional instrument 100 according to the swing angle.

[0180] For example, the swing angle is directly detected by the position sensor 70 (for example, an angle sensor), or the swing angle is obtained by using the operation data of the driving source 30. Of course, the swing angle can also be obtained by using the X-ray imaging technology.

[0181] It should be noted that the end execution unit 20 is rotationally arranged relative to the main unit 10, and thus the position of the end execution unit 20 can be obtained by using the rotation angle (swing angle). Of course, the position of the end execution unit 20 can also be obtained indirectly by detecting the position of the intermediate transmission unit 40, for example, the translational position of the traction member 42, the nut 412, and the sliding block 413.

[0182] Of course, if the end execution unit 20 can be translated relative to the main unit 10, the position of the end execution unit 20 can be obtained by detecting the translational distance.

[0183] In combination with FIGS. 6 and 7, in the embodiment, the step of acquiring the position of the end execution unit 20 of the interventional instrument 100 includes:

[0184] S120: Acquire the operation data of the driving source 30; and determine the position of the end execution unit 20 according to the operation data.

[0185] The driving source 30 is configured to drive the end execution unit 20 of the interventional instrument 100 to move relative to the main unit 10.

[0186] The operation data includes driving data and encoder data, and the driving data and the encoder data can reflect the angle through which the end execution unit 20 is rotated, and thus can reflect the position of the end execution unit 20.

[0187] In combination with FIGS. 6 and 7, in the embodiment, the step of acquiring the position of the end execution unit 20 of the interventional instrument 100 includes:

[0188] S130: Acquire the position signal output by the position sensor 70, the position signal representing the position of the end execution unit 20; and determine the position of the end execution unit 20 according to the position signal.

[0189] In combination with the foregoing, the position sensor 70 can be an angle sensor, a distance sensor, etc. The position of the end effector 20 can be determined by detecting the rotation angle of the screw 411, the movement distance of the nut 412, the slider 413, the traction member 42, the limit rack 431, or the rotation angle of the first gear 432, the second gear 441, etc.

[0190] In combination with FIGS. 6 and 7, in the present embodiment, the step of acquiring the position of the end effector 20 of the interventional instrument 100 can include:

[0191] S140: acquiring operation data of the driving source 30; determining the first position of the end effector 20 according to the operation data; wherein the driving source 30 is configured to drive the end effector 20 of the interventional instrument 100 to move relative to the main unit 10;

[0192] acquiring a position signal output by the position sensor 70, the position signal representing the position of the end effector 20; determining the second position of the end effector 20 according to the position signal;

[0193] in the case where the first position and the second position are consistent, determining the position of the end effector 20 as the first position or the second position; in the case where the first position and the second position are inconsistent, determining the position of the end effector 20 according to a preset rule.

[0194] In order to improve the accuracy of position detection, the operation data of the driving source 30 and the data detected by the position sensor 70 are compared, and in the case where the two data are consistent, one of them is selected. In the case where the two data are inconsistent, the position is determined according to a preset rule.

[0195] In the present embodiment, the step of determining the position of the end effector 20 according to a preset rule can include:

[0196] determining the intermediate position of the first position and the second position as the position of the end effector 20.

[0197] For example, in combination with FIG. 2, it is assumed that the data detected by the driving source 30 represent that the end effector 20 is at the P1 position, and the data detected by the position sensor 70 represent that the end effector 20 is at the P3 position. Then, it can be determined by calculation that the end effector 20 is at the P2 position at this time.

[0198] Of course, if the two detection data are greatly different, the doctor can determine according to experience that the detection data of the position sensor 70 and / or the operation data of the driving source 30 have a problem at this time, and further determine whether to stop for maintenance according to the severity of the problem.

[0199] For the convenience of locking the end execution unit 20, please combine FIG. 6 and FIG. 8. In the embodiment, the step of locking the end execution unit 20 includes:

[0200] S220: Locking the driving source 30 to lock the end execution unit 20.

[0201] The driving source 30 is configured to drive the end execution unit 20 of the interventional instrument 100 to move relative to the main body unit 10.

[0202] For example, the locking of the end execution unit 20 can be achieved by applying the brake to the driving source 30. In combination with the above, after the driving source 30 stops running, the locking function can be achieved by using the driving source 30 itself, for example, the driving source 30 is a stepper motor, which has a stop locking function. Or the locking of the end execution unit 20 can be achieved by using the self-locking function of the screw mechanism 41 in the intermediate transmission unit 40. Or a separate locking structure is designed, which is installed near the driving source 30, or directly installed on any component of the intermediate transmission unit 40, and the locking of the end execution unit 20 is achieved by clamping and fixing any component.

