CN115040760A - Control method of motion control device, and conveying system - Google Patents

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

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Publication number
CN115040760A
CN115040760A CN202210827003.7A CN202210827003A CN115040760A CN 115040760 A CN115040760 A CN 115040760A CN 202210827003 A CN202210827003 A CN 202210827003A CN 115040760 A CN115040760 A CN 115040760A
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CN
China
Prior art keywords
module
control
information
motion
clamping
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Pending
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CN202210827003.7A
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Chinese (zh)
Inventor
朱祥
其他发明人请求不公开姓名
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Shenzhen Wimi Robotics Co ltd
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Shenzhen Wimi Robotics Co ltd
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Priority to CN202210827003.7A priority Critical patent/CN115040760A/en
Publication of CN115040760A publication Critical patent/CN115040760A/en
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M25/0113—Mechanical advancing means, e.g. catheter dispensers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/02—Prostheses implantable into the body
    • A61F2/24—Heart valves ; Vascular valves, e.g. venous valves; Heart implants, e.g. passive devices for improving the function of the native valve or the heart muscle; Transmyocardial revascularisation [TMR] devices; Valves implantable in the body
    • A61F2/2427—Devices for manipulating or deploying heart valves during implantation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/02—Prostheses implantable into the body
    • A61F2/24—Heart valves ; Vascular valves, e.g. venous valves; Heart implants, e.g. passive devices for improving the function of the native valve or the heart muscle; Transmyocardial revascularisation [TMR] devices; Valves implantable in the body
    • A61F2/2442—Annuloplasty rings or inserts for correcting the valve shape; Implants for improving the function of a native heart valve
    • A61F2/2466—Delivery devices therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M2025/0177—Introducing, guiding, advancing, emplacing or holding catheters having external means for receiving guide wires, wires or stiffening members, e.g. loops, clamps or lateral tubes

Abstract

The present application relates to a control method of a motion control apparatus, a transport system, a surgical system, a computer device, a storage medium, and a computer program product. The motion control device 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; and 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 through the clamping module of the motion control device, a doctor does not need to hold the conveying device all the time, the safety can be ensured, and the conveying device is controlled to move based on the first control information, so that compared with manual operation, the device and the method are more accurate and higher in safety.

Description

Control method of 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 for a motion control apparatus, a delivery system, a surgical system, a computer device, a storage medium, and a computer program product.
Background
With the development of minimally invasive techniques, more and more surgeries are performed by minimally invasive means, for example, in an interventional minimally invasive surgery, an implant or a replacement needs to be delivered to a target site of a human body, generally, a small hole is formed in a femoral artery and the like, and the implant or the replacement needs to be delivered to the target site of the human body through a delivery device.
For convenience of understanding, a heart valve replacement operation is taken as an example for explanation, and the heart valve replacement operation is to replace a damaged valve with a prosthetic heart valve so as to achieve the effect of treating heart valve diseases. The traditional heart valve replacement operation is an open chest operation, which causes great damage to patients. With the development of surgical techniques, minimally invasive interventional procedures for heart valves have been developed, in which a small hole is made in the femoral artery, a valve delivery device is used to deliver the heart valve to the site of the heart where the valve needs to be replaced, and the valve is released to the target site by the delivery device, thereby reducing the trauma of the patient.
However, currently, in the surgical procedure, a doctor needs to hold the delivery device by hands all the time to control the movement of the delivery device, and the like, so that the surgical procedure is long and the safety is not high.
Disclosure of Invention
In view of the above, it is necessary to provide a control method of a motion control device, a transport system, a surgical system, a computer device, a storage medium, and a computer program product, which can grip a transport device, realize automatic control of the motion and release target of the transport device, 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;
and 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 submodule is relatively fixedly connected with the rotating submodule and is used for controlling the linear motion of the conveying device based on the first control information.
In one embodiment, the push submodule includes:
the main pushing unit is used for controlling the linear motion of the conduit of the conveying device;
and the following pushing unit is used for controlling a handle of the conveying device to follow the catheter to do linear motion at the same speed according to the motion of the main pushing unit.
In one embodiment, the rotation sub-module comprises:
the main rotating unit is relatively fixed with the second clamping mechanism of the clamping module, is arranged on the main pushing unit and is used for controlling the rotating motion of the conduit of the conveying device;
and the following rotating unit is relatively fixed with the first clamping mechanism of the clamping module, is arranged on the main rotating unit, and is used for controlling the handle of the conveying device to follow the catheter to rotate at the same speed according to the movement of the main rotating unit.
In one embodiment, the clamping module comprises:
the first clamping mechanism is used for clamping a handle of the conveying device;
and the second clamping mechanism is used for clamping the conduit of the conveying device.
In one embodiment, the clamping module further comprises a control key 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 conduit when the conduit moves, and the fixed clamping jaw is used for clamping the conduit when the driving module reaches the limit position.
In one embodiment, the motion control device 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:
a base mounted to the motion module;
and the first force sensing unit is arranged on the base and used for acquiring the stress information of the 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 is used for acquiring stress information of the target.
