WO2024045695A1 - Catheter robot, detection method therefor, and computer-readable storage medium - Google Patents

Abstract

The present application provides a catheter robot, a detection method therefor, and a computer-readable storage medium. A control device of the catheter robot is coupled with a mechanical arm and is configured for: acquiring the working stroke of the tail end of the mechanical arm in a first direction; in response to the alignment of the tail end of the mechanical arm with a guider configured to be connected to a human body, acquiring a first pose of the tail end of the mechanical arm in a base coordinate system of the mechanical arm; on the basis of the first pose and the working stroke, determining a second pose of the tail end of the mechanical arm in the base coordinate system of the mechanical arm; on the basis of the second pose, determining a target joint variable of a joint in the mechanical arm; and on the basis of the relationship between the target joint variable of the joint in the mechanical arm and a joint motion range thereof, determining whether the pose relationship between the catheter robot and the guider meets requirements or not. By means of the technical solutions provided in the present application, the technical problem that it is inconvenient to detect the placement angle of a base of a catheter robot in the prior art can be solved.

Description

Catheter robot, detection method thereof, and computer-readable storage medium

This application claims priority to the Chinese patent application filed with the China Patent Office on August 31, 2022, with the application number 202211058722.3 and the application name "Catheter Robot and Its Detection Method, Computer-Readable Storage Medium", the entire content of which is incorporated by reference. incorporated in this application.

Technical field

The present application relates to the technical field of medical device operating methods, specifically, to a catheter robot and its detection method, and a computer-readable storage medium.

Background technique

Currently, catheter robots in the prior art generally include a base and a mechanical arm. In actual operation, the mechanical arm of the catheter robot will move relative to the base to enable the mechanical arm to operate medical instruments or perform medical operations.

Before using the catheter robot to perform surgical operations, the catheter robot needs to be properly arranged relative to the patient. However, when doctors or assistants arrange the catheter robot relative to the patient, they usually need to use a trial and error method, relying on the experience of the doctor or assistant to complete the arrangement. However, such an arrangement based on experience may still have the problem of inappropriate placement of the catheter robot relative to the patient.

Therefore, there is an urgent need to provide a means that can accurately detect whether the placement of the catheter robot relative to the patient is appropriate.

Contents of the invention

The main purpose of this application is to provide a catheter robot, a detection method thereof, and a computer-readable storage medium to solve the technical problem in the prior art that it is inconvenient to detect the posture relationship between the catheter robot and the guide.

In order to achieve the above objects, according to one aspect of the present application, a catheter robot is provided, It includes: a base; a robotic arm connected to the base; the robotic arm is used to install and operate catheter instruments; a control device coupled to the robotic arm and configured to: obtain the working stroke of the end of the robotic arm in the first direction , the first direction is the feeding direction of the catheter instrument; in response to the alignment of the end of the robotic arm with the guide used to connect the human body, obtain the first posture of the end of the robotic arm in the base coordinate system of the robotic arm, the first position The posture is the posture of the end of the robotic arm at the first end of the working stroke; based on the first posture and the working stroke, determine the second posture of the end of the robotic arm in the base coordinate system of the robotic arm. The second posture is the mechanical The posture of the end of the arm at the second end of the working stroke; based on the second posture, determine the target joint variables of the joints in the robotic arm; based on the relationship between the target joint variables of the joints in the robotic arm and their joint motion range, determine the catheter robot Whether the pose relationship with the guide meets the requirements.

In one embodiment, determining whether the posture relationship between the catheter robot and the guide meets the requirements based on the relationship between the target joint variables of the joints in the robotic arm and their joint motion ranges includes: comparing the target joints of the joints in the robotic arm The size of the variable and its joint motion range; when the target joint variable of any joint in the robotic arm does not exceed its joint motion range, determine that the posture relationship between the catheter robot and the guide meets the requirements; or, in one or When the target joint variables of multiple joints exceed their joint motion ranges, it is determined that the posture relationship between the catheter robot and the guide does not meet the requirements.

In one embodiment, the control device is further configured to: generate a prompt sound and/or prompt interface to prompt the user based on whether the posture relationship between the catheter robot and the guide meets the requirements.

In one embodiment, when it is determined that the posture relationship between the catheter robot and the guide does not meet the requirements, the control device is further configured to: obtain the relationship between the base coordinate system of the robotic arm and the reference coordinate system of the base. Conversion relationship; Based on the first posture and the conversion relationship, determine the deflection angle between the end of the robotic arm and the base. The deflection angle is the angle between the end of the robotic arm and the base on the support plane of the support base.

In one embodiment, the robotic arm includes a linked first robotic arm and a second robotic arm. The first robotic arm and the second robotic arm are both arranged on the base. The second robotic arm cooperates with the guide; determining the deflection Angle, including: taking the operating end position of the second robotic arm as the origin, taking the outer sheath of the second robotic arm The first coordinate system is established based on the extension direction and the extension direction perpendicular to the second robot arm; with the center point of the introduction hole of the guide as the origin, the extension direction of the introduction hole of the guide and the extension perpendicular to the introduction hole direction as the reference to establish a second coordinate system; drive the operating end of the second manipulator to move to the alignment position where the guide is aligned, so that the coordinate extension direction of the first coordinate system is the same as the coordinate extension direction of the second coordinate system; calculate the second The angle between a coordinate system and the base coordinate system, and the calculated angle is used as the deflection angle.

In one embodiment, a method for calculating the angle between the first coordinate system and the base coordinate system includes: determining the relationship between the first coordinate system and the base coordinate system according to joint variables of the second manipulator; The relationship between a coordinate system and a base coordinate system calculates the angle between the first coordinate system and the reference coordinate system of the base.

In one embodiment, after using the calculated included angle as the placement angle of the base, the method includes: comparing the included angle with a preset angle, and making adaptive adjustments to the base based on the comparison result.

In one embodiment, a method for adaptively adjusting the base according to the comparison results includes: when the included angle is greater than or equal to a preset angle, controlling the base to adjust the angle according to the included angle; when the included angle is less than the preset angle angle, the position of the control base remains unchanged.

In one embodiment, a method for adaptively adjusting the base based on the comparison results includes: controlling the base to adjust in a direction opposite to the offset direction of the included angle according to the offset direction of the included angle.