[0203] In combination with FIG. 6 and FIG. 9, in the embodiment, after the step of locking the end execution unit 20, the interventional instrument control method further includes:

[0204] S300: Unlocking the end execution unit 20 when the preset unlocking condition is met.

[0205] For example, in the locked state, the preset unlocking condition can include that the doctor triggers the control key 60, or other operations, such as rotating, extending, retracting the main body unit 10, or sudden power failure, etc. When the preset unlocking condition is met, the locking is released, so that the end execution unit 20 can continue to be controlled, that is, the end execution unit 20 is in an unlocked state.

[0206] It should be noted that the control key 60 here can be an on-off key, or other keys in communication with the controller 50. As known from the above, the control key 60 can also be a speed adjustment key, and can also be a direction key, etc.

[0207] In some scenarios, when the end execution unit 20 needs to be pulled out, but the end execution unit 20 is in other preset positions instead of the preset pulling-out position, the doctor can trigger the control key 60 to unlock the end execution unit 20, so that it continues to swing and can swing to the preset pulling-out position. Or, when the end execution unit 20 is in the preset pulling-out position, the doctor judges that the operation still needs to continue, and therefore triggers the control key 60 to continue to swing and continue the next operation, etc.

[0208] Specifically, the preset unlocking condition can be set according to actual needs, which will be exemplarily explained later.

[0209] In combination with FIGS. 6 and 9, in the embodiment, the step of unlocking the end executing unit 20 under the condition that the preset unlocking condition is met includes:

[0210] S310: In the case where the first trigger signal is acquired, the end executing unit 20 is unlocked.

[0211] The first trigger signal is triggered by the control key 60.

[0212] In other words, the doctor can make the end executing unit 20 unlocked as long as the control key 60 is triggered.

[0213] In combination with FIGS. 6 and 9, in the embodiment, the step of unlocking the end executing unit 20 under the condition that the preset unlocking condition is met includes:

[0214] S320: In the case where the second trigger signal is acquired, the end executing unit 20 is unlocked.

[0215] The second trigger signal is characterized in that the end executing unit 20 is moved away from the preset pulling-out position under the control of the control key 60.

[0216] In some scenarios, the control key 60 includes a first control key 61 and a second control key 62, the first control key 61 realizes the forward rotation of the end executing unit 20, and the second control key 62 realizes the reverse rotation of the end executing unit 20. Understandably, the doctor first operates the first control key 61 to make the end executing unit 20 move towards the preset pulling-out position and finally realize the locking, and when the doctor triggers the second control key 62, the end executing unit 20 is unlocked.

[0217] Of course, in some scenarios, the doctor first operates the first control key 61 to make the end executing unit 20 move towards the preset pulling-out position and finally realize the locking, and when the doctor continues to trigger the first control key 61, the end executing unit 20 is unlocked.

[0218] Alternatively, in some scenarios, the doctor first operates the first control key 61 to make the end executing unit 20 move towards the preset pulling-out position and finally realize the locking, and when the doctor triggers the first control key 61 and the second control key 62 at the same time, the end executing unit 20 can be unlocked.

[0219] In combination with FIGS. 6 and 9, in the embodiment, the step of unlocking the end executing unit 20 under the condition that the preset unlocking condition is met includes:

[0220] S330: In the case that the first release trigger signal is acquired and the third trigger signal is acquired, the end executing unit 20 is unlocked;

[0221] The first release trigger signal represents that one of the control keys 60 is triggered to perform the action of controlling the end executing unit 20 to move to the preset pulling-out position is released, and the third trigger signal represents that the other control key 60 is triggered.

[0222] In other words, in some scenarios, the control keys 60 include a first control key 61 and a second control key 62, the first control key 61 realizes the forward rotation of the end executing unit 20, and the second control key 62 realizes the reverse rotation of the end executing unit 20. It can be understood that the doctor first operates the first control key 61 to make the end executing unit 20 move towards the preset pulling-out position, and finally realizes the locking. When the doctor releases the first control key 61 to output the first release trigger signal, and triggers the second control key 62, the end executing unit 20 is unlocked to realize the unlocking.

