Full-automatic tracking minimally invasive laser ablation surgical robot system and treatment method thereof

Abstract

The invention discloses a full-automatic tracking minimally invasive laser ablation surgical robot system and a treatment method thereof. The system comprises a three-dimensional medical image generation module, a multi-channel high-power laser treatment module, a six-degree-of-freedom collaborative robot, a three-dimensional machine vision module and a main control module. According to the full-automatic tracking minimally invasive laser ablation surgical robot system and the treatment method thereof provided by the invention, three-dimensional modeling can be performed on a focus part of a human body through the three-dimensional medical image generation module, so that a treatment path of the multi-channel high-power laser treatment module is planned; human body movement is tracked in real time according to the three-dimensional machine vision module, meanwhile, the movement path of the multi-channel high-power laser treatment module is adjusted in real time, and the effectiveness and safety of the minimally invasive laser ablation operation are guaranteed; four-channel semiconductor laser is adopted, closed-loop control refrigeration is added at the position of the optical fiber knife, the problem of heat effect caused by excessive laser is solved, lesion tissue is ablated in the operation process, and meanwhile surrounding normal tissue is not damaged.

Description

technical field [0001] The invention belongs to the technical field of minimally invasive laser ablation surgery robots, and in particular relates to a fully automatic tracking minimally invasive laser ablation surgery robot system and a treatment method thereof. Background technique [0002] In recent years, the incidence of thyroid nodules, thyroid cancer, liver tumors, uterine fibroids, kidney tumors, lung tumors and other diseases in China has increased year by year. The epidemiological survey of thyroid nodules found that the detection rate of high-frequency ultrasound was as high as 20% to 76%, of which malignant nodules accounted for only 5%, and solid thyroid nodules diagnosed as benign lesions by fine needle aspiration cytology Among them, 6% may still be malignant after surgical resection. Epidemiological surveys also found that the incidence of thyroid cancer showed an increasing trend, and the proportion of papillary thyroid cancer further increased. [0003] I...

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