Detection apparatus for interventional surgical robot, sterile box, and robot

Abstract

Provided are a detection apparatus (100) for an interventional surgical robot and an interventional medical sterile box (10). The detection apparatus (100) comprises: a capacitance detection assembly (101), a detection circuit (102) connected to the capacitance detection assembly (101), and a processor connected to the detection circuit (102). The capacitance detection assembly (101) is mounted outside a liquid cavity channel (111), and is used for detecting a capacitance signal in the liquid cavity channel (111) and sending the same to the processor. The processor is used for receiving the capacitance signal and determining, on the basis of the capacitance signal, whether a medical instrument (2) is present in the liquid cavity channel (111) at the mounting position of the capacitance detection assembly (101). By means of the detection of the position of the medical instrument (2), repeatedly performing a penetration operation of the medical instrument (2) is avoided, thereby improving the efficiency of interventional surgery.

Description

Detection device, sterile box and robot for interventional surgery robot

[0001] The present application claims priority to the Chinese patent application No. 2024111277435, filed on August 15, 2024, and entitled "Detection device, sterile box and robot for interventional surgery robot", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the field of medical devices, in particular to a detection device, a sterile box and a robot for an interventional surgery robot. BACKGROUND

[0003] In the process of performing a vascular interventional surgery, it is usually necessary to introduce a medical device into the vascular system through a lumen, so that the medical device is inserted into the lumen, which is a key operation in the interventional surgery. However, when injecting a contrast agent or other reagent into the lumen, the medical device needs to be withdrawn from the lumen. The medical device needs to be repeatedly inserted and withdrawn during the surgery, which causes the problem of complicated operation process, prolongs the surgery time, and causes the problem of low surgery efficiency.

[0004] SUMMARY

[0005] The main purpose of the present application is to provide a detection device, a sterile box and a robot for an interventional surgery robot, which aims to detect the position of a medical device, avoid repeatedly performing the insertion operation of the medical device, and improve the efficiency of the interventional surgery.

[0006] In a first aspect, the present application provides a detection device for an interventional surgery robot, the interventional surgery robot comprising a liquid lumen capable of moving a medical device, wherein the detection device comprises: a capacitive detection assembly, a detection circuit connected to the capacitive detection assembly, and a processor connected to the detection circuit.

[0007] The capacitive detection assembly is installed outside the liquid lumen and is used to detect a capacitive signal in the liquid lumen and send it to the processor.

[0008] The processor is used to receive the capacitive signal and determine whether the medical device exists in the liquid lumen at the installation position of the capacitive detection assembly based on the capacitive signal.

[0009] In a second aspect, the present application also provides an interventional medical sterile box, wherein the interventional medical sterile box comprises: a box body, a liquid lumen installed on the box body, and the liquid lumen is capable of moving a medical device. The liquid lumen is provided with the detection device according to any one of the embodiments of the present application.

[0010] In a third aspect, the present application also provides an interventional surgery robot, wherein the interventional surgery robot comprises a catheter driving device and a guide wire driving device, the catheter driving device is used for driving a catheter to move in the liquid cavity, and the guide wire driving device is used for driving a guide wire to move in the liquid cavity.

[0011] The catheter driving device comprises the interventional medical sterile box and the power component.

[0012] The present application provides a detection device, a sterile box and a robot for an interventional surgery robot, the interventional surgery robot comprises a liquid cavity, the liquid cavity is capable of moving a medical instrument, the detection device comprises a capacitance detection assembly, a detection circuit connected with the capacitance detection assembly and a processor connected with the detection circuit; the capacitance detection assembly is installed outside the liquid cavity, used for detecting a capacitance signal in the liquid cavity and sending the capacitance signal to the processor; the processor is used for receiving the capacitance signal and determining whether the medical instrument exists in the liquid cavity at the installation position of the capacitance detection assembly based on the capacitance signal. Since the position of the medical instrument can be detected, the penetration operation of the medical instrument is avoided repeatedly, and the efficiency of the interventional surgery is improved. BRIEF DESCRIPTION OF DRAWINGS

[0013] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0014] Fig. 1a and Fig. 1b are schematic diagrams of the working principle of an interventional surgery robot provided by an embodiment of the present application;

[0015] Fig. 2 is a schematic diagram of the position of a detection device in an interventional medical box of an interventional surgery robot provided by an embodiment of the present application;

[0016] Fig. 3a and Fig. 3b are schematic diagrams of the structure of a detection device for an interventional surgery robot provided by an embodiment of the present application;

[0017] Fig. 4 is a structure side view of a detection device in an interventional surgery robot provided by an embodiment of the present application;

[0018] Fig. 5 is a schematic diagram of the structure of a capacitance detection assembly provided by an embodiment of the present application;

[0019] Fig. 6 is a schematic diagram of the connection relationship of a detection circuit provided by an embodiment of the present application;

[0020] Fig. 7 is a circuit diagram of a detection circuit according to an embodiment of the present application;

[0021] Fig. 8 is a structural schematic diagram of an interventional surgery robot according to an embodiment of the present application.

