CN115969526A - Intervene robot from end - Google Patents

Abstract

The embodiment of the application belongs to the technical field of medical equipment and equipment, and relates to a slave end of an interventional robot, which is used for delivering a long and thin medical equipment, wherein the long and thin medical equipment comprises a guide wire and at least two catheters, at least part of the latter catheter is arranged in the former catheter in a penetrating way, and part of the guide wire is arranged in the latter catheter in a penetrating way; wherein, intervene robot from the end and include: the guide pipe bending device comprises a driving device, a power device, a sensing device and a control device, wherein the driving device, the power device and the sensing device are all connected with the control device, and in an initial state, any guide pipe is clamped on two adjacent driving devices in a bending state. The utility model provides a technical scheme can shorten the interval between the adjacent drive arrangement through the crooked setting of pipe, has reduced the overall dimension of equipment, has reduced product cost, does benefit to the product installation.

Description

Intervene robot from end

Technical Field

The application relates to the technical field of medical equipment, in particular to a slave end of an interventional robot.

Background

The interventional robot mainly adopts a structure of master-slave end operation. The main end is an operation end, the slave end is an execution end, the main end is connected with the slave end through the control device, an operator operates on one side of the main end, and the control device of the slave end receives operation information and drives the elongated medical device of the slave end to move.

When the existing interventional robot delivers a catheter from one end, the two driving devices are respectively clamped at the two ends of the catheter, and the pushing or withdrawing of the catheter is completed by controlling the cooperative motion of the two driving devices. In the delivery process, the whole catheter keeps a straightening state, so that a space equal to the length of the catheter needs to be reserved between the two driving devices, the whole length of the slave end is long, the occupied space is large, and particularly when a plurality of catheters are delivered, the defects that the whole length of the slave end is long and the occupied space is large are more prominent due to the fact that more driving devices need to be used, the product cost is increased, and the product installation is not facilitated.

Disclosure of Invention

The technical problem that this application embodiment will solve is that the whole length of current intervention robot from the end is long, and occupation space is big, has not only increased product cost, still is unfavorable for the product installation.

In order to solve the above technical problem, an embodiment of the present application provides a slave end of an interventional robot, which adopts the following technical solutions:

an interventional robot slave end for delivering an elongated medical device comprising a guide wire and at least two catheters, a latter of the catheters being at least partially inserted into a former of the catheters, the guide wire being partially inserted into a latter of the catheters;

the interventional robot slave end comprises: the device comprises a driving device, a power device, a sensing device and a control device;

the power device is used for driving the driving device to move along the axial direction of the slender medical instrument;

the driving device is used for driving the elongated medical device to move along the axial direction;

the sensing device is used for detecting the clamping state of the elongated medical device;

the driving device, the power device and the sensing device are all connected with the control device;

the slender medical device comprises a guide wire and at least two catheters, wherein the latter catheter is at least partially inserted into the former catheter, and the guide wire is partially inserted into the latter catheter;

in the initial state, any one conduit is clamped on two adjacent driving devices in a bending state,

when the device works, the control device controls the driving device to start, and drives the corresponding catheter and the corresponding guide wire to move along the axial direction; when the induction device detects that one bent conduit is in a straightening state, the control device controls the power device to start, and the power device drives the driving devices for clamping the same conduit to cooperatively move so as to keep the conduit clamped by two adjacent driving devices in the straightening state; or when the induction device detects that any one conduit is in the straightening state, the control device controls the power device to start, and the power device drives the corresponding driving device to cooperatively move so as to keep any one conduit in the straightening state.

Further, when the device works, after any one catheter is in a straightening state, the control device controls the driving device to start, and the catheter in the straightening state is driven to rotate.

Furthermore, intervene robot from end still includes detection device, detection device is used for detecting adjacent two distance between the drive arrangement, detection device with controlling means connects, works as detection device detects adjacent two when distance between the drive arrangement is the settlement distance, controlling means control drive is corresponding drive arrangement removes the power device shuts down.

Further, the catheter is marked as a first catheter and a second catheter, the second catheter is inserted into the first catheter, and the guide wire is inserted into the first catheter and the second catheter;

the driving device comprises a front end driving device, a first pushing driving device and a second pushing driving device; the power device comprises a first power source and a second power source; the induction device comprises a first induction component and a second induction component;

in an initial state, the first guide pipe is clamped between the front end driving device and the first pushing driving device in a bent state, and the second guide pipe is clamped between the first pushing driving device and the second pushing driving device in a bent state;

when the device works, the control device controls the front end driving device to start, and drives the first catheter to be delivered together with the second catheter and the guide wire which are positioned in the first catheter until a first set position is reached; wherein the first set position is a position where the first sensing assembly detects that the first conduit is in a straightened state;

the control device controls the first power source to start, the first power source drives the first pushing driving device to move towards the direction close to the front end driving device, the front end driving device and the first pushing driving device cooperate to deliver the first guide pipe, the second guide pipe and the guide wire which are positioned in the first guide pipe until a second set position is reached, and the control device controls the first pushing driving device and the first power source to stop; the second set position is a position where the first pushing driving device is spaced apart from the front end driving device by a set distance.

Further, the control device controls the first pushing driving device and a second power source to be started for separately delivering the second conduit;

when the second catheter is delivered separately, the control device controls the first pushing driving device to start to drive the second catheter to deliver, and the second catheter is delivered in the first catheter until a third set position is reached; wherein the third setting position is a position where the second sensing assembly detects that the second conduit is in a straightened state;

the control device controls the second power source to start, the second power source drives a second pushing driving device to move towards the direction close to the first pushing driving device, the first pushing driving device and the second pushing driving device cooperatively deliver the second guide pipe and the guide wire until a fourth set position is reached, and the control device controls the second power source to stop; the fourth set position is a position where the detection device detects that the second pushing driving device is spaced from the first pushing driving device by a set distance.

Further, during the delivery process of the first catheter, the control device controls a second sensing assembly to detect the current state of the second catheter;

if the second induction assembly detects that the second guide pipe is in a straightening state, the control device controls the second power source to start, the second power source drives the second pushing driving device to move towards the direction close to the first pushing driving device, the first pushing driving device and the second pushing driving device cooperatively deliver the second guide pipe and the guide wire until a fourth set position is reached, and the control device controls the second power source to stop; the fourth set position is a position where the detection device detects that the second pushing driving device is spaced from the first pushing driving device by a set distance.

Further, when the front end driving device is started, the control device controls the first pushing driving device to drive the second guide pipe to move towards the direction far away from the front end driving device.

