CN114451998B

CN114451998B - Medical catheter, shape control system and method thereof and surgical robot

Info

Publication number: CN114451998B
Application number: CN202111183968.9A
Authority: CN
Inventors: 张飘艺; 占雄; 王家寅; 张晓波
Original assignee: Shanghai Weiwei Aviation Robot Co ltd
Current assignee: Shanghai Weiwei Aviation Robot Co ltd
Priority date: 2021-10-11
Filing date: 2021-10-11
Publication date: 2024-04-19
Anticipated expiration: 2041-10-11
Also published as: CN114451998A; WO2023061183A1

Abstract

The invention provides a medical catheter, a shape control system, a control method, a surgical robot and a storage medium thereof, wherein the medical catheter comprises a first catheter, a second catheter, a plurality of guide wires and a driving device, wherein the guide wires penetrate through the first catheter and the second catheter; the distal end of the first catheter is connected to the proximal end of the second catheter; the driving device comprises a plurality of driving pieces which are arranged in one-to-one correspondence with the guide wires; the proximal end of the guide wire penetrates out of the proximal end of the first catheter and is connected with a driving piece, and the distal end of the guide wire is connected with the distal end of the second catheter; under the influence of the driver, the guidewire can be lengthened and shortened in its axial direction to enable the second catheter to bend in at least one direction. According to the invention, the length of the guide wire along the axial extension and shortening of the guide wire can be precisely controlled through the driving piece, so that the bending direction and the bending angle of the second catheter can be precisely controlled, the precise control of the shape of the second catheter is realized, and the smoothness of the movement of the medical catheter in a human body is ensured.

Description

Medical catheter, shape control system and method thereof and surgical robot

Technical Field

The invention relates to the technical field of intervention, in particular to a medical catheter, a shape control system, a control method, a surgical robot and a storage medium.

Background

Minimally invasive surgery arose in the 80 s of the 20 th century, with interventional surgery being an important branch. Interventional procedures can be categorized into vascular interventions and non-vascular interventions. The non-vascular intervention refers to a technology for diagnosing and treating a plurality of diseases by using various instruments under the guidance of medical imaging equipment such as X-rays, CT, B-ultrasonic and MRI through a path outside blood vessels, such as natural opening of a human physiological cavity or direct viscera penetration. The application of the non-vascular interventional therapy technology relates to various systems of the whole body, such as the esophagus, gastroduodenal, colon and biliary tract malignant stenosis balloon catheter dilation and stent implantation of the digestive system, gastrostomy, liver cancer B ultrasonic and CT direct injection therapy; the lung cancer of the respiratory system is treated by direct puncture injection or direct current therapy, the malignant narrow metal inner bracket of the bronchus is treated, and the malignant pleural effusion is subjected to intracavity perfusion therapy; treatment of ureteral malignant obstruction by urinary system percutaneous nephrostomy and stent drainage, and intracavitary perfusion therapy of bladder cancer; aspiration and sympatholytic techniques for central nervous system craniopharyngeal tumors; percutaneous laser ablation of deep malignant tumors under MRI guidance, and the like.

The medical catheter plays a very important role in non-vascular interventional operation, and medicines, medical instruments and the like can be conveyed to the focus position by controlling the head of the medical catheter to enter the focus position, however, the deflection direction and angle of the head of the catheter cannot be accurately controlled by the existing medical catheter, so that the head of the medical catheter cannot be efficiently controlled to reach the focus position.

Disclosure of Invention

The invention aims to provide a medical catheter, a shape control system, a control method, a surgical robot and a storage medium thereof, which can realize accurate control of the shape of the head of the medical catheter and can more efficiently control the head of the medical catheter to reach a focus position.

In order to achieve the above object, the present invention provides a medical catheter, including a first catheter, a second catheter, a plurality of guide wires, and a driving device, wherein the plurality of guide wires are penetrated inside the first catheter and the second catheter;

The distal end of the first catheter is connected to the proximal end of the second catheter;

the driving device comprises a plurality of driving pieces which are arranged in one-to-one correspondence with the guide wires;

The proximal end of the guide wire passes out of the proximal end of the first catheter and is connected with one driving piece, and the distal end of the guide wire is connected with the distal end of the second catheter;

Under the action of the driver, the guidewire can be lengthened and shortened in its axial direction to enable the second catheter to bend in at least one direction.

Optionally, the inside of first pipe is equipped with at least one and is used for supplying a plurality of seal wires to pass first seal wire passageway, the inside of second pipe is equipped with at least one and is used for supplying a plurality of seal wires to pass the second seal wire passageway, the second seal wire passageway with first seal wire passageway one-to-one sets up.

Optionally, the number of the first guide wire channels and the number of the second guide wire channels are 1, and the plurality of guide wires are intensively arranged in the first guide wire channels and the second guide wire channels in a penetrating manner.

Optionally, the number of the first guide wire channels and the number of the second guide wire channels are the same as the number of the guide wires, and a guide wire is arranged in each of the first guide wire channels and the second guide wire channels in a penetrating manner.

Optionally, the plurality of first guide wire channels are uniformly arranged along the circumference of the first catheter, and the plurality of second guide wire channels are uniformly arranged along the circumference of the second catheter.

Optionally, the driving member includes a motor and a wire wheel, the wire wheel is connected to an output shaft of the motor, and a proximal end of the guide wire is wound around the wire wheel.

Optionally, the connection points between the plurality of guide wires and the distal end of the second catheter are arranged in a dispersed manner.

Optionally, the first catheter is further provided with at least one first conveying channel for passing through a medical instrument, and the second catheter is further provided with at least one second conveying channel for passing through a medical instrument and corresponding to the first conveying channel.

Optionally, an elastic element is arranged on the guide wire, a strain gauge is arranged on the elastic element, and the strain gauge is used for detecting the elastic deformation of the elastic element.

Optionally, the elastic element is close to the position where the driving element is located.

In order to achieve the above object, the present invention also provides a shape control method of a medical catheter, the medical catheter being as described above, the shape control method comprising:

acquiring a desired shape of the second catheter;

Calculating a desired total amount of deformation of the guidewire based on the desired shape of the second catheter;

And controlling the driving piece to drive the guide wire to correspondingly move according to the expected deformation amount of the guide wire so as to enable the second catheter to bend to the expected shape.

Optionally, the controlling the driving member to drive the guide wire to perform corresponding movement according to the expected deformation amount of the guide wire includes:

acquiring the real-time elastic deformation of the guide wire;

Correcting the expected deformation total amount of the guide wire according to the real-time elastic deformation amount of the guide wire so as to obtain the real-time expected deformation total amount of the guide wire;

and controlling the driving piece to drive the guide wire to perform corresponding movement according to the real-time expected deformation total amount of the guide wire.

Optionally, the acquiring the real-time elastic deformation of the guide wire includes:

Acquiring real-time tension applied to the guide wire;

and acquiring the real-time elastic deformation of the guide wire according to the real-time tension applied to the guide wire.