[0022] 110, human body sheath inlet; 120, T valve; 130, contrast agent inlet; 100, detection device; 101, capacitance detection component; 1011, conductive ring; 102, detection circuit; 1021, signal conversion circuit; 1022, signal filtering circuit; 1023, signal matching circuit; 103, signal transmission component; 111, liquid lumen; 2, medical instrument; 21, guide wire; 22, catheter; 10, interventional medical sterile box; 11, catheter driving device; 11a, sterile box component; 11b, power component; 12, guide wire driving device. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without any creative work fall within the protection scope of the present application.

[0024] The flowcharts shown in the drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor do they have to be executed in the described order. For example, some operations / steps can be further decomposed, combined or partially merged, so that the actual execution order can be changed according to the actual situation.

[0025] Some embodiments of the present application will be described in detail below with reference to the drawings. The following embodiments and features in the embodiments can be combined with each other without conflict.

[0026] Please refer to Fig. 1a and Fig. 1b, which are working principle schematic diagrams of an interventional surgery robot according to an embodiment of the present application.

[0027] As shown in FIG. 1a, in the related art, a vascular interventional surgery robot can drive a catheter 22 and a guide wire 21 to move so as to inject contrast agent into a blood vessel through a human body sheath point 110 and deliver a drug or embolization material, and therefore, during the vascular interventional surgery, the threading operation of the guide wire 21 into a T valve 120 is a key step. In addition to the threading operation before the surgery, during the surgery, it is necessary to inject contrast agent into the catheter 22 or replace the catheter 22, and therefore, the guide wire 21 needs to be withdrawn from the T valve 120, and after the contrast agent injection or the catheter 22 replacement operation is completed, the guide wire 21 is threaded into the T valve 120, for example, after the guide wire 21 is withdrawn from the T valve 120, the contrast agent is input into the T valve 120 through a contrast agent input port 130, and therefore, during the surgery, the guide wire 21 needs to be repeatedly withdrawn and threaded into the T valve 120, which affects the surgery efficiency.

[0028] To solve the above problems, the embodiment of the present application provides a detection device for an interventional surgery robot and an interventional medical sterile box.

[0029] Please refer to FIG. 2 and FIG. 3, FIG. 2 is a schematic diagram of the position of a detection device provided by the embodiment of the present application in an interventional medical box of an interventional surgery robot; and FIG. 3a and FIG. 3b are schematic structural diagrams of a detection device for an interventional surgery robot provided by the embodiment of the present application.

[0030] As shown in FIG. 2, FIG. 3a and FIG. 3b, the detection device 100 provided by the embodiment of the present application is used for an interventional surgery robot, and the interventional surgery robot includes a liquid channel 111, and the liquid channel 111 can be used for movement of a medical instrument 2. The detection device 100 includes: a capacitive detection assembly 101, a detection circuit 102 connected with the capacitive detection assembly 101, and a processor (not shown in the figure) connected with the detection circuit 102.

[0031] The capacitive detection assembly 101 is installed outside the liquid channel 111, and is used for detecting a capacitive signal in the liquid channel 111 and sending the capacitive signal to the processor.

[0032] The processor is used for receiving the capacitive signal, and determining whether the medical instrument 2 exists in the liquid channel 111 at the installation position of the capacitive detection assembly 101 based on the capacitive signal.

[0033] For example, the medical instrument 2 includes at least one of a guide wire 21 and a catheter 22, and the liquid channel 111 can be a T valve or other multi-channel valve body that can be used for connection of the guide wire 21 and the catheter 22, such as a Y valve, and the like, which is not limited herein.

