WO2024060464A1 - Elongated medical instrument delivery system, apparatus, and medium - Google Patents

Abstract

The present invention provides an elongated medical instrument delivery system and delivery method, an apparatus, and a medium, which relate to the technical field of medical robot control. The system comprises: a master end operator (1) configured for sending instruction information; a slave end driver (2) connected to the master end operator (1) and configured for receiving the instruction information sent by the master end operator (1) and determining whether the instruction information satisfies a compensation condition, and when the instruction information satisfies the compensation condition, acquiring a target compensation amount; and a target driving mechanism (3) connected to the slave end driver (2) and configured for clamping a first elongated medical instrument. When the instruction information satisfies the compensation condition, the slave end driver (2) controls, on the basis of the instruction information and the target compensation amount, the target driving mechanism (3) to move to deliver the first elongated medical instrument, such that the arching phenomenon of the first elongated medical instrument under the influence of a frictional force is avoided, the operating acccuracy is improved, and the need for an operator to enter an operating room to adjust a catheter is eliminated, thereby improving the operating efficiency.

Description

Elongated medical device delivery systems, devices and media

This application requires the priority of the Chinese patent application submitted to the China Patent Office on September 22, 2022, with the application number 202211159552.8, and the invention name is "Slender Medical Device Delivery System, Delivery Method, Equipment and Medium", and its entire content incorporated herein by reference.

Technical field

This application relates to the field of medical robot control technology, and in particular to a slender medical device delivery system, equipment and media.

Background technique

During vascular interventional surgery, the operator needs to receive X-ray radiation for a long time. For this purpose, a remote-operated interventional surgery robot has been developed. The operator remotely controls the interventional surgery robot so that the interventional surgery robot can perform vascular interventional surgery in a strong radiation environment, effectively protecting the operator.

Usually, when an interventional surgical robot is used to perform vascular interventional surgery, multiple driving mechanisms in the interventional surgical robot are used to work together to deliver slender medical devices such as catheters and guidewires. The inventor realized that during the advancement of the catheter during interventional surgery, the catheter would be arched due to the influence of friction, resulting in errors in operating accuracy, and the operator would need to enter the operating room to adjust the catheter, which would take a long time.

technical problem

The present application provides a slender medical device delivery system, equipment and medium, aiming to solve the problem in the prior art that during the advancement of the catheter in interventional surgery, the catheter will be affected by friction and cause the catheter to arch, resulting in errors in operating accuracy, and the operator needs to enter the operating room to adjust the catheter, which takes a long time.

Technical solutions

This application provides a slender medical device delivery system, equipment and medium, aiming to solve the problem in the prior art that during the advancement of interventional surgical catheters, the catheter will be arched due to the influence of friction, resulting in errors in operating accuracy. , and the operator needs to enter the operating room to adjust the catheter, which takes a long time.

In order to solve the above technical problems, this application provides a slender medical device delivery system, including:

Main-side operator, used to send command information;

A slave driver, connected to the master operator, is used to receive the instruction information sent by the master operator and determine whether the instruction information meets the compensation conditions; when the instruction information meets the compensation conditions, obtain the target compensation amount, wherein the target compensation amount is the compensation displacement amount;

A target driving mechanism is connected to the slave driver and is used to clamp the first slender medical instrument;

Wherein, when the instruction information satisfies the compensation condition, the slave driver controls the movement of the target driving mechanism based on the instruction information and the target compensation amount to deliver the first slender medical instrument.

Further, the instruction information includes an operation identifier and a target displacement, and the operation identifier includes a first identifier and a second identifier; the slave driver is also used to determine whether the operation identifier is the first identifier; when the operation identifier If the operation identifier is the first identifier, the slave driver determines whether the target displacement is greater than the preset displacement; if the target displacement is greater than the preset displacement, the slave driver determines that the instruction information satisfies the compensation condition.

Further, the target driving mechanism includes: a first driving mechanism and a second driving mechanism;

The first driving mechanism and the second driving mechanism cooperate to clamp the first slender medical device;

The slave driver controls the first driving mechanism and the second driving mechanism to move according to the target displacement, and controls the first driving mechanism to move according to the target compensation amount.

Further, the elongated medical device delivery system further includes a main body, on which the first driving mechanism and the second driving mechanism are installed.

Further, the main end operator includes a catheter operating rod and a guidewire operating rod. The catheter operating rod is used to control the first slender medical instrument, and the guidewire operating rod is used to control the second slender medical instrument.