In one embodiment, the force sensing module further comprises:
and the data processing unit is used for preprocessing the stress information acquired by the force sensing module and feeding back the preprocessed stress information to the first control module.
In one embodiment, the force sensing module further comprises:
and the protection unit is used for detecting whether the stress information exceeds a stress threshold value or not, and outputting alarm information to the first control module when the stress information exceeds the stress threshold value so as to indicate the first control module to control the motion module to control the conveying device to a safe 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;
the motion transmission mechanism is used for following the release driving motor to move;
and the release controller is used for following the motion transmission mechanism to move and controlling the conveying device to release the target.
In a second aspect, the present application further provides a delivery system comprising:
a motion control apparatus as described in any of the above embodiments;
and the operation end comprises a second control module, and 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 operation information sent by the first control module, and feed back the operation information by at least one of: feeding back the operation information through a force feedback operator, or feeding back the operation information through a vibration feedback device, or displaying the operation information through a display; the operation information includes at least one of force information, alarm information, and extreme position information.
In a third aspect, the present application also provides a surgical system comprising a motion control apparatus as described in any of the above embodiments, or a delivery system as described in any of the above embodiments.
In a fourth aspect, the present application further provides a control method of a motion control apparatus, where the motion control apparatus includes a clamping apparatus, a first control module, and a driving module, the clamping apparatus is used for clamping a conveying apparatus, and the driving module is relatively fixedly connected to the clamping module; 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; and controlling the driving module to control the conveying device to move 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 further provides a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method described in any one of the above embodiments when executing the computer program.
In a sixth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program is configured to, when executed by a processor, implement the steps of the method according to any of the above embodiments.
According to the control method of the motion control device, the conveying system, the surgical system, the computer equipment, the storage medium and the computer program product, the conveying device is clamped through the motion control device, so that the conveying device is clamped through a 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, target control information is received through a first control module, first control information and second control information for controlling the motion module are generated according to the target control information, the conveying device is controlled to move based on the first control information, and the conveying device is controlled to release a target according to the second control information, so that compared with manual operation, the control method is more accurate and higher in safety.
Drawings
FIG. 1 is a block diagram of a motion control device in one embodiment;
FIG. 2 is a schematic view of a propulsion submodule in an embodiment;
FIG. 3 is a schematic diagram of a rotating submodule in an embodiment;
FIG. 4 is a schematic view of a release module in one embodiment;
FIG. 5 is a schematic view of an embodiment of a first clamping mechanism as closed;
FIG. 6 is a schematic view of a first clamping mechanism in one embodiment shown 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 view of a delivery system in one embodiment;
FIG. 11 is a schematic view of a surgical system in one embodiment;
FIG. 12 is a schematic flow chart illustrating a method of controlling a motion control apparatus according to an embodiment;
fig. 13 is a flowchart illustrating a control method of the motion control apparatus according to another embodiment;
FIG. 14 is a schematic flow chart of the rotational movement step in one embodiment;
FIG. 15 is a schematic flow chart of a propulsion movement step in one embodiment;
FIG. 16 is a schematic flow chart of the release movement step in one embodiment;
FIG. 17 is a flow chart illustrating the force sensing step in one embodiment;
FIG. 18 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
Specifically, referring to fig. 1, fig. 1 is a block diagram of a motion control device in an embodiment, and 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 fixedly connected with the clamping module 110, and the first control module 120 is used for receiving the 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 motion module according to the target control information, such that the driving module 140 controls the motion of the transportation device based on the first control information and controls the transportation 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 distal end of the catheter 172 being provided with the target, e.g. in case of a heart valve delivery, the heart valve is provided at the distal end of the catheter 172. The clamping module 110 is used to clamp the delivery device 170 without manual grasping by an operator, and to quickly and efficiently clamp the heart valve with a clamping mechanism. The driving module 140 is fixedly connected to the clamping module 110, such that the movement of the driving module 140 causes the clamping module 110 to move, and the clamping module 110 clamps the conveying device 170, such 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, which enables high-precision control. The target control information received by the first control module 120 may be input by an operator, or when the target control information is implemented by a master-slave system architecture, the master control module sends the target control information to the first control module 120, where the control information of the master control module may be input by the operator.
In some embodiments, the driving module 140 may include a moving module 141 and a releasing module 142, wherein the moving module 141 is configured to control the conveying device 170 to move based on the first control information output by the first control module 120, and the movement includes a rotational movement and a linear movement. The release module 142 is used for controlling the delivery 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 moving module 141 may include a rotating sub-module 150 and an advancing sub-module 160, wherein the rotating sub-module 150 is fixedly connected to the clamping module 110 for controlling the rotating motion of the transportation device 170 based on the first control information; the propulsion submodule 160 is fixedly connected to the rotation submodule 150 for controlling the linear movement of the transport device 170 based on the first control information.
