CN117582295A

CN117582295A - Catheter robot, control method and control device thereof

Info

Publication number: CN117582295A
Application number: CN202211002574.3A
Authority: CN
Inventors: 王佳冕; 王牌; 高元倩
Original assignee: Shenzhen Edge Medical Co Ltd
Current assignee: Shenzhen Edge Medical Co Ltd
Priority date: 2022-08-18
Filing date: 2022-08-18
Publication date: 2024-02-23

Abstract

The invention discloses a catheter robot, a control method and a control device thereof, wherein the catheter robot comprises a manipulator assembly, the manipulator assembly is used for installing and driving a catheter instrument, and the control method comprises the following steps: acquiring the installation direction of the catheter instrument in the manipulator assembly; determining one of the first mapping relation and the second mapping relation as a target mapping relation according to the installation direction; the drive mechanism in the manipulator assembly is controlled based on the target mapping relationship to manipulate movement of the catheter instrument in the target direction of movement. The manipulator assembly is controlled to drive the catheter instrument according to the installation direction of the catheter instrument in the manipulator assembly and the mapping relation of the corresponding installation direction, so that the influence on the control effect of the catheter caused by the fact that the installation direction of the catheter instrument is changed is solved, and the catheter robot can be adaptively adjusted according to the use environment.

Description

Catheter robot, control method and control device thereof

Technical Field

The invention relates to the technical field of medical instruments, in particular to a catheter robot and a control method and a control device thereof.

Background

The interventional therapy is a minimally invasive therapy by using modern high-tech means, namely, under the guidance of medical imaging equipment, special precise instruments such as a catheter, a guide wire and the like are introduced into a human body to diagnose and treat the in vivo pathological condition locally.

The interventional therapy adopts the digital imaging technology, expands the visual field of doctors, prolongs the hands of the doctors by means of the catheter and the guide wire, has the incision (puncture point) of only the size of rice grains, and can treat a plurality of diseases which are not good in curative effect or even incapable of being treated in the past surgical operation treatment or medical treatment, such as tumors, hemangiomas, various bleeding and the like without cutting human tissues. The interventional therapy has the characteristics of no operation, small wound, quick recovery and good effect, and is a development trend of future medicine.

In order to better realize interventional therapy, catheter robots have been developed in the prior art, through which a catheter is controlled to enter the body, thereby diagnosing and locally treating the in-vivo pathological condition. Some interventional procedures are performed in special circumstances, such as vascular interventions, and catheter robots avoid the dilemma of doctors directly handling catheters, guidewires, and long-term X-ray exposure in the catheter room. Therefore, the catheter and the guide wire can be controlled remotely by a doctor outside the ray environment, and a safe working environment is provided for the doctor. Also interventions are performed in conventional surgery, such as bronchial lesions examination and the like.

However, the existing catheter robots are very inconvenient in use. As shown in fig. 1, the operating table 9 is on the right side, the catheter robot is on the left side, the first manipulator assembly 3 and the second manipulator assembly 2 of the catheter robot are both mounted on the trolley 1, the inner catheter instrument box 5 and the outer sheath instrument box 4 are respectively mounted on the end positions of the first manipulator assembly and the second manipulator assembly of the catheter robot, the inner catheter 7 is positioned inside the outer catheter (outer sheath) 8 when in operation, and the inner catheter 7 and the outer catheter 8 extend towards the right side of the catheter robot. In operation, two catheters are inserted into the guide 6 which extends into the airway, such as the trachea, of the patient 10 and is secured. As shown in fig. 2, the operating table 9 is on the left side and the catheter robot is on the right side due to the space of the operating room or other factors, the catheter robot is required to be rotated 180 degrees, and the robot is repositioned, which causes great trouble if the operating space and conditions are not allowed.

Disclosure of Invention

In order to overcome the defects and shortcomings in the prior art, the invention aims to provide a catheter robot, a control method and a control device thereof, so as to solve the problem that the catheter robot in the prior art cannot be adaptively adjusted according to the use environment.

The aim of the invention is achieved by the following technical scheme:

the present invention provides a control method of a catheter robot including a manipulator assembly for mounting and driving a catheter instrument, the control method comprising:

acquiring an installation direction of the catheter instrument in the manipulator assembly;

determining one of a first mapping relation and a second mapping relation as a target mapping relation according to the installation direction, wherein the first mapping relation comprises a mapping relation between a driving mechanism in the manipulator assembly and a target movement direction when the installation direction is the first direction, and the second mapping relation comprises a mapping relation between the driving mechanism in the manipulator assembly and the target movement direction when the installation direction is the second direction;

controlling a drive mechanism in the manipulator assembly based on the target mapping relationship to manipulate movement of the catheter instrument in a target movement direction.

Further, the manipulator assembly includes a first manipulator assembly and a second manipulator assembly, the catheter instrument includes an inner catheter instrument and an outer catheter instrument, the acquiring the mounting direction of the catheter instrument in the manipulator assembly includes:

detecting that the inner catheter instrument is mounted on the first manipulator assembly towards a first direction, and detecting that the outer catheter instrument is mounted on the second manipulator assembly towards a first direction, determining that the mounting direction is the first direction;

detecting that the outer catheter instrument is mounted on the first manipulator assembly towards a second direction, detecting that the inner catheter instrument is mounted on the second manipulator assembly towards the second direction, and determining that the mounting direction is the second direction;

the first direction is the direction of the first manipulator assembly adjacent to one side of the second manipulator assembly, and the second direction is the direction of the first manipulator assembly away from one side of the second manipulator assembly.

Further, the first mapping relation includes:

the direction in which the drive mechanism in the second manipulator assembly is configured to operate the outer catheter instrument to perform forward feed motion and the direction in which the drive mechanism in the first manipulator assembly is configured to operate the inner catheter instrument to perform forward feed motion are both the same as the first direction.

Further, the first mapping relation includes:

configuring the second manipulator assembly as a primary manipulator assembly and the first manipulator assembly as a secondary manipulator assembly;

the secondary manipulator assembly is configured to move synchronously with the primary manipulator assembly.

Further, the second mapping relationship includes:

the first manipulator assembly is configured such that the drive mechanism operates the outer catheter instrument in a forward feed motion in the same direction as the second manipulator assembly.

