CN117618116A - Catheter robot, detection method thereof and computer readable storage medium - Google Patents
Catheter robot, detection method thereof and computer readable storage medium Download PDFInfo
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- CN117618116A CN117618116A CN202211058722.3A CN202211058722A CN117618116A CN 117618116 A CN117618116 A CN 117618116A CN 202211058722 A CN202211058722 A CN 202211058722A CN 117618116 A CN117618116 A CN 117618116A
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- 230000004044 response Effects 0.000 claims abstract description 6
- 238000000034 method Methods 0.000 claims description 41
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- 238000006243 chemical reaction Methods 0.000 claims description 7
- 230000003902 lesion Effects 0.000 claims description 6
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- 230000009471 action Effects 0.000 claims description 2
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
Abstract
The invention provides a catheter robot, a detection method thereof and a computer readable storage medium, wherein a control device of the catheter robot is coupled with a mechanical arm and is configured for: acquiring a working stroke of the tail end of the mechanical arm in a first direction; acquiring a first pose of the end of the mechanical arm in a base coordinate system of the mechanical arm in response to alignment of the end of the mechanical arm with a guide for connecting a human body; determining a second pose of the tail end of the mechanical arm on the basis of the base coordinate system of the mechanical arm based on the first pose and the working stroke; determining a target joint variable of a joint in the mechanical arm based on the second pose; based on the relationship between the target joint variable of the joint in the mechanical arm and the joint movement range thereof, determining whether the pose relationship between the catheter robot and the guide meets the requirements. By the technical scheme provided by the invention, the technical problem that the placing angle of the base of the catheter robot is inconvenient to detect in the prior art can be solved.
Description
Technical Field
The invention relates to the technical field of medical instrument operation methods, in particular to a catheter robot, a detection method thereof and a computer readable storage medium.
Background
Currently, a catheter robot in the prior art generally includes a base and a mechanical arm, and in actual operation, the mechanical arm of the catheter robot moves relative to the base to implement the mechanical arm to perform an operation on a medical instrument or perform a medical operation.
Prior to performing a surgical procedure with a catheter robot, it is necessary to rationally arrange the catheter robot relative to the patient. However, in positioning a catheter robot relative to a patient, a physician or assistant typically needs to perform the positioning in a trial-and-error manner, relying on the experience of the physician or assistant. However, such empirically done arrangements often still may present problems with improper arrangement of the catheter robot relative to the patient.
Accordingly, it is desirable to provide a means for accurately detecting whether the catheter robot is properly positioned relative to the patient.
Disclosure of Invention
The invention mainly aims to provide a catheter robot, a detection method thereof and a computer readable storage medium, so as to solve the technical problem that the pose relation between the catheter robot and a guide is inconvenient to detect in the prior art.
In order to achieve the above object, according to one aspect of the present invention, there is provided a catheter robot including: a base; the mechanical arm is connected with the base and is used for installing and operating the catheter instrument; a control device coupled to the robotic arm and configured to: acquiring a working stroke of the tail end of the mechanical arm in a first direction, wherein the first direction is a feeding direction of the catheter instrument; in response to alignment of the end of the mechanical arm with a guide for connecting a human body, acquiring a first pose of the end of the mechanical arm in a base coordinate system of the mechanical arm, the first pose being a pose of the end of the mechanical arm at a first end of a working stroke; based on the first pose and the working stroke, determining a second pose of the tail end of the mechanical arm at the base coordinate system of the mechanical arm, wherein the second pose is the pose of the tail end of the mechanical arm at the second end of the working stroke; determining a target joint variable of a joint in the mechanical arm based on the second pose; based on the relationship between the target joint variable of the joint in the mechanical arm and the joint movement range thereof, determining whether the pose relationship between the catheter robot and the guide meets the requirements.
Further, determining whether a pose relationship between the catheter robot and the guide meets a requirement based on a relationship between a target joint variable of a joint in the robotic arm and a range of joint motion thereof, comprising: comparing the target joint variable of the joint in the mechanical arm with the joint movement range of the target joint variable; when the target joint variable of any joint in the mechanical arm does not exceed the joint movement range, determining that the pose relationship between the catheter robot and the guide meets the requirement; or when the target joint variable of one or more joints in the mechanical arm exceeds the joint movement range, determining that the pose relationship between the catheter robot and the guide does not meet the requirement.
Further, the control device is further configured to: based on the result of whether the pose relationship between the catheter robot and the guide meets the requirements, a prompt tone and/or a prompt interface is generated to prompt the user.
Further, upon determining that the pose relationship between the catheter robot and the guide does not meet the requirement, the control device is further configured to: acquiring a conversion relation between a base coordinate system of the mechanical arm and a reference coordinate system of the base; and determining a deflection angle between the tail end of the mechanical arm and the base based on the first pose and the conversion relation, wherein the deflection angle is an included angle between the tail end of the mechanical arm and the base on a supporting plane of the supporting base.
Further, the mechanical arm comprises a first mechanical arm and a second mechanical arm which are linked, the first mechanical arm and the second mechanical arm are arranged on the base, and the second mechanical arm is matched with the guide; determining the deflection angle, comprising: establishing a first coordinate system by taking the operation tail end position of the second mechanical arm as an origin and taking the extending direction of the outer sheath of the second mechanical arm and the extending direction perpendicular to the second mechanical arm as references; establishing a second coordinate system with the center point of the guide hole as an origin and with the extending direction of the guide hole and the extending direction perpendicular to the guide hole as references; driving the operation end of the second mechanical arm to move to an alignment position where the guide is aligned so that the coordinate extending direction of the first coordinate system is the same as the coordinate extending direction of the second coordinate system; and calculating an included angle between the first coordinate system and the base coordinate system, and taking the calculated included angle as a deflection angle.
Further, a method for calculating an included angle between a first coordinate system and a base coordinate system includes: determining the relation between the first coordinate system and the base coordinate system according to the joint variable of the second mechanical arm; and calculating an included angle between the first coordinate system and the reference coordinate system of the base according to the relation between the first coordinate system and the base coordinate system.
Further, after taking the calculated included angle as the placement angle of the base, the method comprises the following steps: comparing the included angle with a preset angle, and adaptively adjusting the base according to the comparison result.
Further, the method for adaptively adjusting the base according to the comparison result comprises the following steps: when the included angle is larger than or equal to a preset angle, the control base adjusts the angle according to the size of the included angle; when the included angle is smaller than the preset angle, the position of the control base is unchanged.
Further, the method for adaptively adjusting the base according to the comparison result comprises the following steps: according to the offset direction of the included angle, the control base adjusts according to the opposite direction of the offset direction of the included angle.
