CN115040760B

CN115040760B - Control method of motion control device, motion control device and conveying system

Info

Publication number: CN115040760B
Application number: CN202210827003.7A
Authority: CN
Inventors: 请求不公布姓名; 朱祥
Original assignee: Shenzhen Wimi Robotics Co ltd
Current assignee: Shenzhen Wimi Robotics Co ltd
Priority date: 2022-07-14
Filing date: 2022-07-14
Publication date: 2024-05-24
Anticipated expiration: 2042-07-14
Also published as: CN115040760A

Abstract

The present application relates to a control method of a motion control device, a delivery system, a surgical system, a computer device, a storage medium, and a computer program product. The motion control apparatus includes: the clamping module is used for clamping the conveying device; the first control module is used for receiving target control information and generating first control information and second control information for controlling the motion module according to the target control information; the driving module is fixedly connected with the clamping module relatively and is used for controlling the conveying device to move based on the first control information and controlling the conveying device to release the target according to the second control information. By adopting the device and the method, the conveying device can be clamped by the clamping module of the motion control device, a doctor is not required to hold the conveying device all the time, the safety can be ensured, the motion of the conveying device is controlled based on the first control information, and therefore, compared with manual operation, the device is more accurate and the safety is higher.

Description

Control method of motion control device, motion control device and conveying system

Technical Field

The present application relates to the field of intelligent medical technology, and in particular, to a control method of a motion control device, a delivery system, a surgical system, a computer device, a storage medium, and a computer program product.

Background

With the development of micro-trauma technology, more and more operations achieve the purpose of the operation by adopting a micro-trauma method, for example, during interventional micro-trauma operation, an implant or a replacement needs to be delivered to a target position of a human body, typically, a small hole is formed in a femoral artery and the like, and the implant or the replacement is delivered to the target position of the human body through a delivery device.

For ease of understanding, a heart valve replacement operation is described as an example, in which a damaged valve is replaced with a prosthetic heart valve, thereby achieving the effect of treating heart valve diseases. The traditional heart valve replacement operation is an open chest operation, and has great damage to patients. With the development of surgical techniques, a minimally invasive interventional operation of a heart valve has been developed, in which a small hole is formed in a femoral artery, a valve delivery device is used to deliver the heart valve to a site in the heart where the valve needs to be replaced, and the valve is released to a target site by the delivery device, so that the trauma of a patient is reduced.

However, at present, a doctor is required to hold the conveying device all the time in the operation process so as to control the movement of the conveying device and the like, the operation process is long, and the safety is not high.

Disclosure of Invention

In view of the above, it is desirable to provide a control method of a motion control device, a delivery system, a surgical system, a computer device, a storage medium, and a computer program product that can clamp a delivery device, realize automatic control of motion of the delivery device and release of a target, and improve safety.

In a first aspect, the present application provides a motion control apparatus comprising:

the clamping module is used for clamping the conveying device;

The first control module is used for receiving target control information and generating first control information and second control information for controlling the motion module according to the target control information;

the driving module is fixedly connected with the clamping module relatively and is used for controlling the conveying device to move based on the first control information and controlling the conveying device to release the target according to the second control information.

In one embodiment, the driving module includes:

The rotating sub-module is fixedly connected with the clamping module relatively and is used for controlling the rotating motion of the conveying device based on the first control information;

And the pushing sub-module is fixedly connected with the rotating sub-module relatively and is used for controlling the linear motion of the conveying device based on the first control information.

In one embodiment, the pushing submodule includes:

A main pushing unit for controlling the linear motion of the catheter of the conveying device;

and the following pushing unit is used for controlling the handle of the conveying device to do linear motion with the same speed along with the catheter according to the motion of the main pushing unit.

In one embodiment, the rotating sub-module includes:

the main rotating unit is fixed relative to the second clamping mechanism of the clamping module and is arranged on the main pushing unit, and the main rotating unit is used for controlling the rotating motion of the guide pipe of the conveying device;

The following rotating unit is relatively fixed with the first clamping mechanism of the clamping module and is arranged on the main rotating unit, and the following rotating unit is used for controlling the handle of the conveying device to follow the guide pipe to do the same-speed rotating motion according to the motion of the main rotating unit.

In one embodiment, the clamping module comprises:

the first clamping mechanism is used for clamping the handle of the conveying device;

and the second clamping mechanism is used for clamping the guide pipe of the conveying device.

In one embodiment, the clamping module further comprises a control key, wherein the control key is used for controlling the opening and closing of the first clamping mechanism.

In one embodiment, the second clamping mechanism comprises a fixed jaw and a movable jaw; the movable clamping jaw is used for clamping the catheter when the catheter moves, and the fixed clamping jaw is used for clamping the catheter when the driving module reaches an extreme position.

In one embodiment, the motion control apparatus further comprises:

And the force sensing module is arranged on the driving module and used for acquiring stress information of a target and feeding the stress information back to the first control module so as to instruct the first control module to feed the stress information back to the second control module of the operation end.

In one embodiment, the force sensing module comprises:

the base is mounted on the motion module;

and the first force sensing unit is arranged on the base and used for acquiring stress information of a target.

In one embodiment, the force sensing module comprises:

And the second force sensing unit is arranged on a second clamping mechanism of the clamping module and used for acquiring stress information of a target.

In one embodiment, the force sensing module further comprises:

The data processing unit is used for preprocessing the stress information acquired by the force sensing module and feeding the preprocessed stress information back to the first control module.

In one embodiment, the force sensing module further comprises:

The protection unit is used for detecting whether the stress information exceeds a stress threshold value, and outputting alarm information to the first control module when the stress information exceeds the stress threshold value so as to instruct the first control module to control the motion module to control the conveying device to a safety area.

In one embodiment, the driving module includes:

the release driving motor is used for receiving second control information output by the first control module and moving based on the second control information;

A motion transmission mechanism for following the motion of the release driving motor;

and the release controller is used for following the movement of the movement conveying mechanism and controlling the conveying device to release the target.