Further, the first slender medical device is a catheter, and the second slender medical device is a guide wire.

Further, the first identification is the identification corresponding to the catheter operating rod, and the second identification is the identification corresponding to the guidewire operating rod.

Further, the slave driver obtains the target compensation amount, including: the slave driver obtains the delivery resistance corresponding to the first elongated medical device, and determines whether the delivery resistance is a constant value; when the delivery If the resistance is a fixed value, the two-dimensional data chart is queried based on the instruction information to obtain the target compensation amount corresponding to the instruction information in the two-dimensional data chart; when the delivery resistance is not a fixed value, the two-dimensional data chart is queried based on the instruction information and delivery Resistance queries the three-dimensional data chart to obtain the target compensation amount corresponding to the instruction information and delivery resistance in the three-dimensional data chart, where the two-dimensional data chart is a nonlinear discrete point of Y1=f(X1), and the three-dimensional data The graph is the nonlinear discrete point of Y1=f(X1)*g(Z), Y1 is the target compensation amount, X1 is the target displacement, and Z is the delivery resistance.

Further, the delivery resistance includes sheath resistance and detection resistance detected by the force detection sensor.

Further, the sheath resistance is the friction between the elongated medical device and the inner wall of the sheath, and the detection resistance is the resistance of the elongated medical device being delivered into the blood vessel.

Further, the instruction information includes an operation identifier and a target displacement, and the operation identifier includes a first identifier and a second identifier;

The elongated medical device delivery system also includes: a third driving mechanism connected to the slave driver for clamping the second elongated medical device; when the operation identifier is the second identifier, the The slave driver controls the third driving mechanism to move according to the target displacement to control the second slender medical instrument.

This application also provides a computer device, including a memory and a processor. A computer program is stored in the memory. When the processor executes the computer program, it implements a delivery method for an elongated medical device. The delivery method uses For an elongated medical device delivery system, the elongated medical device delivery system includes a master operator, a slave driver connected to the master operator, and a target drive mechanism connected to the slave driver, so The target driving mechanism is used to clamp the first slender medical instrument, and is characterized in that it includes the following steps performed by the slave driver:

Obtain the command information sent by the main-side operator;

Determine whether the instruction information meets the compensation conditions;

When the instruction information satisfies the compensation condition, the target compensation amount is obtained, where the target compensation amount is the compensation displacement amount;

Wherein, when the instruction information satisfies the compensation condition, the slave driver controls the movement of the target driving mechanism based on the instruction information and the target compensation amount to deliver the first slender medical instrument.

Further, the instruction information includes an operation identifier and a target displacement, and the operation identifier includes a first identifier; the step of judging whether the instruction information satisfies the compensation condition includes:

Determine whether the operation identification is the first identification;

If the operation identifier is the first identifier, determine whether the target displacement is greater than the preset displacement;

If the target displacement is greater than the preset displacement, it is determined that the instruction information satisfies the compensation condition.

Further, the target driving mechanism includes a first driving mechanism and a second driving mechanism. The second driving mechanism clamps the end of the first slender medical instrument. The first driving mechanism clamps the first slender medical device. The middle section of the type medical device; the instruction information includes target displacement;

Based on the instruction information and the target compensation amount, controlling the movement of the target driving mechanism to deliver the first elongated medical device includes:

The first driving mechanism and the second driving mechanism are controlled to move according to the target displacement, and the second driving mechanism is controlled to move according to the target compensation amount.

Further, the instruction information includes an operation identification and a target displacement, and the operation identification includes a first identification and a second identification; the slender medical device delivery system also includes: a third driving mechanism, and the slave driver Connection for holding the second elongated medical device;

After the step of judging whether the instruction information satisfies the compensation conditions, it includes:

When the operation identification is the second identification, the third driving mechanism is controlled to move according to the target displacement to control the second slender medical instrument.

The present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, a delivery method for elongated medical devices is implemented. The delivery method is applied to elongated medical devices. Delivery system, the elongated medical device delivery system includes a master operator, a slave driver connected to the master operator, and a target drive mechanism connected to the slave driver, where the target drive mechanism is used to Clamping the first slender medical instrument is characterized by including the following steps performed by the slave driver:

Obtain the command information sent by the main-side operator;

Determine whether the instruction information meets the compensation conditions;

When the instruction information satisfies the compensation condition, the target compensation amount is obtained, where the target compensation amount is the compensation displacement amount;

Wherein, when the instruction information satisfies the compensation condition, the slave driver controls the movement of the target driving mechanism based on the instruction information and the target compensation amount to deliver the first slender medical instrument.