Optionally, the acquiring the real-time tension applied to the guide wire includes:

acquiring real-time output torque of the driving piece connected with the guide wire;

according to the real-time output torque of the driving piece, acquiring the real-time pulling torque born by the guide wire;

and acquiring the real-time pulling force born by the guide wire according to the real-time pulling moment born by the guide wire.

Optionally, the obtaining the real-time pulling moment suffered by the guide wire according to the real-time output moment of the driving piece includes:

And acquiring the real-time pulling moment of the guide wire according to the real-time output moment of the driving piece and the corresponding relation between the friction force of the guide wire and the pulling force of the guide wire, which are acquired in advance.

Optionally, the acquiring the real-time output torque of the driving member connected to the guide wire includes:

Acquiring a real-time input torque of the driving piece connected with the guide wire and a real-time friction torque born by the driving piece;

and acquiring the real-time output torque of the driving piece according to the real-time input torque of the driving piece and the real-time friction torque born by the driving piece.

Optionally, a strain gauge is mounted on one end of the guide wire, which is close to the driving piece;

The acquiring the real-time tension of the guide wire comprises the following steps:

acquiring real-time resistance variation of the strain gauge;

and acquiring the real-time tension applied to the guide wire according to the real-time resistance variation.

To achieve the above object, the present invention also provides a shape control method of a medical catheter, the medical catheter being as described above, the method comprising:

acquiring a desired shape of the second catheter;

Acquiring a real-time actual shape of the second catheter;

Calculating a real-time expected deformation of the guide wire according to the expected shape of the second catheter and the real-time actual shape of the second catheter;

And controlling the driving piece to drive the guide wire to perform corresponding movement according to the real-time expected deformation amount of the guide wire so as to enable the second catheter to bend to the expected shape.

In order to achieve the above object, the present invention also provides a shape control system of a medical catheter, the shape control system comprising a controller, the controller comprising a processor and a memory, the memory having stored thereon a computer program which, when executed by the processor, implements the shape control method of a medical catheter as described above.

Optionally, the shape control system further comprises a display communicatively coupled to the controller, the display for displaying a desired shape of the second catheter.

Optionally, the shape control system further comprises an alarm connected with the controller, wherein the alarm is used for alarming when the motion state of the medical catheter is abnormal.

Optionally, the shape control system further comprises an indicator light connected to the controller, wherein the indicator light is used for indicating the movement state of the medical catheter.

To achieve the above object, the present invention also provides a readable storage medium having stored therein a computer program which, when executed by a processor, implements the shape control method of a medical catheter described above.

In order to achieve the above object, the present invention further provides a surgical robot, where the surgical robot includes the shape control system, a control end, and an operation end, the operation end includes at least one mechanical arm, the control end and the operation end have a master-slave control relationship and are used for controlling the mechanical arm to operate, the control end and the operation end are both in communication connection with the controller, and the medical catheter is installed at the end of the mechanical arm.

Compared with the prior art, the medical catheter, the shape control system, the control method, the surgical robot and the storage medium thereof have the following advantages:

(1) The medical catheter provided by the invention comprises a first catheter, a second catheter, a plurality of guide wires and a driving device, wherein the guide wires penetrate through the first catheter and the second catheter; the distal end of the first catheter is connected to the proximal end of the second catheter; the driving device comprises a plurality of driving pieces which are arranged in one-to-one correspondence with the guide wires; the proximal end of the guide wire passes out of the proximal end of the first catheter and is connected with one driving piece, and the distal end of the guide wire is connected with the distal end of the second catheter; under the action of the driver, the guidewire can be lengthened and shortened in its axial direction to enable the second catheter to bend in at least one direction. Therefore, the medical catheter provided by the invention can accurately control the length of the guide wire along the axial extension and shortening of the guide wire through the driving piece, so that the bending direction and the bending angle of the second catheter can be accurately controlled, the accurate control of the shape of the second catheter is realized, and the smoothness of the movement of the medical catheter in a human body is ensured;

(2) According to the shape control method of the medical catheter, the expected shape of the second catheter is obtained, the expected deformation total amount of the guide wire is calculated according to the expected shape of the second catheter, and the driving piece is controlled to drive the guide wire to perform corresponding movement according to the expected deformation total amount of the guide wire, so that the second catheter can be bent to the expected shape, and the shape of the second catheter can be accurately controlled;

(3) According to the shape control method of the medical catheter, the real-time elastic deformation of the guide wire is obtained, the expected deformation total amount of the guide wire is corrected according to the real-time elastic deformation of the guide wire, so that the real-time expected deformation total amount of the guide wire is obtained, and then the driving piece is controlled to drive the guide wire to perform corresponding movement according to the real-time expected deformation total amount of the guide wire, so that the elastic deformation of the guide wire caused by tensile force can be compensated, and the accurate control of the shape of the second catheter is further realized;

(4) According to the shape control method of the medical catheter, the expected shape of the second catheter and the real-time actual shape of the second catheter are obtained, the real-time expected deformation of the guide wire is calculated according to the expected shape and the real-time actual shape, and finally the driving piece is controlled to drive the guide wire to perform corresponding movement according to the real-time expected deformation of the guide wire, so that closed-loop control of the shape of the second catheter can be achieved, the actual shape of the second catheter is more approximate to the expected shape, and the control precision of the shape of the second catheter is further improved.

(5) Since the shape control system, the surgical robot and the readable storage medium of the medical catheter provided by the invention belong to the same inventive concept as the shape control method of the medical catheter described above, they have all the advantages of the shape control method of the medical catheter described above, and thus a detailed description thereof will not be given.

Drawings

FIG. 1 is a schematic view of a medical catheter according to an embodiment of the present invention;

FIG. 2 is a schematic view showing a partial structure of a medical catheter according to an embodiment of the present invention;

FIG. 3 is a schematic transverse cross-sectional view of a first conduit according to a first embodiment of the invention;

FIG. 4 is a schematic transverse cross-sectional view of a first conduit according to a second embodiment of the invention;

FIG. 5 is a schematic transverse cross-sectional view of a first conduit according to a third embodiment of the invention;

FIG. 6 is a flow chart of a method of controlling the shape of a medical catheter according to a first embodiment of the present invention;

FIG. 7 is a flow chart of a method of controlling the shape of a medical catheter according to a second embodiment of the present invention;

FIG. 8 is a schematic view of the acquisition of real-time tension experienced by a guidewire in accordance with the first embodiment of the present invention;

FIG. 9 is a schematic view of reducing friction between a guidewire and a guidewire channel in an embodiment of the invention;

FIG. 10 is a diagram of a mathematical model of a medical catheter in accordance with one embodiment of the present invention;

FIG. 11 is a schematic diagram of acquiring a correspondence between friction and tension applied to a guide wire according to an embodiment of the present invention;

