CN119818188A

CN119818188A - Vascular intervention operation robot system

Info

Publication number: CN119818188A
Application number: CN202311330492.6A
Authority: CN
Inventors: 请求不公布姓名
Original assignee: Shanghai Microport Medbot Group Co Ltd
Current assignee: Shanghai Microport Medbot Group Co Ltd
Priority date: 2023-10-13
Filing date: 2023-10-13
Publication date: 2025-04-15
Anticipated expiration: 2043-10-13
Also published as: CN119818188B

Abstract

The present application relates to a vascular interventional surgical robot system. The vascular interventional surgical robot system includes: a first control handle for performing linear motion and rotational motion; a magnetic guide device, including a linear motion mechanism and an arc motion mechanism; and a control unit, the control unit is respectively connected to the first control handle and the magnetic guide device in communication; wherein the control unit is configured to, when the first control handle performs linear motion, control the linear motion mechanism of the magnetic guide device to change the magnetic field of the magnetic guide device to drag the distal end of the guide wire; when the first control handle performs rotational motion, control the arc motion mechanism of the magnetic guide device to change the magnetic field of the magnetic guide device to deflect the distal end of the guide wire. With this vascular interventional surgical robot system, the arc motion mechanism and the linear motion mechanism can be controlled by the movement of the first control handle to flexibly control the movement of the guide wire, which can reduce the difficulty of the operation and improve the efficiency of the operation.

Description

Vascular intervention operation robot system

Technical Field

The application relates to the technical field of medical instruments, in particular to a vascular intervention operation robot system.

Background

The vascular intervention operation robot is a device which has high safety and assists doctors in performing intervention operation. The vascular intervention operation robot can simulate the operation habit of doctors on the traditional operation, combines digital subtraction angiography and image navigation, realizes the delivery and twisting actions of the guide wire, places the guide wire at the focus position and repairs and treats the focus.

However, for the positions of small blood vessels, small curvature of blood vessel paths and the like, the force/moment applied by the delivery device at the proximal end of the guide wire/catheter cannot be completely transmitted to the distal end of the guide wire/catheter along the flexible guide wire/catheter, and the conventional guide wire/catheter pushing mode is difficult to adapt to complex blood vessel paths in a living body.

Disclosure of Invention

Based on the above, it is necessary to provide a vascular interventional operation robot system, which realizes the control of the distal movement of the guide wire/catheter in a master-slave isomorphic manner so as to adapt to the complex vascular path in vivo movement.

The application provides a vascular intervention operation robot system, which comprises:

A first control handle for performing a linear motion and a rotational motion;

the magnetic guiding device comprises a linear motion mechanism and an arc motion mechanism, and

The control unit is in communication connection with the first control handle and the magnetic guiding device respectively, and is configured to:

when the first control handle performs linear motion, controlling the linear motion mechanism of the magnetic guiding device to move so as to change the magnetic field of the magnetic guiding device to drag the distal end of the guide wire, so that the distal end of the guide wire moves;

when the first control handle performs rotational movement, the arcuate movement mechanism of the magnetic guide device is controlled to move to change the magnetic field of the magnetic guide device to deflect the distal end of the guide wire so that the distal end of the guide wire is bent.

In one embodiment, the arcuate movement mechanism includes:

A magnetic assembly for generating a magnetic field;

the inner surface of the first arc-shaped sliding rail is provided with the magnetic component;

The supporting mechanism is used for supporting the first arc-shaped sliding rail;

The second driving mechanism is in sliding connection with the first arc-shaped sliding rail and is used for driving the first arc-shaped sliding rail to rotate relative to the supporting mechanism.

In one embodiment, the arcuate movement mechanism further comprises:

The second arc-shaped sliding rail is arranged on the inner surface of the first arc-shaped sliding rail;

the sliding component is in sliding connection with the second arc-shaped sliding rail, the sliding component is used for sliding along the second arc-shaped sliding rail, and the magnetic component is arranged on the sliding component.

In one embodiment, the magnetic assembly comprises a plurality of electromagnets, and the plurality of electromagnets are arranged on the inner surface of the first arc-shaped sliding rail at intervals.

In one embodiment, the control unit is further configured to:

And when the first control handle performs rotary motion, controlling a target electromagnet to electrify to generate a magnetic field, wherein the target electromagnet is one of the electromagnets.

In one embodiment, the first control handle further comprises a conductive sheet and an on-off device, the control unit is connected with the on-off device, and when the conductive sheet is in contact conduction with a target arc-shaped conductor in the on-off device, the control unit controls a target electromagnet corresponding to the target arc-shaped conductor to be electrified to generate a magnetic field, wherein each arc-shaped conductor corresponds to each electromagnet one by one.

In one embodiment, the linear motion mechanism comprises a linear motion mechanism body and a first drive mechanism;

The first driving mechanism is arranged on the linear motion mechanism main body and is connected with the arc-shaped motion mechanism and used for driving the arc-shaped motion mechanism to conduct linear translation.

In one embodiment, the first control handle comprises a first hand-held element for forced rotation and/or forced linear movement, wherein,

The control unit is further configured to:

acquiring angular displacement information of the forced rotation and/or linear displacement information of the forced linear motion of the first handheld element;

Controlling the rotation angle of the arc-shaped movement mechanism according to the angular displacement information of the first handheld element so as to change the magnetic field of the magnetic guiding device and deflect the distal end of the guide wire;

and controlling the linear translation distance of the linear motion mechanism according to the linear displacement information so as to change the magnetic field of the magnetic guide device and drag the distal end of the guide wire.

In one embodiment, the first control handle further comprises a first motion part, the first motion part comprises a first detection component and a second detection component, the first detection component is used for detecting angular displacement information of the first handheld element, and the second detection component is used for detecting linear displacement information of the first handheld element;

The control unit is connected with the first detection component and the second detection component respectively, and the control unit is further configured to:

and acquiring the angular displacement information of the first handheld element through the first detection assembly, and acquiring the linear displacement information of the first handheld element through the second detection assembly.

In one embodiment, the vascular interventional surgical robot system further comprises a support table, the first motion part further comprises a first slide rail, the first slide rail is arranged on the support table, and the first handheld element is in sliding connection with the first slide rail.

In one embodiment, the vascular interventional surgical robot system further comprises a pushing mechanism for pushing the guide wire and a second control handle connected to the control unit, respectively, the control unit being further configured to:

When the second control handle performs linear motion, the pushing mechanism is controlled to drive the guide wire to perform linear motion;

And when the second control handle performs rotary motion, controlling the pushing mechanism to drive the guide wire to rotate.

In one embodiment, the second control handle comprises a second handheld element for forced rotation and/or forced linear movement;

The control unit is further configured to:

acquiring angular displacement information of the forced rotation and/or linear displacement information of the forced linear motion of the second handheld element;

controlling the pushing mechanism to drive the guide wire to rotate according to the angular displacement information of the second handheld element;

and controlling the distance that the pushing mechanism drives the guide wire to linearly move according to the linear displacement information of the second handheld element.

In one embodiment, the pushing mechanism is provided with a resistance sensor, and the resistance sensor is used for detecting resistance information of the guide wire in the pushing process;

The second control handle includes a feedback assembly coupled to the second handheld element;

The control unit is connected to the resistance sensor and the feedback assembly, respectively, and is further configured to provide a feedback force to the second handheld element through the feedback assembly in accordance with the resistance information.