[0034] For example, the interventional surgery robot is used to drive the medical instrument to move, such as driving the catheter 22 or the guide wire 21 in FIG. 2 to move. Since the detection device 100 can detect whether the catheter 22 and / or the guide wire 21 exists in the liquid cavity 111 at the installation position of the detection device 100, the installation position of the detection device 100 can be set according to actual needs, so that in the process of withdrawing the guide wire 21 from the catheter 22, the detection device 100 can detect whether the guide wire 21 is withdrawn from the installation position, so that the guide wire 21 is partially left in the liquid cavity 111. In this way, when the guide wire 21 needs to be introduced again, the threading operation does not need to be performed again, and the efficiency of the interventional surgery is improved.

[0035] Please refer to FIG. 4, which is a structural side view of the detection device in the interventional surgery robot according to an embodiment of the present application.

[0036] In some embodiments, the capacitive detection component 101 includes a conductive part arranged on the outer wall of the liquid cavity 111, and when the medical instrument 2 moves to the installation position, the conductive part generates an induced capacitance with the medical instrument 2; the detection circuit 102 converts the induced capacitance into the capacitive signal.

[0037] As shown in FIG. 4, the capacitive detection component 101 is a conductive material arranged on the outer wall of the T valve. When the medical instrument 2 with the conductive capacity moves in the liquid cavity 111, if at least a part of the medical instrument 2 is located at the installation position of the capacitive detection component 101, the medical instrument 2 will generate an induced capacitance with the capacitive detection component 101, and the detection circuit 102 converts the induced capacitance into the capacitive signal, so that the processor judges whether the medical instrument exists in the liquid cavity 111 at the installation position of the capacitive detection component 101 according to the capacitive signal.

[0038] In some embodiments, the conductive part includes a conductive ring 1011 arranged around the liquid cavity.

[0039] Please refer to FIG. 5, which is a structural schematic view of the capacitive detection component according to an embodiment of the present application.

[0040] As shown in Fig. 5, the capacitive detection component 101 is a conductive ring 1011 arranged at the installation position of the outer wall of the liquid lumen 111, and the liquid lumen 111 contains liquid (such as water, contrast agent, heparin water, blood, etc.). When the medical instrument 2 is not located in the installation position, the liquid and the conductive ring 1011 generate an induced capacitance with the insulating liquid lumen 111 as the medium; and when the medical instrument 2 is located in the installation position, the medical instrument 2 and the conductive ring 1011 generate an induced capacitance with the liquid lumen 111 and the liquid as the medium. Therefore, whether the medical instrument is located in the installation position will change the size of the induced capacitance generated by the conductive ring 1011, and the capacitance signal converted by the detection circuit 102 will also change, so that the processor can determine whether the medical instrument 2 exists in the liquid lumen 111 at the installation position of the conductive ring 1011 according to the change of the capacitance signal.

[0041] For example, for a parallel-plate capacitor, there is an induced capacitance wherein ε r is the relative dielectric constant of the medium; ε0 is the dielectric constant of vacuum, and the value is usually taken as 8.85*10exp(-12) (F / m); A is the area of the electrode plate. In the embodiment of the present application, the conductive ring 1011 and the conductive substance around it form a ring capacitor, and the conductive ring 1011 and the liquid or the medical instrument 2 in the liquid lumen 111 correspond to two electrode plates of the capacitor respectively. In the case that only liquid exists in the liquid lumen 111, the lumen wall of the liquid lumen 111 generates an induced capacitance, and the conductive ring 1011 and the liquid in the liquid lumen 111 serve as two electrode plates of the capacitor, and the induced capacitance of the conductive ring 1011 is wherein c0 is the reference value of the capacitance in the initial case that only liquid exists in the liquid lumen 111, ε0 is the relative dielectric constant of the lumen wall of the liquid lumen 111, s0 is the relative area of the liquid in the liquid lumen 111 and the conductive ring 1011, and is a constant. In the case that the medical instrument 2 exists in the liquid lumen 111, the lumen wall and the liquid of the liquid lumen 111 jointly generate an induced capacitance, and the conductive ring 1011 and the medical instrument 2 in the liquid lumen 111 serve as two electrode plates of the capacitor, and the induced capacitance of the conductive ring 1011 becomes wherein d1 and d2 are the distances between the medical instrument 2 and the lumen wall of the liquid lumen 111, the line connecting d1 and d2 passes through the center of symmetry of the conductive ring 1011, ε r is the relative dielectric constant of the medical instrument 2 relative to the liquid in the conductive ring 1011, s r is the relative area of the medical instrument 2 and the conductive ring 1011, and is a constant. Therefore, whether the medical instrument is located in the installation position will change the size of the induced capacitance generated by the conductive ring 1011, and the change value Δc = c1-c0 of the induced capacitance.