In some embodiments, the propelling sub-module 160 includes a main pushing unit 161 and a following pushing unit 162, and the rotating sub-module 150 includes a main rotating unit 151 and a following rotating unit 152; the main rotating unit 151 is fixed relative to the second clamping mechanism of the clamping module 110, and the main rotating unit 151 is mounted on the main pushing unit 161; the follow-up rotation unit is fixed relative to the first clamping mechanism of the clamping module 110, and the follow-up rotation unit 152 is installed on the main rotation unit 151; the main pushing unit 161 is used for controlling the linear motion of the conduit 172 of the delivery device 170; the following pushing unit 162 is used for controlling the handle 171 of the conveying device 170 to follow the catheter 172 to make linear motion at the same speed according to the motion of the main pushing unit 161; the main rotating unit 151 is used to control the rotational movement of the conduit 172 of the delivery device 170; the follower rotation unit 152 is used for controlling the handle 171 of the transportation device 170 to follow the catheter 172 for rotation at the same speed according to the movement of the main rotation unit 151.
Referring to fig. 2-3, fig. 2 is a schematic diagram of a propulsion submodule in an embodiment, and fig. 3 is a schematic diagram of a rotation submodule in an embodiment. The motion control device 100 includes a main base 195, the main base 195 is provided with a main pushing unit 161 and a following pushing unit 162, which are capable of sliding, wherein the main pushing unit 161 is used for realizing linear motion of the conduit 172 of the conveying device 170, the following pushing unit 162 is used for ensuring that the handle 171 of the conveying device 170 moves at the same speed as the conduit 172 so as to push the target to a corresponding position, for example, push the heart valve to the corresponding position, wherein the motion mode of the pushing submodule 160 may include screw transmission, synchronous belt transmission or wire transmission, which is not limited specifically herein. The rotation sub-module 150 includes a main rotation unit 151 and a following rotation unit 152, the main rotation unit 151 is mounted on the main pushing unit 161, and the following rotation unit 152 is mounted on the following pushing unit 162, so that the main rotation unit 151 realizes the rotation of the catheter 172 of the delivery device 170, and the following rotation unit 152 follows the main rotation unit 151, so as to ensure that the handle 171 follows the catheter 172 to perform the rotation at the same speed, thereby realizing the function of target rotation, for example, realizing the function of cardiac valve rotation. The transmission of the rotation motion may be a gear transmission, a synchronous belt transmission, a rope transmission, or the like, and is not limited in particular.
In some embodiments, the releasing module 142 includes a releasing driving motor 181, a motion transmission mechanism 182, and a releasing controller 183, wherein the releasing driving 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 motion transmission mechanism 182 is used for following the motion of the release driving motor 181; the release controller 183 is configured to follow the movement of the movement transfer mechanism 182 and control the delivery device 170 to release the target.
Referring to fig. 4, fig. 4 is a schematic diagram of a releasing module in an embodiment, in which the releasing module 142 is mainly used for controlling the delivering device 170 to release the target, wherein the releasing module 142 controls the releasing controller 183 to control the delivering device 170 to release the target through the releasing driving motor 181. The release controller 183 may be a release control knob, and in other embodiments, the release controller 183 may also be other mechanical structures, which are not limited herein. Wherein the release driving motor 181 receives the second control information outputted from the first control module 120 and performs a movement based on the second control information, such that the movement transmission mechanism 182 is configured to follow the movement of the release driving motor 181, and the release controller 183 is configured to follow the movement of the movement transmission mechanism 182 and control the transferring device 170 to release the object.
In some of these embodiments, the gripper module 110 comprises a first gripper mechanism and a second gripper mechanism; a first gripping mechanism for gripping the handle 171 of the transport 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 button for controlling the opening and closing of the first clamping mechanism.
Referring to fig. 5, fig. 5 is a schematic view of a closed first clamping mechanism in an embodiment, and fig. 6 is a schematic view of an extended first clamping mechanism in an embodiment, in which a second clamping mechanism is used for clamping 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 push rod 184, wherein the opening and closing of the clamping jaw 185 is realized by the clamping jaw 185, for example, by the push rod 184 of the clamping jaw 185. At the beginning of the operation, the clamping jaws 185 are opened, the conveying device 170 is mounted on the motion control device 100, and then the clamping jaws 185 are controlled to be closed, so that the motion control device 100 and the conveying device 170 move synchronously. The clamping jaw 185 can be opened by operating the control button, the clamping jaw 185 is closed by operating the control button after the conveying device 170 is installed on the motion control device 100, and thus the clamping of the handle 171 of the conveying device 170 is realized.
In some of these embodiments, the second clamping mechanism comprises a fixed jaw 191 and a moving jaw 192; the movable jaw 192 is used to grip the conduit 172 when the conduit 172 is moved, and the fixed jaw 191 is used to grip the conduit 172 when the moving module 141 reaches the limit position. Referring to fig. 7, fig. 7 is a schematic diagram of a second clamping mechanism in an embodiment, wherein the second clamping mechanism is implemented by a double-jaw manner to alternately push the conduit 172, when installing, the conduit 172 is first installed on a fixed jaw 191 of the double-jaw, the fixed jaw 191 is installed on a fixed base 193, the movable jaw 192 is installed on a main base 195 of the motion control device 100, during the pushing process, the fixed jaw 191 is released, the movable jaw 192 clamps the conduit 172, and the linear motion of the conduit 172 is controlled; when the motion module 141 reaches the extreme position, the fixed jaw 191 is clamped, 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 is clamped, the fixed clamping jaw 191 is loosened, and the linear motion of the catheter 172 is controlled continuously; by the above control manner, the alternate pushing of the tube 172 is realized. Wherein the extreme position of the motion module 141 may refer to an extreme position of the motor of the main push unit 161 of the motion module 141.