In one embodiment, a method for driving the operating end of the second robotic arm to move to an alignment position aligned with the guide includes: determining the straightened position of the second robotic arm as the initial position; in the zero-force drag mode, Drive the second robotic arm to move from the initial position to the alignment position.

In one embodiment, a method for driving the operating end of the second robotic arm to move to an alignment position aligned with the guide includes: detecting whether the operating end of the second robotic arm abuts against the positioning portion of the guide; when detecting When the operating end of the second robotic arm comes into contact with the positioning part of the guide, it is determined that the second robotic arm is in the aligned position, and the driving of the second robotic arm is stopped; when it is detected that the operating end of the second robotic arm is not in contact When reaching the positioning part of the guide, the relative positional relationship between the operating end of the second robot arm and the positioning part of the guide is detected based on the visual detection part, and the operation end of the second robot arm is detected based on the detection result of the visual detection part. The position is adjusted adaptively.

In one embodiment, the method of driving the operating end of the second robotic arm to move to an aligned position with the guide further includes: detecting the distance between the operating end of the second robotic arm and the positioning portion of the guide; when detecting When the distance between the operating end of the second robotic arm and the positioning part of the guide is less than or equal to the preset distance, the electromagnetic component at the positioning part is controlled to be energized to attract the second robot arm under the electromagnetic force of the electromagnetic component at the positioning part. The operating end of the robotic arm; when it is detected that the distance between the operating end of the second robotic arm and the positioning part of the guide is greater than the preset distance, the electromagnetic component at the positioning part is controlled to remain in a power-off state.

In one embodiment, the bottom of the base is provided with a universal wheel assembly and a telescopic support column. The support column is located at the center of the base, and the universal wheel assembly is arranged around the support column; the base is adapted according to the comparison results. The adjustment method includes: controlling the support column of the base to extend to the support position; controlling the base to rotate using the support column as the rotation axis, and making the rotation angle of the base the same as the included angle; or, the bottom of the base Multiple universal wheels are provided, and each universal wheel among the multiple universal wheels has an unlocked state and a locked state; a method for adaptively adjusting the base according to the comparison results includes: controlling one universal wheel to be in a locked state state, and control the remaining universal wheels of multiple universal wheels to be in the unlocked state; convert the calculated angle into a rotation angle in the locked state; control the base to rotate based on the locked universal wheel, And control the rotation angle of the base to be the same as the rotation angle.

In one embodiment, obtaining the working stroke of the end of the robotic arm in the first direction includes: obtaining an anatomical structure model corresponding to the anatomical structure in the patient's body; and planning a target path from the entrance of the anatomical structure model to the lesion based on the anatomical structure model. ; Based on the length of the target path, determine the actual first length from the entrance of the anatomical structure to the lesion; based on the first length, determine the working stroke.

In one embodiment, based on the length of the path, determining the working stroke includes: obtaining a second length from the alignment position when the guide is aligned with the end of the robotic arm to the entrance of the anatomical structure model; combining the first length and the second length, Determine work schedule.

According to another aspect of the present application, a detection method is provided. The detection method is suitable for a catheter robot. The catheter robot includes a base, a mechanical arm and a control device. The mechanical arm is connected to the base. The mechanical arm is used to install and operate catheter instruments. , the control device is coupled with the robotic arm; the detection method includes: obtaining a working stroke of the end of the robotic arm in a first direction, the first direction being the feed direction of the catheter instrument; in response to the alignment of the end of the robotic arm with the guide used to connect to the human body, obtaining the position of the end of the robotic arm at the base of the robotic arm The first posture of the coordinate system. The first posture is the posture of the end of the robotic arm at the first end of the working stroke. Based on the first posture and the working stroke, determine the position of the end of the robotic arm in the base coordinate system of the robotic arm. The second posture is the posture of the end of the robotic arm at the second end of the working stroke; based on the second posture, determine the target joint variables of the joints in the robotic arm; based on the target joint variables of the joints in the robotic arm and its The relationship between joint motion ranges determines whether the posture relationship between the catheter robot and the guide meets the requirements.

According to another aspect of the present application, a computer-readable storage medium is provided, the computer-readable storage medium stores a computer program, and the computer program is configured to be loaded and executed by a processor to implement any of the above embodiments. The steps of the detection method described above.

Applying the technical solution of this application, in actual use, the first attitude of the end of the mechanical arm in the base coordinate system of the mechanical arm is obtained through the control device, and the position of the end of the mechanical arm is determined based on the first attitude and the working stroke. The second pose of the polar coordinate system of the manipulator, and combining the second pose with the target joint variables and joint motion range, can effectively determine the pose relationship between the catheter robot and the guide, so as to facilitate the use of the catheter robot and the guide. The guides have a suitable positioning relationship to ensure the accuracy of the catheter robot in actual operations.

Description of drawings

Figure 1 shows a schematic diagram of a robotic arm of a catheter robot provided according to an embodiment of the present application during non-contact alignment;

Figure 2 shows a comparative schematic diagram of the mechanical arm of the catheter robot provided according to an embodiment of the present application at different positions at a distance L;

Figure 3 shows a schematic structural diagram of a catheter robot provided according to an embodiment of the present application when its positioning does not meet requirements;

Figure 4 shows a comparative schematic diagram of the structure in Figure 3 at different positions away from L2;

Figure 5 shows a schematic structural diagram of a robotic arm when extended according to an embodiment of the present application;

Figure 6 shows a schematic diagram of adjusting the base according to an embodiment of the present application;

FIG. 7 shows a schematic diagram of the adjusted base in FIG. 6 .

Among them, the above-mentioned drawings include the following reference signs:

10. Base;

20. Robotic arm; 21. First robotic arm; 22. Second robotic arm;

30. Guide;

40. Universal wheel;

50. Locking parts.

Detailed ways

In order to facilitate understanding of the present application, the present application will be described more fully below with reference to the relevant drawings. The preferred embodiments of the present application are shown in the accompanying drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described in this application. Rather, these embodiments are provided to provide a thorough and comprehensive understanding of the disclosure of the present application.