[0223] Of course, in some scenarios, the doctor first operates the first control key 61 to make the end executing unit 20 move towards the preset pulling-out position, and finally realizes the locking. When the doctor releases the first control key 61 to output the first release trigger signal, and triggers the other control key 60, the end executing unit 20 is unlocked to realize the unlocking.

[0224] According to the specific structure of the interventional instrument 100 described above, in the case that the number of control keys 60 is multiple, the multiple control keys 60 can be distributed on one side of the main unit 10, or the control keys 60 can be distributed on both sides of the main unit 10. In addition, the functions of all the multiple control keys 60 can be inconsistent, or the functions of part of the control keys 60 can be consistent. Therefore, the "other control key 60" mentioned above can be understood as the control key 60 that is not operated in sequence.

[0225] Alternatively, a group of control keys 60 are arranged on the left and right sides of the main unit 10 respectively, each group of control keys 60 has the first control key 61 and the second control key 62 mentioned above. The "other control key 60" mentioned here can be the control key 60 with other functions on the same side, or the control key 60 with the same or different functions on different sides. By controlling the end executing unit 20 on the left and right sides respectively, the use requirements of different people such as left-handed and right-handed people can be met, and the operator can operate with the other hand to reduce the fatigue feeling.

[0226] In combination with FIGS. 6 and 9, in the embodiment, the step of unlocking the end executing unit 20 under the condition that the preset unlocking condition is met includes:

[0227] S340: In the case that the second release trigger signal is acquired, and the fourth trigger signal is acquired after the interval of the first preset time length, the end executing unit 20 is unlocked;

[0228] The second release trigger signal represents that the control key 60 is triggered by setting action to control the end executing unit 20 to rotate in a single direction so as to be unlocked; and the fourth trigger signal represents that the control key 60 is triggered by setting action again to control the end executing unit 20 to rotate in a single direction.

[0229] The first preset time length can be set according to specific conditions, for example, the first preset time length can be set to 0.5s, 1s, 1.5s, 3s, etc.

[0230] In other words, in some scenarios, the control key 60 includes a first control key 61 and a second control key 62, the first control key 61 realizes forward rotation of the end executing unit 20, and the second control key 62 realizes reverse rotation of the end executing unit 20. It can be understood that the doctor first operates the first control key 61 to move the end executing unit 20 towards the preset extraction position, and finally realizes locking. When the doctor releases the first control key 61 to output the second release trigger signal, after the interval of the first preset time length, the doctor triggers the first control key 61 to output the fourth trigger signal, and the end executing unit 20 is unlocked.

[0231] The setting action is determined according to the actual situation of the control key 60, for example, the control key 60 is a press key, and the setting action is the action of pressing the control key 60. For example, the control key 60 is a push key, and the setting action is the action of pushing the control key 60.

[0232] The above is mainly described by taking the control key 60 as a press key as an example. Specifically, the press key is first released, and then the same press key is pressed again.

[0233] It should be understood that, according to the general triggering mode of the control key 60, the continuous control is usually realized by maintaining the triggering of the control key 60, that is, maintaining the setting action to trigger the control key 60, that is, controlling the end executing unit 20 to rotate in a single direction, for example, forward rotation, without releasing the control key 60 and pressing the control key 60 again. In this way, this setting mode can avoid the end executing unit 20 from rotating excessively and deviating from the preset extraction position due to the too long time length of triggering the control key 60 by setting action, and can avoid the end executing unit 20 from rotating excessively and deviating from the preset extraction position due to the inaccurate control of the action duration of the setting action, and can improve the position stability of the end executing unit 20 at the preset extraction position.

[0234] Of course, in some scenarios, the doctor first operates the first control key 61 to move the end executing unit 20 towards the preset pulling-out position, and finally realizes the locking. When the doctor releases the first control key 61 to realize the output of the second release trigger signal, after the interval of the first preset time length, the doctor triggers the second control key 62 to realize the output of the fourth trigger signal, and the end executing unit 20 is released from the locking to realize the unlocking.

[0235] In combination with FIGS. 6 and 9, in the embodiment, optionally, the step of unlocking the end executing unit 20 under the condition of meeting the preset unlocking condition comprises:

[0236] S350: In the case where the duration of the trigger signal of the control key 60 is greater than or equal to the second preset time length, the end executing unit 20 is unlocked.