Further, the second mapping relationship includes:

configuring the first manipulator assembly as a primary manipulator assembly and the second manipulator assembly as a secondary manipulator assembly;

Further, the first manipulator assembly includes a first drive disk for the catheter instrument docking, the second manipulator assembly includes a second drive disk for the catheter instrument docking, and the first mapping includes:

configuring a first drive assembly in the first drive disk to drive the inner catheter instrument to operate the inner catheter instrument to move in a first bending direction, and a second drive assembly to drive the inner catheter instrument to operate the inner catheter instrument to move in a second bending direction;

A third drive assembly in the second drive disk is configured to drive the outer catheter instrument to maneuver the outer catheter instrument in a first bending direction, and a fourth drive assembly is configured to drive the outer catheter instrument to maneuver the outer catheter instrument in a second bending direction.

Further, the first manipulator assembly includes a first drive disk for the catheter instrument docking, the second manipulator assembly includes a second drive disk for the catheter instrument docking, and the second mapping includes:

configuring a first drive assembly in the first drive disk to drive the outer catheter instrument to operate the outer catheter instrument to move in a first bending direction, and a second drive assembly to drive the outer catheter instrument to operate the outer catheter instrument to move in a second bending direction;

a third drive assembly in the second drive disk is configured to drive the inner catheter instrument to maneuver the inner catheter instrument in a first bending direction and a fourth drive assembly is configured to drive the inner catheter instrument to maneuver the inner catheter instrument in a second bending direction.

Further, before determining that the first mapping relationship is the target mapping relationship, the control method further includes:

Detecting whether the first manipulator assembly mounts the inner catheter instrument and whether the second manipulator assembly mounts the outer catheter instrument;

controlling the catheter robot to issue an alarm upon detecting that the first manipulator assembly is not mounted with the inner catheter instrument or that the second manipulator assembly is not mounted with the outer catheter instrument.

Further, before determining that the second mapping relationship is the target mapping relationship, the control method further includes:

detecting whether the first manipulator assembly mounts the outer catheter instrument and the second manipulator assembly mounts the inner catheter instrument;

controlling the catheter robot to issue an alarm upon detecting that the first manipulator assembly is not mounted with the outer catheter instrument or that the second manipulator assembly is not mounted with the inner catheter instrument.

Further, an installation direction detecting mechanism is provided between the manipulator assembly and the catheter apparatus, and the acquiring the installation direction of the catheter apparatus in the manipulator assembly includes:

the mounting direction of the catheter instrument on the manipulator assembly is detected by the mounting direction detection mechanism.

Further, the mounting direction detecting mechanism includes: a first interface and a second interface mounted to the manipulator assembly, and an alignment interface mounted to the catheter instrument, the alignment interface selectively mating with the first interface and the second interface.

Further, the catheter robot is provided with a mounting direction input module, and the acquiring the mounting direction of the catheter instrument in the manipulator assembly includes:

the installation direction of the catheter instrument in the manipulator assembly is acquired through the installation direction input module.

The present application also provides a catheter robot comprising:

a manipulator assembly;

and a control device coupled with the manipulator assembly, configured to:

acquiring an installation direction of the catheter instrument in the manipulator assembly; determining one of a first mapping relation and a second mapping relation as a target mapping relation according to the installation direction, wherein the first mapping relation comprises a mapping relation between a driving mechanism in the manipulator assembly and a target movement direction when the installation direction is the first direction, and the second mapping relation comprises a mapping relation between the driving mechanism in the manipulator assembly and the target movement direction when the installation direction is the second direction;

The present application also provides a computer-readable storage medium storing a computer program configured to be loaded by a processor and to execute steps implementing the control method as described above.

The present application also provides a control device of a catheter robot, the control device comprising:

a memory for storing a computer program;

and a processor for loading and executing the computer program;

wherein the computer program is configured to be loaded by the processor and to perform the steps of implementing the control method as described above.

The invention has the beneficial effects that: the manipulator assembly is controlled to drive the catheter instrument according to the installation direction of the catheter instrument in the manipulator assembly and the mapping relation of the corresponding installation direction, so that the influence on the control effect of the catheter caused by the fact that the installation direction of the catheter instrument is changed is solved, and the catheter robot can be adaptively adjusted according to the use environment.

Drawings

FIG. 1 is a schematic view of a prior art surgical bed on the right and catheter robot on the left;

FIG. 2 is a schematic view of the structure of the prior art operating table on the left side and catheter robot on the right side;

FIG. 3 is a flow chart of a control method of the catheter robot of the present invention;

FIG. 4 is a schematic view of the catheter robot of the present invention in a first orientation;

FIG. 5 is a schematic view of the mechanical arm and manipulator assembly of the catheter robot of the present invention;

FIG. 6 is a schematic view of the catheter instrument of the catheter robot of the present invention in a first orientation;

FIG. 7 is a schematic view of the catheter robot of the present invention in a second orientation;

FIG. 8 is a schematic view of the catheter instrument of the catheter robot of the present invention in a second orientation;

FIG. 9 is a schematic view of a catheter robot in a first orientation according to another embodiment of the present invention;

FIG. 10 is a schematic view of a catheter instrument in a second orientation of a catheter robot in accordance with another embodiment of the present invention;

FIG. 11 is a schematic view of a manipulator and manipulator assembly of a catheter robot according to another embodiment of the invention;

fig. 12 is a schematic view of a catheter instrument in a second orientation of a catheter robot according to another embodiment of the invention.

Detailed Description

In order that the invention may be readily understood, a more complete description of the invention will be rendered by reference to the appended drawings. The drawings illustrate preferred embodiments of the invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. When an element is referred to as being "coupled" to another element, it can be directly coupled to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment. The terms "distal" and "proximal" are used herein as directional terms that are conventional in the art of interventional medical devices, wherein "distal" refers to the end of the procedure that is distal to the operator and "proximal" refers to the end of the procedure that is proximal to the operator.

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 invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items. In the present invention, "each" includes one and two or more numbers.