In a second aspect, the present application also provides a delivery system comprising:

A motion control apparatus as described in any one of the above embodiments;

The operation end comprises a second control module, wherein the second control module is used for receiving target control information and sending the target control information to the first control module of the motion control device.

In one embodiment, the second control module is further configured to receive the operation information sent by the first control module, and feed back the operation information through at least one of the following: feeding back the operation information through a force feedback operator, feeding back the operation information through a vibration feedback device, or displaying the operation information through a display; the operation information comprises at least one of stress information, alarm information and limit position information.

In a third aspect, the present application also provides a surgical system comprising a motion control device as described in any one of the embodiments above, or a delivery system as described in any one of the embodiments above.

In a fourth aspect, the present application further provides a control method of a motion control device, where the motion control device includes a clamping device, a first control module, and a driving module, where the clamping device is used to clamp a conveying device, and the driving module is fixedly connected with the clamping module relatively; the method comprises the following steps: receiving target control information, and generating first control information and second control information for controlling a motion module according to the target control information; the driving module is controlled to control the movement of the conveying device based on the first control information and control the conveying device to release the target according to the second control information.

In a fifth aspect, the present application also provides a computer device comprising a memory storing a computer program and a processor implementing the steps of the method described in any one of the embodiments above when the computer program is executed by the processor.

In a sixth aspect, the present application also provides a computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when executed by a processor, implements the steps of the method described in any of the embodiments above.

The control method, the motion control device, the conveying system, the operation system, the computer equipment, the storage medium and the computer program product of the motion control device are used for clamping the conveying device through the motion control device, so that a doctor does not need to hold the conveying device all the time through a clamping module of the motion control device, the safety can be ensured, in addition, the first control module is used for receiving target control information, generating first control information and second control information for controlling the motion module according to the target control information, controlling the conveying device to move based on the first control information and controlling the conveying device to release the target according to the second control information, and compared with manual operation, the safety is more accurate and higher.

Drawings

FIG. 1 is a block diagram of a motion control device in one embodiment;

FIG. 2 is a schematic diagram of a propulsion sub-module in one embodiment;

FIG. 3 is a schematic diagram of a rotating sub-module in one embodiment;

FIG. 4 is a schematic diagram of a release module in one embodiment;

FIG. 5 is a schematic view of the first clamping mechanism in one embodiment when closed;

FIG. 6 is a schematic diagram of the first clamping mechanism in one embodiment when extended;

FIG. 7 is a schematic view of a second clamping mechanism in one embodiment;

FIG. 8 is a schematic diagram of a force sensing module in one embodiment;

FIG. 9 is a mechanical schematic of a motion control device in one embodiment;

FIG. 10 is a schematic diagram of a delivery system in one embodiment;

FIG. 11 is a schematic view of a surgical system in one embodiment;

FIG. 12 is a flow chart of a control method of the motion control device in one embodiment;

FIG. 13 is a flow chart of a control method of a motion control device according to another embodiment;

FIG. 14 is a flow chart of a rotational movement step in one embodiment;

FIG. 15 is a flow chart of the step of advancing motion in one embodiment;

FIG. 16 is a flow chart illustrating the release motion step in one embodiment;

FIG. 17 is a flow chart of a force sensing step in one embodiment;

fig. 18 is an internal structural view of a computer device 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.

Specifically, referring to fig. 1, fig. 1 is a schematic block diagram of a motion control device according to an embodiment, where the motion control device 100 includes a clamping module 110, a first control module 120, and a driving module 140. The clamping module 110 is used for clamping the conveying device 170, the driving module 140 is relatively and fixedly connected with the clamping module 110, and the first control module 120 is used for receiving target control information and controlling the driving module 140 based on the target control information, so that the driving module 140 controls the conveying device 170 to move based on the target control information. Specifically, the first control module 120 is configured to receive the target control information and generate the first control information and the second control information for controlling the movement module according to the target control information, so that the driving module 140 controls the movement of the conveying device based on the first control information and controls the conveying device to release the target according to the second control information

Wherein the delivery device 170 may comprise a handle 171 and a catheter 172, the catheter 172 being connected to the handle 171, the end of the catheter 172 being provided with a target, for example in the case of heart valve delivery, the heart valve being provided in the end position of the catheter 172. The clamping module 110 is used to clamp the delivery device 170 without being manually held by an operator, thereby clamping the heart valve quickly and effectively by the clamping mechanism. The driving module 140 is fixedly connected to the clamping module 110, such that movement of the driving module 140 causes movement of the clamping module 110, and the clamping module 110 clamps the conveying device 170, so that the conveying device 170 also moves along with the driving module 140. The driving module 140 is controlled by the first control module 120, so that high-precision control can be achieved. Wherein the target control information received by the first control module 120 may be operator-entered or may be transmitted to the first control module 120 by the master control module when implemented in a master-slave system architecture, wherein the control information of the master control module may be operator-entered.

In some of these embodiments, the driving module 140 may include a movement module 141 and a release module 142, wherein the movement module 141 is configured to control movement of the conveying device 170 based on the first control information output from the first control module 120, the movement including rotational movement and linear movement. The release module 142 is configured to control the conveying device 170 to release the target based on the second control information output by the first control module 120. Wherein the first control information and the second control information are both generated based on the target control information.

In some embodiments, the movement module 141 may include a rotation sub-module 150 and a pushing sub-module 160, where the rotation sub-module 150 is fixedly connected to the clamping module 110, and is used to control the rotation movement of the conveying device 170 based on the first control information; the pushing sub-module 160 is fixedly connected with the rotating sub-module 150 relatively, and is used for controlling the linear motion of the conveying device 170 based on the first control information.