Further, a method of driving an operative tip of a second robotic arm to an aligned position aligned with a guide, comprising: determining the straightening position of the second mechanical arm as an initial position; in the zero force drag mode, the second mechanical arm is driven to move from the initial position to the aligned position.
Further, a method of driving an operative tip of a second robotic arm to an aligned position aligned with a guide, comprising: detecting whether the operation end of the second mechanical arm is abutted to the positioning part of the guide; when the fact that the operation tail end of the second mechanical arm is abutted to the positioning part of the guide is detected, judging that the second mechanical arm is in an aligned position, and stopping driving the second mechanical arm; when the fact that the operation tail end of the second mechanical arm is not abutted to the positioning part of the guide is detected, the relative position relation between the operation tail end of the second mechanical arm and the positioning part of the guide is detected according to the visual detection piece, and the position of the operation tail end of the second mechanical arm is adjusted adaptively according to the detection result of the visual detection piece.
Further, the method of driving the operative end of the second robotic arm to move to an aligned position with the guide further comprises: detecting a distance between an operation end of the second mechanical arm and a positioning portion of the guide; when the distance between the operating end of the second mechanical arm and the positioning part of the guide is detected to be smaller than or equal to a preset distance, controlling the electromagnetic piece at the positioning part to be electrified so as to adsorb the operating end of the second mechanical arm under the electromagnetic force action of the electromagnetic piece at the positioning part; when the distance between the operation tail end of the second mechanical arm and the positioning part of the guide is detected to be larger than the preset distance, the electromagnetic piece at the positioning part is controlled to be in a power-off state.
Further, the bottom of the base is provided with a universal wheel assembly and a telescopic support column, the support column is positioned at the center of the base, and the universal wheel assembly is arranged around the support column; the method for adaptively adjusting the base according to the comparison result comprises the following steps: controlling the support column of the base to extend to a support position; the base is controlled to rotate by taking the supporting column as a rotating shaft, and the corner of the base is the same as the included angle; or, the bottom of the base is provided with a plurality of universal wheels, and each universal wheel in the plurality of universal wheels has an unlocking state and a locking state; the method for adaptively adjusting the base according to the comparison result comprises the following steps: controlling one universal wheel to be in a locking state, and controlling the rest universal wheels of the plurality of universal wheels to be in an unlocking state; converting the calculated included angle into a rotation angle in a locking state; the control base rotates by taking the universal wheel in a locking state as a reference, and the rotation angle of the control base is the same as the rotation angle.
Further, acquiring a working stroke of a tail end of the mechanical arm in a first direction includes: acquiring an anatomical structure model corresponding to an anatomical structure in a patient; planning a target path from an entrance of the anatomical model to the lesion based on the anatomical model; determining an actual first length of the entry of the anatomical structure to the lesion based on the length of the target path; based on the first length, a working stroke is determined.
Further, determining the working stroke based on the length of the path includes: acquiring a second length from an alignment position of the guide when aligned with the distal end of the robotic arm to the entrance of the anatomical model; the first length and the second length are combined to determine a working stroke.
According to another aspect of the present invention, there is provided a detection method, the detection method being adapted for a catheter robot, the catheter robot comprising a base, a robotic arm and a control device, the robotic arm being connected to the base, the robotic arm being adapted to mount and operate a catheter instrument, the control device being coupled to the robotic arm; the detection method comprises the following steps: acquiring a working stroke of the tail end of the mechanical arm in a first direction, wherein the first direction is a feeding direction of the catheter instrument; in response to alignment of the end of the mechanical arm with a guide for connecting a human body, acquiring a first pose of the end of the mechanical arm in a base coordinate system of the mechanical arm, the first pose being a pose of the end of the mechanical arm at a first end of a working stroke; based on the first pose and the working stroke, determining a second pose of the tail end of the mechanical arm at the base coordinate system of the mechanical arm, wherein the second pose is the pose of the tail end of the mechanical arm at the second end of the working stroke; determining a target joint variable of a joint in the mechanical arm based on the second pose; based on the relationship between the target joint variable of the joint in the mechanical arm and the joint movement range thereof, determining whether the pose relationship between the catheter robot and the guide meets the requirements.
According to another aspect of the present invention, there is provided a computer-readable storage medium including a program employing the control method of the control device of the catheter robot provided above.
By applying the technical scheme of the invention, in actual use, the first pose of the tail end of the mechanical arm under the base coordinate system of the mechanical arm is acquired through the control device, the second pose of the tail end of the mechanical arm under the polar coordinate system of the mechanical arm is determined according to the first pose and the working stroke, and the pose relationship between the catheter robot and the guide can be conveniently and effectively determined by combining the target joint variable and the joint movement range, so that the catheter robot and the guide have a proper positioning relationship, and the accuracy of the catheter robot in actual operation is conveniently ensured.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. In the drawings:
FIG. 1 shows a schematic view of a robotic arm of a catheter robot provided in accordance with an embodiment of the invention in a non-contact alignment;
Fig. 2 shows a schematic diagram of a catheter robot according to an embodiment of the invention in comparison with a manipulator at different positions from L;
FIG. 3 is a schematic view showing a structure of a catheter robot according to an embodiment of the present invention when the positioning is not satisfactory;
FIG. 4 shows a schematic diagram of the structure of FIG. 3 in comparison at different locations from L2;
fig. 5 shows a schematic structural diagram of a mechanical arm according to an embodiment of the present invention when the mechanical arm is straightened;
FIG. 6 illustrates a schematic diagram of an adjustment of a base provided in accordance with an embodiment of the present invention;
fig. 7 shows a schematic view of the adjusted base of fig. 6.
Wherein the above figures include the following reference numerals:
10. a base;
20. a mechanical arm; 21. a first mechanical arm; 22. a second mechanical arm;
30. a guide;
40. a universal wheel;
50. a locking member.
Detailed Description
It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The invention will be described in detail below with reference to the drawings in connection with embodiments.
As shown in fig. 1 to 7, a first embodiment of the present invention provides a catheter robot including a base 10, a robot arm 20, and a control device; a robotic arm 20 is coupled to the base 10, the robotic arm 20 being used to mount and maneuver catheter instruments. The control device is coupled to the robotic arm 20 and is configured to: acquiring a working stroke of the tail end of the mechanical arm 20 in a first direction, wherein the first direction is the feeding direction of the catheter instrument; in response to alignment of the tip of the robotic arm 20 with the guide 30 for connecting the human body, acquiring a first pose of the tip of the robotic arm 20 at a base coordinate system of the robotic arm 20, the first pose being a pose of the tip of the robotic arm 20 at a first end of a working stroke; determining a second pose of the tail end of the mechanical arm 20 on the basis of the base coordinate system of the mechanical arm 20 based on the first pose and the working stroke, wherein the second pose is the pose of the tail end of the mechanical arm 20 on the second end of the working stroke; determining a target joint variable for a joint in the robotic arm 20 based on the second pose; based on the relationship between the target joint variable of the joint in the robotic arm 20 and its joint parameter articulation range, it is determined whether the pose relationship between the catheter robot and the guide 30 meets the requirements. This way it is determined whether the pose relationship between the catheter robot and the guide 30 meets the requirements without the aid of additional sensors.