Fig. 3 is a flow chart of a control method of the catheter robot in the present invention. Fig. 4 is a schematic view of the catheter robot in a first direction according to the present invention. Fig. 5 is a schematic structural view of a manipulator and a manipulator assembly of the catheter robot according to the present invention. Fig. 6 is a schematic view of the catheter instrument of the catheter robot of the present invention in a first orientation. Fig. 7 is a schematic view of the catheter robot in the second direction according to the present invention. Fig. 8 is a schematic view of the catheter instrument of the catheter robot of the present invention in a second orientation.

As shown in fig. 3 to 8, the present invention provides a control method of a catheter robot. The catheter robot includes a manipulator assembly for mounting and driving a catheter instrument. The control method comprises the following steps:

step S1: the direction of installation of the catheter instrument in the manipulator assembly is obtained.

Step S2: and determining one of the first mapping relation and the second mapping relation as a target mapping relation according to the installation direction.

The first mapping relationship includes a mapping relationship between the driving mechanism in the manipulator assembly and the target movement direction when the installation direction is a first direction, and the second mapping relationship includes a mapping relationship between the driving mechanism in the manipulator assembly and the target movement direction when the installation direction is a second direction. When the installation direction is the first direction, determining a first mapping relation associated with the first direction from the first mapping relation and the second mapping relation as a target mapping relation; and when the installation direction is the second direction, determining a second mapping relation associated with the second direction from the first mapping relation and the second mapping relation as a target mapping relation.

Step S3: the drive mechanism in the manipulator assembly is controlled based on the target mapping relationship to manipulate movement of the catheter instrument in the target direction of movement.

In some embodiments, as shown in fig. 4 to 8, the manipulator assembly includes a first manipulator assembly 2 and a second manipulator assembly 3, the catheter instrument includes an inner catheter instrument 5 and an outer catheter instrument 4, and capturing the mounting direction of the catheter instrument in the manipulator assembly includes:

detecting that the inner catheter instrument 5 is mounted on the first manipulator assembly 2 in a first direction and that the outer catheter instrument 4 is mounted on the second manipulator assembly 3 in a first direction, determining that the mounting direction is the first direction;

detecting that the outer catheter instrument 4 is mounted on the first manipulator assembly 2 towards the second direction and detecting that the inner catheter instrument 5 is mounted on the second manipulator assembly 3 towards the second direction, determining that the mounting direction is the second direction;

wherein the first direction is the direction of the side of the first manipulator assembly 2 adjacent to the second manipulator assembly 3, and the second direction is the direction of the side of the first manipulator assembly 2 away from the second manipulator assembly 3. Illustratively, the first direction is generally opposite to the second direction. In some embodiments, the first direction is a left direction and the second direction is a right direction. Of course, in other embodiments, the first direction may be the right direction and the second direction may be the left direction.

In some embodiments, as shown in fig. 4 to 6, the first mapping relationship includes:

the direction in which the drive mechanism in the second manipulator assembly 3 is configured to operate the outer catheter instrument 4 for forward feed motion and the direction in which the drive mechanism in the first manipulator assembly 2 is configured to operate the inner catheter instrument 5 for forward feed motion are both the same as the first direction. That is, in the first mapping relation, for example, the movement of the outer catheter instrument 4 and the inner catheter instrument 5 in the left direction is defined as the direction of the forward movement, and the movement of the outer catheter instrument 4 and the inner catheter instrument 5 in the right direction is defined as the direction of the backward movement. It will be appreciated that since the feed motion comprises a forward feed motion and a backward feed motion, the direction in which the drive mechanism in the second manipulator assembly 3 is configured to operate the outer catheter instrument 4 for forward feed motion and the direction in which the drive mechanism in the first manipulator assembly 2 is configured to operate the inner catheter instrument 5 for forward feed motion are both the same as the first direction, and essentially comprises the direction in which the drive mechanism in the second manipulator assembly 3 is configured to operate the outer catheter instrument 4 for backward feed motion and the direction in which the drive mechanism in the first manipulator assembly 2 is configured to operate the inner catheter instrument 5 for backward feed motion are both opposite to the first direction, the foregoing description is primarily for brevity.

Further, the first mapping relation includes:

configuring the second manipulator assembly 3 as a primary manipulator assembly and the first manipulator assembly 2 as a secondary manipulator assembly; the slave manipulator assembly is configured to move synchronously with the master manipulator assembly. That is, in the first mapping relationship, when the driving mechanism in the second manipulator assembly 3 manipulates the outer catheter instrument 4 to perform forward or backward movement, the driving mechanism in the first manipulator assembly 2 may, for example, follow the outer catheter instrument 4 in a ratio of 1:1 to manipulate the inner catheter instrument 5 to perform forward or backward movement. Because it is necessary to ensure that the outer catheter instrument 4 and the inner catheter instrument 5 do not undergo relative movement during insertion of the outer catheter instrument 4 and the inner catheter instrument 5 into the introducer 6, it is necessary to control the outer catheter instrument 4 and the inner catheter instrument 5 to perform synchronous movement. Of course, the drive mechanism in the first manipulator assembly 2 may, for example, follow the outer catheter instrument 4 in other proportions to manipulate the inner catheter instrument 5 for forward or reverse movement.

Alternatively, the secondary manipulator assembly may be configured to move independently, i.e. the primary manipulator assembly does not follow the secondary manipulator assembly in a synchronous motion when actively controlling the movement of the secondary manipulator assembly. For example, when actively controlling the movement of the inner catheter instrument 5, the outer catheter instrument 4 does not move synchronously with the inner catheter instrument 5, because after the outer catheter instrument 4 and the inner catheter instrument 5 are inserted into the guide 6, it is necessary to separately control the movement of the inner catheter instrument 5 to check the condition inside, and the following movement of the outer catheter instrument 4 affects the normal check, so that it is not necessary to move the outer catheter instrument 4 synchronously with the inner catheter instrument 5.