Further, the driving device further comprises a guide wire control mechanism, and when the guide wire is controlled independently, the control device controls the guide wire control mechanism to be started to drive the guide wire to deliver and/or rotate;

or, when the first catheter and/or the second catheter is delivered, the guide wire control mechanism drives the guide wire to move towards the direction far away from the front end driving device.

Further, the first sensing assembly comprises a torque sensor;

the control device controls the torque sensor to detect the tension applied to the front end driving device in real time, and if the torque sensor detects that the tension is increased, the first conduit is determined to be in a straightening state;

or the like, or, alternatively,

the first induction component comprises a first pressure sensor arranged on the front end driving device and a second pressure sensor arranged on the first pushing driving device;

the control device controls the first pressure sensor to detect the delivery force of the front end driving device acting on the first catheter, controls the second pressure sensor to detect the delivery force of the first pushing driving device acting on the first catheter,

and determining that the first catheter is in a straightened state if both the first pressure sensor and the second pressure sensor detect a change in the delivery force.

Further, the second sensing assembly comprises a torsion sensor;

the control device controls the torque sensor to detect the tension applied to the first pushing driving device in real time, and if the torque sensor detects that the tension is increased, the second guide pipe is determined to be in a straightening state;

or the like, or a combination thereof,

the second induction component comprises a third pressure sensor arranged on the first pushing driving device and a fourth pressure sensor arranged on the second pushing driving device;

the control device controls the third pressure sensor to detect the delivery force of the first pushing driving device acting on the second catheter, controls the fourth pressure sensor to detect the delivery force of the second pushing driving device acting on the second catheter, and determines that the second catheter is in a straightening state when the third pressure sensor and the fourth pressure sensor both detect that the delivery force changes.

Compared with the prior art, the embodiment of the application mainly has the following beneficial effects:

according to the interventional robot slave end, any one conduit is clamped on the two adjacent driving devices in a bending mode in the initial state, so that the distance between the two adjacent driving devices is effectively shortened, the requirement for delivering a plurality of conduits is met, the overall length of equipment is shortened, the occupied space of the equipment is reduced, and the miniaturization and low cost of the equipment are realized;

the delivery of the catheter from a bending state to a straightening state is realized under the cooperative action among the driving device, the power device and the sensing device, and the cooperative pushing action is carried out after the catheter is ensured to be in the straightening state, so that the delivery of the catheter to a target position is completed; in addition, the induction device ensures that the guide pipe is immediately started to cooperate with the pushing action after being in a straightening state, so that the guide pipe is prevented from being broken, the potential safety hazard of equipment is eliminated, and the safety factor of the operation of the equipment is improved;

under the cooperative action of the driving device and the power device, the movement of the latter catheter in the former catheter and the movement of the guide wire in the catheter are controlled, so that the continuous delivery of the guide wire and the catheter at the slave end of the interventional robot is realized.

Drawings

In order to illustrate the solution of the present application more clearly, the drawings that are needed in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and that other drawings can be obtained by those skilled in the art without inventive effort.

FIG. 1 is a schematic structural diagram of an embodiment of the present application;

FIG. 2 is a schematic structural view in another direction of the embodiment of the present application;

FIG. 3 is a schematic structural diagram of a front end driving device according to an embodiment of the present application;

FIG. 4 is a schematic structural view of a guidewire rotation assembly of the present application;

FIGS. 5 a-5 e are schematic views showing the variation states of the tube filament delivery process at various stages of the present application;

FIG. 6 is a schematic structural diagram of a front-end driving device and a first push driving device according to another embodiment of the present application;

FIG. 7 is a flow chart of a delivery method of an embodiment of the present application;

FIG. 8 is a flowchart of one embodiment of step S101 of FIG. 7;

FIG. 9 is a flowchart of one embodiment of step S103 of FIG. 7;

FIG. 10 is a flowchart of another embodiment of step S101 of FIG. 7;

fig. 11 is a flowchart of another embodiment of step S103 in fig. 7.

Reference numerals:

1. a front end drive device; 11. a first delivery mechanism; 111. a drive wheel assembly; 112. a pinch roller assembly; 113. a torque sensor; 114. a first contact plate; 12. a first pressure sensor; 2. a first push driving device; 21. a first rotating mechanism; 211. a second contact plate; 22. a second delivery mechanism; 23. a second pressure sensor; 3. a second push driving device; 31. a second rotating mechanism; 32. a guidewire delivery mechanism; 33. a guide wire rotating mechanism; 331. a torsion controller; 332. a transmission member; 4. a power plant; 41. a first power source; 42. a second power source; 5. a frame; 51. a guide device; 52. a detection device; 521. a magnetic grid ruler; 522. a first magnetic head; 523. a second magnetic head; 61. a first conduit; 62. a second conduit; 63. a guidewire.

Detailed Description

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "including" and "having," and any variations thereof in the description and claims of this application and the description of the figures above, are intended to cover non-exclusive inclusions. The terms "first," "second," and the like in the description and claims of this application or in the foregoing drawings are used for distinguishing between different objects and not for describing a particular sequential order.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.

Embodiment one of the following end of the interventional robot

The application intervenes robot from end for send slim and long type medical instrument, slim type medical instrument includes the seal wire and two at least pipes, the latter the pipe is at least partly worn to establish the former in the pipe, the seal wire part is worn to establish the latter in the pipe.

The interventional robot slave end comprises: the device comprises a driving device, a power device, a sensing device and a control device.

The power device is used for driving the driving device to move along the axial direction of the slender medical instrument; the driving device is used for driving the elongated medical device to move along the axial direction; the sensing device is used for detecting the clamping state of the elongated medical device; the driving device, the power device and the sensing device are all connected with the control device.

In the initial state, any one conduit is clamped on two adjacent driving devices in a bending state,

when the device works, the control device controls the driving device to start, and drives the corresponding catheter and the corresponding guide wire to move along the axial direction; when the induction device detects that one bent conduit is in a straightening state, the control device controls the power device to start, and the power device drives the driving devices for clamping the same conduit to cooperatively move so as to keep the conduit clamped by two adjacent driving devices in the straightening state; or when the induction device detects that any one conduit is in the straightening state, the control device controls the power device to be started, and the power device drives the corresponding driving device to move cooperatively, so that any one conduit is kept in the straightening state.

Intervene robot from end still includes detection device, detection device is used for detecting adjacent two distance between the drive arrangement, detection device with controlling means connects, works as detection device detects adjacent two when distance between the drive arrangement is for setting for the distance, controlling means control drive is corresponding drive arrangement removes the power device shuts down.