Further, the instruction information includes an operation identifier and a target displacement, and the operation identifier includes a first identifier; the step of judging whether the instruction information satisfies the compensation condition includes:

Determine whether the operation identification is the first identification;

If the operation identifier is the first identifier, determining whether the target displacement is greater than a preset displacement;

If the target displacement is greater than the preset displacement, it is determined that the instruction information satisfies the compensation condition.

Further, the target driving mechanism includes a first driving mechanism and a second driving mechanism, the second driving mechanism clamps the end of the first slender medical device, and the first driving mechanism clamps the middle section of the first slender medical device; the instruction information includes the target displacement;

Based on the instruction information and the target compensation amount, controlling the movement of the target driving mechanism to deliver the first elongated medical device includes:

The first driving mechanism and the second driving mechanism are controlled to move according to the target displacement, and the second driving mechanism is controlled to move according to the target compensation amount.

Further, the instruction information includes an operation identification and a target displacement, and the operation identification includes a first identification and a second identification; the slender medical device delivery system also includes: a third driving mechanism, and the slave driver Connection for holding the second elongated medical device;

After the step of judging whether the instruction information satisfies the compensation conditions, it includes:

When the operation identification is the second identification, the third driving mechanism is controlled to move according to the target displacement to control the second slender medical instrument.

beneficial effects

Compared with the existing technology, the application provides a slender medical device delivery system, equipment and media, including: a master operator, used to send instruction information; a slave driver, connected to the master operator, and To receive the instruction information sent by the master-end operator and determine whether the instruction information satisfies the compensation condition; when the instruction information satisfies the compensation condition, obtain the target compensation amount; the target driving mechanism is connected to the slave-end driver, Used to clamp the first slender medical instrument; wherein, when the instruction information satisfies the compensation condition, the slave driver controls the movement of the target drive mechanism based on the instruction information and the target compensation amount to deliver the first The first slender medical device avoids the arching phenomenon of the first slender medical device under the influence of friction, thereby improving the operation accuracy. At the same time, the operator does not need to enter the operating room to adjust the catheter, thereby improving the operation efficiency.

Description of the drawings

Figure 1 is a schematic structural diagram of an elongated medical device delivery system according to an embodiment;

Figure 2 is a schematic structural diagram of an elongated medical device delivery method according to an embodiment;

Figure 3 is a schematic structural block diagram of a computer device according to an embodiment.

The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings.

Best Mode of Carrying Out the Invention

In order to make the purpose, technical solutions and advantages of the present application more clear, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application and are not used to limit the present application.

Those skilled in the art will understand that, unless expressly stated otherwise, the singular forms "a", "an", "the above" and "the" used herein may also include the plural form. It should be further understood that the word "comprising" as used in the description of this application refers to the presence of features, integers, steps, operations, elements, units, units and/or components, but does not exclude the presence or addition of one or more other Characteristics, integers, steps, operations, elements, units, units, components and/or groups thereof. It will be understood that when we refer to an element being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Additionally, "connected" or "coupled" as used herein may include wireless connections or wireless couplings. As used herein, the term "and/or" includes all or any unit and all combinations of one or more of the associated listed items.

It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meanings as commonly understood by one of ordinary skill in the art to which this application belongs. It should also be understood that terms, such as those defined in general dictionaries, are to be understood to have meanings consistent with their meaning in the context of the prior art, and are not to be used in an idealistic or overly descriptive manner unless specifically defined as here. to explain the formal meaning.

Referring to Figure 1, this application provides a slender medical device delivery system, including:

The main end operator 1 is used to send command information;

The slave driver 2 is connected to the master operator 1 and is used to receive the instruction information sent by the master operator 1 and determine whether the instruction information satisfies the compensation condition; when the instruction information satisfies the compensation condition, Get the target compensation amount;

The target driving mechanism 3 is connected to the slave driver 2 and is used to clamp the first slender medical instrument;

Wherein, when the instruction information satisfies the compensation condition, the slave driver 2 controls the movement of the target driving mechanism 3 based on the instruction information and the target compensation amount to deliver the first slender medical instrument.