FIG. 12 is a schematic diagram of the relationship between the frictional force and the tensile force of a guide wire according to another embodiment of the present invention;

FIG. 13 is a schematic view of capturing real-time tension experienced by a guidewire in accordance with a second embodiment of the present invention;

FIG. 14 is a schematic view showing a partial structure of a medical catheter according to another embodiment of the present invention;

FIG. 15 is a schematic view of the real-time tension applied to an acquisition guidewire in a third embodiment of the present invention;

FIG. 16 is a flow chart of a method of controlling the shape of a medical catheter according to a third embodiment of the present invention;

FIG. 17 is a schematic control diagram of a driving member according to an embodiment of the present invention;

FIG. 18 is a schematic control diagram of a driving member according to another embodiment of the present invention;

FIG. 19 is a schematic view of the shape control results of a medical catheter of the prior art;

FIG. 20 is a diagram showing the shape control results of a medical catheter according to an embodiment of the present invention;

FIG. 21 is a block diagram of a shape control system according to an embodiment of the present invention;

fig. 22 is a schematic view of an operation end of a surgical robot according to an embodiment of the present invention.

Wherein, the reference numerals are as follows:

A first conduit-110; a second conduit-120; guidewire-130; a driving device-140; a driving member-141; a first guidewire channel-111; motor-1411; wire wheel-1412; lubricant-150; an elastic member-160; strain gage-161; a position sensor-170;

a slider-1; a tension meter-2;

A controller-210; a processor-211; a memory-212; a display-220; an alarm-230; an indicator light-240;

An operation end-300; surgical trolley-310; mechanical arm-311.

Detailed Description

The medical catheter and its shape control system, control method, surgical robot and storage medium according to the present invention are described in further detail below with reference to fig. 1 to 22 and the detailed description. The advantages and features of the present invention will become more apparent from the following description. It should be noted that the drawings are in a very simplified form and are all to a non-precise scale, merely for the purpose of facilitating and clearly aiding in the description of embodiments of the invention. For a better understanding of the invention with objects, features and advantages, refer to the drawings. It should be understood that the structures, proportions, sizes, etc. shown in the drawings are shown only in connection with the present disclosure for the understanding and reading of the present disclosure, and are not intended to limit the scope of the invention, which is defined by the appended claims, and any structural modifications, proportional changes, or dimensional adjustments, which may be made by the present disclosure, should fall within the scope of the present disclosure under the same or similar circumstances as the effects and objectives attained by the present invention.

It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

The invention provides a medical catheter, a shape control system, a control method, a surgical robot and a storage medium thereof, so as to realize accurate control of the shape of the head of the medical catheter and more efficiently control the head of the medical catheter to reach a focus position. It should be noted that, although the description herein is made with respect to delivering the head of the medical catheter (i.e., the second catheter) to the bronchial lesion site, the invention is not limited thereto, as those skilled in the art will appreciate that in other embodiments, the head of the medical catheter (i.e., the second catheter) may be delivered to other lesion sites. In addition, as will be appreciated by those skilled in the art, proximal as referred to herein refers to the end proximal to the operator and distal as referred to herein refers to the end distal from the operator, i.e., the end proximal to the lesion, and the plurality as referred to herein includes two.

To achieve the foregoing, the present invention provides a medical catheter, please refer to fig. 1 and 2, wherein fig. 1 schematically shows a schematic structural diagram of a medical catheter according to an embodiment of the present invention; fig. 2 schematically shows a partial structure of a medical catheter according to an embodiment of the present invention. As shown in fig. 1 and 2, the medical catheter includes a first catheter 110, a second catheter 120, a plurality of guide wires 130, and a driving device 140, wherein the plurality of guide wires 130 are disposed through the first catheter 110 and the second catheter 120; the distal end of the first catheter 110 is connected to the proximal end of the second catheter 120; the driving device 140 includes a plurality of driving members 141 disposed in one-to-one correspondence with the guide wires 130; the proximal end of the guide wire 130 passes out of the proximal end of the first catheter 110 and is connected to a driving member 141, and the distal end of the guide wire 130 is connected to the distal end of the second catheter 120; under the action of the driver 141, the guide wire 130 can be elongated and shortened in its axial direction to enable the second catheter 120 to be bent in at least one direction. Because the driving members 141 are disposed in one-to-one correspondence with the guide wires 130, that is, the lengths of the different guide wires 130 extending and shortening along the axial direction thereof are controlled by the different driving members 141, the medical catheter provided by the invention can precisely control the lengths of the guide wires 130 extending and shortening along the axial direction thereof through the driving members 141, thereby precisely controlling the bending direction and angle of the second catheter 120, realizing precise control of the shape of the second catheter 120, and ensuring the smoothness of the movement of the medical catheter in the human body.

Further, please refer to fig. 3, which schematically illustrates a schematic transverse cross-section of the first catheter according to the first embodiment of the present invention. As shown in fig. 3, in this embodiment, the medical catheter includes four guide wires 130, a first guide wire channel 111 for the four guide wires 130 to pass through is provided in the first catheter 110, and a second guide wire channel (not shown in the drawing) for the four guide wires 130 to pass through is provided in the second catheter 120, and the second guide wire channel is disposed corresponding to the first guide wire channel 111, where distal ends of the four guide wires 130 are respectively fixed at four corners of the distal end of the second catheter 120. Thus, the present invention can allow the second guide tube 120 to be bent in four directions by providing four guide wires 130 inside the first guide tube 110 and the second guide tube 120. In addition, by intensively penetrating four guide wires 130 into one first guide wire channel 111 and one second guide wire channel which are correspondingly arranged, the overall structure of the medical catheter can be effectively simplified. In addition, by providing the first guide wire channel 111 and the second guide wire channel for the guide wire 130 to pass through, interference between the guide wire 130 and the delivered instrument can be effectively avoided. It should be noted that when the medical catheter includes four guide wires 130, the driving device 140 includes four driving members 141, and each guide wire 130 is connected to one driving member 141, as will be understood by those skilled in the art.