It should be noted 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 said to be "connected" to another element, it can be directly connected to the other element or there may also be intervening elements present. When an element is said to be "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 similar expressions used in this application are for illustrative purposes only and do not represent the only implementation manner. The terms "distal" and "proximal" used in this application are directional terms, which are commonly used terms in the field of interventional medical devices, where "distal" means the end far away from the operator during the operation, and "proximal" means The end closest to the operator during surgery. The terms "first/second" etc. used in this application may refer to one component and a type of two or more components having common characteristics.

Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by a person skilled in the technical field belonging to this application. The terms used in this application are only for the purpose of describing specific embodiments and are not intended to limit the application. Terms used in this application "And/or" includes any and all combinations of one or more of the associated listed items. The terms "each" and "plurality" used in this application include one or more than two.

As shown in Figures 1 to 7, Embodiment 1 of the present application provides a catheter robot. The catheter robot includes a base 10, a robotic arm 20 and a control device; the robotic arm 20 is connected to the base 10, and the robotic arm 20 is For installing and operating catheter equipment. The control device is coupled to the robotic arm 20 and is configured to: obtain the working stroke of the end of the robotic arm 20 in a first direction, where the first direction is the feeding direction of the catheter instrument; and respond to the contact between the end of the robotic arm 20 and the user. Based on the alignment of the guide 30 connected to the human body, the first posture of the end of the robotic arm 20 in the base coordinate system of the robotic arm 20 is obtained. The first posture is the posture of the end of the robotic arm 20 at the first end of the working stroke. ; Based on the first posture and the working stroke, determine the second posture of the end of the robotic arm 20 in the base coordinate system of the robotic arm 20, and the second posture is the posture of the end of the robotic arm 20 at the second end of the working stroke; Based on the second pose, the target joint variables of the joints in the robotic arm 20 are determined; based on the relationship between the target joint variables of the joints in the robotic arm 20 and their joint parameter joint motion range, the pose between the catheter robot and the guide 30 is determined Whether the relationship meets the requirements. This method can determine whether the posture relationship between the catheter robot and the guide 30 meets the requirements without using additional sensors.

Using the catheter robot provided in this embodiment, in actual use, the first posture of the end of the robotic arm 20 in the base coordinate system of the robotic arm 20 is obtained through the control device, and the mechanical arm is determined based on the first posture and the working stroke. The end of the arm 20 is in the second pose of the polar coordinate system of the robotic arm 20, and combining the second pose with the target joint variables and joint motion range can facilitate the effective determination of the pose relationship between the catheter robot and the guide 30. In order to facilitate the use of a suitable positioning relationship between the catheter robot and the guide 30, especially when the positioning relationship is determined to be appropriate, there is no need to repeatedly adjust the position of the catheter robot relative to the guide, which is conducive to ensuring that the catheter robot can smoothly perform the surgery. . Among them, since the guide is connected to the patient's body, by determining whether the position of the catheter robot relative to the guide is reasonable and appropriate, that is, it is determined whether the position of the catheter robot relative to the patient's body is reasonable and appropriate. In addition, additional sensors need to be installed to detect the human body positioning of the catheter robot and the patient. Whether the positioning is reasonable can be detected only through the control device of the catheter robot.

In some embodiments, the above-mentioned robotic arm 20 includes a first robotic arm 21 and a second robotic arm 22 . one In some embodiments, the first robotic arm 21 may be configured to only install one of an inner catheter instrument (sometimes also called an inner sheath instrument) and an outer catheter instrument (sometimes also called an outer sheath instrument), and the second robotic arm 22 Can be configured for mounting only the other of an inner catheter instrument and an outer catheter instrument. In some embodiments, the first robotic arm 21 may be configured to install either the inner catheter instrument or the outer catheter instrument, and the second robotic arm 22 may be configured to install either the inner catheter instrument or the outer catheter instrument. Either other, that is, 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 . Among them, the inner catheter device includes a flexible catheter (sometimes called an inner sheath), and the outer catheter device also includes a flexible catheter (sometimes called 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 robotic arm 21 and the second robotic arm 22 may be configured to have a specific linkage relationship. For example, one of the first robotic arm 21 and the second robotic arm 22 may be configured as the master arm, and the other of the first robotic arm 21 and the second robotic arm 22 may be configured as the slave arm. The slave arm It moves following the movement of the main arm to realize the feeding movement of the catheter instrument. In some embodiments, one of the first robotic arm 21 and the second robotic arm 22 that is equipped with the outer catheter instrument can be configured as the main arm, and the one of the first robotic arm 21 and the second robotic arm 22 that is equipped with the inner catheter instrument can be configured as the main arm. into the driven arm.

"Alignment" here can include contact alignment or non-contact alignment. Non-contact alignment can include contacts at small intervals rather than complete fit; alignment can be performed by setting contact sensors such as distance sensors, pressure sensors, and magnetic sensors. Detection, and determines whether the alignment is complete based on the detection of the sensor. In actual use, the alignment method can be executed correspondingly through the received confirmation instruction from the user. The user's confirmation instruction can be a voice instruction, a key instruction and other instruction information. For non-contact alignment, a laser transmitter can be provided on the outer catheter instrument 21 and a laser receiver can be provided on the guide 30. When the light emitted by the laser transmitter is accurately received by the laser receiver, it indicates that the two are aligned.

In some embodiments, based on the relationship between the target joint variables of the joints in the robotic arm 20 and their joint motion ranges, determining whether the posture relationship between the catheter robot and the guide 30 meets the requirements includes: comparing the joint variables in the robotic arm 20 The target joint variable and its joint motion range; in machinery When the target joint variable of any joint in the arm 20 does not exceed its joint motion range, it is determined that the posture relationship between the catheter robot and the guide 30 meets the requirements; or, the target joint variable of one or more joints in the robotic arm 20 When the joint movement range of the joint is exceeded, it is determined that the posture relationship between the catheter robot and the guide 30 does not meet the requirements. Adopting such an arrangement can facilitate the control device to more accurately determine whether the relationship between the catheter robot and the guide 30 meets the requirements.

When the manipulator 20 does not have redundant degrees of freedom (for example, within 6 degrees of freedom), there is usually only one set of calculated target joint variables. When the robotic arm 20 has redundant degrees of freedom (for example, 7 or more), one or more sets of target joint variables can be calculated. As long as one set of target joint variables is valid (still compared with its corresponding joint motion range), then It can be determined that the placement is appropriate; if all groups of target joint variables are invalid, it can be determined that the placement is inappropriate.