In the embodiment of the application, any conduit is bent and clamped on the two adjacent driving devices in the initial state, so that the distance between the two adjacent driving devices is effectively shortened, the requirement of delivering a plurality of conduits is met, the overall length of the equipment is shortened, the occupied space of the equipment is reduced, and the miniaturization and the low cost of the equipment are realized; the delivery of the catheter from a bending state to a straightening state is realized under the cooperative action among the driving device, the power device and the sensing device, and the cooperative pushing action is carried out after the catheter is ensured to be in the straightening state, so that the delivery of the catheter to a target position is completed; in addition, the induction device ensures that the guide pipe is immediately started to cooperate with the pushing action after being in a straightening state, so that the guide pipe is prevented from being broken, the potential safety hazard of equipment is eliminated, and the safety factor of the operation of the equipment is improved; the following catheter is controlled to move in the preceding catheter and the guide wire is controlled to move in the catheter under the cooperative action of the driving device and the power device, so that the continuous delivery of the catheter and the guide wire at the slave end of the interventional robot is realized.

In the embodiment, after the catheter is in the straightening state, the control device freely selects actions of pushing, rotating and rotating the catheter according to the posture of the catheter.

Referring to fig. 1 and fig. 2, in the present embodiment, the driving device includes a front driving device 1, a first pushing driving device 2 and a second pushing driving device 3, the power device 4 includes a first power source 41 and a second power source 42, and the sensing device includes a first sensing component and a second sensing component.

The catheters are marked as a first catheter 61 and a second catheter 62, the second catheter 62 is inserted into the first catheter 61, and the guide wire 63 is inserted into the first catheter 61 and the second catheter 62.

In an initial state, the first guide tube 61 is clamped between the front end driving device 1 and the first push driving device 2 in a bent state, the second guide tube 62 is clamped between the first push driving device 2 and the second push driving device 3 in a bent state, in this embodiment, an outer diameter of the second guide tube 62 is smaller than an inner diameter of the first guide tube 61, the second guide tube 62 is inserted into the first guide tube 61, the guide wire 63 is inserted into the first guide tube 61 and the second guide tube 62, the guide wire 63 is clamped between the second push driving device 3, and a tail portion of the guide wire is bent by 180 °, as shown in fig. 5 a. In other embodiments, the tail bending angle of the guide wire 63 can also be 90-180 degrees, so as to reduce the space of the rear end of the slave end of the interventional robot. Of course, in other embodiments, when the space allows, the tail of the guide wire 63 may be disposed in a straight state, i.e. coinciding with the delivery path of the guide wire 63, which is beneficial to reduce the waste of the guide wire 63.

In this embodiment, the interventional robot further includes a frame 5, and a guiding device 51 and a detecting device 52 are disposed on the frame 5.

The front end driving device 1 is mounted on the frame 5 and configured to control delivery of the first catheter 61, in this embodiment, the front end driving device 1 includes a first delivery mechanism 11, and the first delivery mechanism 11 is configured to control delivery of the first catheter 61, the second catheter 62 and the guide wire 63 which are embedded in the first catheter 61 together.

The first power source 41 is movably mounted on the guiding device 51, the first pushing driving device 2 is mounted on the first power source 41, the first power source 41 controls the first pushing driving device 2 to approach or depart from the front end driving device 1 along the guiding device 51, the first pushing driving device 2 is used for controlling the rotation of the first conduit 61 and the delivery of the second conduit 62, in this embodiment, the first pushing driving device 2 includes a first rotating mechanism 21 and a second delivery mechanism 22, the first rotating mechanism 21 is used for clamping the tail end of the first conduit 61 and controlling the rotation of the first conduit 61, and after the first conduit 61 is in the straightening state, the first rotating mechanism 21 can control the rotation of the first conduit 61 to adjust the delivery posture of the first conduit 61; the second delivery mechanism 22 is used to control co-delivery of a second catheter 62 and a guidewire 63 embedded within the second catheter 62.

The second power source 42 is movably mounted on the guiding device 51, the second pushing driving device 3 is mounted on the second power source 42, the second power source 42 controls the second pushing driving device 3 to approach or depart from the first pushing driving device 2 along the guiding device 51, the second pushing driving device 3 is used for controlling the rotation of the second guiding tube 62 and the delivery of the guiding wire 63, in this embodiment, the second pushing driving device 3 includes a second rotating mechanism 31 and a guiding wire delivery mechanism 32, the second rotating mechanism 31 is used for clamping the tail end of the second guiding tube 62 and controlling the rotation of the second guiding tube 62, and after the second guiding tube 62 is in the straightening state, the second rotating mechanism 31 can control the second guiding tube 62 to rotate so as to adjust the delivery posture of the second guiding tube 62; the guide wire delivery mechanism 32 is configured to control delivery of the guide wire 63, in this embodiment, the second push driving device 3 further includes a guide wire rotating mechanism 33, after the tail end of the guide wire 63 is bent by 180 °, the tail end of the guide wire 63 is clamped by the guide wire rotating mechanism 33, and the guide wire rotating mechanism 33 can control the guide wire 63 to rotate so as to adjust a delivery posture of the guide wire 63.

By integrating the guide wire delivery mechanism 32 and the guide wire rotating mechanism 33 on the second push driving device 3, the occupied space of the tail end of the guide wire 63 is reduced, so that the required space of the rear end of the slave end of the interventional robot is reduced, and the whole size is reduced. Of course, in other embodiments, the guidewire delivery mechanism 32 and the guidewire rotation mechanism 33 may be mounted on different drive devices.

Referring to fig. 4, in the present embodiment, the guide wire rotating assembly 33 includes a driving member (not shown), a torque controller 331, a transmission member 332 is installed on the torque controller 331, and the torque controller 331 is installed at the end of the guide wire 63 for clamping the guide wire 63; the power output end of the driving member is in transmission connection with the power input end of the driving member 332, and is used for driving the torque controller 331 to rotate, so as to drive the guide wire 63 to rotate.

In this embodiment, the transmission member 332 is a gear sleeve, and an internal thread is provided inside the transmission member, one end of the torque controller 331 is provided with an external thread, and the gear sleeve is sleeved on the torque controller 331 through a thread fit; the interior of the torque controller 331 is a wedge-shaped hollow structure, and an inlet and an outlet for the guide wire 63 to pass through are arranged at two ends of the torque controller 331;

inside the seal wire 63 of this application embodiment penetrates wrench control 331 from the import, inside wrench control 331 was worn out in the export, driving medium 332 passes through screw-thread fit suit in wrench control 331 has the one end of external screw thread, makes the inside wedge hollow structure of wrench control 331 tightens up, the centre gripping seal wire 63, the drive of second driving piece the driving medium 332 is rotatory, drives wrench control 331 and wholly rotates, makes seal wire 63 rotatory thereupon.