In some of these embodiments, the propulsion sub-module 160 includes a main propulsion unit 161 and a following propulsion unit 162, and the rotation sub-module 150 includes a main rotation unit 151 and a following rotation unit 152; the main rotating unit 151 is relatively fixed to the second clamping mechanism of the clamping module 110, and the main rotating unit 151 is mounted to the main pushing unit 161; the follow-up rotating unit is relatively fixed with the first clamping mechanism of the clamping module 110, and the follow-up rotating unit 152 is mounted on the main rotating unit 151; the main pushing unit 161 is used for controlling the linear motion of the guide tube 172 of the conveying device 170; the following pushing unit 162 is used for controlling the handle 171 of the conveying device 170 to do linear motion with the same speed along the guide tube 172 according to the motion of the main pushing unit 161; the main rotation unit 151 is used to control the rotational movement of the guide tube 172 of the conveying device 170; the following rotation unit 152 is used for controlling the handle 171 of the conveying device 170 to follow the catheter 172 for the same speed of rotation according to the movement of the main rotation unit 151.

Fig. 2 to 3 are combined, wherein fig. 2 is a schematic diagram of a propulsion sub-module in one embodiment, and fig. 3 is a schematic diagram of a rotation sub-module in one embodiment. The motion control device 100 includes a main base 195, on which a main pushing unit 161 and a following pushing unit 162 are mounted to be slidable, wherein the main pushing unit 161 is used to implement linear motion of the catheter 172 of the conveying device 170, and the following pushing unit 162 is used to ensure that the handle 171 of the conveying device 170 follows the catheter 172 to move at the same speed, so as to push the target to a corresponding position, for example, push the heart valve to the corresponding position, where the motion mode of the pushing sub-module 160 may include a screw transmission, a synchronous belt transmission or a wire transmission, and is not limited in particular herein. The rotating sub-module 150 includes a main rotating unit 151 and a following rotating unit 152, the main rotating unit 151 is mounted on the main pushing unit 161, and the following rotating unit 152 is mounted on the following pushing unit 162, so that the main rotating unit 151 realizes the rotating motion of the catheter 172 of the conveying device 170, and the following rotating unit 152 follows the main rotating unit 151 to ensure that the handle 171 follows the catheter 172 to do the rotating motion with the same speed, thereby realizing the function of target rotation, such as the function of heart valve rotation. The transmission of the rotation motion may be gear transmission, synchronous belt transmission, rope transmission or the like, and is not particularly limited herein.

In some of these embodiments, the release module 142 includes a release drive motor 181, a motion transfer mechanism 182, and a release controller 183, wherein the release drive motor 181 is configured to receive the second control information output by the first control module 120 and perform a motion based on the second control information; the movement transmission mechanism 182 is used to follow the movement of the release driving motor 181; the release controller 183 is configured to follow the movement of the movement transmission mechanism 182 and control the conveying device 170 to release the target.

Referring to fig. 4, fig. 4 is a schematic view of a release module in an embodiment in which the release module 142 is mainly used to control the delivery device 170 to release a target, wherein the release module 142 controls the release controller 183 to control the delivery device 170 to release the target through the release driving motor 181. Wherein the release controller 183 may be a release control knob, in other embodiments, the release controller 183 may be other mechanical structures, without limitation. Wherein the release driving motor 181 receives the second control information outputted from the first control module 120 and moves based on the second control information such that the movement transmitting mechanism 182 is adapted to follow the movement of the release driving motor 181, and the release controller 183 is adapted to follow the movement transmitting mechanism 182 and control the conveying device 170 to release the target.

In some of these embodiments, the clamping module 110 includes a first clamping mechanism and a second clamping mechanism; the first clamping mechanism is used for clamping the handle 171 of the conveying device 170; the second clamping mechanism is used to clamp the conduit 172 of the delivery device 170.

In some embodiments, the clamping module 110 further includes a control key for controlling the opening and closing of the first clamping mechanism.

Referring to fig. 5, fig. 5 is a schematic view of an embodiment in which the first clamping mechanism is closed, and fig. 6 is a schematic view of an embodiment in which the first clamping mechanism is long, and in this embodiment, the second clamping mechanism is used to clamp the handle 171 of the conveying device 170, and the first clamping mechanism may include a clamping jaw base 186, a clamping jaw 185, and a pushing rod 184, where the clamping jaw 185 is implemented by the clamping jaw 185, for example, by the pushing rod 184 of the clamping jaw 185. At the beginning of the operation, the jaws 185 are opened, the conveyor 170 is mounted on the motion control device 100, and then the jaws 185 are controlled to close, ensuring that the motion control device 100 moves synchronously with the conveyor 170. The clamping of the handle 171 of the conveying device 170 may be achieved by opening the clamping jaw 185 by controlling a key, closing the clamping jaw 185 by controlling the control key after the conveying device 170 is mounted on the motion control device 100.

In some of these embodiments, the second clamping mechanism includes a stationary jaw 191 and a moving jaw 192; the moving jaw 192 is used to clamp the guide tube 172 when the guide tube 172 moves, and the fixed jaw 191 is used to clamp the guide tube 172 when the movement module 141 reaches the limit position. Referring to fig. 7, fig. 7 is a schematic diagram of a second clamping mechanism in an embodiment, where the second clamping mechanism is implemented by a dual-jaw manner to alternately push the catheter 172, when the catheter 172 is installed, firstly, the catheter 172 is installed on a fixed jaw 191 of the dual-jaw, the fixed jaw 191 is installed on a fixed base 193, and the movable jaw 192 is installed on a main base 195 of the motion control device 100, and during the pushing process, the fixed jaw 191 is released, and the movable jaw 192 clamps the catheter 172 to control the linear motion of the catheter 172; when the movement module 141 reaches the limit position, the fixed jaw 191 clamps, the fixed conduit 172 is stationary, the movable jaw 192 is released, and the movable jaw 192 returns to the zero position; the movable clamping jaw 192 clamps, the fixed clamping jaw 191 is loosened, and the linear motion of the guide tube 172 is controlled continuously; by the above control, alternate pushing of the catheter 172 is achieved. Wherein the limit position of the movement module 141 may refer to the limit position of the motor of the main pushing unit 161 of the movement module 141.