In some embodiments, the motion control apparatus 100 further includes a force sensing module 130, the force sensing module 130 is installed in the motion module 141, and the force sensing module 130 is configured to acquire force information of the target and feed the force information back to the first control module 120, so as to instruct the first control module 120 to feed the force information back to the second control module at 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, a sensor acquires the stress information of the target, or an elastic component acquires the stress information of the target. As shown in connection with fig. 8, in some embodiments, the force sensing module 130 includes: a base and a first force sensing unit, the base 194 is mounted to the motion module 141; the first force sensing unit is installed on the base and used for acquiring stress information of the target. The first force sensing unit can adopt a multi-dimensional force sensor which is directly arranged on the base; a plurality of one-dimensional force sensors may be used, and the one-dimensional force sensors may be attached to the base 194 to measure the propulsive force and the rotational force. In some embodiments, the force sensing module 130 includes a second force sensing unit, which is mounted on the second clamping mechanism of the clamping module 110, for obtaining the stress information of the target. The second force sensing unit can be an elastic structural component, is adhered to the position of the clamping jaw 185 of the second clamping mechanism, and calculates the information of push-pull force and torsional force in real time according to the linear relation between elastic deformation and collision force. The force sensing module 130 senses the information of the propulsive force and the torsional force in real time by installing force sensors of different forms, so as to perform real-time teleoperation control.
In some of these embodiments, the force sensing module 130 further comprises: and 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, the preprocessing may be to convert an analog signal of the force sensing module 130 acquired in real time into a digital signal that can be recognized by the upper computer, and perform filtering processing on the data to ensure authenticity and stability of the data.
In some of these embodiments, the force sensing module 130 further comprises: and the protection unit is used for detecting whether the stress information exceeds the stress threshold, and outputting 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 motion module 141 to control the conveying device 170 to a safe area. Specifically, the upper computer develops safety protection logic, and when the detected collision force information exceeds a set threshold value, an alarm operation is performed. In some optional embodiments, the threshold is divided into different levels, and when the maximum early warning level is triggered, the mechanical arm automatically retracts to ensure that the collision position enters a safe threshold range.
In some embodiments, referring to fig. 9, fig. 9 is a mechanical schematic diagram of the motion control apparatus 100 in an embodiment, wherein the motion control apparatus 100 comprises 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 comprise a motion module 141 and a release module 142. Wherein the motion module 141 comprises a propulsion sub-module 160 and a rotation sub-module 150, the propulsion sub-module 160 comprises a main propulsion unit 161 and a following propulsion unit 162, and the rotation sub-module 150 comprises a main rotation unit 151 and a following rotation unit 152. The following propulsion unit 162 and the main propulsion unit 161 perform real-time following motion, the rotary sub-module 150 is rigidly connected to the propulsion sub-module 160 to perform synchronous motion, the following rotary unit 152 and the main rotary unit 151 perform real-time following motion, and the clamping module 110 is rigidly connected to the rotary sub-module 150 to perform synchronous motion.
Wherein the grip module 110 comprises a first gripping mechanism for gripping the handle 171 of the delivery device 170 and a second gripping mechanism for gripping the catheter 172 of the delivery device 170. This allows for efficient and stable clamping of the delivery device 170. 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 rotation sub-module 150 of the motion control apparatus 100, for example, rigidly connected, and can sense the pushing force and the torsion force in real time, and transmit the pushing force and the torsion force to the first control module 120 in real time, and transmit the pushing force and the torsion force to the second control module at the operation end by the first control module 120, so that the doctor can sense the impact force in real time. For specific limitations of the force sensing module 130, see above, and not limited herein.
In some of these embodiments, referring to fig. 10, fig. 10 is a schematic view of a delivery system in one embodiment, the delivery system comprising: the motion control device 100 and the operation end in any of the above embodiments. The console side includes a second control module for receiving the target control information and transmitting 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, thereby preventing the operator from being exposed to radiation all the time and reducing the injury to the operator.
The second control module may receive target control information input by an operator and send the target control information to the first control module 120 of the control device, and the first control module 120 controls the propelling sub-module 160, the rotating sub-module 150, the releasing module 142, and the clamping mechanism. After receiving the target control module, the first control module 120 may calculate to obtain a corresponding target control module according to a control algorithm of the master-slave teleoperation, and then control the pushing sub-module 160, the rotating sub-module 150, the releasing 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 the doctor' S operation information (mainly forward and backward information and rotation information for controlling the heart valve) in real time, and resolves the operation information into a control signal that can be recognized by the robot, i.e., target control information, step S3: the second control module transmits the resolved control signal to the first control module 120 of the robot side through a real-time remote communication algorithm, and step S4: the first control module 120 implements the advancement and rotation of the heart valve delivery system based on the control signals.