In this embodiment, the first sensing element is mounted on the front end driving device 1 and/or the first pushing driving device 2, and is configured to detect a straightening state of the first conduit 61; the second sensing component is mounted on the first pushing driving device 2 and/or the second pushing driving device 3, and is used for detecting the straightening state of the second conduit 62.

Referring to fig. 2, in the present embodiment, the detecting device 52 includes a magnetic scale 521, a first magnetic head 522, and a second magnetic head 523.

The magnetic scale 521 is mounted on the frame 5 and is arranged in parallel with the guiding device 51, and in this embodiment, the magnetic scale 521 is provided with a first set point (not shown) and a second set point (not shown).

The first magnetic head 522 is mounted on the first push driving device 2 and the sensing end contacts with the magnetic scale 521 for detecting the position of the first push driving device 2.

The second magnetic head 523 is mounted on the second push driving device 3, and the sensing end contacts the magnetic scale 521, so as to detect the position of the second push driving device 3.

In other embodiments, the detecting device 52 may further include a first photoelectric switch and a second photoelectric switch, the first push driving device 2 and the second push driving device 3 are respectively provided with a blocking piece, the first photoelectric switch is set at a first setting point, the second photoelectric switch is set at a second setting point, when the first photoelectric switch detects a signal, the first power source 41 is controlled to stop, and when the second photoelectric switch detects a signal, the second power source 42 is controlled to stop.

The embodiment of the application detects the displacement of the first push driving device 2 and the second push driving device 3 by arranging the detection device, so that the safety distance between the front end driving device 1 and the first push driving device 2 and between the first push driving device 2 and the second push driving device 3 are limited, the delivery process is prevented, collision occurs between the driving devices, the equipment is damaged, and the safety factor of equipment operation and the service life of the equipment are improved.

Referring to fig. 7, in the present embodiment, when the interventional robot works from the end, the following steps are specifically included:

s101, the control device controls the front end driving device to start, and drives the first catheter to be delivered together with the second catheter and the guide wire which are positioned in the first catheter until a first set position is reached; wherein the first set position is a position where the first sensing assembly detects that the first conduit is in a straightened state.

Referring to fig. 1, in the present embodiment, the first delivery mechanism 11 includes a driving wheel assembly 111 and a pressing wheel assembly 112, the driving wheel assembly 111 includes a first driving member and a driving wheel set, and a power output end of the first driving member is in transmission connection with a power input end of the driving wheel set; the pressing wheel assembly 112 comprises a clamping driving member and a pressing wheel set, wherein the power output end of the clamping driving member is connected with the pressing wheel set and used for driving the pressing wheel set to be close to or far away from the driving wheel set.

The clamp drive pinch roller set is adjacent to the drive pinch roller set for clamping a first catheter 61 and the second catheter 62 and the guidewire 63 within the first catheter 61; the first driving member controls the driving wheel set to rotate, and drives the first catheter 61 and the second catheter 62 and the guide wire 63 located in the first catheter 61 to jointly deliver the catheter until the first catheter 61 reaches the first setting position.

Step S101 is a first stage of the slave-end operation of the interventional robot, in which the first catheter 61 is initially in the bending state, and the bending degree of the first catheter 61 gradually decreases with the continuous delivery of the first catheter 61 by the front-end driving device 1 until the first sensing component detects that the first catheter 61 is in the straightening state, the first stage of the slave-end operation of the interventional robot is ended, as shown in fig. 5b, and the slave-end of the interventional robot is in a state of ending the first stage of the slave-end operation of the interventional robot.

The present embodiment delivers the first catheter 61 from a bent state to a straightened state by the interventional robot during the first stage of end-work.

Referring to fig. 3, in the present embodiment, the first sensing assembly includes a torque sensor 113, the control device controls the torque sensor to detect a tensile force applied to the front end driving device 1 in real time, and if the torque sensor 113 detects an increase in the tensile force, it is determined that the first conduit 61 is in a straightened state; in this embodiment, the torque sensor 113 is installed at the power output end of the first driving member.

Referring to fig. 8, in this embodiment, the first setting position is a position where the first sensing assembly detects that the first guiding tube is in a straightened state, and the specific determination steps are as follows:

s201, the control device controls the torsion sensor to detect the tension applied to the front end driving device in real time.

S202, the torsion sensor detects that the tension force is increased, and then the first conduit is in a straightening state.

According to the embodiment of the application, the straightening state of the first guide pipe is detected by arranging the first induction component, so that the first guide pipe is in the straightening state before the intervention robot drives the first pushing driving device to move by the first power source at the slave end; in addition, after first response subassembly detects that first pipe is in the state of flare-outing, controlling means controls first power supply immediately and starts, drives first propelling movement drive arrangement and removes, avoids because of the continuous delivery of first delivery mechanism, leads to first pipe to be pulled apart.

In other embodiments, the first sensing assembly includes a first pressure sensor mounted on the front driving device and a second pressure sensor mounted on the first pushing driving device.

The control device controls the first pressure sensor to detect the delivery force of the front end driving device acting on the first catheter, controls the second pressure sensor to detect the delivery force of the first pushing driving device acting on the first catheter, and determines that the first catheter is in a straightening state when the first pressure sensor and the second pressure sensor both detect that the delivery force changes. The control device determines whether the first conduit is in a straightening state or not by detecting the change and amplitude of the two pressure sensors.

S102, the control device controls the first power source to start, the first power source drives the first pushing driving device to move towards the direction close to the front end driving device, the front end driving device and the first pushing driving device cooperate to deliver the first guide pipe, the second guide pipe and the guide wire in the first guide pipe until a second set position is reached, and the control device controls the first pushing driving device and the first power source to stop; the second set position is a position where the first pushing driving device is spaced apart from the front end driving device by a set distance.

Referring to fig. 1 and fig. 2, in this embodiment, the first power source 41 drives the first pushing driving device 2 to be close to the front end driving device 1, the first rotating mechanism 21 of the first pushing driving device 2 is connected to the end of the first guiding tube 61, and under the cooperative delivery of the front end driving device 1 and the first power source 41, the end of the first guiding tube 61, the second guiding tube 62 and the guiding wire 63 located in the first guiding tube 61 move toward the front end driving device 1 until reaching a second setting position, that is: when the first magnetic head 522 reaches the first set point of the magnetic scale 521, the control device controls the first power source 41 and the front-end pushing driving device 1 to stop, and at this time, the first pushing driving device 2 is spaced apart from the front-end driving device 1 by a set distance, which is 5cm to 10cm in this embodiment.