In some embodiments, the motion control device 100 further includes a force sensing module 130, where the force sensing module 130 is mounted on the motion module 141, and the force sensing module 130 is configured to acquire stress information of the target and feed back the stress information to the first control module 120, so as to instruct the first control module 120 to feed back the stress information to the second control module of the operation end. Specifically, referring to fig. 8, fig. 8 is a schematic diagram of the force sensing module 130 in an embodiment, where the force sensing module 130 may acquire the stress information of the target in two ways, for example, the sensor acquires the stress information of the target, or the elastic structural component acquires the stress information of the target. As shown in connection with fig. 8, in some of these embodiments, the force sensing module 130 includes: a base 194 mounted to the motion module 141; the first force sensing unit is arranged on the base and used for acquiring stress information of a target. The first force sensing unit may employ a multi-dimensional force sensor directly mounted on the base; a plurality of one-dimensional force sensors may be used, and the one-dimensional force sensors may be mounted on the base 194 to measure the thrust force and the rotational force. In some embodiments, the force sensing module 130 includes a second force sensing unit, and is mounted on the second clamping mechanism of the clamping module 110, for acquiring stress information of the target. The second force sensing unit may be an elastic structural component, and is adhered to the position of the clamping jaw 185 of the second clamping mechanism, and the information of the push-pull force and the torsion force is resolved in real time according to the linear relationship between the elastic deformation and the collision force. The force sensing module 130 senses the propulsion force and the torsion force information in real time by installing force sensors in different forms so as to perform real-time teleoperation control.

In some of these embodiments, the force sensing module 130 further comprises: the data processing unit is configured to pre-process the stress information acquired by the force sensing unit, and feed back the pre-processed stress information to the first control module 120. Specifically, preprocessing may refer to converting an analog signal of the force sensing module 130 acquired in real time into a digital signal that can be identified by an upper computer, and performing filtering processing on the data, so as to ensure the authenticity and stability of the data.

In some of these embodiments, the force sensing module 130 further comprises: the protection unit is configured to detect whether the stress information exceeds a stress threshold, and output alarm information to the first control module 120 when the stress information exceeds the stress threshold, so as to instruct the first control module 120 to control the movement module 141 to control the conveying device 170 to a safety area. Specifically, the upper computer develops safety protection logic, and when the detected collision force information exceeds a set threshold value, alarm operation is performed. In some alternative embodiments, the thresholds are classified into different levels, and when the maximum early warning level is triggered, the mechanical arm automatically retreats to ensure that the collision position enters a safe threshold range.

In some of these embodiments, referring to fig. 9, fig. 9 is a mechanical schematic diagram of a motion control device 100 in one embodiment, wherein the motion control device 100 includes a clamping module 110, a first control module 120, a driving module 140, and a force sensing module 130, wherein the driving module 140 may include a motion module 141 and a release module 142. Wherein the movement module 141 comprises a propulsion sub-module 160 and a rotation sub-module 150, the propulsion sub-module 160 comprising a main propulsion unit 161 and a following propulsion unit 162, the rotation sub-module 150 comprising a main rotation unit 151 and a following rotation unit 152. Wherein the following propulsion unit 162 and the main propulsion unit 161 perform real-time following motion, the rotating sub-module 150 and the propulsion sub-module 160 are rigidly connected to perform synchronous motion, the following rotation unit 152 and the main rotation unit 151 perform real-time following motion, and the clamping module 110 and the rotating sub-module 150 are rigidly connected to perform synchronous motion.

Wherein the clamping module 110 comprises a first clamping mechanism for clamping the handle 171 of the conveyor 170 and a second clamping mechanism for clamping the conduit 172 of the conveyor 170. This allows the conveyor 170 to be efficiently and stably held. The release module 142 is used to precisely control the release of a target, such as a heart valve.

The force sensing module 130 is mounted on the rotating sub-module 150 of the motion control device 100, for example, rigidly connected, and can sense the pushing force and the torsion force information in real time, and transmit the pushing force and the torsion force information to the first control module 120 in real time, and transmit the pushing force and the torsion force information to the second control module at the operation end by the first control module 120, so that the doctor can sense the collision force information in real time. The force sensing module 130 may be specifically defined as described above, and is not specifically limited herein.

In some of these embodiments, referring to fig. 10, fig. 10 is a schematic diagram of a delivery system in one embodiment, the delivery system comprising: the motion control apparatus 100 and the operation end in any of the above embodiments. The operation end includes a second control module, where the second control module is configured to receive the target control information and send the target control information to the first control module 120 of the motion control device 100.

The second control module and the first control module 120 form a teleoperation system, so that an operator can remotely control the motion control device 100, and thus the operator is prevented from being exposed to the radiation environment all the time, and the injury to the operator is reduced.

The second control module may receive the target control information input by the operator and send the target control information to the first control module 120 of the dynamic control device, so that the first control module 120 controls the propulsion sub-module 160, the rotation sub-module 150, the release module 142 and the clamping mechanism. After the first control module 120 receives the target control module, the corresponding target control module may be calculated according to a master-slave teleoperation control algorithm, so as to control the propulsion sub-module 160, the rotation sub-module 150, the release module 142 and the clamping mechanism.

Wherein, step S1: the operator passes through the operation panel of the control end, so that step S2: the second control module acquires operation information (mainly, forward and backward information and rotation information for controlling the heart valve) of a doctor in real time, and solves the operation information into a control signal which can be identified by the robot, namely, target control information, and step S3: the second control module transmits the resolved control signal to the first control module 120 of the robot end through the real-time remote communication algorithm, step S4: the first control module 120 effects advancing and rotating operation of the heart valve delivery system in accordance with the control signal.

In one embodiment, step S5: the second control module is further configured to receive the operation information sent by the first control module 120, and feedback the operation information through at least one of the following: the operation information is fed back by a force feedback operator, or is fed back by a vibration feedback device, or is displayed by a display; the operation information includes at least one of stress information, alarm information, and limit position information.