With continued reference to fig. 4, a schematic transverse cross-sectional view of a first catheter according to a second embodiment of the present invention is schematically illustrated. As shown in fig. 4, in this embodiment, the medical catheter includes four guide wires 130, four first guide wire channels 111 are disposed inside the first catheter 110, the four first guide wire channels 111 are uniformly disposed along the circumferential direction of the first catheter 110 (i.e., four first guide wire channels 111 disposed inside the first catheter 110 in parallel with the axis of the first catheter 110 are uniformly disposed inside the first catheter 110 around the axis direction thereof), four second guide wire channels (not shown in the drawing) disposed in one-to-one correspondence with the first guide wire channels 111 are disposed inside the second catheter 120, and the four second guide wire channels are uniformly disposed along the circumferential direction of the second catheter 120 (i.e., four second guide wire channels disposed inside the second catheter 120 in parallel with the axis of the second catheter 120 are uniformly disposed inside the second catheter 120 around the axis direction thereof), where each set of the first guide wire channels 111 and the second guide wire channels disposed correspondingly is used for passing through one guide wire 130. Since the different guide wires 130 are disposed in different guide wire channels (including the first guide wire channel 111 and the second guide wire channel), mutual interference between the different guide wires 130 can be avoided, and the control accuracy of the shape of the second catheter 120 can be further improved. In addition, since the four first guide wire channels 111 are uniformly arranged along the circumferential direction of the first catheter 110 and the four second guide wire channels are uniformly arranged along the circumferential direction of the second catheter 120, the arrangement not only can make the stress of the second catheter 120 more uniform in the bending process and control the shape of the second catheter 120 more easily, but also can facilitate the transportation of medical instruments more conveniently and improve the stability of the medical catheter provided by the invention in the use process.

With continued reference to fig. 5, a schematic transverse cross-sectional view of a first catheter according to a third embodiment of the present invention is schematically illustrated. As shown in fig. 5, the difference between the present embodiment and the second embodiment is that, in the present embodiment, four first guide wire channels 111 are uniformly arranged along the radial direction of the first catheter 110 (i.e., four first guide wire channels 111 parallel to the axis of the first catheter 110 are uniformly arranged along the radial direction of the cross section of the inside of the first catheter 110), and four second guide wire channels are uniformly arranged along the radial direction of the second catheter 120 (i.e., four second guide wire channels parallel to the axis of the second catheter 120 are uniformly arranged along the radial direction of the cross section of the inside of the second catheter 120). Thus, the mutual interference between different guide wires 130 can be avoided, and the control accuracy of the shape of the second catheter 120 can be further improved.

It should be noted that, although four guide wires 130 are illustrated as being disposed in the first catheter 110 and the second catheter 120, in other embodiments, other numbers of guide wires 130, such as one guide wire 130, two guide wires 130, three guide wires 130, five guide wires 130, or more guide wires 130, may be disposed in the first catheter 110 and the second catheter 120, and the invention is not limited thereto, as will be appreciated by those skilled in the art. Furthermore, as will be understood by those skilled in the art, the first catheter 110 is further provided with at least one first delivery channel (not shown) for passing a medical device therethrough, and the second catheter 120 is further provided with at least one second delivery channel (not shown) for passing a medical device therethrough and corresponding to the first delivery channel.

Further, as shown in fig. 2, the driver 141 includes a motor 1411 and a wire wheel 1412, the wire wheel 1412 being coupled to an output shaft of the motor 1411, the proximal end of the guide wire 130 being wound around the wire wheel 1412. Thus, the length of the guide wire 130 extending and shortening in the axial direction thereof can be further precisely controlled by the motor 1411, so that the direction and angle of the bending of the second catheter 120 can be precisely controlled, and the overall structure of the driving device 140 can be further simplified by providing the wire wheel 1412. Specifically, when the motor 1411 rotates, the wire wheel 1412 rotates in synchronization with the motor 1411, the rotating wire wheel 1412 can cause the guide wire 130 to extend or shorten in its axial direction, and when the motor 1411 rotates counterclockwise, as illustrated in fig. 2, the wire wheel 1412 also rotates counterclockwise, and the counterclockwise rotating wire wheel 1412 can cause more of the guide wire 130 to wrap around the wire wheel 1412, i.e., cause the guide wire 130 to shorten in its axial direction. When the motor 1411 is rotated clockwise, the wire wheel 1412 is also rotated clockwise, and the wire wheel 1412 rotated clockwise can release a portion of the guide wire 130 wound around the wire wheel 1412, i.e., elongate the guide wire 130 in its axial direction. It should be noted that, although the driving member 141 includes the motor 1411 and the wire wheel 1412 as an example, in other embodiments, the driving member 141 may further include a motor 1411, a screw, etc. capable of controlling the length of the guide wire 130 to be extended and shortened in the axial direction thereof, which is not limited by the present invention.

Based on the same inventive concept, the present invention also provides a method for controlling the shape of a medical catheter, please refer to fig. 6, which schematically shows a flow chart of the method for controlling the shape of the medical catheter according to the first embodiment of the present invention. As shown in fig. 6, in the present embodiment, the shape control method includes the steps of:

step S110, acquiring a desired shape of the second catheter;

Step S120, calculating the expected deformation total amount of the guide wire according to the expected shape of the second catheter;

and step S130, controlling the driving piece to drive the guide wire to perform corresponding movement according to the expected deformation total amount of the guide wire so as to enable the second catheter to bend to the expected shape.

Specifically, the desired shape of the second catheter 120 (i.e., the bending direction and angle of the second catheter 120) may be set by an operator according to the actual situation, and according to the desired shape of the second catheter 120 and the basic shape parameters of the second catheter 120 (including parameters such as the length and the outer diameter of the second catheter 120), the total amount of desired deformation of each guide wire 130 (i.e., the amount of elongation or shortening of the guide wire 130) may be calculated by using an inverse kinematics model, and according to the total amount of desired deformation of each guide wire 130, the control amount of the corresponding driving member 141 may be obtained, so that the corresponding driving member 141 may be controlled to perform corresponding movement according to the control amount of the driving member 141, so that the second catheter 120 may be bent to the desired shape.

With continued reference to fig. 7, a flow chart of a method for controlling the shape of a medical catheter according to a second embodiment of the present invention is schematically shown. As shown in fig. 7, in the present embodiment, the shape control method includes the steps of:

Step S210, acquiring a desired shape of the second catheter;

step S220, calculating the expected deformation total amount of the guide wire according to the expected shape of the second catheter;

step S230, acquiring the real-time elastic deformation of the guide wire;

Step S240, correcting the expected deformation total amount of the guide wire according to the real-time elastic deformation amount of the guide wire so as to obtain the real-time expected deformation total amount of the guide wire;

and step S250, controlling the driving piece to drive the guide wire to perform corresponding movement according to the real-time expected deformation total amount of the guide wire.

Thus, in this embodiment, the total amount of the desired deformation of the guide wire 130 is obtained by obtaining the real-time elastic deformation of the guide wire 130, and correcting the total amount of the desired deformation of the guide wire 130 according to the obtained real-time elastic deformation, so as to obtain the total amount of the real-time desired deformation of the guide wire 130, and according to the total amount of the real-time desired deformation of the guide wire 130, the total amount of the real-time control of the corresponding driving element 141 can be obtained, and according to the total amount of the real-time control of the driving element 141, the driving element 141 can be controlled in real time to perform the corresponding movement. Since the present embodiment can compensate for the elastic deformation of the guide wire 130 due to the tensile force in real time, the shape of the second catheter 120 can be further precisely controlled.