According to the vascular interventional operation robot system, the motion information of the first control handle at the operation end of the doctor can be mapped to the magnetic guiding device at the patient end in the same motion mode through the control unit, namely, when the first control handle at the operation end of the doctor executes linear motion, the control unit controls the linear motion mechanism of the magnetic guiding device at the patient end to linearly move to form magnetic field change so as to control the distal end of the guide wire/catheter to linearly drag and move, and when the first control handle at the operation end of the doctor executes rotary motion, the control unit controls the arc motion mechanism of the magnetic guiding device at the patient end to move so as to form magnetic field change so as to control the distal end of the guide wire/catheter to form deflection and move. The operation action of the doctor operation end and the execution action of the magnetic guiding device at the patient end are synchronous, namely, the master-slave isomorphism is realized, so that a doctor can more intuitively feel the motion state of the guide wire/catheter under the action of the magnetic guiding device, on one hand, the auxiliary motion (linear motion and bending motion) of the distal end of the guide wire/catheter under the magnetic field guidance of the magnetic guiding device can obviously improve the delivery accuracy of the distal end of the guide wire/catheter in a tiny blood vessel and a complex blood vessel, and on the other hand, the operation and control modes of the master-slave isomorphism are simpler and more visual, the learning difficulty curve of the doctor on the vascular intervention operation robot system can be obviously reduced, and the use experience of the doctor is improved.

Drawings

FIG. 1 is a schematic diagram of a vascular interventional procedure robotic system in one embodiment;

FIG. 2 is a schematic diagram of the structure of a magnetic guide in one embodiment;

FIG. 3 is a view of an environment in which the magnetic steering device shown in FIG. 2 is used;

FIG. 4 is a schematic view of the structure of a first control handle in one embodiment;

FIG. 5 is a schematic diagram of the on-principle of the on-off device in one embodiment;

FIG. 6 is a schematic diagram of a vascular interventional procedure robot system in another embodiment;

FIG. 7 is a schematic diagram of the structure of a second control handle in one embodiment;

FIG. 8 is a schematic layout view of a first handheld element and a second handheld element in one embodiment;

FIG. 9 is a schematic layout view of a first handheld element and a second handheld element in another embodiment;

FIG. 10 is a schematic layout view of a first handheld element and a second handheld element in yet another embodiment;

FIG. 11 is a schematic view of the structure of a magnetic guide in another embodiment;

FIG. 12 is a schematic view of an arcuate movement mechanism in one embodiment;

FIG. 13 is a schematic view of a magnetic guide in yet another embodiment;

FIG. 14 is an enlarged view of a portion of FIG. 13;

FIG. 15 is a view of the environment in which the magnetic steering device shown in FIG. 13 is used;

FIG. 16 is a schematic view of a linear motion mechanism in one embodiment;

FIG. 17 is a schematic view of a magnetic guide in yet another embodiment;

FIG. 18 is a flow chart of a method of driving a guidewire in one embodiment;

Fig. 19 is a flow chart of a method of driving a guidewire in one embodiment.

Detailed Description

The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

Based on the same inventive concept, the present application also provides a vascular interventional procedure robot system including a magnetic guide device 100, a control unit 200, and a first control handle 300, as shown in fig. 1.

Wherein the first control handle 300 is used to perform a linear motion and a rotational motion. As shown in fig. 2, the magnetic guide device 100 includes a linear motion mechanism 1 and an arc motion mechanism 2, and a control unit 200. The control unit 200 is communicatively connected to the first control handle 300 and the magnetic guide 100, respectively.

The control unit 200 is configured to control the linear motion mechanism 1 of the magnetic guide device 100 to move to change the magnetic field of the magnetic guide device 100 to drag the distal end of the guide wire so that the distal end of the guide wire moves when the first control handle 300 performs the linear motion, and to control the arc motion mechanism 2 of the magnetic guide device 100 to move to change the magnetic field of the magnetic guide device 100 to deflect the distal end of the guide wire so that the distal end of the guide wire bends when the first control handle 300 performs the rotational motion.

Wherein the guide wire may comprise a magnetic or ferrous element (iron or iron alloy element) which may be located at the distal end of the guide wire so that the guide wire displacement or bending may be controlled by varying the magnetic field applied to the guide wire. The linear motion mechanism 1 and the arc motion mechanism 2 may be provided with magnetic assemblies for generating magnetic fields, respectively, to drive the guide wire to move by driving the magnetic assemblies to move.

As shown in fig. 2, the magnetic component 3 may be arranged on the arc-shaped movement mechanism 2, the magnetic component 3 is driven to rotate by the arc-shaped movement mechanism 2, so that the magnetic field generated by the magnetic component 3 changes on the movement path of the arc-shaped movement mechanism 2, the arc-shaped movement mechanism 2 is driven to linearly move by the linear movement mechanism 1, the magnetic component 3 is driven to rotationally and linearly move by the arc-shaped movement mechanism 2, so that the magnetic field generated by the magnetic component 3 changes on the movement path of the linear movement mechanism 1, wherein the magnetic field generated by the magnetic component 3 changes on the movement path of the arc-shaped movement mechanism 2 and is used for realizing the deflection movement of the distal end of the guide wire/catheter, and the magnetic field generated by the magnetic component 3 changes on the movement path of the linear movement mechanism 1 and is used for realizing the linear movement of the distal end of the guide wire/catheter.

In this embodiment, the magnetic assembly 3 includes, for example, a plurality of electromagnets 31, and the plurality of electromagnets 31 are disposed at intervals along the inner side of the arc-shaped movement mechanism 2, wherein the inner side of the arc-shaped movement mechanism 2 is the side facing the patient, and faces the focal region of the patient. In other embodiments of the invention, the magnetic assembly may be any magnetic generator capable of generating a magnetic field, such as a permanent magnet.

Specifically, as shown in fig. 2 and 3, the arc-shaped movement mechanism 2 is, for example, a semicircular arc structure, and the magnetic assembly 3 includes a plurality of electromagnets 31 which are distributed on the inner surface of the semicircular arc structure at intervals. The electromagnets are distributed on the inner surface of the semicircular arc structure at intervals, each electromagnet is responsible for a certain arc area, namely, when the guide wire needs to move in the area, the electromagnet responsible for the area is electrified to generate a magnetic field, and each electromagnet can only rotate in the corresponding arc area. By the arrangement, the arc-shaped movement mechanism 2 does not need to rotate completely, and the arrangement can enable the magnetic field of the electromagnet to cover the whole neck and the whole head of a human body, and meanwhile, the electromagnet can be close enough to the human body, so that enough magnetic force can be ensured to drive the guide wire. This arrangement also allows the overall arcuate motion mechanism 2 and linear motion mechanism 1 to be relatively small without interfering with digital subtraction angiography (Digital Subtraction Angiography, DSA) equipment and hospital beds. Further, the plurality of electromagnets 31 may be uniformly distributed on the inner surface of the arc-shaped movement mechanism 2, so that the area of the area responsible for each electromagnet 31 is approximately the same.

As shown in fig. 3, for example, 5 electromagnets 31 are uniformly distributed on the inner side of the arc-shaped movement mechanism 2, each electromagnet 31 is responsible for a certain arc area, that is, when the guide wire needs to move in the area, the electromagnet 31 responsible for the area is electrified to generate a magnetic field. The first electromagnet 311 is only responsible for the first region, the first electromagnet 311 is only responsible for the second region, the second electromagnet 312 is only responsible for the second region, the third electromagnet 313 is only responsible for the third region, the fourth electromagnet 314 is only responsible for the fourth region, the fifth electromagnet 315 is only responsible for the fifth region, and the fifth electromagnet 315 is only responsible for the fifth region.