By adopting the catheter robot provided by the embodiment, in actual use, the first pose of the tail end of the mechanical arm 20 under the base coordinate system of the mechanical arm 20 is acquired through the control device, the second pose of the tail end of the mechanical arm 20 under the polar coordinate system of the mechanical arm 20 is determined according to the first pose and the working stroke, and the pose relationship between the catheter robot and the guide 30 can be conveniently and effectively determined by combining the second pose with the target joint variable and the joint movement range, so that the catheter robot and the guide 30 have a proper pose relationship, and particularly when the pose relationship is determined to be proper, the pose of the catheter robot relative to the guide does not need to be repeatedly adjusted, thereby being beneficial to ensuring smooth implementation operation of the catheter robot. Wherein, because the guide is connected with the human body of the patient, whether the catheter robot is reasonably positioned relative to the guide is determined by determining whether the catheter robot is reasonably positioned relative to the human body of the patient. In addition, an additional sensor is required to be arranged to detect the positioning of the catheter robot and the human body of the patient, and whether the positioning is reasonable or not can be detected only by the control device of the catheter robot.
In some embodiments, the robotic arm 20 includes a first robotic arm 21 and a second robotic arm 22. In some embodiments, the first robotic arm 21 may be configured for mounting only one of an inner catheter instrument (sometimes also referred to as an inner sheath instrument) and an outer catheter instrument (sometimes also referred to as an outer sheath instrument), and the second robotic arm 22 may be configured for mounting only the other of the inner catheter instrument and the outer catheter instrument. In some embodiments, the first robotic arm 21 may be configured to mount any one of an inner catheter instrument and an outer catheter instrument, and the second robotic arm 22 may be configured to mount any other one of the inner catheter instrument and the outer catheter instrument, i.e., the inner catheter instrument and the outer catheter instrument may be configured to be interchangeably mounted to the first robotic arm 21 or the second robotic arm 22. Wherein the inner catheter instrument comprises a flexible catheter (sometimes referred to as an inner sheath), the outer catheter instrument also comprises a flexible catheter (sometimes referred to as an outer sheath), the outer sheath is hollow, and the inner sheath is inserted into the outer sheath for use.
In some embodiments, the first and second robotic arms 21, 22 may be configured to have a particular linkage relationship. For example, one of the first and second robotic arms 21, 22 may be configured as a master arm and the other of the first and second robotic arms 21, 22 may be configured as a slave arm that follows the motion of the master arm to effect the feeding motion of the catheter instrument. In some embodiments, one of the first and second robotic arms 21, 22 equipped with an outer catheter instrument may be configured as a master arm and one of the first and second robotic arms 21, 22 equipped with an inner catheter instrument may be configured as a slave arm.
"alignment" herein may include contact alignment or non-contact alignment, which may include the case of contact separated by a small distance rather than complete fit; alignment may be achieved by providing contact sensors such as: the distance sensor, the pressure sensor and the magnetic sensor are used for detecting, and whether the alignment is completed or not is determined according to the detection of the sensors. In practical use, the alignment mode can perform a corresponding execution process through a received user confirmation instruction, and the user confirmation instruction can be instruction information such as a sound instruction, a key instruction and the like. For non-contact alignment, a laser transmitter may be provided on the outer catheter instrument 21 and a laser receiver on the guide 30, indicating alignment of the two when the laser transmitter transmits light that is accurately received by the laser receiver.
In some embodiments, determining whether the pose relationship between the catheter robot and the guide 30 meets the requirements based on the relationship between the target joint variable of the joint in the robotic arm 20 and its range of joint motion, includes: comparing the magnitude of the target joint variable of the joint in the mechanical arm 20 with the range of motion of the joint; when the target joint variable of any joint in the mechanical arm 20 does not exceed the joint movement range, determining that the pose relationship between the catheter robot and the guide 30 meets the requirement; or, when the target joint variable of one or more joints in the robotic arm 20 exceeds its range of joint motion, it is determined that the pose relationship between the catheter robot and the guide 30 is not satisfactory. With such an arrangement, it is possible to facilitate the control device to more accurately determine whether the relationship between the catheter robot and the guide 30 meets the requirements.
When the robotic arm 20 does not have redundant degrees of freedom (e.g., within 6 degrees of freedom), there is typically only one set of target joint variables that are resolved. When the robotic arm 20 has redundant degrees of freedom (e.g., 7 or more), one or more sets of target joint variables may be resolved, and if one set of target joint variables is valid (still compared to its corresponding range of joint motion), proper positioning may be determined; if all the set of target joint variables are not valid, then it may be determined that the positioning is not appropriate.
In some embodiments, the control device is further configured to: based on the result of whether the pose relationship between the catheter robot and the guide 30 meets the requirements, a cue tone and/or a cue interface is generated to cue the user. With such a configuration, it is possible to facilitate the operation user to quickly acquire whether the posture relationship between the catheter robot and the guide 30 meets the requirements, and to facilitate the subsequent adaptive adjustment operation.
In some embodiments, upon determining that the pose relationship between the catheter robot and the guide 30 is not satisfactory, the control device is further configured to: acquiring a conversion relation between a base coordinate system of the mechanical arm 20 and a reference coordinate system of the base 10; based on the first pose and the conversion relation, a deflection angle between the end of the mechanical arm 20 and the base 10 is determined, wherein the deflection angle is an included angle between the end of the mechanical arm 20 and the base 10 on a supporting plane supporting the base 10. In this way, the mechanical arm 20 and/or the base 10 can be conveniently and adaptively adjusted according to the deflection angle between the tail end of the mechanical arm 20 and the base 10, so as to adjust to the situation that the pose relationship between the catheter robot and the guide 30 meets the requirement, thereby being convenient for improving the accuracy of the subsequent mechanical arm 20 operation.