Further, the acquiring the real-time elastic deformation of the guide wire includes:

Acquiring real-time tension applied to the guide wire;

Specifically, the following relationship is satisfied between the real-time pulling force F _{Pulling device} applied to the guide wire 130 and the real-time elastic deformation epsilon ₁ of the guide wire 130:

F_{Pulling device}＝K₁*ε₁

Where K ₁ is the young's modulus of the guidewire 130.

Thus, the real-time elastic deformation amount ε ₁ of the guide wire 130 can be obtained based on the real-time tension F _{Pulling device} applied to the guide wire 130 and the Young's modulus K ₁ of the guide wire 130. In addition, by acquiring the real-time tension applied to the guide wire 130, it is also ensured that the guide wire 130 is not broken, so that the guide wire 130 can always work within a reasonable tension range.

Still further, please refer to fig. 8, which schematically illustrates a diagram for acquiring real-time tension applied to the guide wire according to the first embodiment of the present invention. As shown in fig. 8, in this embodiment, the acquiring the real-time tension applied to the guide wire includes:

Specifically, the real-time output torque of the driving member 141 may be obtained by providing a torque sensor at the output end of the driving member 141, and the real-time pulling torque of the guide wire 130 may be obtained according to the relationship between the real-time output torque of the driving member 141 and the real-time pulling torque of the guide wire 130 (the real-time output torque of the driving member 141=the real-time pulling torque of the guide wire 130+the real-time friction torque of the guide wire 130). The following relationship is satisfied between the real-time pulling moment T _{Pulling device} applied to the guide wire 130 and the real-time pulling force F _{Pulling device} applied to the guide wire 130:

T_{Pulling device}＝F_{Pulling device}*L_{Pulling device}

wherein L _{Pulling device} is a tension arm.

Thus, the real-time pulling force F _{Pulling device} applied to the guide wire 130 can be obtained according to the real-time pulling moment T _{Pulling device} applied to the guide wire 130 and the pulling force arm L _{Pulling device}, wherein when the driving member 141 includes the motor 1411 and the wire wheel 1412, the pulling force arm L _{Pulling device} is equal to the radius of the wire wheel 1412.

As will be appreciated by those skilled in the art, when the friction between the guidewire 130 and the guidewire channel (including the first guidewire channel 111 and the second guidewire channel) is so small that it is negligible, the real-time moment of tension experienced by the guidewire 130 can be set equal to the real-time output moment of the driver 141. Referring to fig. 9, a schematic diagram of reducing friction between a guide wire and a guide wire channel according to an embodiment of the present invention is schematically shown. As shown in fig. 9, the friction from the guidewire channel to which the guidewire 130 is subjected may be reduced by adding a lubricant 150 to the region between the guidewire channel (including the first guidewire channel 111 and the second guidewire channel) and the guidewire 130. It should be noted that, as those skilled in the art will appreciate, the added lubricant 150 may be either a liquid lubricant or a solid lubricant, or any other lubricant of suitable form, and the present invention is not limited thereto.

With continued reference to fig. 10, a mathematical model of a medical catheter according to an embodiment of the present invention is schematically illustrated. As shown in fig. 10, when the friction force between the guide wire 130 and the guide wire channel is so large as not to be negligible, assuming that the real-time output torque of the driving member 141 (i.e., the output torque of the motor 1411) is T _M, the real-time pulling torque applied to the guide wire 130 is T _{Pulling device}, and the real-time friction torque applied to the guide wire 130 is T _f, the following relationships are satisfied among the real-time output torque T _M, the real-time pulling torque T _{Pulling device}, and the real-time friction torque T _f:

T_{Pulling device}＝T_M-T_f

Specifically, the following relationship is satisfied between the real-time friction torque T _f applied to the guide wire 130 and the friction force f applied to the guide wire 130 from the guide wire channel:

T_f＝f*L_f

Wherein L _f is the arm of friction.

Thus, the tension T _{Pulling device} applied to the guide wire 130 can be obtained from the output torque T _M of the driving element 141 and the T _f applied to the guide wire 130. Wherein, when the driving member 141 includes the motor 1411 and the wire wheel 1412 which are connected, the arm L _f of the frictional force is equal to the radius of the wire wheel 1412.

Since the friction force from the second guide wire channel to which the guide wire 130 is subjected is not easily measured, in practice, the friction between the guide wire 130 and the second guide wire channel may be reduced by lubrication or other means, so that the friction force from the second guide wire channel to which the guide wire 130 is subjected is negligible, and only the friction force from the first guide wire channel 111 to which the guide wire 130 is subjected needs to be considered. Since the friction force from the first guide wire channel 111 received by the guide wire 130 is related to the tensile force F _{Pulling device} received by the guide wire 130 and the bending angle of the first catheter 110, when the guide wire 130 receives different tensile forces under different bending angles (the bending angle of the first catheter 110), the corresponding relationship between the friction force received by the guide wire 130 and the tensile force received by the guide wire 130 under different bending angles can be obtained by testing and fitting the values of the friction force between the guide wire 130 and the first guide wire channel 111. Thus, according to the actual bending angle of the first catheter 110, the corresponding relationship under the corresponding bending angle is selected, so that the real-time pulling moment of the guide wire 130 can be obtained according to the real-time output moment of the driving element 141 (when the driving element 141 includes the motor 1411 and the wire wheel 1412, the moment arm of the friction force of the guide wire 130 and the moment arm of the pulling force of the guide wire 130 are equal to the radius of the wire wheel 1412). Specifically, it is assumed that, at a certain bending angle, the following relationship is satisfied between the friction force F applied to the guide wire 130 and the tensile force F _{Pulling device} applied to the guide wire 130:

f＝Y(F_{Pulling device})

Since the force arm L _f of the friction force F is equal to the force arm L _{Pulling device} of the tension force F _{Pulling device}, the following relationship is satisfied between the real-time tension moment T _{Pulling device} applied to the guide wire 130 and the real-time friction moment T _f applied to the guide wire 130:

Thus, the real-time friction torque T _f experienced by the guide wire 130 is:

The following relation is thus satisfied between the real-time output torque T _M of the driving member 141 and the real-time pulling torque T _{Pulling device} to which the guide wire 130 is subjected:

Thus, the real-time pulling torque T _{Pulling device} applied to the guide wire 130 is:

Further, please refer to fig. 11, which schematically illustrates a schematic diagram of a correspondence relationship between a frictional force and a tensile force applied to an acquisition guide wire according to an embodiment of the present invention. As shown in fig. 11, in this embodiment, the first guide tube 110 may be bent to an angle, two ends of the guide wire 130 may be led out of the first guide tube 110 and the first guide tube 110 may be suspended, then a slider 1 with a weight G may be connected to one end of the guide wire 130, a tensiometer 2 may be connected to the other end of the guide wire 130, the slider 1 may be pulled by the tensiometer 2 to perform uniform motion, the reading F of the tensiometer 2 may be recorded, the friction force applied to the guide wire 130 may be F-G, then the weight G of the slider 1 may be changed, the slider 1 may be pulled continuously to perform uniform motion, and the reading F of the tensiometer 2 may be recorded, where the difference between the reading F of the tensiometer 2 and the weight G of the slider 1 may be the friction force applied to the guide wire 130. Therefore, by continuously changing the weight of the sliding block 1, the friction force value of the guide wire 130 under different tensile forces can be obtained, and the corresponding relation between the friction force of the guide wire 130 under the bending angle and the tensile force can be obtained through fitting. Then, the bending angle of the first catheter 110 is changed, and the above steps are repeated to obtain the corresponding relationship between the friction force and the pulling force of the guide wire 130 under different bending angles.

