Intramedullary laser ablation device

Abstract

The present specification provides an intramedullary laser ablation device. The equipment at least comprises a control module and a continuum robot, the top end of the continuum robot is at least provided with a laser ablation assembly; a mechanical arm, a linear driving structure and a driving cable are connected between the continuum robot and the control module; the control module is used for conveying the continuum robot to an incision position of a target bone through the mechanical arm; the control module is used for feeding the continuum robot into the marrow cavity of the target bone through the incision position through the linear driving structure; the control module is used for controlling the pose of the continuum robot to be matched with the internal structure of the marrow cavity through combined use of the linear driving structure and the driving cable, and controlling the continuum robot to move in the marrow cavity based on the navigation path; when the continuum robot moves to a corresponding position in the marrow cavity based on the navigation path, a target bone tissue to be ablated at the position is determined; and through the laser ablation assembly, the target bone tissue is subjected to corresponding laser ablation treatment.

Description

Technical Field

[0001] This specification belongs to the field of medical device technology, and particularly relates to intramedullary laser ablation equipment. Background Art

[0002] In some application scenarios, it is sometimes necessary to go deep into the bone marrow cavity and perform targeted removal of related structures such as bone tissue in the bone marrow cavity.

[0003] Based on the existing bone tissue removal equipment, most of them will use an actuator equipped with a curved drill bit to extend into the bone marrow cavity to perform relevant removal treatment. However, due to the complex internal structure of the marrow cavity itself, based on the above equipment, the actuator often cannot adapt well to the internal structure of the marrow cavity after entering the marrow cavity, resulting in a relatively limited feasible domain of the actuator. In addition, when the above equipment is used to perform specific removal treatment inside the marrow cavity, the processing accuracy is often relatively low; and, because a drill bit is used for mechanical cutting and removal, it is easy to cause damage to the relevant tissues in the marrow cavity.

[0004] The existing equipment cannot effectively solve the above problems. Summary of the invention

[0005] This specification provides an intramedullary laser ablation device that can enable a continuum robot to better match the complex internal structure of the bone marrow cavity, thereby more accurately controlling the navigation and movement of the continuum robot in the bone marrow cavity, and accurately ablating and removing relevant target bone tissue through the laser ablation component to reduce damage.

[0006] This specification provides an intramedullary laser ablation device, comprising at least: a control module and a continuum robot; wherein at least a laser ablation component is arranged at the top of the continuum robot; a mechanical arm, a linear drive structure and a drive cable are connected between the continuum robot and the control module;

[0007] The control module is used to transport the continuum robot to the incision position of the target bone through a robotic arm;

[0008] The control module is used to send the continuum robot into the medullary cavity of the target bone through the incision position through the linear drive structure;

[0009] The control module is also used to control the posture of the continuum robot to adapt to the internal structure of the medullary cavity by combining the linear drive structure and the drive cable, and control the continuum robot to move in the medullary cavity based on the navigation path;

[0010] When the continuum robot moves to a corresponding position in the bone marrow cavity based on the navigation path, the target bone tissue to be ablated at the position is determined; and the target bone tissue is subjected to corresponding laser ablation processing through a laser ablation component.

[0011] In one embodiment, the laser ablation assembly includes at least a laser fiber, a collimator, a beam expander, and a micro-galvanometer group arranged in sequence.

[0012] In one embodiment, the micro-galvanometer group includes a field mirror, an X-mirror, an intermediate mirror, a Y-mirror and a piezoelectric driver arranged in sequence.

[0013] In one embodiment, the linear drive structure includes: a linear guide rail or a ball screw.

[0014] In one embodiment, a fiber optic probe is also arranged at the top of the continuum robot; wherein the fiber optic probe is used to collect spectral signals for the target bone tissue when the target bone tissue is subjected to corresponding laser ablation treatment through a laser ablation component.

[0015] In one embodiment, a spectrometer is further included; wherein the spectrometer is connected to the optical fiber probe;

[0016] The spectrometer performs damage risk detection by processing the spectral signal of the target bone tissue according to a preset damage detection algorithm, generates a corresponding damage risk detection result; and sends the damage risk detection result to the control module;

[0017] When the control module determines that there is a risk of damage according to the damage risk detection result, the control module adjusts the control parameters of the laser ablation component accordingly according to a preset damage suppression strategy; and sends the adjusted control parameters to the continuum robot.

[0018] In one embodiment, the spectrometer extracts red light spectrum signals and green light spectrum signals from the spectrum signals of the target bone tissue respectively according to a preset damage detection algorithm; integrates the red light spectrum signals and the green light spectrum signals respectively to obtain the integration results of the red light spectrum signals and the green light spectrum signals; calculates the ratio between the integration results of the red light spectrum signals and the integration results of the green light spectrum signals, and detects whether the ratio is greater than a preset risk ratio threshold; and generates an injury risk detection result regarding the existence of an injury risk when it is determined that the ratio is greater than the preset risk ratio threshold.

[0019] In one embodiment, the continuum robot specifically lowers the laser ablation power of the laser ablation component according to a preset damage suppression strategy, and / or adjusts the direction parameters of the micro-galvanometer group in the laser ablation component.

[0020] In one embodiment, it further includes a CT imaging device; the CT imaging device collects a CT image of the bone marrow cavity containing the target bone at every preset time interval;

[0021] The intramedullary laser ablation device updates the navigation path of the continuum robot in the bone marrow cavity at preset time intervals according to the CT image of the current time period.

[0022] In one embodiment, the intramedullary laser ablation device also determines the amount of target bone tissue to be ablated in the current time period based on the CT image of the current time period and the size parameters of the target intramedullary nail; generates control parameters for the laser ablation component for the current time period based on the amount of target bone tissue to be ablated in the current time period; and sends the control parameters to the continuum robot.