In some embodiments, the control device is further configured to: generate a prompt sound and/or prompt interface to prompt the user based on whether the posture relationship between the catheter robot and the guide 30 meets the requirements. Adopting such a setting can facilitate the operator to quickly obtain whether the posture relationship between the catheter robot and the guide 30 meets the requirements, and facilitate subsequent adaptive adjustment operations.

In some embodiments, when it is determined that the posture relationship between the catheter robot and the guide 30 does not meet the requirements, the control device is further configured to: obtain the base coordinate system of the robotic arm 20 and the reference coordinate system of the base 10 based on the first posture and the conversion relationship, determine the deflection angle between the end of the robotic arm 20 and the base 10, and the deflection angle is between the end of the robotic arm 20 and the base 10 on the support base 10 angle on the support plane. In this way, the robotic arm 20 and/or the base 10 can be easily adjusted according to the deflection angle between the end of the robotic arm 20 and the base 10 to adjust the posture between the catheter robot and the guide 30 The relationship meets the requirements, thereby improving the accuracy of subsequent operations of the robotic arm 20 .

In some embodiments, the robotic arm 20 includes a linked second robotic arm 22 and a first robotic arm 21. The second robotic arm 22 and the first robotic arm 21 are both disposed on the base 10. The second robotic arm 21 is connected to the guide Cooperate with the device 30; determine the deflection angle, including: taking the operating end position of the first robotic arm 21 as the origin, taking the extension direction of the outer sheath of the first robotic arm 21 and the extension direction perpendicular to the first robotic arm 21 as the reference Establish a first coordinate system; take the center point of the introduction hole of the guide 30 as the origin, and take the The second coordinate system is established based on the extension direction of the introduction hole 30 and the extension direction perpendicular to the introduction hole; drive the operating end of the first robotic arm 21 to move to the alignment position where the guide 30 is aligned, so that the first coordinate system The coordinate extension direction is the same as the coordinate extension direction of the second coordinate system; the angle between the first coordinate system and the base coordinate system is calculated, and the calculated angle is used as the deflection angle. With such an arrangement, it is easy to accurately calculate the angle between the robotic arm 20 and the base, and use the above-mentioned angle as the deflection angle to adaptively adjust the robotic arm 20 or the base 10, thereby making it easier to align the catheter robot with the machine base. The posture relationship between the guides 30 meets the requirements. For example, the first robotic arm 21 here is used to install the outer sheath instrument, and the second robotic arm 22 is used to install the inner catheter instrument.

In some embodiments, the method of calculating the angle between the first coordinate system and the base coordinate system includes: determining the angle between the first coordinate system and the base coordinate system according to the joint variables of the first robotic arm 21 and in combination with forward kinematics. The angle between the first coordinate system and the reference coordinate system of the base 10 is calculated according to the relationship between the first coordinate system and the base coordinate system. With such a setting, since the first robotic arm 21 generally has multiple joints, according to the conversion between multiple shutdown parameters, the angle between the first coordinate system and the base coordinate system can be better determined, improving the accuracy of the calculation. In this application, joint variables include joint angles and/or joint displacements, which are specifically determined according to whether the type of joints constituting the robotic arm 20 is a rotational joint or a translational joint.

When the posture relationship between the catheter robot in this embodiment and the guide 30 does not meet the requirements, the high-end catheter robot can be adjusted to an appropriate position through 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 end of the robotic arm 20 .

For example, after using the calculated included angle as the placement angle of the base 10, the method includes: comparing the included angle with a preset angle, and making adaptive adjustments to the base 10 based on the comparison results to improve the 10 The accuracy of the placement makes it easy to adjust the posture relationship between the catheter robot and the guide 30 to a state that meets the usage requirements, so as to improve the accuracy of subsequent operations.

In some embodiments, a method for adaptively adjusting the base 10 based on the comparison results includes: when the included angle is greater than or equal to a preset angle, controlling the base 10 to adjust the angle according to the size of the included angle; when the included angle is less than the preset angle, When the angle is set, the position of the control base 10 remains unchanged. With this setting, according to the above The above adjustment basis can facilitate adaptive adjustment. It should be noted that the angle value of the preset angle here can be extremely small, such as any value between 0.1° and 1°, such as 0.1°, 0.2°, 0.3°, etc., and of course it can also be smaller than 0.1°, such as 0.01 °, 0.02°, etc. The preset angle corresponds to the error range, so the required error range is also extremely small to effectively ensure the accuracy of the operation.

Illustratively, the method for adaptively adjusting the base 10 according to the comparison results in this embodiment includes: according to the offset direction of the included angle, controlling the base 10 in the opposite direction to the offset direction of the included angle. Adjustment. Adopting such a method can facilitate the occurrence of errors in the adjustment results and effectively ensure the accuracy of the adjustment.

For example, angles with positive values can be associated with clockwise directions, and angles with negative values can be associated with counterclockwise directions.

In some embodiments, the method of driving the operating end of the first robotic arm 21 to an alignment position aligned with the guide 30 includes: determining the straightened position of the first robotic arm 21 as the initial position; and in the zero-force drag mode. Next, the first mechanical arm 21 is driven to move from the initial position to the alignment position. Driving the first robotic arm 21 from the initial position to the alignment position includes the doctor or assistant manually dragging the first robotic arm 21 from the initial position to the alignment position. In some embodiments, if the robot 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 active arm, and there will always be a distance between the slave arm and the active arm. Keep a certain distance. For example, one of the arms can be set as the master arm and the other arm as the slave arm. In the zero-force drag mode, the active arm can be aligned with the guide 30 . In the aligned state, the coordinate system direction of the end of the active arm will be the same as the coordinate system direction of the guide 30 . For example, the first robotic arm 21 may be configured as the active arm. In some embodiments, when driving the operating end of the first robotic arm 21 to move to an alignment position aligned with the guide 30 , there is no need to configure the active arm and the driven arm. For example, when the robotic arm 20 is in zero force drag, In this mode, the first robotic arm 21 is driven to move from the initial position to the aligned position. At this time, the second robotic arm 22 maintains its current posture. Exemplarily, the method of driving the operating end of the first robotic arm 21 to move to an alignment position aligned with the guide 30 in this embodiment includes: detecting whether the operating end of the first robotic arm 21 abuts against the guide 30 at the positioning portion; when it is detected that the operating end of the first robotic arm 21 is in contact with the positioning portion of the guide 30, it is determined that the first machine The robotic arm 21 is in the aligned position and stops driving the first robotic arm 21; when it is detected that the operating end of the first robotic arm 21 does not contact the positioning part of the guide 30, the first robotic arm is detected according to the visual detection piece The relative positional relationship between the operating end of the first robotic arm 21 and the positioning portion of the guide 30 is determined, and the position of the operating end of the first robotic arm 21 is adaptively adjusted based on the detection results of the visual detection component. With such an arrangement, the operating end of the first robotic arm 21 can be moved to the alignment position quickly and accurately. In some embodiments, the positioning portion of the guide 30 may include, for example, a bayonet, and the operating end may include a blocking block adapted to the bayonet.