In some embodiments, as shown in fig. 5, 7, and 8, the second mapping relationship includes:

the direction in which the drive mechanism in the first manipulator assembly 2 is configured to operate the outer catheter instrument 4 for forward feed motion and the direction in which the drive mechanism in the second manipulator assembly 3 is configured to operate the inner catheter instrument 5 for forward feed motion are the same as the second direction. That is, in the second mapping relationship, the movement of the outer catheter instrument 4 and the inner catheter instrument 5 in the rightward direction is defined as the direction of the forward movement, and the movement of the outer catheter instrument 4 and the inner catheter instrument 5 in the leftward direction is defined as the direction of the backward movement. It will be appreciated that configuring the first manipulator assembly 2 with the drive mechanism for advancing the outer catheter instrument 4 and the second manipulator assembly 3 with the drive mechanism for advancing the inner catheter instrument 5 is the same as the second direction, and essentially includes configuring the first manipulator assembly 2 with the drive mechanism for advancing the outer catheter instrument 4 and the second manipulator assembly 3 with the drive mechanism for advancing the inner catheter instrument 5 opposite to the second direction, the foregoing description being primarily for brevity.

Further, the second mapping relation includes:

configuring the first manipulator assembly 2 as a primary manipulator assembly and the second manipulator assembly 3 as a secondary manipulator assembly; the slave manipulator assembly is configured to move synchronously with the master manipulator assembly. That is, in the second mapping relationship, when the driving mechanism in the first manipulator assembly 2 manipulates the outer catheter instrument 4 to perform forward or backward movement, the driving mechanism in the second manipulator assembly 3 may, for example, use 1:1 following the outer catheter instrument 4 to manipulate the inner catheter instrument 5 to perform forward or backward movement. Because it is necessary to ensure that the outer catheter instrument 4 and the inner catheter instrument 5 do not undergo relative movement during insertion of the outer catheter instrument 4 and the inner catheter instrument 5 into the introducer 6, it is necessary to control the outer catheter instrument 4 and the inner catheter instrument 5 to perform synchronous movement. Of course, the drive mechanism in the second manipulator assembly 3 may, for example, follow the outer catheter instrument 4 in other proportions to manipulate the inner catheter instrument 5 for advancing or retracting movements.

In some embodiments, the manipulator assembly includes a robotic arm and a drive disk, sometimes referred to as a manipulator, disposed at a distal end of the robotic arm for interfacing with the catheter instrument. Wherein the robotic arm may generally be configured for manipulating the catheter instrument for a feed motion and the drive disc may generally be configured for manipulating the catheter instrument for a bending motion. The robotic arm is provided with a plurality of joints that can be actively driven and thus can be configured to drive the advancing or retracting movement of the catheter instrument. As shown in fig. 5, the first manipulator assembly 2 includes a first robot arm 201 and a first drive disk 202, the first drive disk 202 being provided at an end of the first robot arm 201; the second manipulator assembly 3 includes a second robot arm 301 and a second drive disk 302, the second drive disk 302 being provided at an end of the second robot arm 301. One of the outer catheter instrument 4 and the inner catheter instrument 5 is mounted to the first drive disc 202 and the other is mounted to the second drive disc 302.

Further, as shown in fig. 9 and 10, the first driving disc 202 is provided with a first positioning interface 12 at a side far from the second driving disc 302, the second driving disc 302 is provided with a second positioning interface 11 at a side far from the first driving disc 202, and the guide 6 is provided with a third positioning interface 13 matched with the first positioning interface 12 and the second positioning interface 11. When the second positioning interface 11 is matched with the third positioning interface 13, the tail end of the robot is matched with the position and the pose of the guide, so that the guide pipe is ensured to enter the guide in the correct position and direction, and the manipulator assembly is required to work in the first mapping relation. After the cooperation is completed, the inner and outer guide pipes 8 and the inlet of the guide 6 are positioned on the same straight line, the working track always moves on the straight line, and the pre-cooperation process is convenient for the development of the operation. And the first positioning interface 12 and the third positioning interface 13 are matched, and the manipulator assembly is required to work in the second mapping relation. The catheter robot can adapt to the gesture of the first mapping relation and the second mapping relation by adopting the design of double interfaces on the manipulator assembly.

In some embodiments, the first positioning interface 12 or the second positioning interface 11 and the third positioning interface 13 may be formed with complementary structures, so as to achieve, for example, mechanical positioning. For example, the first positioning interface 12 and the second positioning interface 11 can each be designed as a recess, and the third positioning interface 13 can be designed as a projection complementary to the recess. Preferably, the notch may be a notch of an inverted cone structure, and the bump is a bump of a cone structure, and the opening size gradually shrinks in a direction of inserting the bump into the notch, so as to facilitate guiding and positioning during pairing. The inverted cone structure may be, for example, an inverted cone structure, with the cone structure corresponding to a cone structure.

In some embodiments, as shown in fig. 5, the first manipulator assembly 2 includes a first drive disk 202 for catheter instrument docking and the second manipulator assembly 3 includes a second drive disk 302 for catheter instrument docking. The first mapping relationship includes:

configuring a first drive assembly in the first drive disk 202 to drive the inner catheter instrument 5 and steer the inner catheter instrument 5 to move in a first bending direction, and a second drive assembly to drive the inner catheter instrument 5 and steer the inner catheter instrument 5 to move in a second bending direction;

The third drive assembly in the second drive disk 302 is configured to drive the outer catheter instrument 4 and steer the outer catheter instrument 4 in a first bending direction, and the fourth drive assembly is configured to drive the outer catheter instrument 4 and steer the outer catheter instrument 4 in a second bending direction.

Further, the second mapping relation includes:

configuring a first drive assembly in the first drive disk 202 to drive the outer catheter instrument 4 and steer the outer catheter instrument 4 in a first bending direction, and a second drive assembly to drive the outer catheter instrument 4 and steer the outer catheter instrument 4 in a second bending direction;

the third drive assembly in the second drive disk 302 is configured to drive the inner catheter instrument 5 and to steer the inner catheter instrument 5 in a first bending direction, and the fourth drive assembly is configured to drive the inner catheter instrument 5 and to steer the inner catheter instrument 5 in a second bending direction.

The first bending direction and the second bending direction may be motions in the attitude degrees of freedom, and it is to be noted that one bending direction includes motions in two directions of clockwise or counterclockwise in one attitude degree of freedom, or one bending direction includes motions in an upper direction or a lower direction in one attitude degree of freedom, or one bending direction includes motions in a left direction or a right direction in one attitude degree of freedom.