The slender medical device delivery system in this solution includes a master operator 1, a slave driver 2 and a target driver. The main end operator 1 consists of an operating rod, an encoder for collecting linear displacement data and rotational data of the operating rod, a processor and a controller for calculating and processing the linear displacement data and rotational data collected by the encoder, and a controller for It consists of a communication unit that sends linear displacement data and rotation data to the slave driver 2, and peripheral devices that provide power or support to these components. The slave driver 2 of the slender medical device delivery system is composed of a communication unit for receiving processing data linear displacement data and rotation data sent by the master operator 1 or sending feedback data to the master operator 1 . The target drive mechanism 3 is composed of a clamping rotation mechanism that clamps and rotates a slender medical instrument, a feeding device (stepper motor) for driving the clamping rotation mechanism, and peripheral devices that provide power or support to these components.

In the present application, the slave driver 2 determines whether the instruction information satisfies the compensation condition. Only when the instruction information satisfies the compensation condition, the target drive mechanism 3 is controlled to move based on the instruction information and the target compensation amount to deliver the first slender medical device, thereby avoiding the arching phenomenon caused by the friction force affecting the first slender medical device, improving the operation accuracy, and at the same time, the operator does not need to enter the operating room to adjust the catheter, thereby improving the operation efficiency. When the instruction information does not meet the compensation condition, the movement of the target drive mechanism 3 does not need to be compensated, so as to achieve the goal of accurately controlling the target drive mechanism 3 to deliver the first slender medical device and improving the operation accuracy.

In a feasible implementation, the instruction information includes an operation identifier and a target displacement, and the operation identifier includes a first identifier and a second identifier; the slave driver 2 is also used to determine whether the operation identifier is the third identifier. An identification; when the operation identification is the first identification, the slave driver 2 determines whether the target displacement is greater than the preset displacement; when the target displacement is greater than the preset displacement, the slave driver 2 determines whether the target displacement is greater than the preset displacement. The instruction information satisfies the compensation conditions.

Specifically, the main-end operator 1 sends instruction information by clicking the button on the display screen, sending instruction information by operating the rocker, and sending instruction information by operating the catheter operating lever and the guide wire operating lever. The method can be based on the actual situation. Select the method of main-side operator 1 to send command information. Preferably, the main end operator 1 includes a catheter operating rod and a guidewire operating rod. The catheter operating rod is used to control the first slender medical instrument, and the guidewire operating rod is used to control the second slender medical instrument. The operator uses the catheter operating rod to control the movement and/or rotation of the first slender medical device, and uses the guidewire operating rod to control the movement and/or rotation of the second slender medical device. In this embodiment, the first slender medical device The device is a catheter, and the second slender medical device is a guide wire. Therefore, in this embodiment, the first identification is the identification corresponding to the catheter operating rod, and the second identification is the identification corresponding to the guidewire operating rod. In addition, the target displacement in this embodiment is the linear displacement of the slender medical device. The linear displacement is a vector with direction and magnitude. The preset displacement is preferably 0. When the target drive mechanism 3 delivers the slender medical device in a straight line toward the human body, the linear displacement is positive. When the target drive mechanism 3 delivers the slender medical device in a straight line away from the human body, the linear displacement is negative. value. The following is the specific work flow of this embodiment: when the operator operates the operating rod to move linearly, the operating rod sends the linear displacement amount to the main-end operator 1, and the main-end operator 1 generates and sends instruction information based on the linear displacement amount and the operation identification. Give slave driver 2. The slave driver 2 will receive the instruction sent by the master operator 1 and first determine whether it is the first identification or the second identification according to the operation identification. If it is the first identification, it is determined that the operator is operating the catheter operating rod. At this time, The slave driver 2 determines the direction based on the linear displacement. When the linear displacement is less than 0, the target drive device is controlled to move away from the human body without algorithm compensation. When the linear displacement is greater than 0, the slender medical device needs to be controlled. The instrument moves in a direction closer to the human body. At this time, the linear displacement needs to be algorithmically compensated to obtain the target compensation amount.

Referring to Figure 1, in a feasible implementation, the target driving mechanism 3 includes: a first driving mechanism 31 and a second driving mechanism 32; the first driving mechanism 31 and the second driving mechanism 32 cooperate to clamp the first slender Type medical device; the slave driver 2 controls the first driving mechanism 31 and the second driving mechanism 32 to move according to the target displacement, and controls the first driving mechanism 31 to move according to the target compensation amount.