[0237] In other words, in the case where the end executing unit 20 is locked, if the doctor continuously presses the control key 60 for the second preset time length, the end executing unit 20 is released from the locking to realize the unlocking. The second preset time length can be set according to specific conditions, for example, the second preset time length can be set to 1s, 2s, 3s, 4s, etc. Through the duration, the accidental unlocking of the end executing unit 20 caused by the accidental touch of the doctor can be avoided.

[0238] Optionally, the second preset time length is greater than the first preset time length, for example, the second preset time length can be M times of the first preset time length, M is greater than 1, for example, M can be 2, 3, 4, etc.

[0239] It can be understood that when the duration of the continuous triggering of the control key 60 is greater than or equal to the second preset time length, it indicates that the operator has no intention to control the end executing unit 20 to swing to the preset pulling-out position and keep it in the preset pulling-out position, and the intention of triggering the control key 60 is to swing the end executing unit 20 from one side through the preset pulling-out position to the other side. In this case, the position of the end executing unit 20 is unlocked to control the end executing unit 20 to realize the real control intention. This unlocking idea is more humanized.

[0240] In combination with the above, it can be understood that when any of the above-mentioned unlocking conditions is met, the unlocking can be realized. In the embodiment, five kinds of unlocking conditions of S310, S320, S330, S340 and S350 are shown.

[0241] In specific implementation, the intervention instrument control method further comprises: when the control mode instruction is received, the end executing unit 20 is controlled according to the control mode.

[0242] For example, the control mode instruction includes one or more of a first control mode instruction, a second control mode instruction, a third control mode instruction, a fourth control mode instruction, and a fifth control mode instruction.

[0243] When the first control mode instruction is received, the end executing unit 20 is controlled according to a first control mode, and in the first control mode, the preset unlocking condition can include only any one of the first unlocking condition, the second unlocking condition, the third unlocking condition, the fourth unlocking condition, and the fifth unlocking condition.

[0244] When the second control mode instruction is received, the end executing unit 20 is controlled according to a second control mode, and in the second control mode, the preset unlocking condition can include any two of the first unlocking condition, the second unlocking condition, the third unlocking condition, the fourth unlocking condition, and the fifth unlocking condition.

[0245] When the third control mode instruction is received, the end executing unit 20 is controlled according to a third control mode, and in the third control mode, the preset unlocking condition can include any three of the first unlocking condition, the second unlocking condition, the third unlocking condition, the fourth unlocking condition, and the fifth unlocking condition.

[0246] When the fourth control mode instruction is received, the end executing unit 20 is controlled according to a fourth control mode, and in the fourth control mode, the preset unlocking condition can include any four of the first unlocking condition, the second unlocking condition, the third unlocking condition, the fourth unlocking condition, and the fifth unlocking condition.

[0247] When the fifth control mode instruction is received, the end executing unit 20 is controlled according to a fifth control mode, and in the fifth control mode, the preset unlocking condition can include the first unlocking condition, the second unlocking condition, the third unlocking condition, the fourth unlocking condition, and the fifth unlocking condition.

[0248] Specifically, the control mode instruction is given in a manner that is not limited, for example, the control key 60 further includes a mode switching key, and different control mode instructions are given by switching and confirming the mode switching key.

[0249] In this way, the operator can select the corresponding control mode instruction according to his own use habit, so that the control method can adapt to the use demand of different operators, and the adaptability is strong.

[0250] In summary, the embodiments of the present disclosure provide an interventional instrument 100, an interventional instrument control method, a computer readable storage medium 80 and a controller 50. The interventional instrument control method comprises: acquiring the position of the end execution unit 20 of the interventional instrument 100; and locking or unlocking the end execution unit 20 according to the relationship between the position of the end execution unit 20 and the preset position. For example, when the end execution unit 20 needs to be adjusted to the preset position, the end execution unit 20 can be manually controlled to be adjusted in a normal manner. When the end execution unit 20 is adjusted to the preset position, the end execution unit 20 is locked, so that the adjustment can be quickly and efficiently and accurately realized. For example, after the interventional instrument 100 is suddenly powered off and restarted, or in the case of accidental locking, it can be determined whether the position of the end execution unit 20 is at the preset position. In some scenarios, if the end execution unit 20 is at the preset position, it means that it can work normally, and the end execution unit 20 can be unlocked. If the end execution unit 20 is not at the preset position, it means that it needs to be manually maintained, and the end execution unit 20 can be kept locked. In some scenarios, if the end execution unit 20 is at the preset position, it needs to be manually maintained, and the end execution unit 20 can be kept locked. If the end execution unit 20 is not at the preset position, it means that it can work normally, and the end execution unit 20 can be unlocked.