In some embodiments, the method of driving the operating end of the first robotic arm 21 to move to an aligned position with the guide 30 further includes: detecting the distance between the operating end of the first robotic arm 21 and the positioning portion of the guide 30 ; When it is detected that the distance between the operating end of the first robotic arm 21 and the positioning part of the guide 30 is less than or equal to the preset distance, the electromagnetic component at the positioning part is controlled to be energized to use the electromagnetic force of the electromagnetic component at the positioning part. The operating end of the first robotic arm 21 is attracted to the aligned position; when it is detected that the distance between the operating end of the first robotic arm 21 and the positioning part of the guide 30 is greater than the preset distance, the electromagnetic component at the positioning part is controlled. Remain powered off. The operating end is provided with magnetic parts such as magnets, iron, etc. that cooperate with the electromagnetic parts. The detachable magnetic adsorption design of magnetic components and electromagnetic components that can be switched on and off can facilitate adaptive control of the first robotic arm 21 through the electromagnetic components, so as to accurately and quickly connect the end of the first robotic arm 21 to the positioning part. Perform alignment to make adjustments more automated.

In some embodiments, when the control device controls the energization of the electromagnetic component, a constant current or voltage may be used to control the energization of the electromagnetic component to generate a magnetic field of constant magnitude. Just simple power on and off control is enough.

In some embodiments, when the control device controls the energization of the electromagnetic component, a changing current or voltage may be used to control the energization of the electromagnetic component to generate a changing magnetic field. It can better control changes in the magnetic field in conjunction with changes in distance to ensure smooth alignment.

For example, if the preset distance includes a first preset distance and a second preset distance, and the first preset distance is greater than the second preset distance, a stepped current or voltage can be used to control the energization of the electromagnetic component. For example, when it is detected that the distance between the operating end of the first robotic arm 21 and the positioning part of the guide 30 reaches a first preset distance, the electromagnetic component 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 operating end of the first robotic arm 21 and the positioning portion of the guide 30 reaches the second preset distance, the electromagnetic component 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, a non-stepped type, such as a linearly changing current or voltage, can be used to control the energization of the electromagnetic component. For example, when it is detected that the distance between the operating end of the first robotic arm 21 and the positioning part of the guide 30 reaches a preset distance, the control electromagnetic component is energized with a rated current or voltage, and as the operating end of the first robotic arm 21 When the distance from the positioning part of the guide 30 is reduced, the output current or voltage can be determined based on the proportional relationship between the remaining distance and the preset distance, and then the output current or voltage can be used to control the electromagnetic component to be energized. 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 located at the center of the base 10 and the universal wheel assembly is arranged around the support column; based on the comparison results, the base 10 The adaptive adjustment method includes: controlling the support column of the base 10 to extend to the support position; controlling the base 10 to rotate using the support column as the rotation axis, and making the rotation angle of the base 10 equal to the included angle. With such an arrangement, the control base 10 can be easily adjusted, the structure is simple, and the adjustment effect is stable.

Alternatively, in another embodiment, a plurality of universal wheels are provided at the bottom of the base 10, and each universal wheel 40 among the plurality of universal wheels 40 has an unlocked state and a locked state; the base 10 is evaluated according to the comparison results. The adaptive adjustment method includes: controlling one universal wheel 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 the locked state ; Control the base 10 to rotate based on the universal wheel in the locked state, and control the rotation angle of the base 10 to be the same as the rotation angle. With such an arrangement, the control base 10 can be easily adjusted, the structure is simple, and the adjustment effect is stable. A locking piece can also be provided on the universal wheel 40 for mechanical locking or unlocking.

In some embodiments, when specifically adjusting the base 10 , for example, the aligned first robotic arm 21 of the outer sheath operating arm can be fixedly connected to the guide 30 , for example, by providing a latch, a snap ring, a magnetic connection, etc. In this way, the two are rigidly connected, and then the base 10 is adjusted. In this way, The adjustment of the catheter robot can be completed at one time without repeating the two steps of aligning the first robotic arm 21 of the outer sheath operating arm 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 perform rigid connection according to input instructions or during alignment; after the adjustment operation of the base 10 is completed, the rigid connection is disconnected.

For example, when the first robotic arm 21 is fixedly connected to the guide 30, the base 10 can be used as the distal end (ie, the end) of the first robotic arm 21, and the operating end of the first robotic arm 21 can be The end fixedly connected to the guide 30 serves as the proximal end of the first robotic arm 21 , that is, the base coordinate system can be established at the proximal end of the first robotic arm 21 , and the distal end of the first robotic arm 21 , that is, the base 10 is controlled to be relatively Movement based on the base coordinate system built at the proximal end of the first robotic arm 21 . For example, the target rotation angle at which the base 10 is expected to move under the base coordinate system configured by the doctor or assistant, for example through a user configuration interface or physical buttons or voice, can be obtained, and the first rotation angle is determined based on the target rotation angle, for example, in combination with inverse kinematics. A target joint variable of a joint in the robot arm 21 is used to control the movement of the first robot arm 21 according to the target joint variable, so that the movement of the base 10 reaches the target rotation angle. For example, the target rotation angle may include the above-mentioned deflection angle. With this design, the catheter robot can be placed in an appropriate position relative to the guide. In this embodiment, the universal wheels of the base 10 can be controlled to be in an unlocked state.