With continued reference to fig. 12, a schematic diagram of a relationship between frictional force and tensile force applied to an acquisition guidewire according to another embodiment of the present invention is schematically shown. As shown in fig. 12, in this embodiment, a slider 1 with a weight G may be connected to one end of a guide wire 130, a tension meter 2 may be connected to the other end of the guide wire 130, then the slider 1 is pulled by the tension meter 2 on a smooth plane to perform uniform motion, a reading F0 of the tension meter 2 is recorded, then the weight of the slider 1 is changed, the slider 1 is pulled continuously to perform uniform motion, and a reading F0 of the tension meter 2 is recorded, thereby, by continuously changing the weight of the slider 1, the reading F0 of the tension meter 2 under different weights of the slider 1 may be obtained. Then, the two ends of the guide wire 130 are led out of the first guide tube 110, the first guide tube 110 is bent to an angle, one end of the guide wire 130 is connected with the sliding block 1, the other end of the guide wire 130 is connected with the tension meter 2, the sliding block 1 is pulled by the tension meter 2 to do uniform motion, the difference value of the readings F1 and F1 of the tension meter 2 and F0 corresponding to the weight of the sliding block 1 is recorded as the friction force value of the guide wire 130, then the weight of the sliding block 1 is changed, the sliding block 1 is pulled continuously to do uniform motion, and the difference value of the readings F1 and F1 of the tension meter 2 and F0 corresponding to the weight of the sliding block 1 is recorded as the friction force value of the guide wire 130. Therefore, by continuously changing the weight of the sliding block 1 and subtracting the F1 and the F0 under the weight of the corresponding sliding block 1, the friction force of the guide wire 130 under different tensile forces can be obtained, and the corresponding relationship between the friction force and the tensile force of the guide wire 130 under the bending angle can be obtained through fitting. Then, the bending angle of the first catheter 110 is changed, and the above steps are repeated to obtain the corresponding relationship between the friction force and the pulling force of the guide wire 130 under different bending angles.

With continued reference to fig. 13, a schematic diagram of the real-time tension applied to the capture guidewire according to the second embodiment of the present invention is schematically shown. As shown in fig. 13, in this embodiment, the acquiring the real-time tension applied to the guide wire includes:

acquiring real-time output torque of the driving piece according to the real-time input torque of the driving piece and the real-time friction torque born by the driving piece;

Since the real-time output torque T _M of the driving member 141 is equal to the real-time input torque of the driving member 141 minus the real-time friction torque received by the driving member 141, and the real-time output torque of the driving member 141=the real-time pull torque received by the guide wire 130+the real-time friction torque received by the guide wire 130, the real-time pull torque T _{Pulling device} received by the guide wire 130 can be obtained according to the real-time output torque T _M of the driving member 141. Specifically, when the driving member 141 includes the motor 1411 and the wire wheel 1412, the real-time input torque of the driving member 141 may be obtained according to the real-time current of the motor 1411, and the real-time friction torque to which the driving member 141 is subjected may be obtained according to the real-time rotation speed of the motor 1411. Specifically, the real-time friction torque T _Mf applied to the driving member 141 can be obtained by the following equation:

T_Mf＝B*sign(V)+C

Where B is the viscous coefficient of friction of the motor 1411, C is the coulomb coefficient of friction of the motor 1411, V is the real-time rotational speed of the motor 1411, sign is the sign of the rotational speed (e.g., take +sign when rotating counterclockwise and take-sign when rotating clockwise).

When the friction between the guide wire 130 and the first guide wire channel 111 is so small that it is negligible, the real-time tension moment applied to the guide wire 130 is equal to the real-time output moment T _M of the driving member 141 (i.e., the difference between the real-time input moment of the driving member 141 and the real-time friction moment applied to the driving member 141).

When the friction between the guide wire 130 and the first guide wire channel 111 is so large that it is not negligible, the real-time tension moment applied to the guide wire 130 is equal to the real-time output moment of the driving member 141 minus the real-time friction moment applied to the guide wire 130. Thus, according to the real-time output torque of the driving member, the real-time pulling torque applied to the guide wire 130 is obtained, including:

The correspondence between the friction force applied to the guide wire 130 and the tension force applied to the guide wire 130 can be obtained by the related test method. Since the arm of friction force of the guide wire 130 is equal to the arm of tension force of the guide wire 130 (wherein, when the driving member 141 includes the motor 1411 and the wire wheel 1412, the arm of friction force and the arm of tension force are equal to the radius of the wire wheel 1412), the real-time output torque of the driving member 141 can be obtained according to the real-time input torque of the driving member 141 and the real-time friction torque of the driving member 141, and further the real-time tension torque of the guide wire 130 can be obtained according to the real-time output torque of the driving member 141 and the pre-obtained correspondence between the friction force of the guide wire 130 and the tension force of the guide wire 130, and the real-time tension torque T _{Pulling device} of the guide wire 130 can be calculated according to the above related description:

With continued reference to fig. 14, a schematic view of a partial structure of a medical catheter according to another embodiment of the present invention is schematically shown. As shown in fig. 14, in the present embodiment, an elastic member 160 is mounted on the guide wire 130, and a strain gauge 161 is disposed on the elastic member 160, where the strain gauge 161 is used to detect an elastic deformation amount of the elastic member 160. Thus, by providing the elastic member 160 including the strain gauge 161 on the guide wire 130, the tension applied to the guide wire 130 can be detected in real time. Preferably, the elastic member 160 is located near the driving member 141, that is, the elastic member 160 and the strain gauge 161 are disposed at the proximal end of the medical catheter, so that the arrangement of the elastic member 160 and the strain gauge 161 does not affect the structural design of the second catheter 120.

With continued reference to fig. 15, a flow chart for acquiring real-time tension on a guidewire according to a third embodiment of the present invention is schematically shown. As shown in fig. 15, in this embodiment, the acquiring the real-time tension applied to the guide wire includes:

acquiring real-time resistance variation of the strain gauge;

Specifically, when the guide wire 130 is elastically deformed by a tensile force, the elastic member 160 is also deformed together therewith, thereby causing the strain gauge 161 to be elongated or compressed to cause a change in electrical resistance. Assuming that the resistance value change amount of the strain gauge 161 is Δr, the following relationship is satisfied between the elastic deformation amount epsilon ₂ of the elastic member 160 and the resistance value change amount Δr:

where R is the original resistance value of the strain gauge 161, and k is the resistance change rate of the strain gauge 161.