Further, the inner catheter instrument 5 is provided with an inner catheter 7, the inner catheter instrument 5 controlling the movement of the inner catheter 7 in the first bending direction as well as in the second bending direction; the outer catheter instrument 4 is provided with an outer catheter 8, the outer catheter instrument 4 controlling the movement of the outer catheter 8 in a first bending direction as well as in a second bending direction. The inner conduit 7 and the outer conduit 8 may be flexible conduits, for example. Specifically, in the first mapping relationship, the first drive assembly drives the inner catheter instrument 5 and controls movement of the inner catheter 7 in the first bending direction, and the second drive assembly drives the inner catheter instrument 5 and controls movement of the inner catheter 7 in the second bending direction; the third drive assembly drives the outer catheter instrument 4 and controls movement of the outer catheter 8 in the first bending direction, and the fourth drive assembly drives the outer catheter instrument 4 and controls movement of the outer catheter 8 in the second bending direction. In the second mapping relationship, the first drive assembly drives the outer catheter instrument 4 and controls the outer catheter 8 to move in the first bending direction, and the second drive assembly drives the outer catheter instrument 4 and controls the outer catheter 8 to move in the second bending direction; the third drive assembly drives the inner catheter instrument 5 and controls movement of the inner catheter 7 in the first bending direction, and the fourth drive assembly drives the inner catheter instrument 5 and controls movement of the inner catheter 7 in the second bending direction. The first driving assembly and the third driving assembly, and the second driving assembly and the fourth driving assembly are symmetrical about the same point, so that the reversing installation of the catheter instrument is facilitated.

In some embodiments, as exemplarily shown in fig. 5, the first driving assembly includes a first driver 21 and a second driver 22, and the second driving assembly includes a third driver 23 and a fourth driver 24; the third drive assembly comprises a fifth driver 31 and a sixth driver 32 and the fourth drive assembly comprises a seventh driver 33 and an eighth driver 34. The first driver 21 and the fifth driver 31, the second driver 22 and the sixth driver 32, the third driver 23 and the seventh driver 33, and the fourth driver 24 and the eighth driver 34 are all symmetrical about the same point, i.e. about the midpoint of the connection between the first driver 21 and the fifth driver 31, the midpoint of the connection between the second driver 22 and the sixth driver 32, the midpoint of the connection between the third driver 23 and the seventh driver 33, or the midpoint of the connection between the fourth driver 24 and the eighth driver 34.

As shown in fig. 6 and 8, some embodiments are described using the example of the movement in which the first bending direction is the upward direction or the downward direction, and the movement in which the second bending direction is the left direction or the right direction. The inner catheter instrument 5 is provided with a first upper transmission disc 51, a first lower transmission disc 52, a first left transmission disc 53 and a first right transmission disc 54, the first upper transmission disc 51 and the first lower transmission disc 52 being a group for controlling bending of the inner catheter 7 in the up-down direction, the first left transmission disc 53 and the first right transmission disc 54 being a group for controlling bending of the inner catheter 7 in the left-right direction. The outer catheter instrument 4 is provided with a second upper transmission disc 41, a second lower transmission disc 42, a second left transmission disc 43 and a second right transmission disc 44, the second upper transmission disc 41 and the second lower transmission disc 42 being a group and being used for controlling the bending of the outer catheter 8 in the up-down direction, the second left transmission disc 43 and the second right transmission disc 44 being a group and being used for controlling the bending of the outer catheter 8 in the left-right direction.

Wherein, each driver is used for driving the transmission disc matched with the driver when the driver is in the first mapping relation or the second mapping relation.

As shown in fig. 4 to 6, in the first mapping relationship, that is, when the catheter instrument is detected in the first direction of the mounting direction of the manipulator assembly. The first driver 21 is for driving the first upper driving disc 51, the second driver 22 is for driving the first lower driving disc 52, the third driver 23 is for driving the first left driving disc 53, and the fourth driver 24 is for driving the first right driving disc 54; the fifth driver 31 is for driving the second upper driving disc 41, the sixth driver 32 is for driving the second lower driving disc 42, the seventh driver 33 is for driving the second left driving disc 43, and the eighth driver 34 is for driving the second right driving disc 44.

In one embodiment, the first driver 21 drives the first upper driving disc 51 to rotate and tighten the upper pull wire of the inner catheter 7, and the second driver 22 drives the first lower driving disc 52 to rotate and loosen the lower pull wire of the inner catheter 7, so as to control the inner catheter 7 to perform bending motion in the upper direction; when the first driver 21 and the second driver 22 are driven in reverse, the inner catheter 7 is controlled to perform bending motion in the lower direction. The third driver 23 drives the first left driving disk 53 to rotate and tighten the left pull wire of the inner catheter 7, and the fourth driver 24 drives the first right driving disk 54 to rotate and loosen the right pull wire of the inner catheter 7, so as to control the inner catheter 7 to perform bending motion in the left direction; when the third driver 23 and the fourth driver 24 are driven in reverse, the inner catheter 7 is controlled to perform bending motion in the right direction.

The fifth driver 31 drives the second upper driving disk 41 to rotate and tighten the upper pull wire of the outer catheter 8, and the sixth driver 32 drives the second lower driving disk 42 to rotate and loosen the lower pull wire of the outer catheter 8, so as to control the outer catheter 8 to perform bending motion in the upper direction; when the fifth driver 31 and the sixth driver 32 are driven in reverse, the outer catheter 8 is controlled to perform bending motion in the lower direction. The seventh driver 33 drives the second left driving disc 43 to rotate and tighten the left pull wire of the outer catheter 8, and the eighth driver 34 drives the second right driving disc 44 to rotate and loosen the right pull wire of the outer catheter 8, so as to control the outer catheter 8 to perform bending motion in the left direction; when the seventh driver 33 and the eighth driver 34 are driven in reverse, the outer catheter 8 is controlled to perform bending motion in the right direction.

As shown in fig. 5, 7 and 8, in the second mapping relationship, that is, when the catheter instrument is detected in the second direction of the mounting direction of the manipulator assembly. The first driver 21 is for driving the second upper driving disc 41, the second driver 22 is for driving the second lower driving disc 42, the third driver 23 is for driving the second left driving disc 43, and the fourth driver 24 is for driving the second right driving disc 44; the fifth driver 31 is for driving the first upper driving disk 51, the sixth driver 32 is for driving the first lower driving disk 52, the seventh driver 33 is for driving the first left driving disk 53, and the eighth driver 34 is for driving the first right driving disk 54.