In the vascular interventional surgical robot system, the motion information of the first control handle 300 at the operation end of the doctor can be mapped to the magnetic guiding device 100 at the patient end in the same motion mode through the control unit 200, namely, when the first control handle 300 at the operation end of the doctor performs linear motion, the control unit 200 controls the linear motion mechanism 1 of the magnetic guiding device 100 at the patient end to linearly move to form magnetic field change so as to control the distal end of the guide wire/catheter to linearly drag and move, and when the first control handle 300 at the operation end of the doctor performs rotary motion, the control unit 200 controls the arc motion mechanism 2 of the magnetic guiding device 100 at the patient end to move so as to form magnetic field change so as to control the distal end of the guide wire/catheter to form deflection. Because the operation action of the doctor operation end and the execution action of the magnetic guiding device 100 at the patient end are synchronous, namely, the master-slave isomorphism is realized, a doctor can more intuitively feel the motion state of the guide wire/catheter under the action of the magnetic guiding device 100, on one hand, the auxiliary motion (linear motion and bending motion) of the distal end of the guide wire/catheter under the magnetic field guidance of the magnetic guiding device 100 can obviously improve the delivery accuracy of the distal end of the guide wire/catheter in a tiny blood vessel and a complex blood vessel, on the other hand, the operation and control modes of the master-slave isomorphism are simpler and more visual, the learning difficulty curve of the doctor on the vascular intervention operation robot system can be obviously reduced, and the use experience of the doctor is improved.

It should be noted that, in the vascular interventional surgical robot system of the present application, the magnetic field changes generated by the respective movements of the linear movement mechanism 1 and the arc movement mechanism 2 of the magnetic guide device 100 are mainly expected movements, such as linear movements and deflections, of the distal end of the guide wire/catheter in case that the distal end of the guide wire/catheter cannot move correctly according to the delivery force/moment of the delivery device. Wherein the guide wire/catheter is capable of moving in response to the delivery force/moment of the delivery device, the posture of the magnetic guide device 100 remains unchanged, while the magnetic guide device 100 is used to control the deflection of the guide wire/catheter in a given posture.

Referring to fig. 4, the first control handle 300 includes a first handheld element 310, the first handheld element 310 being used for forced rotation and/or forced linear movement, wherein the control unit 200 is further configured to acquire angular displacement information of the forced rotation and/or forced linear movement of the first handheld element 310, control a rotation angle of the arc-shaped movement mechanism 2 according to the angular displacement information of the first handheld element 310 to change a magnetic field of the magnetic guide device 100, deflect a distal end of the guide wire, and control a linear translation distance of the linear movement mechanism 1 according to the linear displacement information to change the magnetic field of the magnetic guide device 100, and drag the distal end of the guide wire.

The control unit 200 may obtain the angular displacement information of the forced rotation and/or the linear displacement information of the forced linear motion of the first handheld element 310 through a separately provided displacement sensor, or may also obtain the angular displacement information and the linear displacement information of the forced linear motion through other detection devices, which is not limited herein.

Wherein, as shown in fig. 4, the first control handle 300 further comprises a first moving part 320 connected with the first handheld element 310, wherein the first handheld element 310 is suitable for being forced to rotate relative to the first moving part 320, the first moving part 320 is used for detecting the angular displacement information of the first handheld element 310, the control unit 200 is electrically connected with the first moving part 320, and the control unit 200 is further configured to control the rotation angle of the arc-shaped moving mechanism 2 according to the angular displacement information of the first handheld element 310 so as to change the magnetic field of the magnetic guiding device 100 and deflect the distal end of the guide wire;

The rotation angle of the first handheld element 310 may be in a proportional relationship with the angle at which the arc-shaped movement mechanism 2 drives the magnetic component 3 to rotate, for example, 1:1, that is, the rotation angle of the first handheld element 310 is the same as the angle at which the arc-shaped movement mechanism 2 drives the magnetic component 3 to rotate.

The first handheld element 310 is further adapted to be forced to move the first moving part 320 linearly, the first moving part 320 is further configured to detect linear displacement information of the first handheld element 310, and the control unit 200 is further configured to control the linear movement mechanism 1 to perform a linear translation distance according to the linear displacement information so as to change the magnetic field of the magnetic guiding device 100 and drag the distal end of the guide wire.

It will be appreciated that the angular displacement information of the first handheld element 310 may also be detected by other detection means, or that the first handheld element 310 is communicatively connected to the control unit 200 for directly obtaining the angular displacement information via a sensor on the first handheld element 310.

For convenience of description, the scheme that the magnetic component 3 is disposed on the arc-shaped movement mechanism 2 and the linear movement mechanism 1 drives the arc-shaped movement mechanism 2 to move linearly will be described below as an example.

Also, the linear displacement of the first handheld element 310 may be proportional to the linear displacement of the arc-shaped motion mechanism 2 driven by the linear motion mechanism 1.

In this embodiment, the first handheld element 310 controls the arc-shaped movement mechanism 2 and the linear movement mechanism 1, the first control handle 300 moves linearly for a certain distance, the linear movement mechanism 1 drives the arc-shaped movement mechanism 2 to move correspondingly for a certain distance, and the magnetic component 3 on the arc-shaped movement mechanism 2 drives the distal end of the guide wire to adaptively move linearly. By rotating the first hand-held element 310 by a certain angle, the arc-shaped movement mechanism 2 correspondingly drives the magnetic component 3 to rotate by a certain angle, so as to drive the distal end of the guide wire to adaptively deflect by a certain angle.

The operation mode of the first handheld element 310 is basically consistent with the movement mode of the magnetic guiding device 2, namely, the adaptive movement of the distal end of the guide wire/catheter is assisted by the operation of the master-slave isomorphism and the control mode, so that the accuracy of the movement of the distal end of the guide wire/catheter is increased, the operation mode of a doctor is simplified, and the use experience of the doctor is improved.

In one embodiment, as shown in fig. 4, the first moving part 320 includes a first bracket 321, a first handle shaft 322, a first detecting component and a second detecting component, the first handle shaft 322 is rotatably connected with the first bracket 321, the first handle shaft 322 is respectively connected with the first handheld element 310 and the first detecting component, the first detecting component is connected with the control unit 200, the second detecting component is respectively connected with the control unit 200 and the first bracket 321, the first detecting component is used for detecting angular displacement information of the first handle shaft 322, and the second detecting component is used for detecting linear displacement information of the first bracket 321.

It will be appreciated that the first handle shaft 322 is rotatably coupled to the first bracket 321 such that the first handle shaft 322 can rotate relative to the first bracket 321. The first handle shaft 322 is connected to the first handheld element 310 and the first detecting component, respectively, and then the first handheld element 310 is forced to rotate to drive the first handle shaft 322 to rotate, and the rotation angle of the first handheld element 310 is the same as the rotation angle of the first handle shaft 322. The first detecting component may detect the angular displacement information of the first handle shaft 322, and because the first handheld element 310 and the first handle shaft 322 rotate synchronously, the angular displacement information of the first handle shaft 322 is the angular displacement information of the first handheld element 310, thereby detecting the angular displacement information of the first handheld element 310. The first handheld element 310 may drive the first bracket 321 to linearly displace through the first handle shaft 322, so as to detect the linear displacement information of the first bracket 321, and since the first handheld element 31 and the first bracket 321 synchronously move linearly, the linear displacement information of the first bracket 321 is the linear displacement information of the first handheld element 310, so as to detect the linear displacement information of the first handheld element 310.