The operation panel of the operation end is provided with a force feedback operation hand for accurately acquiring the operation information of a doctor; the operation end can also comprise a display, such as high-definition medical display, which can display the image information in the operation process in real time, so that a doctor can conveniently acquire the position information of the valve in real time, and accurate operation can be performed.

In practical application, the robot end has a button for controlling the opening and closing of the clamping jaw 185, and before starting the operation, the method further includes step S0: the operator can control the opening and closing of the jaws 185 by operating the keys to grip the handle 171 of the delivery device 170. The pushing force and torsion force information acquired by the robot end through the force sensing module 130 is transmitted to the second control module of the operation end in real time, and the real-time force information is displayed on the display in real time.

Step S6: when the valve reaches the target position, the operator accurately controls the release of the valve by controlling the control keys on the operation panel.

When the operation space controlled by the operation end exceeds the limit position, the boundary of the motion is determined through an absolute value encoder, and an operator can feed back in real time; when the collision force value exceeds a limit threshold (the limit threshold is a threshold set for the real-time force sensing module 130, so that the damage to blood vessels in the operation process is avoided, the threshold is obtained through experiments), and corresponding alarm information is displayed on a display of an operation end.

Wherein the main propulsion unit 161 controls the forward and backward movement of the guide tube 172 of the conveyor 170 by the main propulsion motor, and the follow propulsion unit 162 may control the forward or backward movement of the guide tube 172 by the handle 171 of the conveyor 170 by the follow propulsion motor. The main rotation unit 151 controls the duct 172 of the conveyor 170 to perform a rotation motion by the main rotation motor, and the following rotation unit 152 controls the handle 171 of the conveyor 170 to perform a rotation motion following the duct 172 by the following rotation motor.

In this embodiment, the teleoperation system formed by the operation end and the motion control device 100 can control the advance and rotation of the delivery device 170 in real time and feed back the force sensing condition of the distal end of the catheter 172 in real time.

In some of these embodiments, and as shown in connection with fig. 11, the present application also provides a surgical system including the motion control device 100, or delivery system, of any of the embodiments described above. The motion control device 100 is mounted on the operating table 400 through the bracket 300, so that the motion control device 100 and the operating table 400 are kept relatively static in the whole operation process. The digital subtraction angiography system 500 acquires image information of the heart and blood vessels of the patient 600 in real time, and the operator delivers valves into the heart and precisely releases the heart valves according to the image information. In the above embodiment, the master-slave teleoperation controls the delivery and release of the valve, reduces the radiation risk in the operation process of the operator, and provides the motion delivery device 170 to deliver and release the valve, reduces the fatigue strength of the operation of the operator, and improves the precision of valve release; in addition, the real-time force sensing module 130 is used for improving the safety and reliability of the operation; the motion control apparatus 100 is simple in structure and convenient to assemble.

In one embodiment, as shown in fig. 12, a control method of a motion control device is provided, and the method is applied to the first control module in fig. 1 for illustration, and includes the following steps:

S1202: and receiving the target control information, and generating first control information and second control information for controlling the motion module according to the target control information.

Specifically, the target control information is input to the first control module, or is sent to the first control module by the second control module of the conveying system, the operation end obtains the operation method of an operator, such as the target control information of pushing action, rotating action, releasing action and the like, the target control information is converted into a signal which can be identified by the first control module, and the target control information is sent to the motion control device through remote communication, so that the first control module controls the motion of the conveying device according to the control command.

S1204: the control driving module controls the movement of the conveying device based on the first control information and controls the conveying device to release the target according to the second control information.

Specifically, the movement may include a linear movement, a rotational movement, and a release movement of the conveying device, wherein the movement of the conveying device is controlled according to the target control information, including at least one of: generating first control information for controlling the movement module according to the target control information, and controlling the movement of the conveying device based on the first control information; or generating second control information of the control release module according to the target control information, and controlling the conveying device to release the target based on the second control information.

In some of these alternative embodiments, controlling the movement of the delivery device based on the first control information includes at least one of: controlling a rotational movement of the conveying device based on the first control information; or controlling the linear motion of the conveyor based on the first control information. Specifically, in actual operation, as shown in fig. 13, an operator may read a medical image in real time, and then control the operation end to control the conveying device to move, the second control module obtains target control information, for example, obtains target control information input to the operation panel by the operator, or senses the target control information through a sensor on the operation hand, the second control module sends the target control information to the first control module through remote communication, after receiving the target control information, the first control module disassembles a signal of the target control information, and when the target control information controls the conveying device to advance or retreat, the main propulsion unit and the follow propulsion unit of the propulsion sub-module are driven. When the target control information is to control the rotation of the conveyor, it is driven by the main rotation unit and the following rotation unit of the above-described rotation sub-module. When the target control information is to control the delivery device to release the valve, the delivery device is controlled to release the valve by the release module.

According to the control method of the motion control device, the conveying device is clamped through the clamping module of the motion control device, a doctor does not need to hold the conveying device all the time, safety can be guaranteed, in addition, the first control module is used for receiving target control information, generating first control information for controlling the motion module according to the target control information, and controlling the conveying device to move based on the first control information, so that compared with manual operation, the conveying device is more accurate and higher in safety.

In some of these embodiments, the motion module includes a rotation sub-module; controlling the rotational movement of the conveyor based on the first control information, comprising: controlling the fixed clamping jaw of the second clamping mechanism of the clamping module to loosen, and moving the clamping jaw to clamp the guide pipe of the conveying device; and controlling the conveying device to rotate through the rotating sub-module according to the first control information.

In some of these embodiments, controlling the rotational movement of the conveyor device by the rotational sub-module according to the first control information comprises: acquiring a first limit position of a rotating sub-module; acquiring a first current position of a rotating sub-module; detecting whether the first current position reaches a target position corresponding to first control information; when the first current position does not reach the target position corresponding to the first control information, detecting whether the first current position reaches a first limit position or not; and when the first current position reaches a target position corresponding to the first control information or the first current position reaches a first limit position, controlling the motor of the rotating sub-module to stop moving.