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 feed back the operation information through at least one of the following: the operation information is fed back through a force feedback operator, or the operation information is fed back through a vibration feedback device, or the operation information is displayed through a display; the operation information includes at least one of force information, alarm information, and extreme position information.
The operation panel of the operation end is used for forcefully feeding back the operation information of the doctor accurately obtained by an operator; the operation end can also comprise a display, such as a high-definition medical display, and can display 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 operation, the method further includes step S0: the operator can control the opening and closing of the jaws 185 by operating the buttons to grip the handle 171 of the delivery device 170. The robot end transmits the pushing force and the twisting force information acquired by the force sensing module 130 to the second control module of the operation end in real time, real-time force information is displayed on the display in real time, optionally, the real-time force information can be fed back accurately on an operator's manipulator, so that the operator can perform remote operation, and real-time contact force information can be acquired, thereby ensuring the operability and safety of the whole equipment.
Step S6: when the valve reaches the target position, an operator controls the control key on the operation panel to accurately control the release of the valve.
When the operation space controlled by the operation end exceeds the limit position, for example, the boundary of motion is determined by an absolute value encoder, the operator can have real-time feedback; 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 as to ensure that the blood vessel is not damaged in the operation process, and the threshold is obtained by an experiment), a display of the operation end has corresponding alarm information.
The main propulsion unit 161 controls the forward and backward movement of the conduit 172 of the conveying device 170 through the main propulsion motor, and the follow propulsion unit 162 can control the forward and backward movement of the conduit 172 through the handle 171 of the conveying device 170 through the follow propulsion motor. The main rotating unit 151 controls the guide tube 172 of the conveying device 170 to rotate by the main rotating motor, and the following rotating unit 152 controls the handle 171 of the conveying device 170 to follow the guide tube 172 to rotate by the following rotating 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 at the tip of the catheter 172 in real time.
In some of these embodiments, as shown in connection with fig. 11, the present application further provides a surgical system including the motion control apparatus 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 relatively stationary 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 an operator delivers the valve into the heart and precisely releases the heart valve 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 of the operator during the operation, and provides the motion delivery device 170 for delivering and releasing the valve, reduces the fatigue strength of the operator during the operation, 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 device 100 is simple in structure and convenient and fast to assemble.
In one embodiment, as shown in fig. 12, a control method of a motion control device is provided, which is described by taking the method as an example applied to the first control module in fig. 1, and includes the following steps:
s1202: and receiving 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 the second control module of the conveying system sends the target control information to the first control module, the operation end acquires the target control information of the operation method of the operator, such as the pushing action, the rotating action, the releasing action and the like, the target control information is converted into a signal which can be recognized 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 drive module controls the conveying device to move 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 delivery device, wherein the movement of the delivery 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 for controlling the 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 optional embodiments, controlling the movement of the transport device based on the first control information comprises at least one of: controlling a rotational movement of the conveyor based on the first control information; or controlling the linear motion of the conveying device 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 an 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 an operation panel by the operator, or senses the target control information through a sensor on an operation hand, the second control module sends the target control information to the first control module through remote communication, the first control module performs signal disassembly on the target control information after receiving the target control information, and when the target control information is used for controlling the conveying device to advance or retreat, the conveying device is driven by the main propulsion unit and the following propulsion unit of the propulsion submodule. When the target control information is used for controlling the conveying device to rotate, the target control information is driven by the main rotating unit and the following rotating unit of the rotating submodule. When the target control information is to control the delivery device to release the valve, the delivery device is controlled to release the valve through 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, target control information is received through the first control module, first control information for controlling the motion module is generated according to the target control information, the conveying device is controlled to move based on the first control information, and compared with manual operation, the control method of the motion control 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 conduit 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 transport device by the rotation sub-module in accordance with the first control information comprises: acquiring a first limit position of a rotating submodule; acquiring a first current position of a rotating submodule; detecting whether the first current position reaches a target position corresponding to the 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; and when the first current position reaches the target position corresponding to the first control information, or when the first current position reaches the first limit position, controlling the motor of the rotating submodule to stop moving.
Specifically, in this embodiment, the rotation of the catheter is realized by the way of the double clamping jaws, and after receiving a 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, and the extreme position of the movement is detected in real time to prevent the movement from exceeding the limit.
In this embodiment, as shown in conjunction with fig. 14, the extreme positions P1 and P2 of the main rotating electrical machine encoder at which the active rotating unit is provided, the rotation speed, acceleration, and deceleration of the main rotating electrical machine are generated in accordance with the target control information. The conveying device rotates under the control of the rotating submodule, wherein the fixed clamping jaws are firstly controlled to be loosened, and the movable clamping jaws clamp the guide pipe of the conveying device; and controlling the conveying device to rotate through the main rotating unit according to the first control information. The following rotary unit then follows the movement of the main rotary unit, for example the rotary electric machine follows the main rotary electric machine.