With continued reference to fig. 4, the first detecting assembly includes a first angular displacement sensor 323, the second detecting assembly includes a second angular displacement sensor 324, a first screw rod 325 and a first screw nut 326, the first handle shaft 322 is rotatably connected with the first bracket 321, a first end of the first handle shaft 322 is connected with the first handheld element 310, a second end of the first handle shaft 322 is connected with the first angular displacement sensor 323, and the control unit 200 is electrically connected with the first angular displacement sensor 323.

Wherein the first and second angular displacement sensors 323 and 324 may be encoders. Since the second end of the first handle shaft 322 is connected to the first angular displacement sensor 323, the first angular displacement sensor 323 can measure the angular displacement of the first handle shaft 322, i.e., the angular displacement of the first hand-held member 310. The control unit 200 may obtain the angular displacement information of the first handheld element 310 by receiving the measurement information uploaded by the first angular displacement sensor 323, and further control the angular displacement of the arc-shaped movement mechanism 2 according to the angular displacement of the first handheld element 310.

The first bracket 321 is connected to a first lead screw nut 326, the first lead screw nut 326 is provided on a first lead screw 325, and a first end of the first lead screw 325 is connected to a second angular displacement sensor 324.

It may be appreciated that, when the first screw rod 325 and the first screw rod nut 326 cooperate to convert the linear motion into the rotational motion, and when the first handheld element 310 drives the first bracket 321 to move linearly, the first screw rod nut 326 moves synchronously with the first bracket 321 to drive the first screw rod 325 to rotate, and the first end of the first screw rod 325 is connected with the second angular displacement sensor 324, the second angular displacement sensor 324 may measure the angular displacement of the first screw rod 325, the control unit 200 may determine the linear displacement of the first handheld element 310 based on the angular displacement measured by the second angular displacement sensor 324, and further control the linear motion mechanism 1to drive the arc motion mechanism 2to translate linearly according to the linear displacement of the first handheld element 310.

In one embodiment, as shown in fig. 1 and 4, the vascular interventional surgical robot system further includes a support table 400, the first moving part 320 further includes a first slide rail 327, the first slide rail 327 and the first screw rod 325 are positioned on the support table 400, and the first bracket 321 is slidably connected to the first slide rail 327, so that the first handheld element 310 is slidably connected to the first slide rail 327, and the first handheld element 310 may slide on the first slide rail 327 to perform a linear motion.

Wherein the support table 400 is used to support the first slide rail 327 and the first screw 325, and further to support the vascular interventional procedure robot system including the remaining components, such as the first control handle 300 and the control unit 200. The first slide rail 327 and the first screw 325 cooperate to support the first bracket 321, the first slide rail 327 also limits the movement track of the first bracket 321, so that the first bracket 321 moves along the first slide rail 327, and the first bracket 321 moves linearly through cooperation of the first slide rail 327 and the first screw 325.

As shown in fig. 3 to 5, the magnetic assembly 3 includes a plurality of electromagnets 31, and the plurality of electromagnets 31 are distributed on the inner surface of the arc-shaped movement mechanism 2 at intervals. The electromagnets 31 are distributed on the inner surface of the arc-shaped movement mechanism 2 at intervals, so that each electromagnet is responsible for a certain arc area, namely, when the guide wire needs to move in the area, the electromagnet responsible for the area is electrified to generate a magnetic field, and each electromagnet can only rotate in the corresponding arc area. When the first control handle performs rotary motion, the target electromagnet is controlled to be electrified to generate a magnetic field, wherein the target electromagnet is one of the electromagnets.

The first moving part 320 further includes a conductive piece 329 and an on-off device 328, the conductive piece 329 is disposed on the first handle shaft 322, the control unit 200 is connected with the on-off device 328, and when the conductive piece 329 is in contact and conduction with a target arc-shaped conductor in the on-off device 328, the control unit 200 controls a target electromagnet corresponding to the target arc-shaped conductor to be electrified to generate a magnetic field, wherein each target arc-shaped conductor corresponds to each electromagnet one by one.

In this case, since the conductive piece 329 is provided on the first handle shaft 322, the first handle shaft 322 rotates to rotate the conductive piece 329. The on-off device 328 is internally provided with a plurality of arc conductors, each arc conductor corresponds to a different angle interval respectively, when the rotation angle of the conductive sheet 329 falls into the angle interval range corresponding to the target arc conductor, the conductive sheet 329 is contacted and conducted with the target arc conductor in the on-off device 328, and the control unit 200 controls the electrifying of the target electromagnet corresponding to the target arc conductor to generate a magnetic field.

In one embodiment, as shown in fig. 6, the vascular interventional surgical robot system further comprises a pushing mechanism 500 and a second control handle 600, wherein the pushing mechanism 500 is used for pushing the guide wire, the second control handle 600 and the pushing mechanism 500 are respectively connected with the control unit 200, and the control unit 200 is further used for controlling the pushing mechanism 500 to push the guide wire according to displacement information of the second control handle 600.

In use, the pushing mechanism 500 can grip and push a guidewire. The magnetic guide device 100 may be placed beside a patient's bed and visualized by DSA (digital subtraction angiography ), based on an image displayed by a contrast agent under an X-ray, the doctor controls the second control handle 600 to perform a linear motion and a rotational motion, the control unit 200 controls the pushing mechanism 500 to deliver the distal end of the guide wire to the target location according to displacement information and rotational information of the linear motion by the control unit 200, the magnetic guide device 100 is in a designated posture in advance, and the magnetic field in the designated posture and the rotational motion of the second control handle 600 together control the distal end of the guide wire/catheter to deflect to be delivered around a curved section of the blood vessel.

The vascular interventional surgical robot system provided by the present application is mainly used for realizing large movement of a guide wire/catheter in a blood vessel, such as long-distance linear movement and large-angle deflection, by cooperating between the second control handle 600, the control unit 200, the pushing mechanism 500 and the magnetic guiding device 100, while fine adjustment of the distal movement of the guide wire/catheter, such as small-range dragging of the distal end of the guide wire/catheter to approach toward a target position in a tiny and complex blood vessel, or small-angle deflection of the distal end of the guide wire/catheter to turn in a tiny and complex blood vessel, is mainly used for cooperating between the first control handle 300, the control unit 200 and the magnetic guiding device 100.

It will be appreciated that the auxiliary guiding control manner provided by the first control handle 300, the control unit 200 and the magnetic guiding device 100 achieves the disadvantage that the distal end of the guide wire/catheter cannot be properly delivered to the target site in the control mode of the second control handle 600, the control unit 200, the pushing mechanism 500 and the magnetic guiding device 100, and can be regarded as the supplementary control of the large movement of the guide wire/catheter, so that the movement accuracy of the distal end of the guide wire/catheter in the tiny and complex blood vessel can be significantly improved.

The second control handle 600 includes a second handheld element for forced rotation and/or forced linear movement, and the control unit 200 is further configured to acquire angular displacement information of the forced rotation and/or forced linear movement of the second handheld element, control an angle at which the pushing mechanism 500 drives the guide wire to rotate according to the angular displacement information of the second handheld element, and control a distance at which the pushing mechanism 500 drives the guide wire to linearly move according to the linear displacement information of the second handheld element.

The control unit 200 may obtain angular displacement information of the forced rotation and/or linear displacement information of the forced linear motion of the second handheld element through a separately provided displacement sensor, or may also obtain the angular displacement information and/or the linear displacement information of the forced linear motion of the second handheld element through other detection devices, which is not limited herein.