[0042] It can be understood that although the position of the medical instrument 2 in the liquid cavity 111 can change at any time, i.e., the sizes of d1 and d2 change with the movement of the medical instrument 2, the size of d1+d2 is constant, and thus the size of c1 is also constant.

[0043] Please refer to FIG. 6, which is a schematic diagram of the connection relationship of a detection circuit according to an embodiment of the present application.

[0044] In some embodiments, the detection circuit 102 comprises a signal conversion circuit 1021, a signal filtering circuit 1022, and a signal matching circuit 1023.

[0045] The signal conversion circuit 1021 is connected with the capacitance detection assembly 101, and outputs an oscillation signal with a corresponding frequency according to the size of the induced capacitance, and converts the oscillation signal into an analog signal, wherein the signal value corresponding to the analog signal is determined according to the frequency of the oscillation signal.

[0046] The signal filtering circuit 1022 performs filtering processing on the analog signal output by the signal conversion circuit 1021 and outputs a filtered signal.

[0047] The signal matching circuit 1023 is connected with the signal filtering circuit 1022, receives the filtered signal output by the signal filtering circuit 1022, and outputs a corresponding capacitance signal to the processor according to the filtered signal.

[0048] As shown in FIG. 6, it is assumed that the induced capacitance formed between the capacitance detection assembly 101 and the medical instrument 2 is c x The signal conversion circuit 1021 is connected with the capacitance detection assembly 101, and can obtain the size of the induced capacitance c x , and generates an oscillation signal according to the induced capacitance c x , and the oscillation frequency of the oscillation signal is in proportional relationship with the size of the induced capacitance c x , and the oscillation signal is converted into an analog signal V out with a corresponding signal value; the signal filtering circuit 1022 is connected with the signal conversion circuit 1021, and is used for filtering processing on the analog signal V out , and filtering out the noise in the liquid cavity 111 to obtain a filtered signal V0; the signal matching circuit 1023 is used for matching a corresponding switching value as a capacitance signal output to the processor according to the filtered signal V0, so that the processor can determine whether the medical instrument 2 exists in the liquid cavity 111 at the installation position of the capacitance detection assembly 101 according to the capacitance signal.

[0049] Please refer to FIG. 7, which is a circuit diagram of a detection circuit according to an embodiment of the present application.

[0050] As shown in FIG. 7, c x represents the induced capacitance generated by the capacitance detection assembly 101, which is converted into an oscillation signal F x by the signal conversion circuit 1021. o The relationship between c x and F o may be determined by the following formula:

[0051] The oscillation signal F o is then converted into an analog signal V out , where the relationship between V out and F o may be determined by the following formula:

[0052] The relationship between the induced capacitance c x and the analog signal V out may be determined by combining the above formulas as follows:

[0053] That is, there is a functional relationship between the induced capacitance c x and the analog signal V out : Vout = f(c x ). Assuming that the induced capacitance generated by the capacitance detection assembly 101 and the liquid is c0, and the induced capacitance generated by the liquid and the medical device is c1, the change in V out before and after the medical device enters or exits the installation position of the capacitance detection assembly 101 can be represented as: ΔV out = f(c1) - f(c0). Therefore, it can be determined that the medical device 2 has entered or exited the installation position of the capacitance detection assembly 101 when the change in V out is greater than this value.

[0054] In some embodiments, the processor is further configured to, when the direct detection mode instruction is obtained, send the direct detection mode instruction to the detection circuit 102, so that the detection circuit 102 determines the output capacitance signal based on whether the catheter 22 or the guide wire 21 is present in the liquid cavity 111 at the installation position of the capacitance detection assembly 101 according to the direct detection mode instruction.

[0055] In some embodiments, the processor is further configured to, when the indirect detection mode instruction is obtained, send the indirect detection mode instruction to the detection circuit 102, so that the detection circuit 102 determines the output capacitance signal based on whether the guide wire 21 is present in the catheter 22 in the liquid cavity 111 at the installation position of the capacitance detection assembly 101 according to the indirect detection mode instruction.