Thus, according to the above equation, the real-time elastic deformation epsilon ₂ of the elastic member 160 can be obtained, and the real-time tension applied to the elastic member 160 can be calculated according to the real-time elastic deformation epsilon ₂ of the elastic member 160 and the young's modulus K ₂ of the elastic member 160, wherein the real-time tension applied to the elastic member 160 is the real-time tension applied to the guide wire 130.

With continued reference to fig. 16, a schematic flow chart of a method for controlling the shape of a medical catheter according to a third embodiment of the present invention is schematically shown. As shown in fig. 16, in the present embodiment, the shape control method includes the steps of:

step S310, obtaining the expected shape of the second catheter;

Step S320, acquiring the real-time actual shape of the second catheter;

Step S330, calculating the real-time expected deformation of the guide wire according to the expected shape of the second catheter and the real-time actual shape of the second catheter;

Step S340, controlling the driving member to drive the guide wire to perform corresponding movement according to the real-time expected deformation of the guide wire, so that the second catheter can be bent to the expected shape.

Thus, in this embodiment, by acquiring the desired shape of the second catheter 120 and the real-time actual shape of the second catheter 120, and then calculating the real-time desired deformation amount of the guide wire 130 according to the desired shape of the second catheter 120 and the real-time actual shape of the second catheter 120, the corresponding real-time control amount of the driving element 141 can be obtained according to the real-time desired deformation amount of the guide wire 130, and the driving element 141 can be controlled to perform the corresponding movement according to the real-time control amount of the driving element 141. Since the present embodiment can realize closed-loop control of the shape of the second catheter 120, the actual shape of the second catheter 120 is more similar to the desired shape, and the control accuracy of the shape of the second catheter 120 is further improved.

In particular, the bending direction and angle of the second duct 120 may be measured in real time by installing a shape sensor on the second duct 120. It should be noted that, as those skilled in the art can understand, the shape sensor may be a pose sensor in the prior art, such as a magnetic sensor.

When the driving member 141 includes the motor 1411 and the wire wheel 1412, the present invention also precisely controls the movement process of the motor 1411 in order to further improve the shape control accuracy of the medical catheter. Specifically, please refer to fig. 17, which schematically illustrates a control diagram of the driving member 141 according to an embodiment of the present invention. As shown in fig. 17, in the present embodiment, the position information of the motor 1411 can be measured in real time by the position sensor 170 (for example, an encoder) mounted on the motor 1411, and fed back to the controller 210, and the controller 210 can compensate the control amount of the motor 1411 in real time according to the fed back real-time position information of the motor 1411, thereby realizing closed-loop control of the motor 1411 and further improving the shape control accuracy of the second conduit 120.

With continued reference to fig. 18, a schematic control diagram of the driving member 141 according to another embodiment of the present invention is schematically shown. As shown in fig. 18, since the motor 1411 is always disturbed by the tension of the guide wire 130 and the tension is continuously changed, in this embodiment, the controller 210 may estimate the total disturbance to which the motor 1411 is subjected according to the real-time rotation speed, the real-time position (measured by the position sensor 170) and the real-time current of the motor 1411, and compensate the control amount of the motor 1411 in real time according to the estimated result, thereby improving the control accuracy of the motor 1411 and further improving the shape control accuracy of the second catheter 120.

Referring to fig. 19 and 20, fig. 19 schematically shows a shape control result of a medical catheter in the prior art. Fig. 20 schematically shows a schematic view of the shape control result of the medical catheter in an embodiment of the present invention. As shown in fig. 19 and 20, in the prior art, since the distal end of the medical catheter cannot be bent to a certain angle, the distal end of the medical catheter in the prior art cannot be close to the bronchial lesion position, and since the present invention can precisely control the bending shape of the second catheter 120 (i.e., the distal end of the medical catheter), a doctor can manipulate the second catheter 120 to bend to a desired angle, thereby enabling the second catheter 120 to smoothly reach the lesion position.

Based on the same inventive concept, the present invention also provides a shape control system of a medical catheter, please refer to fig. 21, which schematically shows a block structure schematic diagram of the shape control system according to an embodiment of the present invention. As shown in fig. 21, the shape control system includes a controller 210, the controller 210 includes a processor 211 and a memory 212, and the memory 212 stores a computer program, and when the computer program is executed by the processor 211, the shape control method of the medical catheter described above is implemented. Since the shape control system provided by the invention can realize the shape control method of the medical catheter, the shape control system has all the advantages of the shape control method of the medical catheter, and therefore, the description is not repeated. Specifically, as shown in fig. 21, the driving member 141 in the medical catheter described above is connected to the controller 210, so that the controller 210 can precisely control the movement of the driving member 141 to enable the corresponding movement of the guide wire 130, thereby precisely controlling the shape of the second catheter 120.

Further, as shown in fig. 21, the shape control system also includes a display 220 communicatively coupled to the controller 210. Thus, the inputted desired shape of the second catheter 120 may be displayed through the display 220 to facilitate the doctor's better manipulation of the second catheter 120 to bend to the desired shape.

Further, as shown in fig. 21, the shape control system further includes an alarm 230 connected to the controller 210. Thus, by providing the alarm 230, an alarm can be given when an abnormality occurs in the movement state of the medical catheter, thereby improving the safety of the medical catheter in the shape control process.

As shown in fig. 21, the shape control system further includes an indicator light 240 coupled to the controller 210. Thus, by providing the indicator light 240, the movement state of the medical catheter can be displayed. Specifically, when the medical catheter is normally moved, the indicator lamp 240 is displayed in one color, and when the movement of the medical catheter is abnormal, the indicator lamp 240 is displayed in another color, so that the safety of the medical catheter in the shape control process can be further improved.

It should be noted that, the processor 211 in the present invention may be a central processing unit (Central Processing Unit, CPU), other general purpose processor, digital signal processor (DIGITAL SIGNAL processor, DSP), application SPECIFIC INTEGRATED Circuit (ASIC), off-the-shelf programmable gate array (field-programmable GATEARRAY, FPGA), other programmable logic device, discrete gate or transistor logic device, discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like that is a control center of the electronic device, connecting various parts of the overall electronic device using various interfaces and lines.

The memory 212 may be used to store the computer program, and the processor 211 implements various functions of the electronic device by running or executing the computer program stored in the memory 212 and invoking data stored in the memory 212.

The memory 212 may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (SYNCHLINK) DRAM (SLDRAM), memory bus (rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.