Wherein during rotation a first extreme position of the rotary submodule is obtained by reading the position of the motor, for example characterized by P1 and P2; acquiring a first current position P of a rotating submodule; detecting whether the first current position P reaches a target position corresponding to the 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 P reaches the first limit position P1 or P2 (for example, P1 or P2 is determined, where P is used to indicate the determination), the motor of the rotary sub-module is controlled to stop moving.
In the embodiment, the rotation of the catheter is realized in a double-clamping-jaw mode, after a signal of the rotation movement of the conveying device is received, the fixed clamping jaw is loosened, the clamping jaw is moved to clamp the catheter, the rotation movement of the catheter is controlled according to target control information, the movement limit position is detected in real time, and the movement overrun is prevented.
In one embodiment, the motion module includes a propulsion submodule; controlling the linear motion 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 conduit of the conveying device; and controlling the propulsion submodule to move according to the first control information.
Specifically, in this embodiment, the linear motion of the conveying device is realized through a mode of the double clamping jaws, and the advancing and retreating of the pushing conveying device is controlled according to the control logic of the clamping jaws, so as to realize the advancing of the conveying device. In the control process, whether the propelling submodule reaches the limit position needs to be detected, and if the propelling submodule reaches the limit position, the propelling submodule is returned to the zero position to continue to propel the guide pipe.
In one embodiment, the pushing submodule comprises a main pushing unit and a following pushing unit; controlling the propulsion sub-module to move in accordance with the first control information, comprising: acquiring a second extreme position of the movement of the propulsion submodule; acquiring a second current position of the propulsion submodule; when the second current position reaches a second limit position, the pushing submodule is controlled to stop moving, the movable clamping jaw of a second clamping mechanism of the clamping module is controlled to be loosened, and the clamping jaw is fixed to clamp the guide pipe of the conveying device; controlling the main pushing unit to move reversely and keep still along with the pushing unit; 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, continuously controlling the fixed clamping jaw of the second clamping mechanism of the clamping module to loosen, and moving the clamping jaw to clamp the conduit of the conveying device; and when the third current position of the main pushing unit does not reach the second limit position, continuing to execute the step of controlling the main pushing unit to move reversely and keeping the main pushing unit still along with the pushing unit.
Specifically, the extreme positions are preset, for example, an advanced extreme position P1 and a retracted extreme position P2, specifically, as shown in fig. 15, in this embodiment, an advanced extreme position P1 and a retracted extreme position P2 of an 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 target control information, so that the fixed jaw is released, the jaw is moved to clamp the catheter, the active propulsion motor moves, the catheter is controlled to move, and the follow-up propulsion motor moves along with the active propulsion motor. In the process of movement, reading the position P of the encoder of the active propulsion motor, judging whether the movement reaches a target position, when the movement reaches the target position, stopping the movement of the active propulsion motor and the follow-up propulsion motor, when the movement does not reach the target position, judging whether the position P of the encoder of the active propulsion motor which is read is the limit position, namely judging that P is P1 or P2, wherein P is used for indicating the judgment, if so, the active propulsion motor and the follow-up propulsion motor stop moving, the fixed clamping jaws are closed, the movable clamping jaws are released, the active propulsion motor of the active propulsion unit moves reversely, the follow-up propulsion motor of the follow-up propulsion unit keeps still, reading the position P of the encoder of the active propulsion motor, judging whether the position P of the encoder of the active propulsion motor is the limit position, namely P is P1 or P2, if the maximum position is reached to the limit position P1 or P2, the active propulsion motor of the active propulsion unit stops moving, the fixed clamping jaw is loosened, the movable clamping jaw is closed, the active propulsion motor continues to move, so that the catheter is controlled to move, and the step of following the motion of the propulsion motor along with the active propulsion motor is carried out until the motion is finished. If the position does not reach the limit position, continuing to move the active propulsion motor of the active propulsion unit in the reverse direction, keeping the follow-up propulsion motor of the follow-up propulsion unit still, 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 forward and backward movement of the pushing conveying device is controlled 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 propelling submodule reaches the limit position needs to be detected, and if the propelling submodule reaches the limit position, the propelling submodule is returned to the zero position to continue to propel the guide pipe.
In one embodiment, controlling the delivery device to release the target based on the second control information comprises: acquiring a third extreme 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, controlling the release module to stop moving; when the movement stopping instruction is not received, reading a fourth current position of the release module; detecting whether the fourth current position reaches a third pole position; when the fourth current position reaches the third pole position, the releasing action is finished; and when the fourth current position does not reach the third limit position, continuing to control 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, the valve release action is controlled, a doctor can control the valve release speed and position according to the real-time image information, for example, when the doctor starts to release the valve according to the real-time image information and the valve release degree, the speed is relatively slow, and after the valve is released to a certain position, the speed is accelerated, so that the best release effect is achieved.
As shown in fig. 16, in this embodiment, a limit position P1 of the release motor may be obtained, the movement direction of the release motor is obtained according to the target control information, the release motor is controlled to move, an encoder position P of the release motor is read, whether a movement stop command is obtained is 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 is determined, that is, P1 is determined, if yes, the release operation is completed, and if no, the encoder position P of the release motor continues to be read.