[0056] For example, the medical device 2 that the capacitance detection component 101 can detect includes a guidewire 21, a catheter 22, and a catheter 22 and guidewire 21 sleeved together. The direct detection mode is used to detect the guidewire 21 or the catheter 22; the indirect detection mode is used to detect cases where the catheter 22 is sleeved outside the guidewire 21. It is understood that in the direct detection mode, only a single medical device generates a sensed capacitance with the capacitance detection component 101, while in the indirect detection mode, more than one medical device generates a sensed capacitance with the capacitance detection component 101. The detection circuit 102 needs to convert the sensed capacitance into a capacitance signal based on the object being detected. Therefore, before converting the sensed capacitance into a capacitance signal, the detection circuit 102 needs to obtain a direct detection mode instruction or an indirect detection mode instruction from the processor to convert the sensed capacitance into a capacitance signal according to the detection mode.

[0057] In some embodiments, the capacitance signal includes: a first level signal and a second level signal; the detection circuit 102 determines the signal transition threshold for switching the capacitance signal between the first level signal and the second level signal according to the direct detection mode instruction or the indirect detection mode instruction sent by the processor.

[0058] For example, the detection circuit 102 characterizes whether the medical device 2 is detected by outputting a capacitance signal with a certain level. Specifically, when the sensed capacitance is greater than or equal to the signal transition threshold, the detection circuit 102 outputs a first-level signal; when the sensed capacitance is less than the signal transition threshold, the detection circuit 102 outputs a second-level signal. It is understood that the direct detection mode command and the indirect detection mode command have different signal transition thresholds, and the detection circuit 102 can determine the signal transition threshold corresponding to different modes according to the command instructions. Specifically, the signal transition thresholds corresponding to different modes can be preset according to actual conditions, and are not limited here.

[0059] For example, the reference value of the induced capacitance between the liquid in the liquid cavity 111 and the conductive ring 1011 can be measured multiple times, and the average value of the reference value can be calculated to obtain c0. Then, the induced capacitance value of the medical device 2 when it is located in the installation position of the conductive ring 1011 can be measured multiple times, and the average value c of the induced capacitance value of the medical device 2 when it is located in the installation position of the conductive ring 1011 can be calculated. x According to V out The functional relationship between f(c) and the value of the sensed capacitance is determined. x ) and f(c1), thus calculating ΔV out The range of variation of f(c1) - f(c0) is a < ΔV out <b, when △V is detected out When the range of change is within this range, it can be determined that medical device 2 has been detected.

[0060] For example, in order to avoid the influence of noise in the liquid cavity on the accuracy of measurement, when detecting the inductive capacitance, the detected data (x i ,y i ) is filtered by an infinite impulse response to remove high-frequency jitter noise, so that the curve tends to be smooth, where k is the amount of collected data.

[0061] In some embodiments, the detection circuit 102 determines the signal jump threshold at which the capacitance signal switches between the first level signal and the second level signal according to the direct detection mode instruction or the indirect detection mode instruction sent by the processor, and is further configured to:

[0062] In the case where the capacitance signal is greater than or equal to the signal jump threshold, the capacitance signal is determined as the first level signal, and in the case where the capacitance signal is less than the signal jump threshold, the capacitance signal is determined as the second level signal.

[0063] For example, the first level signal can be a high level signal, and the second level signal can be a low level signal. In the case where the capacitance signal is greater than or equal to the signal jump threshold in the current mode, the capacitance signal is determined as the high level signal; in the case where the capacitance signal is less than the signal jump threshold in the current mode, the capacitance signal is determined as the low level signal. Of course, it is not limited to this, which is not limited herein.

[0064] In some embodiments, the detection circuit 102 is connected to the processor through a signal transmission component 103, and the signal transmission component 103 at least includes a plurality of conductive pins. The detection circuit 102 transmits the detected capacitance signal to the processor through the conductive pins.

[0065] As shown in FIGS. 3 and 4, the detection device 100 for interventional surgery robot provided by the embodiments of the present application further includes a signal transmission component 103 for transmitting the capacitance signal detected by the detection circuit 102 to the processor for judgment. The number of conductive pins in the signal transmission component 103 is not limited to the number shown in FIG. 3, which is not limited herein.

[0066] For example, the liquid cavity 111 is further provided with a sealing component configured to be in a closed state when the medical instrument 2 leaves the installation position of the capacitance detection component 101 in the liquid cavity 111, so as to form a contrast agent conveying channel in the liquid cavity 111.

[0067] Exemplarily, after the guide wire 21 is withdrawn from the installation position of the capacitive detection assembly 101, the sealing assembly in the liquid lumen 111 is in a closed state, avoiding the guide wire 21 partially located in the liquid lumen from being immersed in the contrast medium when the contrast medium is delivered through the liquid lumen 111, so that the guide wire 21 does not need to be completely withdrawn from the liquid lumen 111 when the contrast medium is delivered, the threading operation is avoided to be repeatedly performed during the interventional operation, and the operation efficiency of the interventional operation is improved.