Specifically, in this embodiment, the rotation of the catheter is achieved by means of the double clamping jaws, after receiving the signal of the rotational movement of the conveying device, the fixed clamping jaws are loosened, the clamping jaws are moved to clamp the catheter, the rotational movement of the catheter is controlled according to the target control information, the limiting position of the movement is detected in real time, and overrun of the movement is prevented.

As shown in fig. 14, in this embodiment, the limit positions P1 and P2 of the main rotary motor encoder of the active rotary unit are set, and the rotational speed, acceleration, and deceleration of the main rotary motor are generated from the target control information. The conveying device rotates under the control of the rotating sub-module, wherein the fixed clamping jaw is controlled to be loosened firstly, and the movable clamping jaw clamps the guide pipe of the conveying device; the rotational movement of the conveyor is controlled by the main rotation unit according to the first control information. And then the following rotation unit follows the movement of the main rotation unit, for example, the following rotation motor follows the main rotation motor to perform the rotation movement.

Wherein during rotation, the first limit position of the rotating sub-module is obtained by reading the position of the motor, the first limit position of the rotating sub-module being characterized, for example, by P1 and P2; acquiring a first current position P of a rotating sub-module; detecting whether the first current position P reaches a target position corresponding to first control information; when the first current position does not reach the target position corresponding to the first control information, detecting whether the first current position reaches a first limit position P1 or P2; when the first current position P reaches the target position corresponding to the first control information, or when the first current position reaches the first limit position P1 or P2 (for example, judgment p= P1 or p= P2, where= is used to represent judgment), the motor of the rotating sub-module is controlled to stop moving.

In this embodiment, the rotation of the catheter is achieved by means of the double clamping jaws, and after receiving the signal of the rotation movement of the conveying device, the fixed clamping jaws are loosened, the movable clamping jaws clamp the catheter, the rotation movement of the catheter is controlled according to the target control information, the limiting position of the movement is detected in real time, and the overrun of the movement is prevented.

In one embodiment, the motion module includes a propulsion sub-module; controlling linear motion of the conveying device based on the first control information, comprising: controlling the fixed clamping jaw of the second clamping mechanism of the clamping module to loosen, and moving the clamping jaw to clamp the guide pipe of the conveying device; and controlling the movement of the propulsion sub-module according to the first control information.

Specifically, in this embodiment, the linear motion of the conveying device is realized through the mode of the double clamping jaws, and the pushing conveying device is controlled to advance and retreat according to the control logic of the clamping jaws, so that the pushing of the conveying device is realized. In the control process, whether the pushing sub-module reaches the limit position or not needs to be detected, and if the pushing sub-module reaches the limit position, the pushing sub-module returns to the zero position to continue pushing the catheter.

In one embodiment, the push submodule comprises a main push unit and a follow push unit; controlling the movement of the propulsion submodule according to the first control information, including: acquiring a second limit position of the motion of the propulsion submodule; acquiring a second current position of the propulsion sub-module; when the second current position reaches a second limit position, controlling the pushing submodule to stop moving, controlling the movable clamping jaw of the second clamping mechanism of the clamping module to loosen, and fixing the clamping jaw to clamp the guide pipe of the conveying device; controlling the main pushing unit to reversely move, and keeping the following pushing unit stationary; acquiring a third current position of the main pushing unit; when the third current position of the main pushing unit reaches the second limit position, controlling the main pushing unit to stop moving, and continuously executing the steps of controlling the fixed clamping jaw of the second clamping mechanism of the clamping module to loosen and moving the clamping jaw to clamp the guide pipe of the conveying device; and when the third current position of the main pushing unit does not reach the second limit position, continuously executing the step of controlling the main pushing unit to move reversely and keeping the following pushing unit stationary.

Specifically, the limit positions are preset, for example, including a forward limit position P1 and a backward limit position P2, and specifically, as shown in fig. 15, in this embodiment, the forward limit position P1 and the backward limit position P2 of the active propulsion motor encoder of the active propulsion unit are acquired first, and the speed, acceleration or deceleration of the active propulsion motor is set according to the target control information, so that the fixed clamping jaw is released, the moving clamping jaw clamps the catheter, the active propulsion motor moves, and the catheter movement is controlled, and the following propulsion motor moves along with the active propulsion motor. In the moving process, reading the position P of an active propulsion motor encoder and judging whether the movement reaches a target position, when the movement reaches the target position, stopping the movement of the active propulsion motor and a following propulsion motor encoder, and when the movement does not reach the target position, judging whether the read position P of the active propulsion motor encoder is the limit position, namely judging P= = P1 or P= P2, wherein= = is used for judging, if yes, stopping the movement of the active propulsion motor and the following propulsion motor, closing a fixed clamping jaw, loosening a movable clamping jaw, reversely moving the active propulsion motor of an active propulsion unit, keeping the following propulsion motor of a follow propulsion unit stationary, reading the position P of the active propulsion motor encoder, judging whether the position P of the active propulsion motor encoder is the limit position, namely judging P= P1 or P= P2, if yes, stopping the movement of the active propulsion motor of the active propulsion unit, fixedly loosening the movable clamping jaw, continuously executing the movement of the active propulsion motor, thereby controlling the movement of the following propulsion motor along with the pipe to finish the movement of the following propulsion motor. And if the limit position is not reached, continuing the reverse movement of the active propulsion motor of the active propulsion unit, keeping the following propulsion motor of the follow-up propulsion unit stationary, and reading the position of the encoder of the active propulsion motor.

In the embodiment, the linear motion of the conveying device is realized through a mode of double clamping jaws, and the pushing conveying device is controlled to advance and retreat according to the control logic of the clamping jaws, so that the pushing of the conveying device is realized. In the control process, whether the pushing sub-module reaches the limit position or not needs to be detected, and if the pushing sub-module reaches the limit position, the pushing sub-module returns to the zero position to continue pushing the catheter.