In some embodiments, the mechanical arm 20 includes a second mechanical arm 22 and a first mechanical arm 21 which are linked, where the second mechanical arm 22 and the first mechanical arm 21 are both disposed on the base 10, and the second mechanical arm 21 cooperates with the guide 30; determining the deflection angle, comprising: establishing a first coordinate system with the operation end position of the first mechanical arm 21 as an origin and with the sheath extending direction of the first mechanical arm 21 and the extending direction perpendicular to the first mechanical arm 21 as references; establishing a second coordinate system with the center point of the introduction hole of the guide 30 as an origin and with the extending direction of the introduction hole of the guide 30 and the extending direction perpendicular to the introduction hole as references; driving the operation end of the first robot arm 21 to move to an alignment position where the guide 30 is aligned so that the coordinate extending direction of the first coordinate system is the same as the coordinate extending direction of the second coordinate system; and calculating an included angle between the first coordinate system and the base coordinate system, and taking the calculated included angle as a deflection angle. By adopting the arrangement, the included angle between the mechanical arm 20 and the machine base can be calculated conveniently and accurately, and the mechanical arm 20 or the base 10 can be adjusted adaptively by taking the included angle as a deflection angle, so that the pose relationship between the catheter robot and the guide 30 can meet the requirement. Illustratively, the first robotic arm 21 is used herein to mount an outer sheath instrument and the second robotic arm 22 is used to mount an inner catheter instrument.
In some embodiments, a method of calculating an angle between a first coordinate system and a base coordinate system includes: determining the relation between the first coordinate system and the base coordinate system according to the joint variable of the first mechanical arm 21 and combining positive kinematics; the angle between the first coordinate system and the reference coordinate system of the base 10 is calculated from the relationship between the first coordinate system and the base coordinate system. With such an arrangement, since the first mechanical arm 21 generally has a plurality of joints, the magnitude of the included angle between the first coordinate system and the base coordinate system can be determined conveniently and better according to the conversion between the plurality of parameters of shutdown, so that the calculation accuracy is improved. In this application, joint variables include joint angles and/or joint displacements, depending on whether the type of joint making up the robotic arm 20 is a revolute joint or a translational joint.
When the pose relationship between the catheter robot and the guide 30 in the embodiment is not satisfactory, the high-altitude robot can be adjusted to a proper position by the relationship between the first coordinate system and the base coordinate system. For example, "proper positioning" may correspond to a state in which the X axis of the base 10 is parallel to the X axis of the distal end of the robot arm 20.
Illustratively, after taking the calculated included angle as the placement angle of the base 10, the method includes: the included angle is compared with a preset angle, and the base 10 is adaptively adjusted according to the comparison result, so that the placement accuracy of the base 10 is improved, and the pose relationship between the catheter robot and the guide 30 is conveniently adjusted to be in a state meeting the use requirement, so that the accuracy of subsequent operation is improved.
In some embodiments, a method for adaptively adjusting the base 10 according to the comparison result includes: when the included angle is larger than or equal to a preset angle, the control base 10 adjusts the angle according to the included angle; when the included angle is smaller than the preset angle, the position of the control base 10 is unchanged. With such a configuration, the adjustment can be performed adaptively according to the adjustment reference. It should be noted that, the angle value of the preset angle may be extremely small, for example, any value in 0.1 ° to 1 °, such as 0.1 °, 0.2 °, 0.3 °, and the like, and may be smaller than 0.1 °, such as 0.01 °, 0.02 °, and the like, and the preset angle corresponds to an error range, so that the required error range is extremely small, so as to effectively ensure the accuracy of the operation.
Exemplary, the method for adaptively adjusting the base 10 according to the comparison result in this embodiment includes: according to the offset direction of the included angle, the control base 10 is adjusted in the opposite direction to the offset direction of the included angle. By adopting the method, the situation that the result of adjustment is wrong can be facilitated, and the accuracy of adjustment is effectively ensured.
For example, a positive value of angle may be associated with a clockwise direction and a negative value of angle may be associated with a counterclockwise direction.
In some embodiments, a method of driving an operative end of a first robotic arm 21 to an aligned position aligned with a guide 30, comprises: determining the straightening position of the first mechanical arm 21 as an initial position; in the zero force drag mode, the first robot arm 21 is driven to move from the initial position to the aligned position. Wherein driving the first mechanical arm 21 from the initial position to the aligned position comprises a doctor or an assistant manually dragging the first mechanical arm 21 from the initial position to the aligned position. In some embodiments, if the robotic arm 20 is in the zero force drag mode, the direction of the coordinate system of the slave arm will always be consistent with the direction of the coordinate system of the master arm, and a distance will always be maintained between the slave arm and the master arm. For example, one of the arms may be set as a master arm and the other arm as a slave arm. In the zero force drag mode, the actuator arm may be aligned with the guide 30, and in the aligned state, the end coordinate system direction of the actuator arm will be the same as the coordinate system direction of the guide 30. For example, the first robot arm 21 may be provided as a master arm. In some embodiments, the driving arm and the driven arm may be not required to be configured when the operation end of the first mechanical arm 21 is driven to move to the alignment position aligned with the guide 30, for example, when the mechanical arm 20 is in the zero-force dragging mode, the first mechanical arm 21 is driven to move from the initial position to the alignment position, and the second mechanical arm 22 maintains its current pose. Illustratively, the method of driving the operative end of the first robotic arm 21 to move to an aligned position aligned with the guide 30 in this embodiment includes: detecting whether or not the operation tip of the first robot arm 21 abuts at the positioning portion of the guide 30; when the abutment of the operation end of the first robot arm 21 into the positioning portion of the guide 30 is detected, the first robot arm 21 is judged to be in the aligned position, and the driving of the first robot arm 21 is stopped; when it is detected that the operation end of the first robot arm 21 is not abutted to the positioning portion of the guide 30, the relative positional relationship between the operation end of the first robot arm 21 and the positioning portion of the guide 30 is detected according to the visual detection piece, and the position of the operation end of the first robot arm 21 is adaptively adjusted according to the detection result of the visual detection piece. With such an arrangement, it is possible to facilitate the operation end of the first robot arm 21 to be quickly and accurately moved to the aligned position. In some embodiments, the positioning portion of the guide 30 may comprise a bayonet, for example, and the operative end comprises a latch adapted to the bayonet.