That is, in the present embodiment, the limit position P1 of the release motor is the maximum action of the release, and the release is completed.
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 comprises the following steps: acquiring operation information; sending the operation information to a second control module, and feeding back the operation information by the second stress information at the second control module through at least one of the following items: the operation information is fed back through a force feedback operator, or the operation information is fed back through a vibration feedback device, or the operation information is displayed through a display; the operation information includes at least one of force-receiving information, alarm information, and extreme position information.
In the real-time motion process of the conveying device, the force sensing module detects the pushing force and the rotating force information in real time, and carries out real-time filtering processing on the pushing force and the rotating force information, when the detected pushing force and the detected rotating force information are larger than set threshold information, the first control module controls the motors of the pushing submodule and the rotating submodule to stop moving, and controls the pushing submodule to retreat for a certain distance in the opposite direction of motion, so that the motion control device is prevented from causing injury to the vascular wall. And controlling the fixed clamping jaw to clamp the catheter, disabling the motor, and alarming on an interface of the operation end to prompt an operator that the detection force value exceeds the limit.
Wherein, the threshold value information is obtained according to experiments, and the vascular tissues are ensured not to be damaged.
Specifically, as shown in fig. 17, the force sensing module obtains the sensed pushing force Fz and the rotating force Mz in real time, then performs filtering processing on the sensed pushing force Fz and the rotating force Mz, and determines the pushing force F separately, for example, by means of parallel threads Z And a rotational force M Z In relation to threshold information, if it is the pushing force F Z Above the threshold, the propulsion motor of the propulsion submodule is moved backwards, for example 5 mm, if it is a rotational force M Z Above the threshold, the rotating electrical machine of the rotating submodule is backed, for example by 2 degrees. In other embodiments, the value of the back-off may be other values, and is not limited herein. The subsequent first control module controls the motor to be disabled, the fixed clamping jaw is closed, and the sensed pushing force F acquired in real time is sent to the operation end Z And a rotational force M Z And alarming on an interface of the operation end to prompt an operator that the detection force value is over-limit so as to realize the alarming effect.
It should be understood that, although the steps in the flowcharts related to the embodiments are shown in sequence as indicated by the arrows, the steps are not necessarily executed in sequence as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a part of the steps in the flowcharts related to the above embodiments may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the steps or stages is not necessarily sequential, but may be performed alternately or alternately with other steps or at least a part of the steps or stages in other steps.
Based on the same inventive concept, the embodiment of the present application further provides a first control module for implementing the control method of the motion control device. The implementation scheme for solving the problem provided by the first control module is similar to the implementation scheme described in the above method, so specific limitations in one or more embodiments of the first control module provided below can be referred to the above limitations on the control method of the motion control device, and are not described herein again.
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 control the conveying device to release the 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 for controlling the 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 transport device based on the first control information by at least one of: controlling a rotational movement of the conveyor based on the first control information; or controlling the linear motion of the conveying device 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 jaws of the second clamping mechanism of the clamping module to loosen and moving the clamping jaws to clamp the conduit 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 submodule; acquiring a first current position of a rotating submodule; detecting whether the first current position reaches a target position corresponding to the 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; and when the first current position reaches the target position corresponding to the first control information, or when the first current position reaches the first limit position, controlling the motor of the rotating submodule to stop moving.
In one embodiment, the motion module includes a propulsion submodule; the control unit is used for controlling the fixed clamping jaws of the second clamping mechanism of the clamping module to loosen and moving the clamping jaws to clamp the conduit of the conveying device; and controlling the propulsion submodule to move according to the first control information.
In one embodiment, the pushing submodule comprises a main pushing unit and a following pushing 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 submodule; when the second current position reaches a second limit position, controlling the propulsion 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 conduit of the conveying device; controlling the main pushing unit to move reversely and keep still along with the pushing unit; 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, continuously controlling the fixed clamping jaw of the second clamping mechanism of the clamping module to loosen, and moving the clamping jaw to clamp the conduit of the conveying device; and when the third current position of the main pushing unit does not reach the second limit position, continuing to execute the step of controlling the main pushing unit to move reversely and keeping the main pushing unit still along with the pushing unit.
In one embodiment, the control unit is further configured to obtain a third extreme position of the release module of the motion control apparatus; 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, controlling the release module to stop moving; when the movement stopping instruction is not received, reading a fourth current position of the release module; detecting whether the fourth current position reaches a third pole position; when the fourth current position reaches the third pole position, the releasing action is finished; and when the fourth current position does not reach the third limit position, continuing to control 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 the operation panel of the operation end.
In one embodiment, the first control module further includes: the feedback unit is used for acquiring operation information; sending the operation information to a second control module, and feeding back the operation information at the second control module by the second stress information through at least one of the following items: the operation information is fed back through a force feedback operator, or the operation information is fed back through a vibration feedback device, or the operation information is displayed through a display; the operation information includes at least one of force-receiving information, alarm information, and extreme position information.
The respective modules in the control device of the above motion control device may be wholly or partially implemented by software, hardware, and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram 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 comprises a nonvolatile 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 an operating system and computer programs in the non-volatile storage medium. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless communication 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 apparatus. 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, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 18 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is further provided, which includes a memory and a processor, the memory stores a computer program, and the processor implements the steps of the above method embodiments when executing the computer program.