[0068] The application further provides an interventional medical sterile box 10, which comprises a box body 11, a liquid lumen 111 installed on the box body 11 and capable of moving a medical instrument 2, and a detection device 100 according to any one of the embodiments of the application.

[0069] As shown in FIG. 2, the medical instrument 2 comprises at least one of a guide wire 21 and a catheter 22, and the detection device 100 is capable of detecting the guide wire 21 or the catheter 22 in the liquid lumen 111 or detecting the guide wire 21 and the catheter 22 in the liquid lumen 111.

[0070] Exemplarily, the interventional medical sterile box 10 is installed on a power box for driving the catheter 22, so that the catheter 22 is moved in the liquid lumen 111, and whether the medical instrument 2 is located in the position of the liquid lumen 111 where the capacitive detection assembly 101 is installed is determined by the capacitive signal of the capacitive detection assembly 101, so that the medical instrument 2 does not need to be completely withdrawn from the liquid lumen 111, and the contrast medium injection or catheter replacement operation can be performed, thereby avoiding the need to repeatedly thread the medical instrument 2 into the liquid lumen 111 during the interventional operation, and improving the efficiency of the interventional operation.

[0071] Exemplarily, the interventional medical sterile box is installed on the power box through the conductive pin, and the capacitive signal is transmitted to the processor installed on the power box through the conductive pin.

[0072] As shown in FIG. 4, the catheter driving device 11 comprises a sterile box component 11a and a power component 11b, the sterile box component 11a is a consumable in the interventional operation, and the sterile box component 11a and the power component 11b are detachably connected through the conductive pin. The user can replace the sterile box component 11a, install a new sterile box component 11a on the power component 11b through the conductive pin, and make the non-sterile power component 11b and the sterile box component 11a independent of each other, so as to reduce the risk of cross infection.

[0073] Exemplarily, the processor is installed in the power component 11b, and the processor does not need to be replaced when the sterile box component 11a is replaced, so as to reduce the implementation cost while avoiding cross infection.

[0074] Please refer to Fig. 8, which is a structural schematic diagram of an interventional surgery robot according to an embodiment of the present application.

[0075] The embodiment of the present application further provides a surgery robot, which comprises the catheter driving device 11 and the guide wire driving device 12, the catheter driving device 11 is used for driving the catheter 22 to move in the liquid cavity 111, and the guide wire driving device 12 is used for driving the guide wire 21 to move in the liquid cavity 111.

[0076] The catheter driving device 11 comprises the interventional medical sterile box 10 and the power component according to the embodiment of the present application.

[0077] As shown in Fig. 8, the interventional surgery robot comprises the catheter driving device 11 and the guide wire driving device 12 which are used in cooperation, and the liquid cavity 111 and the detection device 100 are arranged on the catheter driving device 11.

[0078] It should be understood that the terms used in the specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in the specification and the appended claims of the present application, the singular forms "a", "an" and "the" are intended to include plural forms unless the context clearly indicates otherwise.

[0079] It should also be understood that the term "and / or" used in the specification and the appended claims of the present application means any combination of one or more of the associated listed items and all possible combinations, and includes these combinations. It should be noted that in this document, the terms "comprise", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or system including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or system. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of other identical elements in the process, method, article or system including the element.

[0080] The above-mentioned serial numbers of the embodiments of the present application are only for description, and do not represent the advantages or disadvantages of the embodiments. The above description is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present application, and these modifications or replacements should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A detection device for an interventional surgical robot, the interventional surgical robot comprising a liquid channel, the liquid channel being moveable by a medical instrument, wherein, The detection device comprises a capacitive detection assembly, a detection circuit connected to the capacitive detection assembly, and a processor connected to the detection circuit; The capacitive detection assembly is installed outside the liquid cavity and is configured to detect a capacitive signal in the liquid cavity and send the capacitive signal to the processor; The processor is configured to receive the capacitive signal and determine whether the medical instrument exists in the liquid cavity at the installation position of the capacitive detection assembly based on the capacitive signal.

2. The detection device for an interventional operating robot according to claim 1, wherein The capacitive detection assembly comprises a conductive member arranged on the outer wall of the liquid cavity, and the conductive member generates an induced capacitance with the medical instrument when the medical instrument moves to the installation position. The detection circuit converts the induced capacitance into the capacitive signal.