As shown in fig. 7, the second control handle 600 includes a second moving part 620 connected to the second handheld member 610, wherein the second handheld member 610 is adapted to be forced to rotate relative to the second moving part 620, the second moving part 620 is used for detecting angular displacement information of the second handheld member 610, and the control unit 200 is connected to the second moving part 620 and is used for controlling the pushing mechanism 500 to drive the guide wire to rotate according to the angular displacement information of the second handheld member 610.

The angle of rotation of the second handheld element 610 may be proportional to the angle at which the pushing mechanism 500 drives the guidewire to rotate, i.e., the angle of rotation of the second handheld element 610 may be the same or different than the angle at which the pushing mechanism 500 drives the guidewire to rotate.

The second handheld element 610 is adapted to force the second moving portion 620 to move linearly, the second moving portion 620 is further configured to detect linear displacement information of the second handheld element 610, and the control unit 200 is further configured to control the pushing mechanism 500 to drive the guide wire to move linearly according to the linear displacement information of the second handheld element 610.

Likewise, the amount of linear displacement of the second handheld element 610 can be proportional to the amount of linear displacement of the guidewire driven by the pusher mechanism 500. When the linear displacement of the second handheld element 610 is a, the linear displacement of the pushing mechanism 500 for driving the guide wire is k×a, k >0.

In this embodiment, the second handheld element 610 controls the guide wire, and the second handheld element 610 moves linearly for a certain distance, and the pushing mechanism 500 drives the guide wire to move correspondingly for a certain distance, so that the linear movement of the guide wire is controlled by the linear movement of the second control handle 600. In addition, the second handheld element 610 rotates by a certain angle, the pushing mechanism 500 correspondingly drives the guide wire to rotate by a certain angle, and the second handheld element 610 can control one end of the guide wire away from the pushing mechanism 500, and the rotating angle of the second handheld element 610 and the deflection angle of the guide wire are in a certain relation, so that a doctor can control the guide wire to deflect and bend by controlling the second handheld element 610, and can also combine with the first handheld element 310 in the previous embodiment, and the doctor can also cooperate to control the first handheld element 310 and the second handheld element 610, and can flexibly control the advancing direction of the guide wire by cooperating the first handheld element 310 and the second handheld element 610, so as to drive the guide wire to a specified position.

As shown in fig. 6, the support stand 400 may support the first control handle 300, the second control handle 600, and the control unit 200.

The pushing mechanism 500 is provided with a resistance sensor, and the resistance sensor is used for detecting the resistance of the guide wire in the pushing process. The resistance force sensor detects the resistance force of the guide wire in the pushing process, and a doctor can determine whether the movement of the guide wire is blocked according to the resistance force, so that the doctor is prompted to adjust the direction, and the guide wire is driven to move to a designated position by the magnetic field.

The second control handle 600 includes a feedback assembly coupled to the second hand-held element 610;

The control unit 200 is connected to the resistance sensor and the feedback assembly, respectively, and is further configured to provide a feedback force to the second handheld element via the feedback assembly in accordance with the resistance information.

As shown in fig. 7, the second moving part 620 includes a second bracket 621, a second handle shaft 622, a third angular displacement sensor 623, a second slide rail 624, a first slider, a pressure sensor, and a dc motor 625, wherein the dc motor 625 is used as a feedback unit, a first end of the second handle shaft 622 is connected to the second handheld member 610, a second end of the second handle shaft 622 is connected to the third angular displacement sensor 623, and the control unit 200 is connected to the third angular displacement sensor 623.

Wherein the third angular displacement sensor 623 may be an encoder. The second handle shaft 622 is rotatably coupled to the second stand 621 such that the second handle shaft 622 can rotate with respect to the second stand 621. The first end of the second handle shaft 622 is connected to the second handle member 610, and thus the forced rotation of the second handle member 610 causes the second handle shaft 622 to rotate, and the rotation angle of the second handle member 610 is the same as the rotation angle of the second handle shaft 622. Since the second end of the second handle shaft 622 is connected to the third angular displacement sensor 623, the third angular displacement sensor 623 can measure the angular displacement amount of the second handle shaft 622, i.e., the angular displacement amount of the second handheld element 610. The control unit 200 may acquire angular displacement information of the second handheld member 610 by receiving the measurement information uploaded by the third angular displacement sensor 623, thereby controlling the angular displacement amount of the guide wire according to the angular displacement amount of the second handheld member 610.

The second bracket 621 is connected with a first slider, the first slider is slidably connected with the second slide rail 624, a stator portion of the direct current motor 625 is connected with the support table 400, and a mover portion of the direct current motor 625 is connected with the second slide rail 624 through the first slider and is connected with the second bracket 621 through a pressure sensor.

The dc motor 625 is used as a feedback component for increasing the resistance when the second bracket 621 slides along the second sliding rail 624, the provided resistance is determined by the control unit 200 according to the resistance detected by the resistance sensor on the pushing mechanism 500, and the pressure sensor is used for detecting the resistance provided by the dc motor 625, so that the resistance provided by the dc motor 625 corresponds to the resistance measured by the resistance sensor.

In application, when a doctor pushes the handle, the resistance of the handle can be changed according to the change of the resistance of the guide wire/catheter in the blood vessel, and when the doctor feels that the resistance is overlarge, the speed and the angle of the guide wire/catheter can be adjusted, so that the damage of the guide wire/catheter to the blood vessel is avoided.

As shown in FIGS. 8-10, the present application also provides a physician's console in which the first and second handheld members 310, 610 may be initially oriented identically or differently, and the first and second handheld members 310, 610 may be positioned on the same line or on different lines. Specifically, as shown in FIG. 8, the first and second handheld elements 310, 610 are initially oriented in the same direction, such as both being positioned to the right, and are coaxially disposed. The first and second handheld elements 310, 610 operate in a consistent manner. There is a need to reserve an operating space for a doctor between the first and second handheld members 310 and 610.

As shown in fig. 9, the first and second handheld elements 310, 610 are arranged in opposite directions, such as with the second handheld element 610 facing to the right and the first handheld element 310 facing to the left. The arrangement is also coaxial, except that the first and second hand-held elements 310, 610 are not identical in operation, and only a small bump-preventing gap is reserved between them.

As shown in FIG. 10, the first and second hand-held elements 310 and 610 are not coaxially arranged, increasing the movement space of the handle.

The vascular intervention operation robot system further comprises a first foot switch and a first switch unit, wherein the first foot switch is connected with the first switch unit, the control unit 200 is connected with the second control handle 600 through the first switch unit, and the first foot switch is used for controlling the on-off of the first switch unit so as to control the connection on-off of the control unit 200 and the second control handle 600.

It will be appreciated that in the case where the second control handle 600 is connected to the control unit 200, the doctor can control the displacement of the guide wire through the second control handle 600, so that by setting the first foot switch to control the connection on-off of the second control handle 600 and the control unit 200, the problem of the guide wire deflection caused by the error touch of the second control handle 600 can be avoided.

Also, the vascular intervention surgical robot system may further include a second foot switch connected to the second switch unit, the control unit 200 being connected to the first control handle 300 via the second switch unit, and a second switch unit for controlling on-off of the second switch unit to control connection on-off of the control unit 200 to the first control handle 300.

As shown in fig. 11, the arc-shaped moving mechanism 2 includes a magnetic assembly 3, a first arc-shaped slide rail 21, a supporting mechanism 22, and a second driving mechanism 23.

The inner surface of the first arc-shaped sliding rail 21 is provided with a magnetic component 3. The supporting mechanism 22 is slidably connected with the first arc-shaped sliding rail 21. The second driving mechanism 23 is connected with the first arc-shaped sliding rail 21, and is used for driving the first arc-shaped sliding rail 21 to rotate relative to the supporting mechanism 22.