The step S102 is a second stage of the slave-end operation of the interventional robot, in which the first conduit 61 is kept in a straightened state, the first power source 41 is controlled to start, the first power source 41 drives the first pushing driving device 2 to move toward the front-end driving device 1, the end of the first conduit 61 moves toward the front-end driving device 1 along with the cooperation of the front-end driving device 1 and the first power source 41, when the first magnetic head 522 reaches a first set point, the interval between the first pushing driving device 2 and the front-end driving device 1 is 5cm to 10cm, and the second stage of the slave-end operation of the interventional robot is ended.

This application embodiment will be in the first pipe 61 of straightening state and carry out further delivery from the second stage of end work through interveneeing robot, simultaneously, work as first induction system detects first pipe 61 is behind the state of flare-outing, first pipe 61 allows rotatoryly, at the in-process of delivery controlling means carries out rotatory adjustment to the first pipe 61 that is in the state of flare-outing through the first rotary mechanism 21 of control to deliver the gesture to first pipe 61 and adjust, avoid first pipe 61 to cause the damage in the delivery process, improve equipment operation's factor of safety.

In this embodiment, during the second stage of the slave-end operation of the interventional robot, the first pushing driving device 2 is driven by the first power source 41 to move toward the front-end driving device 1, so as to gradually reduce the bending degree of the second conduit 62.

S103, in the delivery process of the first catheter, the control device controls the second sensing assembly to detect the current state of the second catheter.

If the second sensing assembly detects that the second guiding tube is in the straightened state, as shown in fig. 5d, the process goes to step S104.

If the detecting device detects that the first pushing driving device reaches the first set point, the second sensing assembly does not detect that the second conduit is in the straightened state, as shown in fig. 5c, the second conduit bending delivery step is performed, specifically including the following steps:

the control device controls the first pushing driving device to start, and drives the second catheter to be delivered independently, and the second catheter is delivered in the first catheter until a third set position is reached; wherein the third setting position is a position where the second sensing assembly detects that the second catheter is in a straightened state.

Referring to fig. 1, in the present embodiment, the structure of the second delivery mechanism 22 is the same as that of the first delivery mechanism 11, and both the second delivery mechanism 22 and the first delivery mechanism 11 include a driving wheel assembly and a pressing wheel assembly, the driving wheel assembly of the second delivery mechanism 22 is matched with the pressing wheel assembly to clamp the second catheter 62 and the guide wire 63 located in the second catheter 62, and drive the second catheter 62 and the guide wire 63 located in the second catheter 62 to be delivered together, in the present embodiment, the second catheter 62 enters the first catheter 61 under the driving of the second delivery mechanism 22 until the second catheter 62 reaches the third setting position.

The second catheter 62 straightening step is a third stage of the slave-end operation of the interventional robot, in which the second catheter 62 is initially in a bent state, the degree of bending of the second catheter 62 gradually decreases with the continuous delivery of the second catheter 62 by the second delivery mechanism 22 of the first pushing drive device 2 until the second sensing component detects that the second catheter 62 is in the straightened state, and the third stage of the slave-end operation of the interventional robot ends, as shown in fig. 5d, when the slave-end of the interventional robot is in the third stage of the slave-end operation of the interventional robot, the second catheter 62 is in a straightened state.

According to the embodiment of the application, through the third stage of the slave end work of the interventional robot, the second catheter 62 is delivered from the bent state to the straightened state, the second catheter 62 penetrates through the first catheter 61, and the second catheter 62 is delivered into the first catheter 61 under the action of the second delivery mechanism 22, so that the continuous delivery of the catheters is realized, the space required by the slave end of the interventional robot is reduced, and the whole size of the equipment is reduced.

In this embodiment, the second sensing assembly is a torque sensor, the control device controls the torque sensor to detect a pulling force received by the first pushing driving device in real time, and if the torque sensor detects that the pulling force is increased, it is determined that the second conduit is in a straightening state; in this embodiment, the torque sensor is mounted at the power output end of the first driving member of the second delivery mechanism.

Referring to fig. 9, the second sensing assembly detects that the second guiding tube is in a straightened state, and specifically includes the following steps:

s301, controlling a torsion sensor to detect the tension applied to the first pushing driving device in real time.

S302, if the torsion sensor detects that the tension force is increased, the second conduit is in a straightening state.

According to the embodiment of the application, the straightening state of the second guide pipe is detected by arranging the second induction component, so that the second guide pipe is in the straightening state before the intervention robot drives the second pushing driving device to move by the second power source at the slave end; in addition, after the second induction assembly detects that the second guide pipe is in the straightening state, the control device immediately controls the second power source to start to drive the second pushing driving device to be sent, and the second guide pipe is prevented from being pulled off due to continuous delivery of the second delivery mechanism.

In other embodiments, the second sensing assembly includes a third pressure sensor mounted to the first push driving device and a fourth pressure sensor mounted to the second push driving device;

the control device controls the third pressure sensor to detect the delivery force of the first pushing driving device acting on the second catheter, controls the fourth pressure sensor to detect the delivery force of the second pushing driving device acting on the second catheter, and determines that the second catheter is in a straightening state when the third pressure sensor and the fourth pressure sensor both detect that the delivery force changes. The control device determines whether the second guide pipe is in a straightening state or not by detecting the change and the amplitude of the two pressure sensors.

S104, the control device controls the second power source to start, the second power source drives a second pushing driving device to move towards the direction close to the first pushing driving device, the first pushing driving device and the second pushing driving device cooperatively deliver the second guide pipe and the guide wire until a fourth set position is reached, and the control device controls the second power source to stop; the fourth set position is a position where the detection device detects that the second pushing driving device is spaced from the first pushing driving device by a set distance.

Referring to fig. 1 and fig. 2, in this embodiment, the second power source 42 drives the second pushing driving device 3 to approach the first pushing driving device 2, the second rotating mechanism 31 of the second pushing driving device is connected to the end of the second guiding tube 62, and under the cooperative delivery of the first pushing driving device 2 and the second power source 42, the end of the second guiding tube 62 and the guiding wire 63 located in the second guiding tube 62 move toward the first pushing driving device 2 until reaching a fourth setting position, that is: when the second magnetic head 523 reaches the second set point of the magnetic scale 521, the control device controls the second power source 41 and the first pushing driving device 2 to stop, and at this time, the second pushing driving device 3 is spaced apart from the first pushing driving device 2 by a set distance, which is 5cm to 10cm in this embodiment.