Corresponding to the shape control system of the medical catheter, the invention further provides a surgical robot, which comprises the shape control system of the medical catheter, a control end and an operation end 300, wherein the operation end 300 comprises at least one mechanical arm 311, the control end and the operation end 300 have a master-slave control relationship and are used for controlling the mechanical arm 311 to operate, the control end and the operation end 300 are both in communication connection with the controller 200 in the shape control system, and the medical catheter is arranged at the tail end of the mechanical arm 311. Since the surgical robot system provided by the present invention includes the shape control system of the medical catheter described above, it has all the advantages of the shape control system of the medical catheter described above, and thus a detailed description thereof will not be given.

With continued reference to fig. 22, a schematic diagram of an operation end of the surgical robot according to an embodiment of the present invention is schematically shown. As shown in fig. 22, the operation end 300 includes an operation trolley 310, at least one mechanical arm 311 is provided on the operation trolley 310, wherein the medical catheter described above is mounted on the end of at least one mechanical arm 311. The controller 210 in the shape control system may be provided in combination with any one or more devices in the surgical robot, for example at the control end or at the manipulation end 300; in still other embodiments, the controller 210 may be provided separately; and the controller 210 may be a specific hardware or software unit, or may be a combination of hardware and software, which is not limited to the specific configuration of the controller 210 in the present invention.

Corresponding to the above-described method of controlling the shape of a medical catheter, the present invention also provides a readable storage medium having stored therein a computer program which, when executed by the processor 211, can implement the above-described method of controlling the shape of a medical catheter. Since the readable storage medium provided by the invention and the method for controlling the shape of the medical catheter described above belong to the same inventive concept, the method has all the advantages of the method for controlling the shape of the medical catheter described above, and therefore, the description thereof will not be repeated.

The readable storage media of embodiments of the present invention may take the form of any combination of one or more computer-readable media. The readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer hard disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

Computer program code for carrying out operations of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).

In summary, compared with the prior art, the medical catheter, the shape control system, the control method, the surgical robot and the storage medium thereof provided by the invention have the following advantages:

It should be noted that the apparatus and methods disclosed in the embodiments herein may be implemented in other ways. The apparatus embodiments described above are merely illustrative, for example, flow diagrams and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments herein. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

In addition, the functional modules in the embodiments herein may be integrated together to form a single part, or the modules may exist alone, or two or more modules may be integrated to form a single part.

The above description is only illustrative of the preferred embodiments of the present invention and is not intended to limit the scope of the present invention, and any alterations and modifications made by those skilled in the art based on the above disclosure shall fall within the scope of the present invention.

Claims

1. A shape control method of a medical catheter, characterized in that the medical catheter comprises a first catheter, a second catheter, a plurality of guide wires and a driving device, wherein the guide wires penetrate through the first catheter and the second catheter; the distal end of the first catheter is connected to the proximal end of the second catheter; the driving device comprises a plurality of driving pieces which are arranged in one-to-one correspondence with the guide wires; the proximal end of the guide wire passes out of the proximal end of the first catheter and is connected with one driving piece, and the distal end of the guide wire is connected with the distal end of the second catheter; under the action of the driving member, the guide wire can be lengthened and shortened along the axial direction of the guide wire so that the second catheter can be bent along at least one direction;

The method comprises the following steps:

acquiring a desired shape of the second catheter;

controlling the driving member to drive the guide wire to perform corresponding movement according to the expected deformation amount of the guide wire so as to enable the second catheter to bend to the expected shape;

and controlling the driving piece to drive the guide wire to perform corresponding movement according to the expected deformation total amount of the guide wire, wherein the method comprises the following steps of:

acquiring the real-time elastic deformation of the guide wire;

2. The method of claim 1, wherein the acquiring the real-time elastic deformation of the guidewire comprises:

Acquiring real-time tension applied to the guide wire;

3. The method of claim 2, wherein said obtaining real-time tension on the guidewire comprises:

4. A shape control method according to claim 3, wherein the obtaining the real-time pulling moment applied to the guide wire according to the real-time output moment of the driving member comprises:

5. A method of shape control according to claim 3, wherein said capturing of real-time output torque of said driver coupled to said guidewire comprises:

6. The shape control method according to claim 2, wherein a strain gauge is mounted on an end of the guide wire adjacent to the driving member;

acquiring real-time resistance variation of the strain gauge;

7. The shape control method of claim 6, wherein the guide wire is provided with an elastic member, and the strain gauge is provided on the elastic member.

8. The method of claim 7, wherein the elastic member is located near the driving member.

9. The shape control method according to claim 1, wherein at least one first guide wire channel for passing the plurality of guide wires is provided in the first guide tube, at least one second guide wire channel for passing the plurality of guide wires is provided in the second guide tube, and the second guide wire channels are arranged in one-to-one correspondence with the first guide wire channels.

10. The shape control method of claim 9, wherein the number of the first and second guide wire channels is 1, and the plurality of guide wires are centrally threaded into the first and second guide wire channels.

11. The method according to claim 9, wherein the number of the first guide wire channels and the number of the second guide wire channels are the same as the number of the guide wires, and one guide wire is inserted into each of the first guide wire channels and the second guide wire channels.

12. The shape control method of claim 11, wherein a plurality of the first guide wire channels are uniformly disposed along a circumferential direction of the first guide tube, and a plurality of the second guide wire channels are uniformly disposed along a circumferential direction of the second guide tube.

13. The shape control method of claim 1, wherein the driving member comprises a motor and a wire wheel, the wire wheel being coupled to an output shaft of the motor, the proximal end of the wire being wound around the wire wheel.

14. The shape control method of claim 1, wherein the connection points between the plurality of guide wires and the distal end of the second catheter are arranged in a dispersed manner.

15. The shape control method according to claim 1, wherein the first catheter is further provided with at least one first delivery passage for passing a medical instrument therein, and the second catheter is further provided with at least one second delivery passage for passing a medical instrument therein and provided in correspondence with the first delivery passage.

16. A shape control system of a medical catheter, characterized in that the shape control system comprises a controller, the controller comprising a processor and a memory, the memory having stored thereon a computer program, which, when executed by the processor, implements the method of any of claims 1 to 15.

17. The shape control system of claim 16, further comprising a display communicatively coupled to the controller, the display configured to display a desired shape of the second conduit.

18. The shape control system of claim 16, further comprising an alarm coupled to the controller for alerting when an abnormality occurs in the motion state of the medical catheter.

19. The shape control system of claim 16, further comprising an indicator light coupled to the controller, the indicator light for indicating a movement status of the medical catheter.

20. A surgical robot comprising the shape control system of any one of claims 16 to 19, a control end and an operating end, the operating end comprising at least one robotic arm, the control end having a master-slave control relationship with the operating end and being adapted to control operation of the robotic arm, the control end and the operating end both being in communication with a controller in the shape control system, the medical catheter being mounted at a distal end of the robotic arm.

21. A readable storage medium, characterized in that the readable storage medium has stored therein a computer program which, when executed by a processor, implements the method of any one of claims 1 to 15.