Wherein the magnetic assembly 3 is used for driving the guide wire. The magnetic assembly 3 may comprise a permanent magnet or an electromagnet. The magnetic assembly 3 may generate a magnetic field by which the guide wire is acted upon.

As shown in fig. 3 and 11, the magnetic assembly 3 includes a plurality of electromagnets 31, and the plurality of electromagnets 31 are disposed on the inner surface of the first arc-shaped sliding rail 21 at intervals.

The arc-shaped movement mechanism 2 is connected with the magnetic component 3 and is used for driving the magnetic component 3 to rotate so that the magnetic field of the magnetic component 3 is changed to deform the guide wire.

It can be understood that the arc-shaped movement mechanism 2 is arranged at the periphery of the guide wire, and the arc-shaped movement mechanism 2 drives the magnetic component 3 to rotate, so that the guide wire can be driven to bend. The bending direction of the guide wire is related to the rotating direction of the magnetic component 3, so that the bending angle of the guide wire can be controlled by controlling the direction in which the arc-shaped movement mechanism 2 drives the magnetic component 3 to rotate, thereby controlling the advancing direction of the magnetic field driving guide wire.

The linear motion mechanism 1 is connected with the arc motion mechanism 2 and is used for driving the arc motion mechanism 2 to perform linear translation so that the magnetic assembly 3 performs linear translation along with the arc motion mechanism 2 and drives the guide wire to perform linear motion.

It can be understood that, because the first arc-shaped sliding rail 21 is slidably connected with the supporting mechanism 22, the second driving mechanism 23 drives the first arc-shaped sliding rail 21 to rotate relative to the supporting mechanism 22, so that the first arc-shaped sliding rail 21 can slide relative to the supporting mechanism 22, and further drives the magnetic assembly 3 on the first arc-shaped sliding rail 21 to rotate relative to the supporting mechanism 22, so as to drive the guide wire to deform.

As shown in fig. 12, a first arc chute 211 is provided on a side surface of the first arc slide rail 21. The supporting mechanism 22 comprises a first supporting frame 221 and a connecting shaft 222, wherein a first end of the connecting shaft 222 is connected with the first supporting frame 221, and a second end of the connecting shaft 222 is arranged in the first arc-shaped sliding groove 211 through a bearing.

The second end of the connecting shaft 222 may be disposed in the first arc chute 211 through a rolling bearing, so that the first arc slide rail 21 may slide relative to the connecting shaft 222, and further the first arc slide rail 21 may drive the magnetic assembly 3 to rotate relative to the supporting mechanism 22.

Referring to fig. 12, the second driving mechanism 23 further includes a first driving motor 231 and a first gear 232, and the first driving motor 231 is disposed on the linear motion mechanism 1 or the first supporting frame 221. The rotating shaft of the first driving motor 231 is in transmission connection with the first arc-shaped sliding rail 21 through the first gear 212.

The first gear 232 is disposed on a rotating shaft of the first driving motor 231, the first transmission gear 212 is disposed on an outer surface of the first arc-shaped sliding rail 21, and the first gear 232 is adapted to be meshed with the first transmission gear 212.

It can be appreciated that, since the first gear 232 is disposed on the rotating shaft of the first driving motor 231, the rotating shaft of the first driving motor 231 can drive the first gear 232 to rotate, and since the first gear 232 is suitable for meshing with the first transmission gear 212, the first arc-shaped sliding rail 21 can be driven to rotate by the first driving motor 231, so as to drive the magnetic assembly 3 to rotate relative to the supporting mechanism 22, so as to drive the guide wire to deform.

Referring to fig. 12, the second driving mechanism 23 further includes a second gear 234 and a driven shaft 233, the second gear 234 is disposed on the driven shaft 233, the second gear 234 is adapted to mesh with the first transmission gear 212, and the driven shaft 233 is rotatably connected with the first supporting frame 221.

It can be appreciated that by disposing the second gear 234 on the driven shaft 233, the driven shaft 233 is rotatably connected to the first supporting frame 221, and the second gear 234 is meshed with the first driving gear 212, so that the first arc-shaped sliding rail 21 rotates to drive the second gear 234 to rotate. Since the second gear 234 is connected with the supporting plate through the driven shaft 233, the second gear 234 can assist in supporting the first arc-shaped sliding rail 21, thereby preventing the first arc-shaped sliding rail 21 from shaking and ensuring the stability of the rotation motion of the magnetic assembly 3.

In one embodiment, as shown in fig. 13, the arc-shaped movement mechanism 2 further comprises a second arc-shaped sliding rail 24 and a sliding component 25, wherein the second arc-shaped sliding rail 24 is arranged on one side of the first arc-shaped sliding rail 21, the sliding component 25 is in sliding connection with the second arc-shaped sliding rail 24, the sliding component 25 is provided with a magnetic component 3, and the sliding component 25 is suitable for driving the sliding component to slide along the second arc-shaped sliding rail 24.

The second arc-shaped sliding rail 24 is disposed on a side surface of the first arc-shaped sliding rail 21, and the sliding assembly 25 can slide relative to the second arc-shaped sliding rail 24 due to the sliding connection between the sliding assembly 25 and the second arc-shaped sliding rail 24. When the sliding component 25 drives itself to slide along the second arc-shaped sliding rail 24, the magnetic component 3 on the sliding component 25 also moves along with the sliding component 25, so as to adjust the position of the magnetic component 3 relative to the first arc-shaped sliding rail 21, so that the magnetic component 3 can be at a proper position. It will be appreciated that with the slide assembly 25 described above, the magnetic assembly 3 may include only one electromagnet or permanent magnet 32, thereby reducing the number of electromagnets or permanent magnets 32 required.

As shown in fig. 13 and 14, the arc movement mechanism 2 further includes a pressing plate 26.

The second arc-shaped sliding rail 24 and the pressing plate 26 are respectively arranged on two sides of the first arc-shaped sliding rail 21, and the first arc-shaped sliding rail 21, the second arc-shaped sliding rail 24 and the pressing plate 26 enclose an accommodating groove. The second arc-shaped sliding rail 24 and the pressing plate 26 are respectively arranged on two side surfaces of the first arc-shaped sliding rail 21 and are partially protruded relative to the first arc-shaped sliding rail 21, so that the inner side surface exposed by the first arc-shaped sliding rail 21, the inner surface of the second arc-shaped sliding rail 24 and the inner side surface exposed by the pressing plate 26 are used as the inner walls of the accommodating groove to form the accommodating groove.

The inner surface of the second arc-shaped sliding rail 24 is provided with a second transmission tooth 241, the inner side surface of the second arc-shaped sliding rail 24 is provided with a second arc-shaped sliding groove 242, and the second arc-shaped sliding groove 242 is communicated with the accommodating groove. The sliding assembly 25 comprises a second supporting frame 251 and a second driving motor 252, the second supporting frame 251 is at least partially positioned in the accommodating groove, the second supporting frame 251 is slidably arranged in the second arc-shaped chute 242 through a bearing, the second driving motor 252 and the magnetic assembly 3 are positioned on the second supporting frame 251, a third gear 253 is arranged on the rotating shaft of the second driving motor 252, and the third gear 253 is meshed with the second transmission gear 241.