In some embodiments, obtaining the working stroke of the end of the robotic arm 20 in the first direction includes: obtaining an anatomical structure model corresponding to the anatomical structure in the patient's body; and planning a target path from the entrance of the anatomical structure model to the lesion based on the anatomical structure model. ; Based on the length of the target path, determine the actual first length from the entrance of the anatomical structure to the lesion; based on the first length, determine the working stroke. It can determine the different working strokes of the catheter robot based on different individuals to ensure the smooth implementation of the operation on the individual.

Exemplarily, based on the length of the path, determining the working stroke includes: obtaining a second length from the alignment position when the guide 30 is aligned with the end of the robotic arm 20 to the entrance of the anatomical structure model; combining the first length and the second length, Determine work schedule. With such a setting, the working schedule can be determined more accurately.

In some embodiments, the determination of the work schedule can be obtained through big data statistical analysis, for example, Obtain the work schedules corresponding to hundreds, thousands or even tens of thousands of different individual patients, and based on the obtained work schedules, determine a reasonable work schedule that can accommodate most individual patients. For example, assuming that the working strokes are between 300mm and 650mm, a working stroke can be set uniformly to 700mm.

Taking the first robotic arm as an example, the process of determining the working distance versus the offset angle is: based on forward kinematics, determine the position P1 of the end of the first robotic arm in the reference coordinate system T2; it can be based on the end of the first robotic arm When the reference coordinate system T2 is aligned, the position P1 (that is, the position of the first end of the working stroke) and the working stroke L determine the target position P2 of the end of the first robotic arm in the feed direction at the farthest end of the reference coordinate system T2. (i.e., the position of the second end of the working stroke), where, in the reference coordinate system T2, P1+L=P2, based on P2 and using inverse kinematics to determine the target joint amount of each joint in the arm; compare each target joint amount with each joint Compare the range of motion. If it is valid, the offset angle at this time is reasonable.

When the anatomical structure is a lung bronchus model, the target path can include one or more, and different lengths can be determined corresponding to different target paths, or the longest length can be selected and the working stroke is determined based on the target path. For example, the target path may also be a path along the center line of the anatomical structure. The length of the path of the anatomical structure has a certain proportional relationship with the model of the structure. After determining the length in the anatomical structure model, the actual working stroke can be determined.

For example, for the manipulator 20, the corresponding joint instance in the control target joint is in a zero force state. It is exemplary that the corresponding joint needs to be controlled to be able to basically compensate (or balance) the gravity of its distal load and/or overcome it. The friction of the joint itself. Of course, this principle is also applicable to the control of the corresponding joint of the target joint in the zero-force state later.

In some embodiments, controlling the corresponding joint in the target joint to be in a zero-force state may include: obtaining the joint position of at least the corresponding joint and its distal joint, and determining the corresponding joint position by combining the joint position and the dynamic model associated with the corresponding joint. The compensation torque output by the corresponding joint; furthermore, the corresponding joint is controlled to output the compensation torque.

The joint of the drive arm usually includes a position sensor for detecting the position of the joint. The position sensor may be an encoder, for example. The joint of the drive arm usually also includes a drive mechanism such as a motor, Control the corresponding joint to be in a zero-force state, for example, control the associated motor to output a compensation torque.

The dynamic model that needs to be used in this application is usually constructed for the corresponding joint. For example, the constructed dynamic model is usually different for different corresponding joints. Typically, the dynamic model is associated with the corresponding joint and its distal joint.

For example, the dynamic model for the corresponding joint can be constructed as follows:

Obtain the link parameters of the corresponding joint and its distal joint, and establish the link coordinate system based on these link parameters. Among them, the joints include joints and connecting rods connected to the joints, and the connecting rod parameters (ie, DH parameters) include joint angles and/or joint displacements, connecting rod lengths and other parameters.

A first dynamic model associated with the corresponding joint is constructed according to the link coordinate system. Wherein, the first dynamic model is usually expressed in symbolic form (that is, a formula with unknown parameters), and the first dynamic model is a fuzzy dynamic model (that is, the dynamic parameters are temporarily uncertain). For example, the first dynamic model is expressed as the following formula:

Among them, τ is the actual moment of the joint, θ is the joint position of the joint, is the speed of the joint ( is the first derivative of θ), is the speed of the joint ( is the second derivative of θ), M(θ) is the inertia matrix, Including Correct force and centrifugal force, G(θ) is the gravity moment of the joint.

Unknown kinetic parameters in the first kinetic model are determined. The first kinetic model usually includes at least one unknown kinetic parameter. Usually, all unknown kinetic parameters involved in formula (1) can be determined to obtain an accurate second kinetic model. In one embodiment, the contribution of some unknown dynamic parameters to the joint torque can also be ignored according to the actual situation. For example, the key dynamic parameters such as the mass, center of mass and friction torque of the joint can be mainly focused on. In some embodiments, , the mass, center of mass and friction moment of a joint may be affected by the driving mechanism that drives the joint and/or the transmission mechanism that connects the driving mechanism and the joint to achieve transmission. For example, when the structure of the driving arm is relatively regular, at least some of the dynamic parameters such as the mass, center of mass, and friction moment of the joint can be directly obtained without identification. Of course, at least some of the dynamic parameters such as the joint's mass, center of mass, and friction torque can also be obtained by using identification methods. For example, the mass of a joint can be obtained by weighing, and the center of mass and friction moment of the joint can be obtained by using identification methods. For example, It is considered that M(θ) and The contribution to the joint moment is acceptable in one example of this application, therefore, formula (1) can be abbreviated as follows:
τ=G(θ) formula (2)

The determined kinetic parameters are substituted into the first kinetic model to obtain the second kinetic model. Wherein, the second kinetic model is a clear kinetic model (that is, the kinetic parameters have been determined). Furthermore, when combining these joint positions and the dynamic model associated with the corresponding joint to determine the compensation torque corresponding to the expected output of the driving mechanism of the corresponding joint, the dynamic model used refers to the second dynamic model.

In some embodiments, considering the adverse effects caused by friction torque, friction torque can be excluded from the actual torque of the joint, specifically:

The moment balance model of the joint can be constructed based on the principle of dynamic balance. The moment balance model can be expressed as the following formula:

Among them, τ is the actual moment of the joint, θ is the joint position of the joint, is the speed of the joint, k ₁ and k ₂ are gravity moment parameters, f is the friction moment of the joint, Indicates the direction of speed.