In one embodiment, the fifth driver 31 drives the first upper driving disc 51 to rotate and tighten the pull-up wire of the inner catheter 7, and the sixth driver 32 drives the first lower driving disc 52 to rotate and loosen the pull-down wire of the inner catheter 7, so as to control the inner catheter 7 to perform bending motion in the upper direction; when the fifth driver 31 and the sixth driver 32 are driven in reverse, the inner catheter 7 is controlled to perform bending motion in the lower direction. The seventh driver 33 drives the first left driving disc 53 to rotate and tighten the left pull wire of the inner catheter 7, and the eighth driver 34 drives the first right driving disc 54 to rotate and loosen the right pull wire of the inner catheter 7, so as to control the inner catheter 7 to perform bending motion in the left direction; when the seventh driver 33 and the eighth driver 34 are driven in reverse, the inner catheter 7 is controlled to perform bending motion in the right direction.

The first driver 21 drives the second upper driving disk 41 to rotate and tighten the upper pull wire of the outer catheter 8, and the second driver 22 drives the second lower driving disk 42 to rotate and loosen the lower pull wire of the outer catheter 8, so that the outer catheter 8 is controlled to perform bending motion in the upper direction; when the first driver 21 and the second driver 22 are driven in reverse, the outer catheter 8 is controlled to perform bending motion in the lower direction. The third driver 23 drives the second left driving disk 43 to rotate and tighten the left pull wire of the outer catheter 8, and the fourth driver 24 drives the second right driving disk 44 to rotate and loosen the right pull wire of the outer catheter 8, so as to control the outer catheter 8 to perform bending motion in the left direction; when the third driver 23 and the fourth driver 24 are driven in reverse, the outer catheter 8 is controlled to perform bending motion in the right direction.

In some embodiments, before determining that the first mapping relationship is the target mapping relationship, the control method further includes:

detecting whether the first manipulator assembly 2 is fitted with an inner catheter instrument 5 and whether the second manipulator assembly 3 is fitted with an outer catheter instrument 4; the catheter robot is controlled to issue an alarm when it is detected that the first manipulator assembly 2 is not fitted with an inner catheter instrument 5 or that the second manipulator assembly 3 is not fitted with an outer catheter instrument 4. In practice, the possibility of both the first manipulator assembly 2 and the second manipulator assembly 3 being fitted with an inner catheter instrument 5 or both the outer catheter instrument 4 is not precluded, and in order to avoid erroneous operation, the catheter robot is controlled to issue an alarm to alert the medical personnel to reinstallation when it is detected that the first manipulator assembly 2 is not fitted with an inner catheter instrument 5 or that the second manipulator assembly 3 is not fitted with an outer catheter instrument 4.

Similarly, before determining that the second mapping relationship is the target mapping relationship, the control method further includes:

detecting whether the first manipulator assembly mounts an outer catheter instrument and whether the second manipulator assembly mounts an inner catheter instrument; the catheter robot is controlled to issue an alarm upon detecting that the first manipulator assembly is not equipped with an outer catheter instrument or that the second manipulator assembly is not equipped with an inner catheter instrument. In practice, the possibility of both the first manipulator assembly 2 and the second manipulator assembly 3 being fitted with an inner catheter instrument 5 or both the outer catheter instrument 4 is not precluded, and in order to avoid erroneous operation, the catheter robot is controlled to issue an alarm to alert the medical personnel to reinstallation when it is detected that the first manipulator assembly is not fitted with an outer catheter instrument or that the second manipulator assembly is not fitted with an inner catheter instrument.

In some embodiments, a mounting direction detection mechanism is provided between the manipulator assembly and the catheter instrument to obtain a mounting direction of the catheter instrument in the manipulator assembly, including: the mounting direction of the catheter instrument in the manipulator assembly is detected by a mounting direction detection mechanism.

As shown in fig. 11 and 12, the mounting direction detecting mechanism includes: the first and second interfaces 61 and 62 mounted to the manipulator assembly and the alignment interface 63 mounted to the catheter instrument, the alignment interface 63 selectively mating with the first and second interfaces 61 and 62. Specifically, the first driving disc 202 is provided with a first interface 61 and a second interface 62, the second driving disc 302 is provided with the first interface 61 and the second interface 62, the outer catheter instrument 4 and the inner catheter instrument 5 are both provided with an alignment interface 63, the alignment interface 63 is located at one end of the outer catheter instrument 4 away from the extending direction of the outer catheter 8, and the alignment interface 63 is located at one end of the inner catheter instrument 5 away from the extending direction of the inner catheter 7. As shown in fig. 11 and 12, it is generally desirable to achieve the first mapping relationship as the target mapping relationship when it is detected that the alignment interface 63 of the inner catheter instrument 5 mates with the first interface 61 of the first drive disc 202 and when it is detected that the alignment interface 63 of the outer catheter instrument 4 mates with the first interface 61 of the second drive disc 302. It is generally desirable to achieve the second mapping relationship as the target mapping relationship upon detecting that the alignment interface 63 of the inner catheter instrument 5 mates with the second interface 62 of the second drive disc 302 and upon detecting that the alignment interface 63 of the outer catheter instrument 4 mates with the second interface 62 of the first drive disc 202.

In some embodiments, the alignment interface 63 may also be disposed at an end of the catheter instrument facing the extending direction of the catheter, specifically, the alignment interface 63 is disposed at an end of the outer catheter instrument 4 facing the extending direction of the outer catheter 8, and the alignment interface 63 is disposed at an end of the inner catheter instrument 5 facing the extending direction of the inner catheter 7. When the matching of the alignment interface 63 and the second interface 62 is detected, the first direction of the catheter towards the catheter robot can be judged, and the catheter instrument is in the first installation direction; when the mating of the alignment interface 63 with the first interface 61 is detected, it may be determined that the catheter is oriented in a second direction of the catheter robot and the catheter instrument is in a second mounting direction. Specifically, when it is detected that the alignment interface 63 of the inner catheter instrument 5 mates with the second interface 62 of the first drive disc 202 and that the alignment interface 63 of the outer catheter instrument 4 mates with the second interface 62 of the second drive disc 302, it is generally desirable to achieve the first mapping relationship as the target mapping relationship. When it is detected that the alignment interface 63 of the inner catheter instrument 5 mates with the first interface 61 of the second drive disc 302 and that the alignment interface 63 of the outer catheter instrument 4 mates with the first interface 61 of the first drive disc 202, it is generally desirable to achieve the second mapping relationship as the target mapping relationship.