Specifically, the elongated medical device delivery system also includes a main body, the first driving mechanism 31 and the second driving mechanism 32 are both installed on the main body, and the first elongated medical device is a catheter. The following is the specific work flow of this embodiment: during the collaborative delivery process of the slender medical device, the first driving mechanism 31 is used to clamp the middle section of the slender medical device, and the second driving mechanism 32 It is used to clamp the end of a slender medical device. When the operator operates the operating rod to move linearly, the operating rod sends the linear displacement to the main operator 1, and the main operator 1 generates and sends command information based on the linear displacement. Give slave driver 2. The slave driver 2 will receive the instruction sent by the master operator 1 and first determine whether it is the first identification or the second identification according to the operation identification. If it is the first identification, the operator is operating the catheter operating rod, and then according to the linear displacement When the linear displacement is less than 0, the slave driver 2 controls the first driving mechanism 31 and the second driving mechanism 32 to move away from the human body. At this time, no algorithm compensation is performed, and the first slender body is directly withdrawn. The first slender medical device can be withdrawn in an anthropomorphic manner by controlling the first driving mechanism 31 and the second driving mechanism 32 to provide convenience for the operator; when the linear displacement is greater than 0, it is necessary to control the catheter to move closer to the human body. At this time, the linear displacement of the catheter needs to be algorithmically compensated to obtain the compensation data. After the slave driver 2 controls the first driving mechanism 31 and the second driving mechanism 32 to move according to the linear displacement, the slave driver 2 then controls the first driving mechanism 31 and the second driving mechanism 32 to move according to the linear displacement. The driving mechanism 31 moves according to the target compensation amount to ensure accurate delivery of the first slender medical device and solve the problem of arching during the delivery of the first slender medical device.

In a feasible implementation, the slave driver 2 obtains the target compensation amount, including: the slave driver 2 obtains the delivery resistance corresponding to the first elongated medical device, and determines whether the delivery resistance is When the delivery resistance is a fixed value, query the two-dimensional data chart based on the instruction information to obtain the target compensation amount corresponding to the instruction information in the two-dimensional data chart; when the delivery resistance is not a fixed value , then query the three-dimensional data chart based on the instruction information and delivery resistance, and obtain the target compensation amount corresponding to the instruction information and delivery resistance in the three-dimensional data chart.

Specifically, the two-dimensional data chart is a nonlinear discrete point of Y1=f(X1), Y1 is the target compensation amount, and X1 is the target displacement. The target compensation amount Y1 and the target displacement X1 are superimposed and sent to the first driving mechanism 31 to control The first driving mechanism 31 moves. That is, the target compensation amount Y1 and the target displacement X1 have a monotonic decreasing relationship. Under the premise of a certain force, the smaller the target displacement X1, the greater the target compensation amount Y1, and the larger the target displacement X1, the smaller the target compensation amount Y1. When the force is constant, the compensation displacement satisfies the relationship Y1=f(X1). If the resultant resistance is not a fixed value, query the three-dimensional data chart. The three-dimensional data chart is the nonlinear discrete point of Y1=f(X1)*g(Z), Y1 compensation displacement, X1 displacement, and Z is the resultant resistance. Example Ground, Z is a value range of 0mN-1500mN, the target compensation amount Y1 and the target displacement X1 are superimposed and sent to the first driving mechanism 31 to control the movement of the first driving mechanism 31. In this example, mN is the mechanical unit, millinewton.

Further, the delivery resistance includes sheath resistance and detection resistance detected by the force detection sensor. Specifically, the sheath resistance is the friction between the elongated medical device and the inner wall of the sheath, and the detection resistance is the resistance of the elongated medical device being delivered into the blood vessel. Among them, the force detection sensor is installed on the target driving mechanism 3, specifically installed on the second driving mechanism 32, and is used to detect the detection resistance of the first slender medical instrument.

In a feasible implementation, the instruction information includes an operation identifier and a target displacement, and the operation identifier includes a first identifier and a second identifier;

The slender medical device delivery system also includes: a third driving mechanism connected to the slave driver 2 for clamping the second slender medical device; when the operation identifier is the second identifier, the The slave driver 2 controls the third driving mechanism to move according to the target displacement to control the second slender medical instrument. In this embodiment, the second slender medical device is a guide wire. When the operator controls the operating rod to move linearly, the operating rod sends the linear displacement to the main operator 1, and the main operator 1 adjusts the linear displacement according to the linear displacement. Generate command information and send it to slave driver 2. The slave driver 2 will receive the command sent by the master operator 1 and first determine whether it is a catheter operating rod or a guidewire operating rod based on the operation identification. If it is a guidewire operating rod, the slave driver 2 controls the third driving mechanism to move according to the target displacement. Movement to control the guide wire, so the operator can deliver multiple slender medical devices at the same time or not at the same time to meet actual needs, improve operating efficiency, and shorten the surgical operation time.