[0251] The above merely describes specific embodiments of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any changes or replacements within the technical scope disclosed by the present disclosure can be easily conceived by those skilled in the art, and should be covered by the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be subject to the protection scope of the claims. Industrial applicability

[0252] In summary, the embodiments of the present disclosure provide an interventional instrument 100, an interventional instrument control method, a computer readable storage medium 80 and a controller 50. The interventional instrument control method comprises: acquiring the position of the end execution unit 20 of the interventional instrument 100; and locking or unlocking the end execution unit 20 according to the relationship between the position of the end execution unit 20 and the preset position. For example, when the end execution unit 20 needs to be adjusted to the preset position, the end execution unit 20 can be manually controlled to be adjusted in a normal manner. When the end execution unit 20 is adjusted to the preset position, the end execution unit 20 is locked, so that the adjustment can be quickly and efficiently and accurately realized. For example, after the interventional instrument 100 is suddenly powered off and restarted, or in the case of accidental locking, it can be determined whether the position of the end execution unit 20 is at the preset position. In some scenarios, if the end execution unit 20 is at the preset position, it means that it can work normally, and the end execution unit 20 can be unlocked. If the end execution unit 20 is not at the preset position, it means that it needs to be manually maintained, and the end execution unit 20 can be kept locked. In some scenarios, if the end execution unit 20 is at the preset position, it needs to be manually maintained, and the end execution unit 20 can be kept locked. If the end execution unit 20 is not at the preset position, it means that it can work normally, and the end execution unit 20 can be unlocked.

Claims

1. An interventional instrument control method, characterized by, The method comprises: acquiring a position of a tip execution unit of the interventional instrument; locking or unlocking the tip execution unit according to a relationship between the position of the tip execution unit and a preset position.

2. The interventional instrument control method of claim 1, wherein, The preset position comprises a preset pulling-out position of the tip execution unit. The step of locking or unlocking the tip execution unit according to the relationship between the position of the tip execution unit and the preset position comprises: locking the tip execution unit when the tip execution unit moves to the preset pulling-out position, so that the tip execution unit is kept at the preset pulling-out position.

3. The interventional instrument control method of claim 1, wherein, The step of acquiring the position of the tip execution unit of the interventional instrument comprises: acquiring a swing angle of the tip execution unit of the interventional instrument relative to a main body unit of the interventional instrument; determining the position of the tip execution unit of the interventional instrument according to the swing angle.

4. The interventional instrument control method of any one of claims 1-3, wherein, The step of acquiring the position of the tip execution unit of the interventional instrument comprises: acquiring operation data of a driving source; determining the position of the tip execution unit according to the operation data; The driving source is configured to drive the tip execution unit of the interventional instrument to move relative to the main body unit.

5. The method of controlling an interventional instrument according to any one of claims 1-3, wherein, The step of acquiring the position of the tip execution unit of the interventional instrument comprises: acquiring a position signal output by a position sensor, the position signal representing the position of the tip execution unit; determining the position of the tip execution unit according to the position signal.

6. The interventional instrument control method of any one of claims 1-3, wherein, The step of acquiring the position of the tip execution unit of the interventional instrument comprises: acquiring operation data of a driving source; determining a first position of the tip execution unit according to the operation data; wherein the driving source is configured to drive the tip execution unit of the interventional instrument to move relative to the main body unit; acquiring a position signal output by a position sensor, the position signal representing the position of the tip execution unit; determining a second position of the tip execution unit according to the position signal; when the first position and the second position are consistent, determining the first position or the second position as the position of the tip execution unit; when the first position and the second position are inconsistent, determining the position of the tip execution unit according to a preset rule.

7. The interventional instrument control method of claim 6, wherein, The step of determining the position of the tip execution unit according to the preset rule comprises: determining a middle position of the first position and the second position as the position of the tip execution unit.

8. The interventional instrument control method of claim 7, wherein, The step of locking the tip execution unit comprises: locking the driving source to lock the tip execution unit; The driving source is configured to drive the tip execution unit of the interventional instrument to move relative to the main body unit.

9. The interventional instrument control method of any one of claims 1-8, wherein, After the step of locking the tip execution unit, the interventional instrument control method further comprises: unlocking the tip execution unit when a preset unlocking condition is met.