3. The detection device for an interventional operating robot according to claim 2, wherein The conductive member comprises a conductive ring arranged around the liquid cavity, and the detection circuit comprises a signal conversion circuit, a signal filtering circuit, and a signal matching circuit. The signal conversion circuit is connected to the conductive ring and outputs an oscillation signal with a corresponding frequency according to the size of the induced capacitance, and converts the oscillation signal into an analog signal, wherein the signal value corresponding to the analog signal is determined according to the frequency of the oscillation signal. The signal filtering circuit filters and outputs a filtered signal from the analog signal output by the signal conversion circuit. The signal matching circuit is connected to the signal filtering circuit, receives the filtered signal output by the signal filtering circuit, and outputs a corresponding capacitive signal to the processor according to the filtered signal.

4. The detection device for an interventional operating robot according to claim 1, wherein, The processor is further configured to send a direct detection mode instruction to the detection circuit when the direct detection mode instruction is acquired, so that the detection circuit determines the output capacitive signal based on whether a catheter or a guide wire exists in the liquid cavity at the installation position of the capacitive detection assembly according to the direct detection mode instruction.

5. The detection device for an interventional operating robot according to claim 1, wherein, The processor is further configured to send an indirect detection mode instruction to the detection circuit when the indirect detection mode instruction is acquired, so that the detection circuit determines the output capacitive signal based on whether a guide wire exists in the catheter in the liquid cavity at the installation position of the capacitive detection assembly according to the indirect detection mode instruction.

6. The detection device for an interventional operating robot according to claim 4 or 5, wherein The capacitive signal comprises a first level signal and a second level signal, and the detection circuit determines a signal jump threshold at which the capacitive signal switches between the first level signal and the second level signal according to the direct detection mode instruction or the indirect detection mode instruction sent by the processor.

7. The detection device for an interventional operating robot according to claim 6, wherein After determining the signal jump threshold at which the capacitive signal switches between the first level signal and the second level signal according to the direct detection mode instruction or the indirect detection mode instruction sent by the processor, the detection circuit is further configured to: determine the capacitive signal as the first level signal when the capacitive signal is greater than or equal to the signal jump threshold, and determine the capacitive signal as the second level signal when the capacitive signal is less than the signal jump threshold.

8. The detection device for an interventional operating robot according to claim 1, wherein, The detection circuit is connected with the processor through a signal transmission component, and the signal transmission component at least includes a plurality of conductive pins, and the detection circuit transmits the detected capacitance signal to the processor through the conductive pins.

9. An interventional medical sterile cassette comprising: The box body, a liquid cavity mounted on the box body, and the liquid cavity being capable of moving a medical instrument; wherein the liquid cavity is provided with a detection device for an interventional surgery robot, and the detection device includes a capacitance detection component, a detection circuit connected with the capacitance detection component, and a processor connected with the detection circuit; The capacitance detection component is mounted outside the liquid cavity and is used for detecting a capacitance signal in the liquid cavity and sending the capacitance signal to the processor; The processor is used for receiving the capacitance signal and determining whether the medical instrument exists in the liquid cavity at the installation position of the capacitance detection component based on the capacitance signal.

10. The interventional medical sterile box of claim 9, wherein, The capacitance detection component includes a conductive part arranged on the outer wall of the liquid cavity, and the conductive part generates an induced capacitance with the medical instrument when the medical instrument moves to the installation position; The detection circuit converts the induced capacitance into the capacitance signal.

11. The interventional medical sterile box of claim 10, wherein, The conductive part includes a conductive ring arranged around the liquid cavity, and the detection circuit includes a signal conversion circuit, a signal filtering circuit, and a signal matching circuit; The signal conversion circuit is connected with the conductive ring, outputs an oscillation signal with a corresponding frequency according to the size of the induced capacitance, and converts the oscillation signal into an analog signal, wherein the signal value corresponding to the analog signal is determined according to the frequency of the oscillation signal; The signal filtering circuit filters and outputs a filtering signal of the analog signal output by the signal conversion circuit; The signal matching circuit is connected with the signal filtering circuit, receives the filtering signal output by the signal filtering circuit, and outputs a corresponding capacitance signal to the processor according to the filtering signal.