The step S104 is a fourth stage of the slave-end operation of the interventional robot, in which the second conduit 62 is kept in a straightened state, and the second power source 42 is controlled to be started, the second power source 42 drives the second push driving device 3 to move toward the direction close to the first push driving device 2, the end of the second conduit 62 moves toward the direction close to the first push driving device 2 along with the cooperation of the first push driving device 2 and the second power source 42, when the second magnetic head 523 reaches the second set point, the interval between the second push driving device 3 and the first push driving device 2 is 5cm to 10cm, and the fourth stage of the slave-end operation of the interventional robot is ended, as shown in fig. 5 e.

In the embodiment of the application, the second catheter 62 in the straightened state is further delivered in the lumen of the first catheter 62 through the fourth stage of the end-to-end operation of the interventional robot, and meanwhile, when the second sensing device detects that the second catheter 62 is in the straightened state, the second catheter 62 is allowed to rotate, and in the delivery process, the control device controls the second rotating mechanism 31 to rotationally adjust the second catheter 62 in the straightened state so as to adjust the delivery posture of the second catheter 62, so that the second catheter 62 is prevented from damaging the body of the second catheter 62 or the inner wall of the first catheter 61 in the delivery process, the safety coefficient of the operation of the device is increased, and the service lives of the first catheter and the second catheter are prolonged.

In this embodiment, before the first stage of the slave-end operation of the interventional robot, the method further includes a step of adjusting the elongated medical device, specifically including the following steps:

installing a first conduit on the slave end of the interventional robot, wherein one end of the first conduit is clamped on the front end driving device, the other end of the first conduit is connected with the first pushing driving device, and the first conduit between the front end driving device and the first pushing driving device is in a bent state;

a second guide pipe is arranged on the slave end of the interventional robot, one end of the second guide pipe is clamped on the first pushing driving device, the other end of the second guide pipe is connected with the second pushing driving device, the front end of the second guide pipe penetrates into the first guide pipe, and the second guide pipe between the first pushing driving device and the second pushing driving device is in a bent state;

the control device controls the first pushing driving device to start, and drives the second catheter to move in the tube cavity of the first catheter until the head end of the second catheter is exposed out of the head end of the first catheter;

the guide wire is arranged on the second pushing driving device, and the front end of the guide wire penetrates into the first guide pipe and the second guide pipe;

the control device controls the second pushing driving device to start, and drives the guide wire to move in the lumens of the first catheter and the second catheter until the head end of the guide wire is exposed out of the head end of the second catheter;

in this embodiment, the tip of the guide wire, the tip of the second catheter, and the tip of the first catheter are arranged in a pyramid shape, and since the stiffness of the first catheter is greater than that of the second catheter, the first catheter serves as a channel to guide and protect the second catheter; the hardness of the second catheter is greater than that of the guide wire, and the second catheter is used as a guide tube and plays a role in guiding and protecting the guide wire.

In this embodiment, when the relative position between the second catheter and the first catheter and the guide wire needs to be adjusted, or the guide wire is driven by the second catheter to move, the slave end of the interventional robot further includes a step of delivering the second catheter separately, and the control device controls the first pushing driving device and the second power source to be started for delivering the second catheter separately, specifically including the following steps:

the control device controls the first pushing driving device to start to drive the second catheter to deliver, and the second catheter is delivered in the first catheter until a third set position is reached; wherein the third setting position is a position where the second sensing assembly detects that the second conduit is in a straightened state;

the control device controls the second power source to start, the second power source drives a second pushing driving device to move towards the direction close to the first pushing driving device, the first pushing driving device and the second pushing driving device cooperatively deliver the second guide pipe and the guide wire until a fourth set position is reached, and the control device controls the second power source to stop; the fourth set position is a position where the detection device detects that the second pushing driving device is spaced from the first pushing driving device by a set distance.

In this embodiment, the driving device further comprises a guide wire control mechanism, and when the guide wire is controlled independently, the control device controls the guide wire control mechanism to be started to drive the guide wire to deliver and/or rotate.

The guide wire is driven by the guide wire driving mechanism to independently deliver and rotate relative to the first catheter and the second catheter, and the guide wire delivery posture can be adjusted to adapt to the change of the guide wire delivery environment.

In other embodiments, the guide wire drive mechanism drives the guide wire to move away from the front end drive while delivering the first catheter and/or the second catheter.

When the first catheter and/or the second catheter moves forwards, the guide wire is controlled to move backwards, so that the guide wire is kept in a static state, the guide wire is prevented from being held in absolute static state during the process that the guide wire moves forwards along with the first catheter or the second catheter, and the operation safety is improved. In addition, the step is also suitable for controlling the guide wire to move backwards when the first catheter and/or the second catheter is withdrawn backwards, so that the guide wire is kept in a static state.

In other embodiments, the interventional robot slave-end, when performing the delivery of the first and second phases of the interventional robot slave-end work, further comprises the steps of:

when the front end driving device is started, the control device controls the first pushing driving device to drive the second guide pipe to move towards the direction far away from the front end driving device.

The control device of the embodiment of the present application controls the second catheter to move away from the front end driving device when the first catheter is delivered forward by controlling the activation of the first pushing driving device, so that the second catheter is kept at a stationary state, and the bending section of the second catheter maintains the bending state, as shown in fig. 5c, so as to avoid the second catheter from being delivered forward along with the first catheter when the second catheter does not need to move, thereby improving the safety of operation.

Second embodiment of the present application for a slave end of an interventional robot

The difference between the present embodiment and the first embodiment is that the first sensing assembly includes a first pressure sensor installed in the front driving device and a second pressure sensor installed in the first pushing driving device; the second sensing assembly comprises a third pressure sensor arranged on the first pushing driving device and a fourth pressure sensor arranged on the second pushing driving device.

The control device controls the first pressure sensor to detect the delivery force of the front end driving device acting on the first catheter, controls the second pressure sensor to detect the delivery force of the first pushing driving device acting on the first catheter, and determines that the first catheter is in a straightening state when the first pressure sensor and the second pressure sensor both detect that the delivery force changes.

Referring to fig. 6, in the present embodiment, the first sensing element in the step S101 includes a first pressure sensor 12 installed on the front driving device 1 and a second pressure sensor 23 installed on the first pushing driving device 2.

Referring to fig. 10, in this embodiment, the first setting position is a position where the first sensing assembly detects that the first guiding tube is in a straightened state, and the specific determination steps are as follows:

s401, the control device controls the first pressure sensor to detect the delivery force of the front end driving device acting on the first catheter, and controls the second pressure sensor to detect the delivery force of the first pushing driving device acting on the first catheter;

s402, the first pressure sensor and the second pressure sensor detect that the delivery force changes, and then the first catheter is in a straightening state.