In some embodiments, the method of driving the operative end of the first robotic arm 21 to an aligned position with the guide 30 further comprises: detecting a distance between an operation end of the first robot arm 21 and a positioning portion of the guide 30; when it is detected that the distance between the operation end of the first robot arm 21 and the positioning portion of the guide 30 is equal to or smaller than a preset distance, the electromagnetic member at the positioning portion is controlled to be energized to adsorb the operation end of the first robot arm 21 to the aligned position under the electromagnetic force of the electromagnetic member at the positioning portion; when it is detected that the distance between the operation end of the first robot arm 21 and the positioning portion of the guide 30 is greater than the preset distance, the electromagnetic member at the positioning portion is controlled to remain in the power-off state. The operating end is provided with a magnetic member such as a magnet, iron or the like which cooperates with the electromagnetic member. The design of magnetic adsorption that adopts magnetic part and the electromagnetic part that can break away from of break-make can be convenient for carry out adaptive control through the electromagnetic part to first arm 21 to the terminal of accurate first arm 21 is aligned with location portion fast, improves the degree of automation of adjustment.
In some embodiments, when the control device controls the electromagnetic member to be electrified, a constant current or voltage can be used for controlling the electromagnetic member to be electrified so as to generate a magnetic field with a constant magnitude. Only simple power-on and power-off control is needed.
In some embodiments, when the control device controls the electromagnetic member to be electrified, the electromagnetic member can be controlled to be electrified by adopting a variable current or voltage so as to generate a variable magnetic field. The change of the magnetic field can be controlled by better matching with the change of the distance, so that the smooth alignment is ensured.
For example, if the predetermined distance includes a first predetermined distance and a second predetermined distance, the first predetermined distance is greater than the second predetermined distance, the solenoid may be energized using a stepped current or voltage. For example, when it is detected that the distance between the operation end of the first robot arm 21 and the positioning portion of the guide 30 reaches a first preset distance, the electromagnetic member is controlled to be energized with a first current or a first voltage to generate a first magnetic field; when it is detected that the distance between the operation end of the first robot arm 21 and the positioning portion of the guide 30 reaches a second preset distance, the electromagnetic member is controlled to be energized with a second current or a second voltage to generate a second magnetic field. The first current is greater than the second current, or the first voltage is greater than the second voltage, and the first magnetic field is greater than the second magnetic field.
For example, non-stepped currents or voltages, such as linearly varying currents or voltages, may also be used to control energization of the solenoid. For example, when it is detected that the distance between the operation end of the first robot arm 21 and the positioning portion of the guide 30 reaches a preset distance, the electromagnetic member is controlled to be energized at a rated current or voltage, and as the distance between the operation end of the first robot arm 21 and the positioning portion of the guide 30 is reduced, the output current or voltage may be determined based on the proportional relationship between the remaining distance and the preset distance, and the energization of the electromagnetic member is controlled with the output current or voltage. Wherein the output current or voltage has the proportional relationship with the rated current or voltage.
In one embodiment, the bottom of the base 10 is provided with a universal wheel assembly and a telescopic support column, the support column is positioned at the center of the base 10, and the universal wheel assembly is arranged around the support column; a method for adaptively adjusting the base 10 according to the comparison result, comprising: controlling the support column of the base 10 to extend to a support position; the control base 10 rotates by taking the support column as a rotation axis, and the rotation angle of the control base 10 is the same as the included angle. By adopting the arrangement, the control base 10 can be conveniently adjusted, the structure is simple, and the adjusting effect is stable.
Alternatively, in another embodiment, the bottom of the base 10 is provided with a plurality of universal wheels, and each universal wheel 40 of the plurality of universal wheels 40 has an unlocked state and a locked state; a method for adaptively adjusting the base 10 according to the comparison result, comprising: controlling one of the universal wheels to be in a locked state and controlling the remaining universal wheels 40 of the plurality of universal wheels to be in an unlocked state; converting the calculated included angle into a rotation angle in a locking state; the control base 10 rotates with the universal wheel in the locked state as a reference, and the rotation angle of the control base 10 is the same as the rotation angle. By adopting the arrangement, the control base 10 can be conveniently adjusted, the structure is simple, and the adjusting effect is stable. A locking member may also be provided on the castor 40 for mechanical locking or unlocking.
In some embodiments, when the base 10 is specifically adjusted, for example, the aligned sheath manipulator first manipulator 21 and the guide 30 may be fixedly connected, for example, by setting a latch, a clasp, a magnetic connection, or other various manners to achieve rigid connection between the two, and then the base 10 is adjusted, so that the adjustment of the catheter robot can be completed at one time, without repeating the two steps of aligning the sheath manipulator first manipulator 21 and the guide 30 and adjusting the base 10. When the adjustment operation of the base 10 is required, the corresponding components can be driven to be rigidly connected according to the input instruction or when the corresponding components are aligned; when the adjustment operation of the base 10 is completed, the rigid connection is disconnected.
For example, when the first manipulator 21 is fixedly connected to the guide 30, the base 10 may be a distal end (i.e., a distal end) of the first manipulator 21, and an operation distal end of the first manipulator 21, i.e., an end fixedly connected to the guide 30, may be a proximal end of the first manipulator 21, that is, a base coordinate system may be established at the proximal end of the first manipulator 21, and the movement of the distal end of the first manipulator 21, i.e., the base 10, with respect to the base coordinate system established at the proximal end of the first manipulator 21 may be controlled. For example, a target rotation angle of the doctor or assistant, which is configured, for example, through a user configuration interface or physical buttons or voice, and under which the base 10 is expected to move, may be obtained, a target joint variable of a joint in the first robot arm 21 may be determined based on the target rotation angle, for example, in combination with inverse kinematics, and then the first robot arm 21 may be controlled to move according to the target joint variable, so that the base 10 moves to reach the target rotation angle. The target rotation angle may include, for example, the deflection angle described above. With such a design, the catheter robot can be positioned in a proper pose relationship with respect to the guide. In this embodiment, the universal wheel of the base 10 can be controlled to be in an unlocked state.
In some embodiments, acquiring a working stroke of an end of the robotic arm 20 in a first direction includes: acquiring an anatomical structure model corresponding to an anatomical structure in a patient; planning a target path from an entrance of the anatomical model to the lesion based on the anatomical model; determining an actual first length of the entry of the anatomical structure to the lesion based on the length of the target path; based on the first length, a working stroke is determined. Different working strokes of the catheter robot can be determined based on different individuals, so that the smooth implementation of the operation of the individuals is ensured.
Illustratively, determining the working stroke based on the length of the path includes: acquiring a second length from an alignment position of the guide 30 when aligned with the tip of the robotic arm 20 to the entrance of the anatomical model; the first length and the second length are combined to determine a working stroke. With such a setting, it is possible to facilitate more accurate determination of the working stroke.
In some embodiments, the determination of the working strokes may be obtained through a big data statistical analysis, for example, obtaining working strokes corresponding to hundreds of thousands or even tens of thousands of patients of different individuals, and determining a reasonable working stroke capable of accommodating most of the patients of the individuals based on the obtained working strokes. For example, assuming that these working strokes are between 300mm and 650mm, one working stroke, for example, 700mm, may be uniformly set.