It is understood that the second supporting frame 251 is at least partially located in the accommodating groove, and the second supporting frame 251 is slidably disposed in the second arc chute 242 through a bearing, so that the second supporting frame 251 can slide along the second arc chute 242. Because the second transmission gear 241 is disposed on the inner surface of the second arc-shaped sliding rail 24, the second driving motor 252 and the magnetic assembly 3 are disposed on the second supporting frame 251, the third gear 253 is disposed on the rotating shaft of the second driving motor 252, and the third gear 253 is meshed with the second transmission gear 241, the rotating shaft of the second driving motor 252 can drive the third gear 253 to rotate, so that the second supporting frame 251 slides relative to the second arc-shaped sliding rail 24, and the position of the magnetic assembly 3 relative to the first arc-shaped sliding rail 21 is changed. That is, the second driving motor 252 can drive the sliding component 25 to slide relative to the first arc-shaped sliding rail 21, and the magnetic component 3 is arranged on the sliding component 25, so that the position of the magnetic component 3 can be adjusted.

As shown in fig. 15, the magnetic component 3 is a permanent magnet, the permanent magnet is mounted on the sliding component 25, and the sliding component 25 can slide along the second arc-shaped sliding rail 24, and in the case that the target position in the area 1 needs a magnetic field, only the second arc-shaped sliding rail 24 needs to slide to the position nearest to the target position. When the magnetic field of the permanent magnet 32 needs to act on the head region 2 of the human body, the permanent magnet sliding module carries the permanent magnet to move to the extreme end of the semicircular slide rail and is fixed (in fig. 15, the permanent magnet 32 is in charge of the left half part of the region 2 when staying at the left end of the semicircular slide rail, and the permanent magnet is in charge of the right half part of the region 2 when staying at the right end of the semicircular slide rail), in addition, under the driving of a motor, the arc-shaped movement mechanism 2 can drive the permanent magnet 32 to rotate, so that the permanent magnet 32 can stop at any position of the region 2. This arrangement allows the magnetic field of the permanent magnet 32 to cover the entire neck and head area of the human body, while the permanent magnet 32 is sufficiently close to the human body to ensure sufficient magnetic force to drive the guide wire.

As shown in fig. 16, the linear motion mechanism 1 includes a linear motion mechanism main body 10 and a first drive mechanism 11.

The first driving mechanism 11 is disposed on the linear motion mechanism body 10, and the first driving mechanism 11 is connected with the arc motion mechanism 2 and is used for driving the arc motion mechanism 2 to perform linear translation.

It can be understood that the first driving mechanism 11 drives the arc-shaped moving mechanism 2 to perform linear translation, so that the magnetic assembly 3 can perform linear translation along with the arc-shaped moving mechanism 2, the arc-shaped moving mechanism 2 is matched to drive the magnetic assembly 3 to rotate, the position of the magnetic assembly 3 can be flexibly controlled, and then the magnetic field driving guide wire can be flexibly driven, so that the magnetic field driving guide wire can be pushed to a designated position.

The arc-shaped movement mechanism 2 can be in sliding connection with the linear movement mechanism main body 10, and the first driving mechanism 11 drives the arc-shaped movement mechanism 2 to slide relative to the linear movement mechanism main body 10, so that the linear translation of the arc-shaped movement mechanism 2 is realized. Illustratively, the linear motion mechanism body 10 is provided with a linear chute, the arc motion mechanism 2 is disposed in the linear chute through a rolling bearing, and the first driving mechanism 11 includes a linear driving motor, and the arc motion mechanism 2 is driven to move along the linear chute through the linear driving motor.

Referring to fig. 16, the first driving mechanism 11 includes a third driving motor 111, a second screw rod 112, and a second screw rod nut 113, the second screw rod nut 113 is disposed on the second screw rod 112 and connected to the arc-shaped moving mechanism 2, and a first end of the second screw rod 112 is connected to a rotation shaft of the third driving motor 111.

The second screw 112 and the second screw nut 113 may be a ball screw and a ball screw nut, respectively.

It will be appreciated that the second screw 112 and the second screw nut 113 cooperate to convert rotational motion into linear motion. Since the first end of the second screw rod 112 is connected with the rotating shaft of the third driving motor 111, the rotating shaft of the third driving motor 111 can drive the second screw rod 112 to rotate, so as to drive the second screw nut 113 to linearly move relative to the second screw rod 112. And because the second screw nut 113 is connected with the arc-shaped movement mechanism 2, the second screw nut 113 can drive the arc-shaped movement mechanism 2 to perform linear movement, so that the guide wire is driven to perform linear movement. Therefore, the linear motion of the guide wire can be achieved by driving the second screw 112 to rotate by the third driving motor 111.

Referring to fig. 16, the first driving mechanism 11 further includes a fourth angular displacement sensor 114, and the fourth angular displacement sensor 114 is connected to the second end of the screw. Wherein the fourth angular displacement sensor 114 may be an encoder.

By connecting the fourth angular displacement sensor 114 to the second end of the second screw rod 112, the angular displacement amount of the second screw rod 112 can be detected by the fourth angular displacement sensor 114, and the angular displacement amount of the second screw rod 112 and the linear displacement amount of the second screw nut 113 have a map relationship, and the linear displacement amount of the second screw nut 113 can be determined based on the angular displacement amount of the second screw rod 112. The control unit for controlling the magnetic guide device may determine the linear displacement amount of the second lead screw nut 113 according to the angular displacement amount detected by the fourth angular displacement sensor 114, and then perform comparison analysis with a predetermined linear displacement amount, and perform feedback adjustment, thereby ensuring the linear displacement accuracy of the arc-shaped movement mechanism 2.

Referring to fig. 16, the first driving mechanism 11 further includes a guide rail 115 and a second slider 116. The guide rail 115 is provided on the linear motion mechanism body 10, and the second slider 116 is slidably connected to the guide rail 115 and to the arc-shaped motion mechanism 2.

In the present embodiment, the second slider 116 is connected to the arc-shaped movement mechanism 2, so that the arc-shaped movement mechanism 2 is supported by the second slider 116. And because second slider 116 and guide rail 115 sliding connection, then when screw-nut drove arc motion mechanism 2 and carry out rectilinear motion, arc motion mechanism 2 can drive second slider 116 and slide along guide rail 115 to assist in supporting arc motion mechanism 2 through second slider 116 to carry out spacing to the direction of motion through guide rail 115, can guarantee the stability of arc motion mechanism 2 motion.

As shown in fig. 1 and 17, the magnetic guide device 100 further includes a moving carriage 5. The moving trolley 5 is connected with the linear motion mechanism 1 and is used for supporting and driving the linear motion mechanism 1 to move. The linear motion mechanism 1 and the devices thereon can be moved by the moving trolley 5 so that the device can be positioned beside an operation table when needed, and can be removed when not needed.

The magnetic guiding device 100 further comprises a passive arm 4 connected to the moving carriage 5 and the linear motion mechanism 1, and located between the moving carriage 5 and the linear motion mechanism 1, wherein the passive arm 4 is used for supporting the linear motion mechanism 1 and is suitable for rotating relative to the moving carriage 5. The linear motion mechanism 1 adjusts the position of the relative moving trolley 5 through the driven arm 4, and then the arc motion mechanism 2 can be adjusted to a proper position.

In one embodiment, still referring to FIG. 17, the passive arm 4 includes a passive arm body 42 and a rotary motor 41.

The first end of the driven arm main body 42 is rotatably connected to the traveling carriage 5. The rotary motor 41 is connected to the second end of the driven arm body 42 and the linear motion mechanism 1, and the rotary motor 41 is configured to drive the linear motion mechanism 1 to rotate relative to the driven arm body 42.

It will be appreciated that by driving the linear motion mechanism 1 to rotate relative to the driven arm main body 42 by the rotary motor 41, the posture of the linear motion mechanism 1 relative to the moving carriage 5 can be adjusted, so that the arc-shaped motion mechanism 2 can be adjusted to a specified posture, for example, can be moved to the periphery of the head of the patient.