Referring to fig. 6, in this embodiment, the sensing end of the first pressure sensor 12 is opposite to the sensing end of the second pressure sensor 23, the first delivery mechanism 11 is further provided with a first contact plate 114, the first contact plate 114 is in close contact with the sensing end of the first pressure sensor 12 under the action of a spring (not shown in the figure), the first rotating mechanism 21 is further provided with a second contact plate 211, the second contact plate 211 is in close contact with the sensing end of the second pressure sensor 23 under the action of a spring (not shown in the figure), and the specific changes of the delivery force detected by the first pressure sensor and the second pressure sensor in step S402 are as follows:

at the instant the first conduit is in the straightened state, the first contact plate 114 moves in the direction of the first pressure sensor 12 and the delivery force detected by the first pressure sensor 12 increases; the second contact plate 211 moves in the direction of the second pressure sensor 23, and the delivery force detected by the second pressure sensor 23 increases by approximately the same magnitude as the change in the delivery force detected by the first pressure sensor 12.

In other embodiments, the sensing end of the first pressure sensor 12 and the sensing end of the second pressure sensor 23 are disposed toward the same direction, and the specific change of the delivery force detected by both the first pressure sensor and the second pressure sensor in step S402 is:

at the instant the first conduit is in the straightened state, the first contact plate 114 moves in the direction of the first pressure sensor 12 and the delivery force detected by the first pressure sensor 12 increases; the second contact plate 211 moves away from the second pressure sensor 23, and the delivery force detected by the second pressure sensor 23 decreases by a magnitude substantially equal to the magnitude of the change in the delivery force detected by the first pressure sensor 12; or

At the instant the first conduit is in the straightened state, the first contact plate 114 moves away from the first pressure sensor 12 and the delivery force detected by the first pressure sensor 12 decreases; the second contact plate 211 moves in the direction of the second pressure sensor 23, and the delivery force detected by the second pressure sensor 23 increases to be substantially equal to the delivery force variation detected by the first pressure sensor 12.

In another embodiment, the sensing end of the first pressure sensor 12 is opposite to the sensing end of the second pressure sensor 23, and the sensing changes of the delivery force detected by the first pressure sensor and the second pressure sensor in step S402 are:

at the instant the first catheter is in the straightened state, the first contact plate 114 moves away from the first pressure sensor 12 and the delivery force detected by the first pressure sensor 12 decreases; the second contact plate 211 is moved in a direction away from the second pressure sensor 23, and the delivery force detected by the second pressure sensor 23 is reduced by a magnitude substantially equal to the magnitude of the change in the delivery force detected by the first pressure sensor 12.

In this embodiment, the second sensing assembly includes a third pressure sensor installed on the first pushing driving device and a fourth pressure sensor installed on the second pushing driving device; the control device controls the third pressure sensor to detect the delivery force of the first pushing driving device acting on the second catheter, controls the fourth pressure sensor to detect the delivery force of the second pushing driving device acting on the second catheter, and determines that the second catheter is in a straightening state when the third pressure sensor and the fourth pressure sensor both detect that the delivery force changes.

Referring to fig. 11, in the present embodiment, in the step S103, in the delivery process of the first catheter, the control device controls the second sensing element to detect the current state of the second catheter, which specifically includes the following steps:

s501, the control device controls the third pressure sensor to detect a delivering force of the first pushing driving device acting on the second catheter, and controls the fourth pressure sensor to detect a delivering force of the second pushing driving device acting on the second catheter;

s502, if the third pressure sensor and the fourth pressure sensor both detect that the delivery force changes, the second catheter is in a straightened state.

In this embodiment, the sensing end of the third pressure sensor is opposite to the sensing end of the fourth pressure sensor, please refer to fig. 6, the second delivery mechanism is further provided with a first contact plate, the first contact plate is in close contact with the sensing end of the third pressure sensor under the action of a spring, the second rotation mechanism is further provided with a second contact plate, the second contact plate is in close contact with the sensing end of the fourth pressure sensor under the action of a spring, and the specific change that the third pressure sensor and the fourth pressure sensor both detect the change of the delivery force is as follows:

at the moment when the second catheter is in the straightened state, the first contact plate moves towards the third pressure sensor, and the delivery force detected by the third pressure sensor is increased; the second contact plate moves in the direction of the fourth pressure sensor, and the delivery force detected by the fourth pressure sensor increases and is substantially the same as the change in the delivery force detected by the third pressure sensor.

In other embodiments, the sensing end of the third pressure sensor and the sensing end of the fourth pressure sensor are disposed toward the same direction, and the step 502 includes that the third pressure sensor and the fourth pressure sensor both detect that the delivery force changes, specifically:

at the moment when the second catheter is in the straightened state, the first contact plate moves towards the third pressure sensor, and the delivery force detected by the third pressure sensor is increased; the second contact plate moves in a direction away from the fourth pressure sensor, and the delivery force detected by the fourth pressure sensor is reduced and has approximately the same change amplitude as the delivery force detected by the third pressure sensor; or

At the moment when the second catheter is in the straightened state, the first contact plate moves in the direction away from the third pressure sensor, and the delivery force detected by the third pressure sensor is reduced; the second contact plate moves towards the fourth pressure sensor, and the delivery force detected by the fourth pressure sensor is reduced and has approximately the same change amplitude as the delivery force detected by the third pressure sensor.

In another embodiment, a sensing end of the third pressure sensor is opposite to a sensing end of the fourth pressure sensor, and the specific change of the delivery force detected by both the third pressure sensor and the fourth pressure sensor in step S502 is:

at the moment when the second catheter is in the straightened state, the first contact plate moves in the direction away from the third pressure sensor, and the delivery force detected by the third pressure sensor is reduced; the second contact plate moves in a direction away from the fourth pressure sensor, and the delivery force detected by the fourth pressure sensor decreases by a magnitude substantially equal to a magnitude of change in the delivery force detected by the third pressure sensor.

The second sensing assembly of the embodiment of the application adopts the pressure sensors respectively arranged on the two adjacent driving devices, and determines whether the guide pipe is straightened or not by detecting the change of the two pressure sensors and the amplitude of the change, so that the detection is more accurate compared with the scheme of the first embodiment, and the condition that the guide pipe is collided or blocked to cause detection errors is avoided.

It is to be understood that the above-described embodiments are merely illustrative of some, but not restrictive, of the broad invention, and that the appended drawings illustrate preferred embodiments of the invention and do not limit the scope of the invention. This application is capable of embodiments in many different forms and is provided for the purpose of enabling a thorough understanding of the disclosure of the application. Although the present application has been described in detail with reference to the foregoing embodiments, it will be apparent to one skilled in the art that the present application may be practiced without modification or with equivalents of some of the features described in the foregoing embodiments. All equivalent structures made by using the contents of the specification and the drawings of the present application are directly or indirectly applied to other related technical fields, and all the equivalent structures are within the protection scope of the present application.