Furthermore, the friction torque of the joint can be determined through the identification method. For example, a single joint can be controlled to move at a low speed and at a constant speed, traversing the entire range of motion, and collecting the actual torque of the joint and the corresponding joint position. The single joint refers to the corresponding joint. joint. Among them, during the process of uniform motion, the friction torque is approximately constant and is usually considered to be a fixed value. Therefore, based on the collected actual torque of the joint and the corresponding joint position, and using the least squares method, the friction torque of the joint can be identified. . It can be understood that the actual torque of the joint is output by the driving mechanism that drives the motion of the joint.

Furthermore, when the unknown dynamic parameters in the first dynamic model (such as the gravity moment in formula (2)) are determined through the identification method, each joint can be controlled to move at a low speed and at a constant speed, traversing the entire range of motion, and collecting the corresponding The actual torque of the joint, and the joint position corresponding to the corresponding joint and its distal joint are combined with the actual torque of the corresponding joint, the friction moment of the corresponding joint, and the corresponding joint position of the corresponding joint and its distal joint, and using such as the minimum quadratic Multiplication can identify unknown dynamic parameters of the joint (such as the gravity moment in formula (2)). For example, in formula (2) , the identified unknown dynamic parameters are mainly gravity moment parameters (including mass and center of mass, etc.). Therefore, the relationship between the joint positions of the corresponding joints and their distal joints and the compensation moments of the corresponding joints can be effectively constructed. The second dynamic model of the relationship. )

Embodiment 2 of the present application provides a detection method. The detection method is suitable for catheter robots. The catheter robot includes a base 10, a robotic arm 20 and a control device. The robotic arm 20 is connected to the base 10. The robotic arm 20 is used for installation and To operate the catheter instrument, the control device is coupled to the robotic arm 20; the detection method includes: obtaining the working stroke of the end of the robotic arm 20 in the first direction, and the first direction is the feeding direction of the catheter instrument; in response to the end of the robotic arm 20 and The alignment of the guide 30 used to connect the human body is to obtain the first posture of the end of the robotic arm 20 in the base coordinate system of the robotic arm 20. The first posture is the position of the end of the robotic arm 20 at the first end of the working stroke. posture; based on the first posture and the working stroke, determine the second posture of the end of the robotic arm 20 in the base coordinate system of the robotic arm 20. The second posture is the posture of the end of the robotic arm 20 at the second end of the working stroke. ; Based on the second posture, determine the target joint variables of the joints in the robotic arm 20 ; Based on the relationship between the target joint variables of the joints in the robotic arm 20 and their joint motion ranges, determine the posture relationship between the catheter robot and the guide 30 Whether the requirements are met.

Embodiment 3 of the present application provides a computer-readable storage medium. The computer-readable storage medium stores a computer program. The computer program is configured to be loaded by a processor and executed to implement the detection method provided in any of the above embodiments. step.

The technical features of the above-described embodiments can be combined in any way. To simplify the description, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, All should be considered to be within the scope of this manual.

The above-described embodiments only express several implementation modes of the present application, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be noted that, for those of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all fall within the protection scope of the present application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims (17)

1. A catheter robot, characterized by including:

   base(10);

   A mechanical arm (20) is connected to the base (10), and the mechanical arm (20) is used to install and operate catheter instruments;

   A control device coupled to the robotic arm (20) and configured for:

   Obtain the working stroke of the end of the robotic arm (20) in a first direction, where the first direction is the feeding direction of the catheter instrument;

   In response to the alignment of the end of the robotic arm (20) with the guide (30) used to connect the human body, the first position of the end of the robotic arm (20) in the base coordinate system of the robotic arm (20) is obtained. Position, the first position is the position of the end of the mechanical arm (20) at the first end of the working stroke;

   Based on the first posture and the working stroke, a second posture of the end of the robotic arm (20) in the base coordinate system of the robotic arm (20) is determined, and the second posture is the The position of the end of the robotic arm (20) at the second end of the working stroke;

   Based on the second pose, determine target joint variables of the joints in the robotic arm (20);

   Based on the relationship between the target joint variables of the joints in the robotic arm (20) and their joint motion ranges, it is determined whether the posture relationship between the catheter robot and the guide (30) meets the requirements.
2. The catheter robot according to claim 1, characterized in that, based on the relationship between the target joint variables of the joints in the robotic arm (20) and their joint motion ranges, the catheter robot and the guide ( 30) Whether the posture relationship between them meets the requirements, including:

   Compare the target joint variables of the joints in the robotic arm (20) with their joint motion ranges;

   When the target joint variable of any joint in the robotic arm (20) does not exceed its joint motion range, determine that the posture relationship between the catheter robot and the guide (30) meets the requirements; or,

   When the target joint variable of one or more joints in the robotic arm (20) exceeds its joint motion range, it is determined that the posture relationship between the catheter robot and the guide (30) does not meet the requirements.
3. The catheter robot of claim 1, wherein the control device is further configured to:

   Based on whether the posture relationship between the catheter robot and the guide (30) meets the requirements, a prompt sound and/or prompt interface is generated to prompt the user.
4. The catheter robot according to claim 3, characterized in that, when it is determined that the posture relationship between the catheter robot and the guide (30) does not meet the requirements, the control device is further configured to:

   Obtain the conversion relationship between the base coordinate system of the robotic arm (20) and the reference coordinate system of the base (10);

   Based on the first posture and the conversion relationship, a deflection angle between the end of the robotic arm (20) and the base (10) is determined, where the deflection angle is The angle between the end and the base (10) on the support plane supporting the base (10).
5. The catheter robot according to claim 4, characterized in that the mechanical arm (20) includes a first mechanical arm and a second mechanical arm that are linked, and both the first mechanical arm and the second mechanical arm are provided with On the base (10), the second mechanical arm cooperates with the guide (30); determining the deflection angle includes:

   A first coordinate system is established based on the operating end position of the second robotic arm as the origin, the extension direction of the outer sheath of the second robotic arm and the extension direction perpendicular to the second robotic arm; The center point of the introduction hole of the guide (30) is the origin, and a second coordinate system is established based on the extension direction of the introduction hole of the guide (30) and the extension direction perpendicular to the introduction hole;