12. The interventional medical sterile box of claim 9, wherein, The processor is further used for sending a direct detection mode instruction to the detection circuit when the direct detection mode instruction is acquired, so that the detection circuit determines the output capacitance signal according to whether a catheter or a guide wire exists in the liquid cavity at the installation position of the capacitance detection component based on the direct detection mode instruction.

13. The interventional medical sterile box of claim 9, wherein, The processor is further used for sending an indirect detection mode instruction to the detection circuit when the indirect detection mode instruction is acquired, so that the detection circuit determines the output capacitance signal according to whether a guide wire exists in the catheter in the liquid cavity at the installation position of the capacitance detection component based on the indirect detection mode instruction.

14. The interventional medical sterile box according to claim 12 or 13, wherein, The capacitance signal includes a first level signal and a second level signal, and the detection circuit determines a signal jump threshold at which the capacitance signal switches between the first level signal and the second level signal according to the direct detection mode instruction or the indirect detection mode instruction sent by the processor.

15. An interventional procedure robot, wherein, The intervention surgery robot comprises a catheter driving device and a guide wire driving device, the catheter driving device is used for driving a catheter to move in a liquid cavity, and the guide wire driving device is used for driving a guide wire to move in the liquid cavity. The catheter driving device comprises an intervention medical sterile box and a power component, the intervention medical sterile box comprises a box body and a liquid cavity mounted on the box body, and the liquid cavity is capable of moving a medical instrument; wherein the liquid cavity is provided with a detection device for the intervention surgery robot, and the detection device comprises a capacitive detection assembly, a detection circuit connected with the capacitive detection assembly, and a processor connected with the detection circuit. The capacitive detection assembly is mounted outside the liquid cavity, is used for detecting a capacitive signal in the liquid cavity, and sends the capacitive signal to the processor. The processor is used for receiving the capacitive signal, and determining whether the medical instrument exists in the liquid cavity at the installation position of the capacitive detection assembly based on the capacitive signal.

16. The interventional surgical robot of claim 15, wherein, The capacitive detection assembly comprises a conductive part arranged on the outer wall of the liquid cavity, and when the medical instrument moves to the installation position, the conductive part generates an induced capacitance with the medical instrument. The detection circuit converts the induced capacitance into the capacitive signal.

17. The interventional surgical robot of claim 16, wherein, The conductive part comprises a conductive ring arranged around the liquid cavity, and the detection circuit comprises a signal conversion circuit, a signal filtering circuit, and a signal matching circuit. The signal conversion circuit is connected with the conductive ring, outputs an oscillation signal with a corresponding frequency according to the size of the induced capacitance, and converts the oscillation signal into an analog signal, wherein the signal value corresponding to the analog signal is determined according to the frequency of the oscillation signal. The signal filtering circuit performs filtering processing on the analog signal output by the signal conversion circuit and outputs a filtered signal. The signal matching circuit is connected with the signal filtering circuit, receives the filtered signal output by the signal filtering circuit, and outputs a corresponding capacitive signal to the processor according to the filtered signal.

18. The interventional surgical robot of claim 15, wherein, The processor is further used for sending a direct detection mode instruction to the detection circuit when the direct detection mode instruction is acquired, so that the detection circuit determines the capacitive signal output according to whether the catheter or the guide wire exists in the liquid cavity at the installation position of the capacitive detection assembly based on the direct detection mode instruction.

19. The interventional surgical robot of claim 15, wherein, The processor is further used for sending an indirect detection mode instruction to the detection circuit when the indirect detection mode instruction is acquired, so that the detection circuit determines the capacitive signal output according to whether the guide wire exists in the catheter in the liquid cavity at the installation position of the capacitive detection assembly based on the indirect detection mode instruction.

20. The interventional surgical robot of claim 15, wherein, The processor is further used for sending a direct detection mode instruction to the detection circuit when the direct detection mode instruction is acquired, so that the detection circuit determines the capacitive signal output according to whether the catheter or the guide wire exists in the liquid cavity at the installation position of the capacitive detection assembly based on the direct detection mode instruction; or, The processor is further configured to, when the indirect detection mode instruction is acquired, send the indirect detection mode instruction to the detection circuit, so that the detection circuit determines an output capacitance signal based on whether there is a guide wire in the catheter in the liquid cavity at the installation position of the capacitance detection component according to the indirect detection mode instruction; The capacitance signal includes a first level signal and a second level signal. The detection circuit determines a signal jump threshold value of the capacitance signal switching between the first level signal and the second level signal according to the direct detection mode instruction or the indirect detection mode instruction sent by the processor.

Images