Referring to Figure 2, this application also provides a slender medical device delivery method, which is applied to a slender medical device delivery system. The slender medical device delivery system includes a main end operator 1 and the main end operator. The slave driver 2 connected to the slave driver 2 and the target drive mechanism 3 connected to the slave driver 2 include the following steps performed by the slave driver 2:

S1, obtain the command information sent by the master operator;

S2. Determine whether the instruction information meets the compensation conditions;

S3. When the instruction information satisfies the compensation condition, a target compensation amount is obtained;

S4, based on the instruction information and the target compensation amount, the target drive mechanism is controlled to move, and the first slender medical device is delivered, wherein the first slender medical device is clamped by the target drive mechanism 3. Through the above steps, the arching phenomenon of the first slender medical device under the influence of friction can be avoided, the operation accuracy is improved, and the operator does not need to enter the operating room to adjust the catheter, thereby improving the operation efficiency.

Further, the instruction information includes an operation identifier and a target displacement, and the operation identifier includes a first identifier; the step of judging whether the instruction information satisfies the compensation condition includes:

Determine whether the operation identification is the first identification;

If the operation identifier is the first identifier, determining whether the target displacement is greater than a preset displacement;

If the target displacement is greater than the preset displacement, it is determined that the instruction information meets the compensation condition.

In a slender medical device delivery method provided by this application, the slave driver 2 receives the instruction information sent by the master operator 1, and when the instruction information meets the compensation conditions, obtains the target compensation amount, and uses the target compensation amount to The target driving mechanism is controlled to deliver the slender medical device, thereby improving the operation accuracy. At the same time, the operator does not need to enter the operating room to adjust the catheter, improves the operating efficiency, and solves the problem of arching of the first slender medical device under the influence of friction. problem.

Referring to FIG. 3 , an embodiment of the present application also provides a computer device. The computer device may be a server, and its internal structure may be as shown in FIG. 3 . The computer device includes a processor, memory, network interface, and database connected through a system bus. Among them, the processor designed by the computer is used to provide computing and control capabilities. The memory of the computer device includes non-volatile storage media and internal memory. The non-volatile storage medium stores operating systems, computer programs and databases. This internal memory provides an environment for the execution of operating systems and computer programs in non-volatile storage media. The database of the computer device is used to store the rotation data calculation data of the slave end of the interventional robot, etc. The network interface of the computer device is used to communicate with external terminals through a network connection. The computer program, when executed by the processor, implements an elongated medical device delivery method.

Those skilled in the art can understand that the structure shown in Figure 3 is only a block diagram of a partial structure related to the solution of the present application, and does not constitute a limitation on the computer equipment to which the solution of the present application is applied.

An embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, a method for delivering an elongated medical device is implemented. It can be understood that the computer-readable storage medium in this embodiment may be a volatile readable storage medium or a non-volatile readable storage medium.

To sum up, the application's delivery system, method, equipment and medium for an elongated medical device avoid the first elongated medical device from being damaged by friction during the process of delivering the first elongated medical device. The arching phenomenon of the instrument improves the operation accuracy. At the same time, the operator does not need to enter the operating room to adjust the catheter, which improves the operation efficiency.

Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage. In the media, when executed, the computer program may include the processes of the above method embodiments. Any reference to memory, storage, database or other media provided in this application and used in the embodiments may include non-volatile and/or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual-speed data rate SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

It should be noted that, in this document, the terms "comprising", "comprising" or any other variation thereof are intended to cover a non-exclusive inclusion, such that a process, device, article or method that includes a series of elements not only includes those elements, It also includes other elements not expressly listed or inherent in the process, apparatus, article or method. Without further limitation, an element defined by the statement "comprises a..." does not exclude the presence of other identical elements in a process, apparatus, article or method that includes that element.

The above are only preferred embodiments of the present application, and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the description and drawings of the present application, or directly or indirectly used in other related The technical fields are all equally included in the scope of patent protection of this application.