Of course, in some embodiments, the first interface 61 and the second interface 62 may be mounted on the catheter apparatus, and the alignment interface 63 may be mounted on the manipulator assembly, that is, the outer catheter apparatus 4 is provided with the first interface 61 and the second interface 62, the inner catheter apparatus 5 is provided with the first interface 61 and the second interface 62, and the first driving disc 202 and the second driving disc 302 are provided with the alignment interface 63. It is only necessary to be able to identify the direction of installation of the catheter instrument on the manipulator assembly.

In another embodiment, the mounting direction detecting mechanism includes: the first magnetic receiver and the second magnetic receiver are arranged on the catheter instrument, and the magnetic piece is arranged on the catheter instrument and is optionally matched with the first magnetic receiver and the second magnetic receiver. The first magnetic receiver and the second magnetic receiver are selectively matched through the magnetic piece, so that the installation direction of the catheter instrument in the manipulator assembly is identified. I.e. by replacing the first interface 61 with a first magnetic receiver, the second interface 62 with a second magnetic receiver, and the alignment interface 63 with a magnetic member.

Further, the outer catheter instrument 4 and the inner catheter instrument 5 are respectively provided with an electronic identification module corresponding to the outer catheter instrument 4 and the inner catheter instrument 5, and the electronic identification modules are electrically connected with the alignment interface 63. The catheter robot is electrically connected to the first interface 61 or the second interface 62 through the alignment interface 63, so that the installation direction of the catheter instrument and whether the catheter instrument is the outer catheter instrument 4 or the inner catheter instrument 5 are recognized.

In one embodiment, the catheter robot is provided with a mounting direction input module for acquiring a mounting direction of the catheter instrument in the manipulator assembly, comprising: the mounting direction of the catheter instrument in the manipulator assembly is acquired by the mounting direction input module. The installation direction input module can be a key, a touch screen, a voice and other modules, so that the installation direction can be confirmed by manually inputting the installation direction to the catheter robot.

Of course, in one of the embodiments, an image sensor may be further installed on the catheter robot to update the later mapping relationship by the installation direction of the outer catheter instrument 4 and the inner catheter instrument 5 in the manipulator assembly acquired by the image sensor. Wherein, can set up the sign for the outer pipe apparatus 4 that needs discernment and interior pipe apparatus 5, be convenient for judge.

The present application also provides a catheter robot controlled using the control method as described above, the catheter robot comprising:

a manipulator assembly. The manipulator assembly includes a robotic arm having a plurality of joints for driving the catheter instrument in forward or reverse motion and a drive plate. As shown in fig. 5, the first manipulator assembly 2 includes a first robot arm 201 and a first drive disk 202, the first drive disk 202 being provided at an end of the first robot arm 201; the second manipulator assembly 3 includes a second robot arm 301 and a second drive disk 302, the second drive disk 302 being provided at an end of the second robot arm 301.

And a control device coupled to the manipulator assembly, configured to: acquiring the installation direction of the catheter instrument in the manipulator assembly; and determining one of the first mapping relation and the second mapping relation as a target mapping relation according to the installation direction, wherein the first mapping relation comprises a mapping relation between the driving mechanism in the manipulator assembly and the target movement direction when the installation direction is the first direction, and the second mapping relation comprises a mapping relation between the driving mechanism in the manipulator assembly and the target movement direction when the installation direction is the second direction. Wherein the control device may control the chip, i.e. the processor.

The drive mechanism in the manipulator assembly is controlled based on the target mapping relationship to manipulate movement of the catheter instrument in the target direction of movement.

Further, the catheter instrument comprises an outer catheter instrument 4 and an inner catheter instrument 5, the outer catheter instrument 4 being provided with an outer catheter 8, the outer catheter instrument 4 controlling the movement of the outer catheter 8 in the first bending direction as well as in the second bending direction. The inner catheter instrument 5 is provided with an inner catheter 7, the inner catheter instrument 5 controlling the movement of the inner catheter 7 in a first bending direction as well as in a second bending direction.

Further, the first driving disc 202 is provided with a first driving assembly and a second driving assembly, and the second driving disc 302 is provided with a third driving assembly and a fourth driving assembly, wherein the first driving assembly and the third driving assembly, and the second driving assembly and the fourth driving assembly are in point symmetry about the same point, so as to facilitate reversing installation of the catheter apparatus. In a first mapping, a first drive assembly in the first drive disk 202 drives the inner catheter instrument 5 and steers the inner catheter instrument 5 to move in a first bending direction, and a second drive assembly drives the inner catheter instrument 5 and steers the inner catheter instrument 5 to move in a second bending direction; the third drive assembly in the second drive disk 302 drives the outer catheter instrument 4 and steers the outer catheter instrument 4 in a first bending direction and the fourth drive assembly drives the outer catheter instrument 4 and steers the outer catheter instrument 4 in a second bending direction. And in a second mapping, the first drive assembly drives the outer catheter instrument 4 and manipulates the outer catheter instrument 4 to move in a first bending direction, and the second drive assembly in the first drive disk 202 drives the outer catheter instrument 4 and manipulates the outer catheter instrument 4 to move in a second bending direction; the third drive assembly in the second drive disk 302 drives the inner catheter instrument 5 and steers movement of the inner catheter instrument 5 in the first bending direction, and the fourth drive assembly drives the inner catheter instrument 5 and steers movement of the inner catheter instrument 5 in the second bending direction.

In one embodiment, the catheter robot is provided with a class detection module for detecting the class of catheter instruments mounted on the manipulator assembly, i.e. whether the inner catheter instrument 5 or the outer catheter instrument 4 is mounted on the manipulator assembly.