10. The interventional instrument control method of claim 9, wherein, The step of unlocking the tip execution unit when the preset unlocking condition is met comprises: unlocking the tip execution unit when a first trigger signal is acquired; The first trigger signal is triggered by a control key.

11. The interventional instrument control method according to claim 9 or 10, characterized by, The step of unlocking the end execution unit when the preset unlocking condition is met comprises: In the case of obtaining the second trigger signal, the end execution unit is unlocked; Wherein, the second trigger signal represents that the end execution unit moves away from the preset pulling-out position under the control of the control key.

12. The interventional instrument control method of any one of claims 9-11, wherein, The step of unlocking the end execution unit when the preset unlocking condition is met comprises: In the case of obtaining the first release trigger signal and obtaining the third trigger signal, the end execution unit is unlocked; Wherein, the first release trigger signal represents that one of the control keys is triggered to perform the action of controlling the end execution unit to move to the preset pulling-out position, and the third trigger signal represents that the other control key is triggered.

13. The interventional instrument control method of any one of claims 9-12, wherein, The step of unlocking the end execution unit when the preset unlocking condition is met comprises: In the case of obtaining the second release trigger signal and obtaining the fourth trigger signal after a first preset time interval, the end execution unit is unlocked; Wherein, the second release trigger signal represents that the control key is triggered by a set action to control the end execution unit to rotate in a single direction, thereby being unlocked; and the fourth trigger signal represents that the control key is triggered again by the set action to control the end execution unit to rotate in a single direction.

14. The interventional instrument control method of any one of claims 9-13, wherein, The step of unlocking the end execution unit when the preset unlocking condition is met comprises: In the case of obtaining the trigger signal of the control key for a duration greater than or equal to a second preset time interval, the end execution unit is unlocked.

15. An interventional instrument, characterized by It comprises: A main unit; An end execution unit, which is movable relative to the main unit; A drive source configured to drive the end execution unit of the interventional instrument to move relative to the main unit; And A controller in communication connection with the drive source, configured to implement the interventional instrument control method of any one of claims 1-14.

16. The interventional instrument of claim 15, wherein, The controller is further configured to determine the position of the end execution unit according to the operation data of the drive source, and to lock or unlock the end execution unit according to the relationship between the position of the end execution unit and the preset position.

17. The interventional instrument of claim 15 or 16, wherein, The interventional instrument further comprises a position sensor installed on the main unit or the end execution unit; the position sensor is in communication connection with the controller, and is configured to detect the position of the end execution unit relative to the main unit; The controller is configured to lock or unlock the end execution unit according to the relationship between the position of the end execution unit and the preset position.

18. The interventional instrument of any of claims 15-17, wherein, The interventional instrument further comprises a control key in communication connection with the controller; The controller is configured to control the drive source according to the signal of the control key.

19. The interventional instrument of claim 18, wherein, The number of control keys is multiple; At least one of the control keys is distributed on at least one side of the main unit; or, The same side of the main unit is provided with a plurality of control keys, and at least one of the control keys on the same side is configured to control the forward rotation of the end execution unit, and at least one of the control keys on the same side is configured to control the reverse rotation of the end execution unit.

20. The interventional instrument of any of claims 15-19, wherein, The intervention instrument further comprises an intermediate transmission unit, and the driving source drives the end execution unit to move relative to the main unit through the intermediate transmission unit.

21. The interventional instrument of claim 20, wherein, The intermediate transmission unit comprises a screw mechanism, a traction member, a gear and rack mechanism and a gear assembly. The screw mechanism comprises a screw rod, a nut and a sliding block mounted on the main unit, the driving source is connected with the screw rod, the screw rod is threadedly connected with the nut, and the nut is connected with the sliding block. The gear and rack mechanism comprises a limiting rack and a first gear mounted on the main unit, the limiting rack is connected with the sliding block through the traction member, and the limiting rack is engaged with the first gear. The gear assembly comprises a second gear and an articulated gear, the second gear is mounted on the main unit, the second gear is engaged with the first gear, and the articulated gear is mounted on the end execution unit and engaged with the second gear.

22. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer programs / instructions, and the computer programs / instructions are executed to realize the intervention instrument control method in any one of claims 1-14.

23. A controller characterized by The computer readable storage medium stores computer programs / instructions, and the computer programs / instructions are executed to realize the intervention instrument control method in any one of claims 1-14.

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