In one embodiment, controlling the delivery device to release the target based on the second control information includes: acquiring a third limit position of a release module of the motion control device; obtaining the movement direction of the release module according to the second control information, and controlling the release module to move according to the movement direction; when a motion stopping instruction is received, the control release module stops motion; when the motion stop instruction is not received, reading a fourth current position of the release module; detecting whether the fourth current position reaches a third pole limit position; when the fourth current position reaches the third pole limit position, completing the release action; and when the fourth current position does not reach the third electrode position, continuously controlling the release driving motor to move according to the movement direction.

When the first control module receives a valve release command of the conveying device, the valve release motor is controlled to move to control the valve release action, a doctor can control the valve release speed and position according to the real-time image information, for example, the doctor can control the valve release speed and position according to the real-time image information, when the valve starts to release according to the valve release degree, the valve release speed is slower, and when the valve is released to a certain position, the valve release speed is faster, so that the best release effect is achieved.

As shown in fig. 16, in this embodiment, the limit position P1 of the release motor may be obtained, the movement direction of the release motor may be obtained according to the target control information, the movement of the release motor may be controlled, the encoder position P of the release motor may be read, whether the movement stop command is obtained may be determined, if yes, the release motor stops moving, if no, whether the position P of the encoder of the release motor reaches the limit position P1 may be determined, that is, if yes, the release operation is completed, and if no, the encoder position P of the release motor may be continuously read.

That is, in the present embodiment, the limit position P1 of the release motor is the maximum action of release, thereby completing release.

In one embodiment, receiving target control information includes: and receiving target control information sent by a second control module of the operation end, wherein the target control information is received through an operation panel of the operation end.

In one embodiment, after controlling the movement of the conveying device according to the target control information, the method includes: acquiring operation information; transmitting the operation information to a second control module, wherein the second stress information feeds back the operation information through at least one of the following items in the second control module: the operation information is fed back by a force feedback operator, or is fed back by a vibration feedback device, or is displayed by a display; the operation information includes at least one of stress information, alarm information, and limit position information.

In the real-time motion process of the conveying device, the force sensing module detects pushing force and rotating force information in real time, real-time filtering processing is carried out on the pushing force and rotating force information, when the detected pushing force and rotating force information is larger than set threshold information, the first control module controls the motors of the pushing sub-module and the rotating sub-module to stop moving, and controls the pushing sub-module to retreat a certain distance in the opposite direction of the movement, so that the damage of the movement control device to the blood vessel wall is prevented. And controlling the fixed clamping jaw to clamp the catheter, enabling the motor, and alarming at an interface of an operation end to prompt an operator to detect that the force value exceeds the limit.

Wherein, threshold information is obtained according to experiments, and it is required to ensure that vascular tissues are not damaged.

Specifically, referring to fig. 17, the force sensing module acquires the sensed pushing force Fz and the rotational force Mz in real time, then performs filtering processing on the sensed pushing force Fz and the rotational force Mz, and determines the relationship between the pushing force F _Z and the rotational force M _Z and the threshold information, for example, by parallel threads, if the pushing force F _Z is greater than the threshold, the pushing motor of the pushing sub-module is retracted, for example, by 5mm, and if the rotational force M _Z is greater than the threshold, the rotational motor of the rotating sub-module is retracted, for example, by 2 degrees. The value of the backoff may be other values in other embodiments, and is not particularly limited herein. The first control module subsequently controls the motor to be enabled, the fixed clamping jaw is closed, the sensed pushing force F _Z and the rotating force M _Z which are acquired in real time are sent to the operation end, and an interface at the operation end alarms to prompt an operator to detect that the force value exceeds the limit so as to achieve the alarm effect.

It should be understood that, although the steps in the flowcharts related to the above embodiments are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described in the above embodiments may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages is not necessarily performed sequentially, but may be performed alternately or alternately with at least some of the other steps or stages.

Based on the same inventive concept, the embodiment of the application also provides a first control module for realizing the control method of the motion control device. The implementation of the solution provided by the first control module is similar to the implementation described in the above method, so the specific limitation in the embodiment of one or more first control modules provided below may refer to the limitation of the control method of the motion control device hereinabove, and will not be repeated herein.

In one embodiment, a first control module is provided, the motion control device comprises a clamping device, a first control module and a driving module, the clamping device is used for clamping the conveying device, and the driving module is fixedly connected with the clamping module relatively; the first control module includes: a receiving unit and a control unit, wherein: and the receiving unit is used for receiving the target control information and generating first control information and second control information for controlling the motion module according to the target control information. And the control unit is used for controlling the driving module to control the conveying device to move based on the first control information and controlling the conveying device to release a target according to the second control information.

In one embodiment, the control unit controls the movement of the conveying device according to the target control information by at least one of: generating first control information for controlling the movement module according to the target control information, and controlling the movement of the conveying device based on the first control information; or generating second control information of the control release module according to the target control information, and controlling the conveying device to release the target based on the second control information.

In one embodiment, the control unit controls the movement of the conveying device based on the first control information by at least one of: controlling a rotational movement of the conveying device based on the first control information; or controlling the linear motion of the conveyor based on the first control information.

In one embodiment, the motion module includes a rotation sub-module; the control unit is used for controlling the fixed clamping jaw of the second clamping mechanism of the clamping module to loosen and moving the clamping jaw to clamp the guide pipe of the conveying device; and controlling the conveying device to rotate through the rotating sub-module according to the first control information.

In one embodiment, the control unit is further configured to obtain a first limit position of the rotating sub-module; acquiring a first current position of a rotating sub-module; detecting whether the first current position reaches a target position corresponding to first control information; when the first current position does not reach the target position corresponding to the first control information, detecting whether the first current position reaches a first limit position or not; and when the first current position reaches a target position corresponding to the first control information or the first current position reaches a first limit position, controlling the motor of the rotating sub-module to stop moving.