Taking the first mechanical arm as an example, the process of determining the offset angle with respect to the working distance is as follows: determining a position P1 of the tail end of the first mechanical arm on the basis of positive kinematics in a reference coordinate system T2; the target position P2 of the tip of the first mechanical arm in the feeding direction at the most distal end of the reference coordinate system T2 (i.e., the position of the second end of the working stroke) may be determined based on the position P1 of the tip of the first mechanical arm when aligned in the reference coordinate system T2 (i.e., the position of the first end of the working stroke) and the working stroke L, wherein in the reference coordinate system T2 p1+l=p2, the target joint amount of each joint in the arm is determined based on P2 and using inverse kinematics; the amount of each target joint is compared with the range of motion of each joint, and if effective, the offset angle at that time is reasonable.
When the anatomical structure is a lung bronchus model, the target path may include one or more, different lengths may be determined for different target paths, or a longest length may be selected, and the working stroke may be determined according to the target path. The target path may also be a path along the centerline of the anatomy, for example. The length of the path of the anatomical structure has a proportional relationship with the model of the structure, and after determining the length in the model of the anatomical structure, the actual working stroke can be determined.
Illustratively, for the robotic arm 20, the respective one of the control-target joints is in a zero-force state, and the exemplary need to control the respective joint is capable of substantially compensating (or balancing) the weight of its distal load and/or overcoming the friction of its joint itself. Of course, this principle is also applicable to the case where the corresponding joint of the control target joint is in the zero-force state.
In some embodiments, controlling the respective ones of the target joints to be in a zero force state may include: acquiring joint positions of at least the corresponding joint and a joint at a distal end thereof, and determining a compensation moment corresponding to the output of the corresponding joint in combination with the joint positions and a dynamic model associated with the corresponding joint; and further controlling the corresponding joint to output the compensation moment.
Wherein the joint of the drive arm typically comprises a position sensor for detecting the position of the joint thereof, which position sensor may for example employ an encoder. The joints of the drive arm also typically include a drive mechanism, such as a motor, that controls the respective joint in a zero force state, i.e., controls the associated motor to output a compensating torque.
The kinetic model that needs to be used in the present application is typically built for this respective joint, e.g. the built kinetic model is typically different for different respective joints. Typically, the kinetic model is associated with the respective joint and its distal joint.
For example, the kinetic model for the respective joint may be constructed as follows:
and acquiring the connecting rod parameters of the corresponding joint and the joint at the far end of the corresponding joint, and establishing a connecting rod coordinate system according to the connecting rod parameters. The joint comprises a joint and a connecting rod connected with the joint, and the connecting rod parameters (namely DH parameters) comprise joint angle and/or joint displacement, connecting rod length and other parameters.
A first kinetic model associated with the respective joint is constructed from the link coordinate system. Wherein the first kinetic model is typically expressed in symbolic form (i.e. a formula with unknown parameters), the first kinetic model being a fuzzy (i.e. a kinetic parameter tentatively determined) kinetic model. For example, the first kinetic model is expressed as the following formula:
where τ is the actual moment of the joint, θ is the joint position of the joint,is the velocity of the joint (+)>Is the primary guide of θ), ∈θ>Is the velocity of the joint (+)>Is the second derivative of θ), M (θ) is the inertial matrix, +>Including the coriolis and centrifugal forces, G (θ) is the gravitational moment of the joint.
Unknown kinetic parameters in the first kinetic model are determined. Wherein the first dynamics model typically comprises at least one unknown dynamics parameter, typically, the unknown dynamics parameters involved in equation (1) may all be determined to obtain an accurate second dynamics model. In one embodiment, the contribution of the partially unknown dynamics parameters to the joint moment may be ignored, for example, the mass, mass center and friction moment of the joint may be mainly focused on the key dynamics parameters, and in some embodiments, the mass, mass center and friction moment of the joint may be affected by a driving mechanism driving the joint and/or a transmission mechanism connecting the driving mechanism and the joint to realize transmission. For example, when the structure of the driving arm is regular, at least part of the dynamic parameters such as the mass, the mass center and the friction moment of the joint can be directly obtained without identification. Of course, at least part of the dynamic parameters such as the mass, the mass center and the friction moment of the joint can also be obtained by adopting an identification method. For example, the mass of the joint may be obtained by weighing, and the mass center and friction moment of the joint may be obtained by using an identification method. For example, consider M (θ) to be ignored The contribution to joint torque is acceptable in one example of the invention, and thus, equation (1) may be abbreviated as follows:
τ=g (θ) formula (2)
Substituting the determined kinetic parameters into the first kinetic model to obtain a second kinetic model. Wherein the second kinetic model is a distinct (i.e. kinetic parameters determined) kinetic model. Further, in determining the compensation torque corresponding to the desired output of the driving mechanism of the respective joint in combination with the joint positions and the dynamics model associated with the respective joint, the dynamics model used refers to the second dynamics model.
In some embodiments, considering the adverse effect of the friction torque, the friction torque may be excluded from the actual torque of the joint, specifically:
a moment balance model of the joint can be constructed based on the dynamic balance principle, and the moment balance model can be expressed as the following formula:
where τ is the actual moment of the joint, θ is the joint position of the joint,is the velocity of the joint, k 1 、k 2 The heavy moment parameter, f is the friction moment of the joint, < ->Indicating the direction of the velocity.
Furthermore, the friction moment of the joint can be determined by an identification method, for example, a single joint can be controlled to perform uniform motion at a low speed, the whole motion range is traversed, and the actual moment of the joint and the corresponding joint position are acquired, wherein the single joint refers to the joint corresponding to the corresponding joint. The friction moment is approximately unchanged and is generally considered as a constant value during uniform motion, so that the friction moment of the joint can be identified by using a least square method according to the acquired actual moment of the joint and the corresponding joint position. It will be appreciated that the actual moment of the joint is output by the drive mechanism that drives the joint.