In some embodiments, before determining that the first mapping relationship is the target mapping relationship, detecting, by the class detection module, whether the first manipulator assembly 2 is equipped with the inner catheter instrument 5 and whether the second manipulator assembly 3 is equipped with the outer catheter instrument 4; the catheter robot is controlled to issue an alarm when it is detected that the first manipulator assembly 2 is not fitted with an inner catheter instrument 5 or that the second manipulator assembly 3 is not fitted with an outer catheter instrument 4. In practice, the possibility of both the first manipulator assembly 2 and the second manipulator assembly 3 being fitted with an inner catheter instrument 5 or both the outer catheter instrument 4 is not precluded, and in order to avoid erroneous operation, the catheter robot is controlled to issue an alarm to alert the medical personnel to reinstallation when it is detected that the first manipulator assembly 2 is not fitted with an inner catheter instrument 5 or that the second manipulator assembly 3 is not fitted with an outer catheter instrument 4.

Similarly, before determining that the second mapping relationship is the target mapping relationship, detecting whether the first manipulator assembly is provided with an outer catheter instrument or not and whether the second manipulator assembly is provided with an inner catheter instrument or not by using a class detection module; the catheter robot is controlled to issue an alarm upon detecting that the first manipulator assembly is not equipped with an outer catheter instrument or that the second manipulator assembly is not equipped with an inner catheter instrument. In practice, the possibility of both the first manipulator assembly 2 and the second manipulator assembly 3 being fitted with an inner catheter instrument 5 or both the outer catheter instrument 4 is not precluded, and in order to avoid erroneous operation, the catheter robot is controlled to issue an alarm to alert the medical personnel to reinstallation when it is detected that the first manipulator assembly is not fitted with an outer catheter instrument or that the second manipulator assembly is not fitted with an inner catheter instrument.

In one embodiment, a mounting direction detection mechanism is provided between the manipulator assembly and the catheter instrument, and the mounting direction of the catheter instrument in the manipulator assembly is detected by the mounting direction detection mechanism.

Further, the outer catheter device 4 and the inner catheter device 5 are respectively provided with an electronic identification module (i.e. a category detection module) corresponding to the outer catheter device 4 and the inner catheter device 5, and the electronic identification modules are electrically connected with the alignment interface 63. The catheter robot is electrically connected to the first interface 61 or the second interface 62 through the alignment interface 63, so that the installation direction of the catheter instrument and whether the catheter instrument is the outer catheter instrument 4 or the inner catheter instrument 5 are recognized.

The present application also provides a computer-readable storage medium storing a computer program configured to be loaded by a processor and to execute steps of implementing a control method as described above.

The application also provides a control device of catheter robot, the control device includes:

a memory for storing a computer program;

And a processor for loading and executing the computer program;

wherein the computer program is configured to be loaded by a processor and to perform the steps of implementing the control method as described above.

The memory may include a high-speed RAM memory or may further include a non-volatile memory (non-volatile memory), such as at least one magnetic disk memory.

Where the processor may be a central processing unit CPU, or a specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement embodiments of the present application, or a graphics processor GPU (Graphics Processing Unit). The one or more processors included in the control device may be the same type of processor, such as one or more CPUs, or one or more GPUs; but may also be different types of processors such as one or more CPUs and one or more GPUs.

In some embodiments, the control device may be integrated into the catheter robot setup. The control means may also be provided independently of the catheter robot. The control device can also be deployed at the cloud.

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above-described embodiments have versatility in terms of various technical features and combinations of any technical features, which are applicable not only to single-hole surgical robots but also to multi-hole surgical robots, and which do not affect nor limit use in robotic arms having different configurations.

The above examples merely represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the invention. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.

Claims

1. A method of controlling a catheter robot, the catheter robot including a manipulator assembly for mounting and driving a catheter instrument, the method comprising:

2. The method of claim 1, wherein the manipulator assembly comprises a first manipulator assembly and a second manipulator assembly, the catheter instrument comprises an inner catheter instrument and an outer catheter instrument, and the acquiring the mounting direction of the catheter instrument in the manipulator assembly comprises:

3. The method of claim 2, wherein the first mapping relationship comprises:

4. A method according to claim 3, wherein the first mapping relationship comprises:

5. The method of claim 2, wherein the second mapping relationship comprises:

6. The method of claim 5, wherein the second mapping relationship comprises:

7. The method of any of claims 2-6, wherein the first manipulator assembly comprises a first drive disk for the catheter instrument docking and the second manipulator assembly comprises a second drive disk for the catheter instrument docking, the first mapping comprising:

8. The method of any of claims 2-6, wherein the first manipulator assembly comprises a first drive disk for interfacing the catheter instrument, the second manipulator assembly comprises a plurality of second drive disks for interfacing the catheter instrument, and the second mapping comprises:

9. The method according to any one of claims 2-6, wherein before determining that the first map is a target map, the control method further includes:

10. The method according to any one of claims 2 to 6, wherein before determining that the second map is a target map, the control method further includes:

11. The method of any one of claims 2-6, wherein a mounting direction detection mechanism is provided between the manipulator assembly and the catheter instrument, the acquiring the mounting direction of the catheter instrument in the manipulator assembly comprising:

12. The method of claim 11, wherein the mounting direction detection mechanism comprises: a first interface and a second interface mounted to the manipulator assembly, and an alignment interface mounted to the catheter instrument, the alignment interface selectively mating with the first interface and the second interface.

13. The method of any one of claims 2-6, wherein the catheter robot is provided with a mounting direction input module, the acquiring the mounting direction of the catheter instrument at the manipulator assembly comprising:

14. A catheter robot, comprising:

a manipulator assembly;

and a control device coupled with the manipulator assembly, configured to:

15. A computer readable storage medium, characterized in that the computer readable storage medium stores a computer program configured to be loaded by a processor and to execute steps of implementing the control method according to any one of claims 1-13.

16. A control device for a catheter robot, the control device comprising:

a memory for storing a computer program;

and a processor for loading and executing the computer program;

wherein the computer program is configured to be loaded by the processor and to execute the steps of implementing the control method according to any of claims 1-13.