Claims (18)

An elongated medical device delivery system, characterized by including: Main-side operator, used to send command information; A slave driver, connected to the master operator, is used to receive the instruction information sent by the master operator and determine whether the instruction information meets the compensation conditions; when the instruction information meets the compensation conditions, obtain the target compensation amount, wherein the target compensation amount is the compensation displacement amount; A target driving mechanism is connected to the slave driver and is used to clamp the first slender medical instrument; Wherein, when the instruction information satisfies the compensation condition, the slave driver obtains the delivery resistance corresponding to the first elongated medical device and determines whether the delivery resistance is a constant value; when the delivery resistance is a constant value , then query the two-dimensional data chart based on the instruction information, and obtain the target compensation amount corresponding to the instruction information in the two-dimensional data chart; when the delivery resistance is not a fixed value, query the three-dimensional data based on the instruction information and delivery resistance chart to obtain the target compensation amount corresponding to the instruction information and delivery resistance in the three-dimensional data chart. The two-dimensional data chart is a nonlinear discrete point of Y1=f(X1), and the three-dimensional data chart is Y1=f( Nonlinear discrete points of X1)*g(Z), Y1 is the target compensation amount, The driving mechanism moves to deliver the first slender medical device. The elongated medical device delivery system according to claim 1, wherein the instruction information includes an operation identifier and a target displacement, the operation identifier includes a first identifier and a second identifier; the slave driver further Used to determine whether the operation identification is the first identification; when the operation identification is the first identification, the slave driver determines whether the target displacement is greater than the preset displacement; when the target displacement is greater than the preset displacement, then The slave driver determines that the instruction information satisfies the compensation condition. The elongated medical device delivery system according to claim 2, wherein the target drive mechanism comprises: a first drive mechanism and a second drive mechanism; The first driving mechanism and the second driving mechanism cooperate to clamp the first slender medical device; The slave driver controls the first driving mechanism and the second driving mechanism to move according to the target displacement, and controls the first driving mechanism to move according to the target compensation amount. The elongated medical device delivery system according to claim 3, characterized in that the elongated medical device delivery system further includes a main body, and the first driving mechanism and the second driving mechanism are both installed on the main body. The elongated medical device delivery system according to claim 2, wherein the main end operator includes a catheter operating rod and a guidewire operating rod, the catheter operating rod is used to control the first elongated medical device, and the guidewire operating rod The rod is used to control the second elongated medical instrument. The elongated medical device delivery system according to claim 5, wherein the first elongated medical device is a catheter and the second elongated medical device is a guidewire. The elongated medical device delivery system according to claim 6, wherein the first identification is a identification corresponding to the catheter operating rod, and the second identification is a identification corresponding to the guidewire operating rod. The elongated medical device delivery system according to claim 1, wherein the delivery resistance includes sheath resistance and detection resistance detected by a force detection sensor. The slender medical device delivery system according to claim 8 is characterized in that the sheath resistance is the friction between the slender medical device and the inner wall of the sheath, and the detection resistance is the resistance of the slender medical device being delivered into the blood vessel. The elongated medical device delivery system according to claim 1, wherein the instruction information includes an operation identification and a target displacement, and the operation identification includes a first identification and a second identification; The elongated medical device delivery system also includes: a third driving mechanism connected to the slave driver for clamping the second elongated medical device; when the operation identifier is the second identifier, the The slave driver controls the third driving mechanism to move according to the target displacement to control the second slender medical instrument. A computer device, characterized in that it includes a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, a method for delivering a slender medical device is implemented, wherein the method for delivering the slender medical device is applied to a delivery system for the slender medical device, wherein the delivery system for the slender medical device includes a master end operator, a slave end driver connected to the master end operator, and a target drive mechanism connected to the slave end driver, wherein the target drive mechanism is used to clamp a first slender medical device, and characterized in that the slave end driver performs the following steps: Obtain the command information sent by the main-side operator; Determine whether the instruction information meets the compensation conditions; When the instruction information satisfies the compensation condition, the target compensation amount is obtained, where the target compensation amount is the compensation displacement amount; Wherein, when the instruction information satisfies the compensation condition, the slave driver obtains the delivery resistance corresponding to the first elongated medical device and determines whether the delivery resistance is a constant value; when the delivery resistance is a constant value , then query the two-dimensional data chart based on the instruction information, and obtain the target compensation amount corresponding to the instruction information in the two-dimensional data chart; when the delivery resistance is not a fixed value, query the three-dimensional data based on the instruction information and delivery resistance chart to obtain the target compensation amount corresponding to the instruction information and delivery resistance in the three-dimensional data chart. The