Furthermore, when determining the unknown kinetic parameters (such as the gravity moment in the formula (2)) in the first kinetic model through the identification method, each joint can be controlled to perform uniform motion at a low speed, the whole motion range is traversed, the actual moment of the corresponding joint and the joint positions corresponding to the corresponding joint and the joint at the far end are collected, the actual moment of the corresponding joint, the friction moment of the corresponding joint and the joint positions corresponding to the corresponding joint and the joint at the far end are combined, and the unknown kinetic parameters (such as the gravity moment in the formula (2)) can be identified by utilizing the least square method. For example, in the formula (2), the identified unknown kinetic parameters are mainly the gravity moment parameters (including mass, centroid, etc.), and thus, the second kinetic model associated with the relationship between the joint positions of the corresponding joint and the joint at the distal end thereof and the compensation moment of the corresponding joint can be effectively constructed. )
The second embodiment of the invention provides a detection method, which is suitable for a catheter robot, wherein the catheter robot comprises a base 10, a mechanical arm 20 and a control device, the mechanical arm 20 is connected to the base 10, the mechanical arm 20 is used for installing and operating a catheter instrument, and the control device is coupled with the mechanical arm 20; the detection method comprises the following steps: acquiring a working stroke of the tail end of the mechanical arm 20 in a first direction, wherein the first direction is the feeding direction of the catheter instrument; in response to alignment of the tip of the robotic arm 20 with the guide 30 for connecting the human body, acquiring a first pose of the tip of the robotic arm 20 at a base coordinate system of the robotic arm 20, the first pose being a pose of the tip of the robotic arm 20 at a first end of a working stroke; determining a second pose of the tail end of the mechanical arm 20 on the basis of the base coordinate system of the mechanical arm 20 based on the first pose and the working stroke, wherein the second pose is the pose of the tail end of the mechanical arm 20 on the second end of the working stroke; determining a target joint variable for a joint in the robotic arm 20 based on the second pose; based on the relationship between the target joint variable of the joint in the robotic arm 20 and its range of joint motion, it is determined whether the pose relationship between the catheter robot and the guide 30 meets the requirements.
A third embodiment of the present invention provides a computer-readable storage medium including a program, the program adopting the control method of the control device of the catheter robot provided in the above embodiment.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present application unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but should be considered part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
In the description of the present application, it should be understood that, where azimuth terms such as "front, rear, upper, lower, left, right", "transverse, vertical, horizontal", and "top, bottom", etc., indicate azimuth or positional relationships generally based on those shown in the drawings, only for convenience of description and simplification of the description, these azimuth terms do not indicate and imply that the apparatus or elements referred to must have a specific azimuth or be constructed and operated in a specific azimuth, and thus should not be construed as limiting the scope of protection of the present application; the orientation word "inner and outer" refers to inner and outer relative to the contour of the respective component itself.
Spatially relative terms, such as "above … …," "above … …," "upper surface at … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
In addition, the terms "first", "second", etc. are used to define the components, and are merely for convenience of distinguishing the corresponding components, and unless otherwise stated, the terms have no special meaning, and thus should not be construed as limiting the scope of the present application.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (17)
1. A catheter robot, comprising:
a base (10);
a robotic arm (20) coupled to the base (10), the robotic arm (20) being configured to mount and maneuver a catheter instrument;
a control device coupled with the robotic arm (20) and configured to:
acquiring a working stroke of the tail end of the mechanical arm (20) in a first direction, wherein the first direction is the feeding direction of the catheter instrument;
responsive to alignment of the tip of the robotic arm (20) with a guide (30) for connecting a human body, acquiring a first pose of the tip of the robotic arm (20) at a base coordinate system of the robotic arm (20), the first pose being a pose of the tip of the robotic arm (20) at a first end of the working stroke;
Determining a second pose of the tail end of the mechanical arm (20) on the basis of the first pose and the working stroke, wherein the second pose is a pose of the tail end of the mechanical arm (20) on the second end of the working stroke;
determining a target joint variable for a joint in the robotic arm (20) based on the second pose;
based on the relationship between the target joint variable of the joint in the mechanical arm (20) and its range of joint movement, it is determined whether the pose relationship between the catheter robot and the guide (30) meets the requirements.
2. The catheter robot of claim 1, wherein the determining whether the pose relationship between the catheter robot and the guide (30) meets the requirements based on the relationship between the target joint variable of the joint in the robotic arm (20) and its range of joint motion comprises:
comparing the target joint variable of the joint in the mechanical arm (20) with the joint movement range of the target joint variable;
when the target joint variable of any joint of the mechanical arm (20) does not exceed the joint movement range, determining that the pose relationship between the catheter robot and the guide (30) meets the requirement; or alternatively, the first and second heat exchangers may be,
When a target joint variable of one or more joints in the mechanical arm (20) exceeds a joint movement range thereof, determining that a pose relationship between the catheter robot and the guide (30) is not satisfactory.
3. The catheter robot of claim 1, wherein the control device is further configured to:
based on the result of whether the pose relationship between the catheter robot and the guide (30) meets the requirements, a prompt tone and/or a prompt interface is generated to prompt the user.
4. A catheter robot according to claim 3, characterized in that, upon determining that the pose relationship between the catheter robot and the guide (30) is not satisfactory, the control means is further configured for:
acquiring a conversion relation between a base coordinate system of the mechanical arm (20) and a reference coordinate system of the base (10);
and determining a deflection angle between the tail end of the mechanical arm (20) and the base (10) based on the first pose and the conversion relation, wherein the deflection angle is an included angle between the tail end of the mechanical arm (20) and the base (10) on a supporting plane supporting the base (10).
5. Catheter robot according to claim 4, characterized in that the robotic arm (20) comprises a first and a second mechanical arm linked, both being arranged on the base (10), the second mechanical arm cooperating with the guide (30); determining the deflection angle includes:
Establishing a first coordinate system by taking the operation tail end position of the second mechanical arm as an origin and taking the extending direction of the sheath of the second mechanical arm and the extending direction perpendicular to the second mechanical arm as references; establishing a second coordinate system with the center point of the introduction hole of the guide (30) as an origin and with the extending direction of the introduction hole of the guide (30) and the extending direction perpendicular to the introduction hole as references;
driving the operation end of the second mechanical arm to move to an alignment position where the guide (30) is aligned so that the coordinate extending direction of the first coordinate system is the same as the coordinate extending direction of the second coordinate system;
and calculating an included angle between the first coordinate system and the base coordinate system, and taking the calculated included angle as a deflection angle.
6. The catheter robot of claim 5, wherein the method of calculating an angle between the first coordinate system and the base coordinate system comprises:
determining the relation between the first coordinate system and the base coordinate system according to the joint variable of the second mechanical arm;
-calculating an angle between the first coordinate system and a reference coordinate system of the base (10) from a relation between the first coordinate system and the base coordinate system.
7. Catheter robot according to claim 5, characterized in that after having calculated the included angle as the resting angle of the base (10), it comprises:
comparing the included angle with a preset angle, and adaptively adjusting the base (10) according to a comparison result.
8. Catheter robot according to claim 7, characterized in that the method of adapting the base (10) according to the comparison result comprises:
when the included angle is larger than or equal to the preset angle, controlling the base (10) to conduct angle adjustment according to the size of the included angle;
and when the included angle is smaller than the preset angle, controlling the position of the base (10) to be unchanged.