As shown in fig. 18, the control method of the guide wire/catheter in the vascular interventional operation robot system of the present application includes:

s1801, responding to the mode control instruction input by doctor to work in the corresponding control mode.

And S1802, under the condition of working in a first independent control mode, acquiring displacement information of a first handheld element in the vascular interventional operation robot system, and controlling an arc-shaped movement mechanism and a linear movement mechanism according to the displacement information of the first handheld element.

The first independent control mode is a mode that the first control handle independently controls the guide wire, and the first control handle independently controls the guide wire to be mainly applied to the scene of cerebral vascular curvature mutation and small vascular diameter. In the first independent control mode, when the doctor translates the first handheld element by a, the magnetic component also correspondingly translates n x a, n >0, the guide wire is dragged to correspondingly move n x a, and the first handheld element can be rotated to adjust the deflection angle of the guide wire to be in a proper position while the guide wire is moved.

According to the guide wire driving method, the magnetic guiding device is controlled according to the displacement information of the first control handle under the condition of working in the first independent control mode, so that a doctor can control the displacement of the first handheld element to control the arc-shaped movement mechanism and the linear movement mechanism, the movement of the guide wire driven by the magnetic assembly is flexibly controlled, the operation difficulty is reduced, and the operation efficiency is improved.

In one embodiment, the vascular interventional surgical robot system further comprises a pushing mechanism and a second control handle comprising a second handheld element and a second motion part connected to each other, the control method further comprising steps S1803, S1804 and S1805 as shown in fig. 19.

And S1803, under the condition of working in the second independent control mode, acquiring the displacement information of the second handheld element, and controlling the pushing mechanism to push the guide wire according to the displacement information of the second handheld element.

The second independent control mode is a mode that the second control handle independently controls the guide wire, and is mainly applied to a vascular region which is small in vascular diameter and basically unchanged in curvature and is convenient to pass through. In the second independent control mode, when the doctor translates the second handheld element by a, the pushing mechanism moves n x a corresponding to the pushing guide wire, and the second handheld element can be rotated to rotate the guide wire while moving the guide wire, so that the advancing direction of the guide wire is adjusted.

In application, the pushing mechanism can be provided with a resistance sensor, and the resistance sensor is used for detecting the resistance of the guide wire in the pushing process. It will be appreciated that by detecting the resistance of the guidewire during the pushing process by the resistance sensor, the physician can determine whether the movement of the guidewire is blocked according to the resistance fed back by the second handheld element, thereby adjusting the direction so that the magnetic field drives the guidewire to move to the designated position.

And S1804, under the condition of working in the manual cooperative control mode, obtaining the displacement information of the second handheld element and the angular displacement information of the first handheld element, controlling the pushing mechanism to push the guide wire according to the displacement information of the second handheld element, and controlling the arc-shaped movement mechanism to drive the magnetic assembly to rotate according to the angular displacement information of the first handheld element.

The manual cooperative control mode is mainly applied to a narrow area with abrupt change of the curvature of the blood vessel. In this mode, the deflection angle of the guide wire can be manually adjusted by rotating the magnetic drive handle, and the distance moved by the arc-shaped movement mechanism is equal to the distance moved by the pushing mechanism, so that the guide wire can be kept from coiling and bending in the blood vessel. When the resistance of the blood vessel is overlarge, the deflection angle of the guide wire is adjusted through the magnetic drive handle to adjust the advancing direction of the guide wire, so that the guide wire can reach a specified position (in this case, the rotating force of the pushing mechanism is difficult to be transmitted to the tail end of the guide wire, so that the direct adjustment of the tail end of the guide wire is effective).

And S1805, under the condition of working in the following control mode, acquiring the displacement information of the second handheld element, controlling the pushing device to push the guide wire according to the displacement information of the second handheld element, and controlling the linear motion mechanism to drive the arc motion mechanism to linearly move according to the displacement information of the second handheld element.

The following control mode is mainly applied to a narrow area with the curvature of the blood vessel basically kept unchanged, wherein the deflection angle of the guide wire is kept unchanged in the mode, namely, the rotating position of the first handheld element is kept at the initial position, and the moving distance of the arc-shaped moving mechanism is equal to the distance of the pushing mechanism for pushing the guide wire, so that the guide wire can be kept from coiling and bending in the blood vessel. When the force of pushing the guide wire of the pushing mechanism is not transmitted to the tail end of the guide wire, the first handheld element can be controlled to slightly move, so that the magnetic component on the arc-shaped movement mechanism can slightly drag the guide wire to advance, and at the rest moment, the linear movement mechanism is controlled to drive the arc-shaped movement mechanism to linearly move according to the displacement information of the second handheld element, namely, the guide wire is followed. When the resistance of the blood vessel is overlarge, the angle of the guide wire is adjusted by matching the first handheld element and the second handheld element.

Those skilled in the art will appreciate that implementing all or part of the above-described methods in accordance with the embodiments may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed may comprise the steps of the embodiments of the methods described above. The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The foregoing examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of the application should be assessed as that of the appended claims.

Claims

1. A vascular interventional procedure robotic system, comprising:

A first control handle for performing a linear motion and a rotational motion;

2. The vascular interventional procedure robot system according to claim 1, wherein the arcuate movement mechanism comprises:

A magnetic assembly for generating a magnetic field;

3. The vascular interventional procedure robot system of claim 2, wherein the arcuate movement mechanism further comprises:

4. The vascular interventional procedure robot system of claim 2, wherein the magnetic assembly comprises a plurality of electromagnets disposed at intervals on an inner surface of the first arcuate slide rail.

5. The vascular interventional procedure robot system according to claim 4, wherein the control unit is further configured to:

6. The vascular interventional procedure robot system according to claim 5, wherein the first control handle further comprises a conductive sheet and an on-off device, the control unit is connected with the on-off device, and when the conductive sheet is in contact conduction with a target arc-shaped conductor in the on-off device, the control unit controls a target electromagnet corresponding to the target arc-shaped conductor to be electrified to generate a magnetic field, wherein each arc-shaped conductor corresponds to each electromagnet one by one.

7. The vascular interventional procedure robot system according to claim 1, wherein the linear motion mechanism comprises a linear motion mechanism body and a first drive mechanism;

8. The vascular interventional procedure robot system according to claim 1, wherein the first control handle comprises a first hand-held element for forced rotation and/or forced linear movement, wherein,

The control unit is further configured to:

9. The vascular interventional procedure robot system according to claim 8, wherein the first control handle further comprises a first motion section comprising a first detection assembly for detecting angular displacement information of the first handheld element and a second detection assembly for detecting linear displacement information of the first handheld element;

10. The vascular interventional procedure robot system according to claim 9, further comprising a support table, the first motion part further comprising a first slide rail, the first slide rail being arranged on the support table, the first hand-held element being in sliding connection with the first slide rail.

11. The vascular interventional procedure robot system according to claim 1, further comprising a pushing mechanism for pushing the guide wire and a second control handle, the second control handle and the pushing mechanism being connected with the control unit, respectively, the control unit being further configured to:

12. The vascular interventional procedure robot system according to claim 11, wherein the second control handle comprises a second handheld element for forced rotation and/or forced linear movement;

The control unit is further configured to:

13. The vascular interventional surgery robot system according to claim 12, wherein the pushing mechanism is provided with a resistance sensor, and the resistance sensor is used for detecting resistance information of the guide wire in the pushing process;