In one embodiment, the motion module includes a propulsion sub-module; the control unit is used for controlling the fixed clamping jaw of the second clamping mechanism of the clamping module to loosen and moving the clamping jaw to clamp the guide pipe of the conveying device; and controlling the movement of the propulsion sub-module according to the first control information.

In one embodiment, the push submodule comprises a main push unit and a follow push unit; the control unit is also used for acquiring a second limit position of the movement of the propulsion submodule; acquiring a second current position of the propulsion sub-module; when the second current position reaches a second limit position, controlling the pushing submodule to stop moving, controlling the movable clamping jaw of the second clamping mechanism of the clamping module to loosen, and fixing the clamping jaw to clamp the guide pipe of the conveying device; controlling the main pushing unit to reversely move, and keeping the following pushing unit stationary; acquiring a third current position of the main pushing unit; when the third current position of the main pushing unit reaches the second limit position, controlling the main pushing unit to stop moving, and continuously executing the steps of controlling the fixed clamping jaw of the second clamping mechanism of the clamping module to loosen and moving the clamping jaw to clamp the guide pipe of the conveying device; and when the third current position of the main pushing unit does not reach the second limit position, continuously executing the step of controlling the main pushing unit to move reversely and keeping the following pushing unit stationary.

In one embodiment, the control unit is further configured to obtain a third limit position of the release module of the motion control device; obtaining the movement direction of the release module according to the second control information, and controlling the release module to move according to the movement direction; when a motion stopping instruction is received, the control release module stops motion; when the motion stop instruction is not received, reading a fourth current position of the release module; detecting whether the fourth current position reaches a third pole limit position; when the fourth current position reaches the third pole limit position, completing the release action; and when the fourth current position does not reach the third electrode position, continuously controlling the release driving motor to move according to the movement direction.

In one embodiment, the receiving unit is further configured to receive target control information sent by the second control module of the operation end, where the target control information is received through an operation panel of the operation end.

In one embodiment, the first control module further includes: the feedback unit is used for acquiring the operation information; transmitting the operation information to a second control module, wherein the second stress information feeds back the operation information through at least one of the following items in the second control module: the operation information is fed back by a force feedback operator, or is fed back by a vibration feedback device, or is displayed by a display; the operation information includes at least one of stress information, alarm information, and limit position information.

The respective modules in the control device of the above-described motion control device may be implemented in whole or in part by software, hardware, and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.

In one embodiment, a computer device is provided, which may be a terminal, and the internal structure thereof may be as shown in fig. 18. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless mode can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a control method of a motion control device. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, can also be keys, a track ball or a touch pad arranged on the shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.

It will be appreciated by those skilled in the art that the structure shown in FIG. 18 is merely a block diagram of some of the structures associated with the present inventive arrangements and is not limiting of the computer device to which the present inventive arrangements may be applied, and that a particular computer device may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.

In an embodiment, there is also provided a computer device comprising a memory and a processor, the memory having stored therein a computer program, the processor implementing the steps of the method embodiments described above when the computer program is executed.

In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored which, when executed by a processor, carries out the steps of the method embodiments described above.

In an embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the steps of the method embodiments described above.

Those skilled in the art will appreciate that implementing all or part of the above described methods 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. Any reference to memory, database, or other medium used in embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high density embedded nonvolatile Memory, resistive random access Memory (ReRAM), magneto-resistive random access Memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric Memory (Ferroelectric Random Access Memory, FRAM), phase change Memory (PHASE CHANGE Memory, PCM), graphene Memory, and the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration, and not limitation, RAM can be in various forms such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), etc. The databases referred to in the embodiments provided herein may include at least one of a relational database and a non-relational database. The non-relational database may include, but is not limited to, a blockchain-based distributed database, and the like. The processor referred to in the embodiments provided in the present application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, or the like, but is not limited thereto.

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 and are described in detail herein without thereby 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 motion control apparatus, the motion control apparatus comprising:

the clamping module is used for clamping the conveying device;

the driving module is fixedly connected with the clamping module relatively and is used for controlling the conveying device to move based on the first control information and controlling the conveying device to complete the releasing action according to the second control information;

The driving module includes:

The pushing sub-module is fixedly connected with the rotating sub-module relatively and is used for controlling the linear motion of the conveying device based on the first control information;

The pushing submodule comprises:

2. The motion control device of claim 1, wherein the rotating sub-module comprises:

3. The motion control device of claim 1, wherein the clamping module comprises:

4. A motion control device as in claim 3, wherein the clamping module further comprises a control key for controlling the opening and closing of the first clamping mechanism.

5. A motion control device according to claim 3, wherein the second clamping mechanism comprises a fixed jaw and a movable jaw; the movable clamping jaw is used for clamping the catheter when the catheter moves, and the fixed clamping jaw is used for clamping the catheter when the driving module reaches an extreme position.

6. The motion control device of claim 1, further comprising:

7. The motion control device of claim 6, wherein the force sensing module comprises:

the base is mounted on the motion module;

8. The motion control device of claim 6, wherein the force sensing module comprises:

9. The motion control apparatus of any one of claims 6 to 8, wherein the force sensing module further comprises:

10. The motion control device of claim 9, wherein the force sensing module further comprises:

11. The motion control device of claim 1, wherein the drive module comprises:

12. A conveyor system, the conveyor system comprising:

The motion control apparatus according to any one of claims 1 to 11;

13. The delivery system of claim 12, wherein the second control module is further configured to receive the operation information sent by the first control module and to feed back the operation information by at least one of: feeding back the operation information through a force feedback operator, feeding back the operation information through a vibration feedback device, or displaying the operation information through a display; the operation information comprises at least one of stress information, alarm information and limit position information.

14. A surgical system comprising a motion control device according to any one of claims 1 to 13, or a delivery system according to claim 12 or 13.