two-dimensional data chart is a nonlinear discrete point of Y1=f(X1), and the three-dimensional data chart is Y1=f( Nonlinear discrete points of X1)*g(Z), Y1 is the target compensation amount, The driving mechanism moves to deliver the first slender medical device. The computer device according to claim 11, wherein the instruction information includes an operation identifier and a target displacement, and the operation identifier includes a first identifier; and the step of determining whether the instruction information satisfies a compensation condition includes: Determine whether the operation identification is the first identification; If the operation identifier is the first identifier, determine whether the target displacement is greater than the preset displacement; If the target displacement is greater than the preset displacement, it is determined that the instruction information satisfies the compensation condition. The computer device according to claim 11, wherein the target driving mechanism includes a first driving mechanism and a second driving mechanism, and the second driving mechanism clamps an end of the first elongated medical instrument, so The first driving mechanism clamps the middle section of the first elongated medical device; the instruction information includes target displacement; Based on the instruction information and the target compensation amount, controlling the target drive mechanism to move so as to deliver a first elongated medical device, comprising: The first driving mechanism and the second driving mechanism are controlled to move according to the target displacement, and the second driving mechanism is controlled to move according to the target compensation amount. The computer device according to claim 11, wherein the instruction information includes an operation identifier and a target displacement, and the operation identifier includes a first identifier and a second identifier; the elongated medical device delivery system further includes: A third driving mechanism, connected to the slave driver, is used to clamp the second slender medical device; After the step of judging whether the instruction information satisfies the compensation conditions, it includes: When the operation identification is the second identification, the third driving mechanism is controlled to move according to the target displacement to control the second slender medical instrument. A computer-readable storage medium, characterized in that a computer program is stored thereon. When the computer program is executed by a processor, it implements a delivery method for elongated medical devices. The delivery method is applied to elongated medical devices. Delivery system, the elongated medical device delivery system includes a master operator, a slave driver connected to the master operator, and a target drive mechanism connected to the slave driver, where the target drive mechanism is used to Clamping the first slender medical instrument is characterized by including the following steps performed by the slave driver: Obtain the command information sent by the main-side operator; Determine whether the instruction information meets the compensation conditions; When the instruction information satisfies the compensation condition, the target compensation amount is obtained, where the target compensation amount is the compensation displacement amount; Among them, when the instruction information meets the compensation condition, the slave-end driver obtains the delivery resistance corresponding to the first slender medical device and determines whether the delivery resistance is a constant value; when the delivery resistance is a constant value, the two-dimensional data chart is queried based on the instruction information to obtain the target compensation amount corresponding to the instruction information in the two-dimensional data chart; when the delivery resistance is not a constant value, the three-dimensional data chart is queried based on the instruction information and the delivery resistance to obtain the target compensation amount corresponding to the instruction information and the delivery resistance in the three-dimensional data chart, the two-dimensional data chart is a nonlinear discrete point of Y1=f(X1), the three-dimensional data chart is a nonlinear discrete point of Y1=f(X1)*g(Z), Y1 is the target compensation amount, X1 is the target displacement, and Z is the delivery resistance; the slave-end driver controls the movement of the target drive mechanism based on the instruction information and the target compensation amount to deliver the first slender medical device. The computer-readable storage medium according to claim 15, wherein the instruction information includes an operation identifier and a target displacement, and the operation identifier includes a first identifier; and the step of determining whether the instruction information satisfies a compensation condition ,include: Determine whether the operation identification is the first identification; If the operation identifier is the first identifier, determine whether the target displacement is greater than the preset displacement; If the target displacement is greater than the preset displacement, it is determined that the instruction information satisfies the compensation condition. The computer-readable storage medium according to claim 15, wherein the target driving mechanism includes a first driving mechanism and a second driving mechanism, and the second driving mechanism clamps an end of the first elongated medical instrument. part, the first driving mechanism clamps the middle section of the first elongated medical device; the instruction information includes the target displacement; Based on the instruction information and the target compensation amount, controlling the movement of the target driving mechanism to deliver the first elongated medical device includes: The first driving mechanism and the second driving mechanism are controlled to move according to the target displacement, and the second driving mechanism is controlled to move according to the target compensation amount. The computer-readable storage medium according to claim 15, wherein the instruction information includes an operation identifier and a target displacement, and the operation identifier includes a first identifier and a second identifier; the elongated medical device delivery system It also includes: a third driving mechanism, connected to the slave driver, and used to clamp the second slender medical instrument; After the step of judging whether the instruction information satisfies the compensation conditions, it includes: When the operation identification is the second identification, the third driving mechanism is controlled to move according to the target displacement to control the second slender medical instrument.