   Driving the operating end of the second robotic arm to move to an alignment position where the guide (30) is aligned, so that the coordinate extension direction of the first coordinate system is the same as the coordinate extension direction of the second coordinate system;

   Calculate the angle between the first coordinate system and the base coordinate system, and use the calculated angle as the deflection angle.
6. The catheter robot according to claim 5, wherein the method for calculating the angle between the first coordinate system and the base coordinate system includes:

   Determine the relationship between the first coordinate system and the base coordinate system according to the joint variables of the second robotic arm;

   The angle between the first coordinate system and the reference coordinate system of the base (10) is calculated according to the relationship between the first coordinate system and the base coordinate system.
7. The catheter robot according to claim 5, characterized in that, after using the calculated included angle as the placement angle of the base (10), it includes:

   The included angle is compared with a preset angle, and the base (10) is adaptively adjusted according to the comparison result.
8. The catheter robot according to claim 7, characterized in that the method for adaptively adjusting the base (10) according to the comparison results includes:

   When the included angle is greater than or equal to the preset angle, the base (10) is controlled to adjust the angle according to the included angle;

   When the included angle is smaller than the preset angle, the position of the base (10) is controlled to remain unchanged.
9. The catheter robot according to claim 8, characterized in that the method for adaptively adjusting the base (10) according to the comparison results includes:

   According to the offset direction of the included angle, the base (10) is controlled to adjust in the opposite direction to the offset direction of the included angle.
10. The catheter robot according to claim 5, characterized in that the method of driving the operating end of the second robotic arm to move to an alignment position aligned with the guide (30) includes:

    Determine the straightened position of the second robotic arm as the initial position;

    In the zero-force drag mode, the second robotic arm is driven to move from the initial position to the alignment position.
11. The catheter robot according to claim 10, characterized in that the method of driving the operating end of the second robotic arm to move to an alignment position aligned with the guide (30) includes:

    Detect whether the operating end of the second robotic arm abuts the positioning portion of the guide (30);

    When it is detected that the operating end of the second robotic arm is in contact with the positioning part of the guide (30), it is determined that the second robotic arm is in the alignment position, and the driving of the outer catheter instrument is stopped. ;

    When it is detected that the operating end of the second robotic arm is not in contact with the positioning portion of the guide (30), detecting the contact between the operating end of the second robotic arm and the guide (30) based on the visual detection component The relative positional relationship between the positioning parts, and the position of the operating end of the second robotic arm is adaptively adjusted according to the detection results of the visual detection component.
12. The catheter robot according to claim 11, characterized in that the method of driving the operating end of the second robotic arm to move to an aligned position with the guide (30) further includes:

    Detecting the distance between the operating end of the second robotic arm and the positioning part of the guide (30);

    When it is detected that the distance between the operating end of the second robotic arm and the positioning part of the guide (30) is less than or equal to the preset distance, the electromagnetic component at the positioning part is controlled to be energized so that the positioning part is The operating end of the second robotic arm is attracted by the electromagnetic force of the electromagnetic component at the bottom;

    When it is detected that the distance between the operating end of the second robotic arm and the positioning part of the guide (30) is greater than the preset distance, the electromagnetic component at the positioning part is controlled to maintain a power-off state.
13. The catheter robot according to claim 7, characterized in that:

    The bottom of the base (10) is provided with a universal wheel assembly and a telescopic support column. The support column is located at the center of the base (10). The universal wheel assembly is arranged around the support column. ; A method of adaptively adjusting the base (10) according to the comparison results, including:

    Control the support column of the base (10) to extend to the support position;

    Control the base (10) to rotate with the support column as the rotation axis, and make the rotation angle of the base (10) the same as the included angle; or,

    A plurality of universal wheels are provided at the bottom of the base (10), and each of the plurality of universal wheels has an unlocked state and a locked state; the base (10) is inspected according to the comparison results. Adaptive adjustment methods include:

    Control one universal wheel to be in the locked state, and control the remaining universal wheels of the plurality of universal wheels. The direction wheel is unlocked;

    Convert the calculated included angle into the rotation angle in the locked state;

    The base (10) is controlled to rotate based on the universal wheel in the locked state, and the rotation angle of the base (10) is controlled to be the same as the rotation angle.
14. The catheter robot according to claim 1, wherein obtaining the working stroke of the end of the robotic arm (20) in the first direction includes:

    Obtain an anatomical structure model corresponding to the anatomical structure in the patient's body;

    Based on the anatomical structure model, plan a target path from the entrance of the anatomical structure model to the lesion;

    Based on the length of the target path, determine an actual first length from the entrance of the anatomical structure to the lesion;

    Based on the first length, the working stroke is determined.
15. The catheter robot according to claim 14, wherein determining the working stroke based on the length of the path includes:

    Obtaining a second length from the alignment position when the guide (30) is aligned with the end of the robotic arm (20) to the entrance of the anatomical structure model;

    The working stroke is determined in combination with the first length and the second length.
16. A detection method, characterized in that the detection method is suitable for a catheter robot, the catheter robot includes a base, a mechanical arm and a control device, the mechanical arm is connected to the base, and the mechanical arm is used for installation and operating catheter equipment, the control device is coupled with the mechanical arm; the detection method includes:

    Obtain the working stroke of the end of the robotic arm in a first direction, where the first direction is the feeding direction of the catheter instrument;

    In response to the alignment of the end of the robotic arm with the guide used to connect the human body, a first posture of the end of the robotic arm in the base coordinate system of the robotic arm is obtained, where the first posture is the The position of the end of the robotic arm at the first end of the working stroke;

    Based on the first posture and the working stroke, it is determined that the end of the mechanical arm is in the mechanical The second posture of the base coordinate system of the arm, the second posture being the posture of the end of the robotic arm at the second end of the working stroke;

    Based on the second pose, determine target joint variables of the joints in the robotic arm;

    Based on the relationship between the target joint variables of the joints in the robotic arm and their joint motion ranges, it is determined whether the posture relationship between the catheter robot and the guide meets the requirements.
17. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program, and the computer program is configured to be loaded by a processor and execute the steps of implementing the detection method as claimed in claim 16.