Operation robot system for performing laser resection and freezing on tumor tissues

Abstract

The invention discloses an operation robot system for performing laser resection and refrigeration on tumor tissues. The operation robot system comprises a computer system, a cryogenic system and an operation robot system, wherein an operation mechanical arm of the operation robot system is controlled by a computer mainframe to move freely; a cryogenic transmission tube of the cryogenic generator, laser fibers of a laser and a tail end image detector electrically connected with the computer mainframe extend into multiple arm sections sequentially and respectively to reach the tail end of the operation mechanical arm; cryogenic fluid is communicated with the cryogenic generator by virtue of a cryogenic solenoid valve; the tail end image detector is used for receiving relevant images and transmitting the relevant images to the computer mainframe by virtue of a data transmission line, and simultaneously, the relevant images are displayed on a display screen; the computer mainframe controls an operation robot mainframe and orders the movement, refrigeration and resection work in different directions of the operation mechanical arm; and as a doctor controls the mechanical arm to implement a whole operation in a non contact way, the tumor tissues are subjected to refrigeration and resection simultaneously, and the whole process is visualized, the precision and digitalization of the tumor resection are ensured, the risk of tumor spread is low, and the mechanical trauma is small.

Description

technical field [0001] The invention belongs to the technical field of medical surgical instruments, in particular to a surgical robot system for laser excision of frozen tumor tissue. Background technique [0002] The three traditional treatment measures for malignant tumors mainly include: surgical resection, radiotherapy and chemotherapy. Among them, surgical resection is one of the gold standard methods in tumor treatment. to eliminate the risk of further deterioration. However, the clinical outcomes of such surgeries are mostly unsatisfactory. Because the fast-growing tumor is always inextricably linked with blood vessels, conventional surgical resection methods are likely to cause bleeding, which in turn can easily lead to tumor spread, leading to surgical failure and accelerated patient death. In addition, certain malignancies, such as pancreatic cancer, can encase aortas or other critical blood vessels, making such patients unsuitable for routine surgical resection...

AI Technical Summary

Problems solved by technology

In our previous research, it was mainly the demonstration of the corresponding principle test, and the corresponding medical device system was not developed. The implementation was actually done manually based on discrete devices. It is a medical device with chemical function. The test process is as follows: firstly, the probe provided by a freezing device is inserted into the target tissue in a minimally invasive way to freeze it, and then the frozen tissue is frozen with the probe provided by another laser system. Resection, this method can realize freezing and resection of tissue, but it also implies corresponding surgical risks and technical deficiencies, mainly including: (1) Too many human factors: freezing, laser opening and corresponding procedures during the entire operation process There are many operating links, the process is complicated, the surgical instruments are not easy to fix, and they are easy to be misplaced after being inserted into the tissue. The entire operation needs to be performed manually by personnel, and the reliability and automation are not enough, which will seriously affect the quality of the operation. Causes scorching of tissue sections

(2) Existence of mechanical trauma: when the cryoprobe is inserted into the target tissue, it will inevitably cause puncture trauma to the tissue around the tumor preconceivedly, causing bleeding; if a large blood vessel is touched, the resulting massive bleeding will be extremely difficult for the operation Unfavorable; even if the operation is successful, after the probe is pulled out of the body after surgery, the severed blood vessel may resume circulation, and the upstream and downstream blood will flow here, resulting in blood loss and congestion in the body, so it must be properly treated

(3) There is a risk of tumor spread: during the intervention process before the probe is frozen, the tumor cells will be carried to the surrounding environment due to the puncture of the tumor, and then cause spread, which is also one of the key factors that caused tumor recurrence in the past

(4) The operation time is too long: Since freezing is a gradual process, the above freezing process must first ensure that the tumor tissue in the target area is completely frozen, so the time required is considerable. In fact, if the purpose of treatment is to To remove the tumor, it is not necessary to freeze the entire target site, but only to ensure that the site to be cut, especially the large blood vessel tissue, can be deeply frozen

(5) Potential freezing damage: In our previous pre-cooling process, due to the complexity of tissue and vascular structures, it was difficult to ensure that only the target tumor was frozen by regional cooling. In fact, it would undoubtedly cause some damage to surrounding normal tissues Freezing damage from

The concept of this laser cryoablation surgical robot was proposed for the first time. It has not been reported in domestic and foreign literature and patents before, and it is expected to open up a new direction for surgical resection.

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