Claims (10)

1. An interventional robot slave end for delivering an elongated medical device comprising a guide wire and at least two catheters, a latter of the catheters being at least partially inserted into a former of the catheters, the guide wire being partially inserted into a latter of the catheters;

characterized in that the interventional robot slave end comprises: the device comprises a driving device, a power device, a sensing device and a control device;

the power device is used for driving the driving device to move along the axial direction of the slender medical instrument;

the driving device is used for driving the elongated medical device to move along the axial direction;

the sensing device is used for detecting the clamping state of the elongated medical device;

the driving device, the power device and the sensing device are all connected with the control device;

in the initial state, any one conduit is clamped on two adjacent driving devices in a bending state,

when the device works, the control device controls the driving device to start, and drives the corresponding catheter and the corresponding guide wire to move along the axial direction; when the induction device detects that one bent conduit is in a straightening state, the control device controls the power device to start, and the power device drives the driving devices for clamping the same conduit to move cooperatively, so that the conduit clamped by two adjacent driving devices is kept in the straightening state; or when the induction device detects that any one conduit is in the straightening state, the control device controls the power device to be started, and the power device drives the corresponding driving device to move cooperatively, so that any one conduit is kept in the straightening state.

2. The slave end of an interventional robot as defined in claim 1, wherein the control device controls the driving device to be activated to rotate the catheter in the straightened state after any one of the catheters is in the straightened state during operation.

3. The interventional robot slave according to claim 1, further comprising a detection device for detecting a distance between two adjacent driving devices, wherein the detection device is connected to the control device, and when the detection device detects that the distance between two adjacent driving devices is a set distance, the control device controls the power device driving the corresponding driving device to move to stop.

4. The interventional robot slave end of claim 3, wherein the catheter is designated as a first catheter, a second catheter, the second catheter is inserted into the first catheter, and the guide wire is inserted into the first catheter and the second catheter;

the driving device comprises a front end driving device, a first pushing driving device and a second pushing driving device; the power device comprises a first power source and a second power source; the induction device comprises a first induction component and a second induction component;

in an initial state, the first guide pipe is clamped between the front end driving device and the first pushing driving device in a bent state, and the second guide pipe is clamped between the first pushing driving device and the second pushing driving device in a bent state;

when the control device works, the control device controls the front end driving device to be started, and the first catheter, the second catheter and the guide wire which are positioned in the first catheter are driven to jointly deliver the first catheter and the second catheter and the guide wire until a first set position is reached; wherein the first set position is a position where the first sensing assembly detects that the first conduit is in a straightened state;

the control device controls the first power source to start, the first power source drives the first pushing driving device to move towards the direction close to the front end driving device, the front end driving device and the first pushing driving device cooperate to deliver the first guide pipe, the second guide pipe and the guide wire which are positioned in the first guide pipe until a second set position is reached, and the control device controls the first pushing driving device and the first power source to stop; the second set position is a position where the first push driving device is spaced from the front end driving device by a set distance.

5. The interventional robot slave of claim 4, wherein the control device controls activation of the first push drive with a second power source for separate delivery of the second catheter;

when the second catheter is separately delivered, the control device controls the first pushing driving device to be started to drive the second catheter to be delivered, and the second catheter is delivered in the first catheter until a third set position is reached; wherein the third setting position is a position where the second sensing assembly detects that the second conduit is in a straightened state;

the control device controls the second power source to start, the second power source drives a second pushing driving device to move towards the direction close to the first pushing driving device, the first pushing driving device and the second pushing driving device cooperatively deliver the second guide pipe and the guide wire until a fourth set position is reached, and the control device controls the second power source to stop; the fourth set position is a position where the detection device detects that the second pushing driving device is spaced from the first pushing driving device by a set distance.

6. The interventional robot slave according to claim 4, wherein the control device controls a second sensing assembly to detect a current status of the second catheter during delivery of the first catheter;

if the second induction assembly detects that the second guide pipe is in a straightening state, the control device controls the second power source to start, the second power source drives the second pushing driving device to move towards the direction close to the first pushing driving device, the first pushing driving device and the second pushing driving device cooperatively deliver the second guide pipe and the guide wire until a fourth set position is reached, and the control device controls the second power source to stop; the fourth set position is a position where the detection device detects that the second pushing driving device is spaced from the first pushing driving device by a set distance.

7. The interventional robot slave of claim 4, wherein the control device controls the first pushing drive device to drive the second catheter to move away from the front drive device when the front drive device is activated.

8. The interventional robot slave end of claim 4, wherein the drive device further comprises a guidewire control mechanism, wherein when the guidewire is controlled individually, the control device controls the guidewire control mechanism to be activated to drive the guidewire to deliver and/or rotate;

or, when the first catheter and/or the second catheter is delivered, the guide wire control mechanism drives the guide wire to move towards the direction far away from the front end driving device.

9. The interventional robot slave of claim 4, wherein the first inductive component comprises a torque sensor;

the control device controls the torsion sensor to detect the tension applied to the front end driving device in real time, and if the torsion sensor detects that the tension is increased, the first conduit is determined to be in a straightening state;

or the like, or a combination thereof,

the first sensing assembly comprises a first pressure sensor arranged on the front-end driving device and a second pressure sensor arranged on the first pushing driving device;

the control device controls the first pressure sensor to detect the delivery force of the front end driving device acting on the first catheter, controls the second pressure sensor to detect the delivery force of the first pushing driving device acting on the first catheter, and determines that the first catheter is in a straightening state when the first pressure sensor and the second pressure sensor both detect that the delivery force changes.

10. The interventional robot slave of claim 4, wherein the second inductive component comprises a torsion sensor;

the control device controls the torque sensor to detect the tension applied to the first pushing driving device in real time, and if the torque sensor detects that the tension is increased, the second guide pipe is determined to be in a straightening state;

or the like, or, alternatively,

the second sensing assembly comprises a third pressure sensor arranged on the first pushing driving device and a fourth pressure sensor arranged on the second pushing driving device;

the control device controls the third pressure sensor to detect the delivery force of the first pushing driving device acting on the second catheter, controls the fourth pressure sensor to detect the delivery force of the second pushing driving device acting on the second catheter, and determines that the second catheter is in a straightening state when the third pressure sensor and the fourth pressure sensor both detect that the delivery force changes.

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