9. Catheter robot according to claim 8, characterized in that the method of adapting the base (10) according to the comparison result comprises:
and controlling the base (10) to adjust according to the opposite direction of the offset direction of the included angle according to the offset direction of the included angle.
10. The catheter robot of claim 5, wherein the method of driving the operating tip of the second mechanical arm to an aligned position aligned with the guide (30) comprises:
Determining the straightening position of the second mechanical arm as an initial position;
and in the zero-force dragging mode, driving the second mechanical arm to move from the initial position to the alignment position.
11. The catheter robot of claim 10, wherein the method of driving the operating tip of the second mechanical arm to an aligned position aligned with the guide (30) comprises:
detecting whether an operation tip of the second robot arm abuts at a positioning portion of the guide (30);
when the operation tail end of the second mechanical arm is detected to be abutted into the positioning part of the guide (30), judging that the second mechanical arm is in the aligned position, and stopping driving the outer catheter instrument;
when the fact that the operation tail end of the second mechanical arm is not abutted to the positioning part of the guide (30) is detected, the relative position relation between the operation tail end of the second mechanical arm and the positioning part of the guide (30) is detected according to a visual detection piece, and the position of the operation tail end of the second mechanical arm is adjusted adaptively according to the detection result of the visual detection piece.
12. The catheter robot of claim 11, wherein the method of driving the operating tip of the second mechanical arm into alignment with the guide (30) further comprises:
Detecting a distance between an operation end of the second mechanical arm and a positioning portion of the guide (30);
when the distance between the operating end of the second mechanical arm and the positioning part of the guide (30) is detected to be smaller than or equal to a preset distance, controlling the electromagnetic piece at the positioning part to be electrified so as to adsorb the operating end of the second mechanical arm under the electromagnetic force action of the electromagnetic piece at the positioning part;
when the distance between the operation end of the second mechanical arm and the positioning part of the guide (30) is detected to be larger than the preset distance, controlling the electromagnetic piece at the positioning part to keep a power-off state.
13. The catheter robot of claim 7, wherein the catheter is configured to move,
the bottom of the base (10) is provided with a universal wheel assembly and a telescopic support column, the support column is positioned at the center of the base (10), and the universal wheel assembly is arranged around the support column; a method of adapting the base (10) based on a comparison result, comprising:
controlling the support column of the base (10) to extend to a support position;
the base (10) is controlled to rotate by taking the supporting column as a rotating shaft, and the corner of the base (10) is the same as the included angle; or,
The bottom of the base (10) is provided with a plurality of universal wheels, and each universal wheel in the plurality of universal wheels has an unlocking state and a locking state; a method of adapting the base (10) based on a comparison result, comprising:
controlling one universal wheel to be in the locking state, and controlling the rest universal wheels of the plurality of universal wheels to be in the unlocking state;
converting the calculated included angle into a rotation angle in the locking state;
and controlling the base (10) to rotate by taking the universal wheel in the locking state as a reference, and controlling the rotation angle of the base (10) to be the same as the rotation angle.
14. Catheter robot according to claim 1, characterized in that said obtaining a working stroke of the end of the mechanical arm (20) in a first direction comprises:
acquiring an anatomical structure model corresponding to an anatomical structure in a patient;
planning a target path from an entrance of the anatomical model to a lesion based on the anatomical model;
determining an actual first length of the entrance of the anatomical structure to the lesion based on the length of the target path;
the working stroke is determined based on the first length.
15. The catheter robot of claim 14, wherein the determining the working stroke based on the length of the path comprises:
acquiring a second length of an alignment position of the guide (30) when aligned with the end of the robotic arm (20) to an entrance of the anatomical model;
the working stroke is determined in combination with the first length and the second length.
16. The detection method is suitable for a catheter robot, and the catheter robot comprises a base, a mechanical arm and a control device, wherein the mechanical arm is connected to the base and is used for installing and operating a catheter instrument, and the control device is coupled with the mechanical arm; the detection method comprises the following steps:
acquiring a working stroke of the tail end of the mechanical arm in a first direction, wherein the first direction is a feeding direction of the catheter instrument;
in response to alignment of the tail end of the mechanical arm and a guide for connecting a human body, acquiring a first pose of the tail end of the mechanical arm on a base coordinate system of the mechanical arm, wherein the first pose is a pose of the tail end of the mechanical arm on a first end of the working stroke;
Determining a second pose of the tail end of the mechanical arm on the basis of the base coordinate system of the mechanical arm based on the first pose and the working stroke, wherein the second pose is the pose of the tail end of the mechanical arm on the second end of the working stroke;
determining a target joint variable of a joint in the robotic arm based on the second pose;
and determining whether the pose relationship between the catheter robot and the guide meets the requirement or not based on the relationship between the target joint variable of the joint in the mechanical arm and the joint movement range of the target joint variable.
17. A computer-readable storage medium, characterized in that the computer-readable storage medium includes a program employing the control method of the control device of the catheter robot according to any one of claims 1 to 15.
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| CN202211058722.3A CN117618116A (en) | 2022-08-31 | 2022-08-31 | Catheter robot, detection method thereof and computer readable storage medium |
| PCT/CN2023/094801 WO2024045695A1 (en) | 2022-08-31 | 2023-05-17 | Catheter robot, detection method therefor, and computer-readable storage medium |
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| CN202211058722.3A CN117618116A (en) | 2022-08-31 | 2022-08-31 | Catheter robot, detection method thereof and computer readable storage medium |
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| US10792464B2 (en) * | 2014-07-01 | 2020-10-06 | Auris Health, Inc. | Tool and method for using surgical endoscope with spiral lumens |
| WO2018064566A1 (en) * | 2016-09-30 | 2018-04-05 | Intuitive Surgical Operations, Inc. | Systems and methods for entry point localization |
| US10464209B2 (en) * | 2017-10-05 | 2019-11-05 | Auris Health, Inc. | Robotic system with indication of boundary for robotic arm |
| CN110559083B (en) * | 2019-09-10 | 2020-08-25 | 深圳市精锋医疗科技有限公司 | Surgical robot and control method and control device for tail end instrument of surgical robot |
| CN113334391B (en) * | 2021-08-06 | 2021-11-09 | 成都博恩思医学机器人有限公司 | Method and system for controlling position of mechanical arm, robot and storage medium |
| CN113616338B (en) * | 2021-09-15 | 2023-10-20 | 上海微创医疗机器人（集团）股份有限公司 | Computer readable storage medium, alignment method and system, and surgical robot system |
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