In an embodiment, a computer-readable storage medium is provided, on which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned method embodiments.
In an embodiment, a computer program product is provided, comprising a computer program which, when being executed by a processor, carries out the steps of the above-mentioned method embodiments.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, database, or other medium used in the 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), Magnetic Random Access Memory (MRAM), Ferroelectric Random Access Memory (FRAM), Phase Change Memory (PCM), graphene Memory, and the like. Volatile Memory can include Random Access Memory (RAM), external cache Memory, and the like. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others. The databases referred to in various embodiments provided herein may include at least one of relational and non-relational databases. The non-relational database may include, but is not limited to, a block chain based distributed database, and the like. The processors referred to in the embodiments provided herein may be general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic devices, quantum computing based data processing logic devices, etc., without limitation.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.

Claims (19)

1. A motion control apparatus, characterized in that the motion control apparatus comprises:
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;
and 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.
2. The motion control apparatus of claim 1, wherein the drive module comprises:
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 submodule is relatively and fixedly connected with the rotating submodule and is used for controlling the linear motion of the conveying device based on the first control information.
3. The motion control apparatus of claim 2, wherein the push submodule comprises:
the main pushing unit is used for controlling the linear motion of the conduit of the conveying device;
and the following pushing unit is used for controlling a handle of the conveying device to follow the catheter to do linear motion at the same speed according to the motion of the main pushing unit.
4. The motion control apparatus of claim 3, wherein the rotation sub-module comprises:
the main rotating unit is relatively fixed with the second clamping mechanism of the clamping module, is arranged on the main pushing unit and is used for controlling the rotating motion of the conduit of the conveying device;
and the following rotating unit is relatively fixed with the first clamping mechanism of the clamping module, is arranged on the main rotating unit, and is used for controlling the handle of the conveying device to follow the catheter to rotate at the same speed according to the movement of the main rotating unit.
5. The motion control apparatus of claim 1, wherein the clamping module comprises:
the first clamping mechanism is used for clamping a handle of the conveying device;
and the second clamping mechanism is used for clamping the conduit of the conveying device.
6. The motion control apparatus of claim 5, wherein the clamping module further comprises a control button for controlling opening and closing of the first clamping mechanism.
7. The motion control apparatus of claim 5, wherein the second clamping mechanism comprises a fixed jaw and a moving jaw; the movable clamping jaw is used for clamping the conduit when the conduit moves, and the fixed clamping jaw is used for clamping the conduit when the driving module reaches the limit position.
8. The motion control apparatus of claim 1, further comprising:
and the force sensing module is arranged on the driving module and used for acquiring the 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.
9. The motion control apparatus of claim 8, wherein the force sensing module comprises:
a base mounted to the motion module;
and the first force sensing unit is arranged on the base and used for acquiring the stress information of the target.
10. The motion control apparatus of claim 8, wherein 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 the stress information of the target.
11. The motion control apparatus of any of claims 8-10, wherein the force sensing module further comprises:
and the data processing unit is used for preprocessing the stress information acquired by the force sensing module and feeding back the preprocessed stress information to the first control module.
12. The motion control apparatus of claim 11, wherein the force sensing module further comprises:
and the protection unit is used for detecting whether the stress information exceeds a stress threshold value or not, and outputting alarm information to the first control module when the stress information exceeds the stress threshold value so as to indicate the first control module to control the motion module to control the conveying device to a safe area.
13. The motion control apparatus of claim 1, wherein the drive module comprises:
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;
the motion transmission mechanism is used for following the release driving motor to move;
and the release controller is used for following the motion transmission mechanism to move and controlling the conveying device to release the target.
14. A conveying system, characterized in that the conveying system comprises:
the motion control apparatus of any one of claims 1 to 13;
and the operation end comprises a second control module, and 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.
15. The conveying system of claim 14, wherein the second control module is further configured to receive the operation information sent by the first control module and feed back the operation information by at least one of: feeding back the operation information through a force feedback operator, or feeding back the operation information through a vibration feedback device, or displaying the operation information through a display; the operation information includes at least one of force information, alarm information, and extreme position information.
16. A surgical system comprising a motion control apparatus according to any one of claims 1 to 13, or a delivery system according to claim 14 or 15.
17. The control method of the motion control device is characterized in that the motion control device comprises a clamping device, a first control module and a driving module, wherein the clamping device is used for clamping a conveying device, and the driving module is relatively and fixedly connected with the clamping module; 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;
and controlling the driving module to control the conveying device to move based on the first control information and control the conveying device to release the target according to the second control information.
18. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor realizes the steps of the method as claimed in claim 17 when executing the computer program.
19. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method as claimed in claim 17.
CN202210827003.7A 2022-07-14 2022-07-14 Control method of motion control device, and conveying system Pending CN115040760A (en)

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CN202210827003.7A CN115040760A (en) 2022-07-14 2022-07-14 Control method of motion control device, and conveying system

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