[0023] The intramedullary laser ablation device provided based on the present specification at least includes: a control module and a continuum robot; wherein, at least a laser ablation component is arranged at the top of the continuum robot; a robotic arm, a linear drive structure and a drive cable are connected between the continuum robot and the control module; the control module is used to transport the continuum robot to the incision position of the target bone through the robotic arm; the control module is used to transport the continuum robot through the incision position into the bone marrow cavity of the target bone through the linear drive structure; the control module is also used to control the posture of the continuum robot to adapt to the internal structure of the bone marrow cavity by combining the linear drive structure and the drive cable, and control the continuum robot to move in the bone marrow cavity based on the navigation path; when the continuum robot moves to the corresponding position in the bone marrow cavity based on the navigation path, it determines the target bone tissue to be ablated at the position; and performs corresponding laser ablation treatment on the target bone tissue through the laser ablation component. Based on the above-mentioned intramedullary laser ablation equipment, by arranging a laser ablation component at the top of a continuum robot with a higher degree of freedom, and using a linear drive structure and a drive cable in combination to jointly drive the continuum robot, the continuum robot can be better matched with the complex internal structure of the bone marrow cavity, and then the navigation and movement of the continuum robot in the bone marrow cavity can be more accurately controlled. The laser ablation component arranged at the top of the continuum robot can accurately ablate and remove the target bone tissue to be ablated in the bone marrow cavity, thereby reducing damage and obtaining a better ablation treatment effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of this specification, the drawings required for use in the embodiments will be briefly introduced below. The drawings described below are only some embodiments recorded in this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1It is a schematic diagram of an embodiment of the structural composition of an intramedullary laser ablation device provided in an embodiment of this specification;

[0026] Figure 2 It is a schematic diagram of an embodiment of the local structural composition of a continuum robot in an intramedullary laser ablation device provided in an embodiment of this specification;

[0027] Figure 3 It is a schematic diagram of an embodiment of the structural composition of another intramedullary laser ablation device provided in an embodiment of this specification;

[0028] Figure 4 It is a schematic diagram of an embodiment of the structural composition of another intramedullary laser ablation device provided in the embodiments of this specification;

[0029] Figure 5 It is a flow chart of a method for controlling an intramedullary laser ablation device based on the intramedullary laser ablation device provided in the embodiments of this specification;

[0030] Figure 6 is a schematic diagram of the structure of an electronic device provided by an embodiment of this specification;

[0031] Figure 7 It is a schematic diagram of the structural composition of an intramedullary laser bone ablation device constructed by applying the technical concept of the intramedullary laser ablation device provided in the embodiments of this specification in a scenario example;

[0032] Figure 8 is a schematic diagram of an embodiment of an intramedullary laser bone ablation device in a scenario example;

[0033] Fig. 9 It is a schematic diagram of another embodiment of the intramedullary laser bone ablation device in a scenario example. DETAILED DESCRIPTION

[0034] In order to enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below in conjunction with the drawings in the embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this specification, not all of the embodiments. Based on the embodiments in this specification, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of this specification.

[0035] Considering that the existing bone tissue removal equipment usually uses an actuator equipped with a curved drill bit to penetrate into the bone marrow cavity to perform bone tissue removal. However, based on the above-mentioned bone tissue removal equipment, firstly, since the drill bit removes bone tissue through instrument cutting, it is easy to cause bone tissue damage or even bone tissue necrosis during operation. Secondly, the internal structure of the marrow cavity itself is relatively complex, with many bends, corners and other structures, and the actuator equipped with a curved drill bit in the above-mentioned bone tissue removal equipment has strong rigidity and cannot be well adjusted and adapted to the complex structure inside the marrow cavity, resulting in the actuator's feasible domain being relatively limited, and it is difficult to flexibly penetrate into the marrow cavity for refined processing.

[0036] In view of the root cause of the above problems, this application considers combining laser ablation technology with continuum robots, using a continuum robot made of elastic material, capable of continuous deformation, and with a high degree of freedom to replace conventional actuators; and, a laser ablation component is arranged on the above continuum robot to replace the conventional mechanical drill. In this way, on the one hand, the advantages of the continuum robot can be used to better adapt to the complex structure inside the bone marrow cavity, improve the feasible domain in the bone marrow cavity, and make the movement in the bone marrow cavity more flexible; on the other hand, the laser ablation component can be used to perform laser ablation on bone tissue instead of conventional mechanical cutting using a drill, thereby effectively reducing damage to bone tissue.

[0037] Based on the above ideas, see Figure 1 As shown, the embodiment of this specification provides an intramedullary laser ablation device. The intramedullary laser ablation device may at least include: a control module and a continuum robot and other structures; wherein at least a laser ablation component is arranged at the top of the continuum robot; a mechanical arm, a linear drive structure and a drive cable are connected between the continuum robot and the control module;

[0038] The control module can be specifically used to transport the continuum robot to the incision position of the target bone through a robotic arm;

[0039] The control module can be specifically used to send the continuum robot into the medullary cavity of the target bone through the incision position through a linear drive structure;

[0040] The control module may also be specifically used to control the posture of the continuum robot to adapt to the internal structure of the medullary cavity by combining the linear drive structure and the drive cable, and control the continuum robot to move in the medullary cavity based on the navigation path;

[0041] When the continuum robot moves to a corresponding position in the bone marrow cavity based on the navigation path, the target bone tissue to be ablated at the position is determined; and the target bone tissue is subjected to corresponding laser ablation processing through a laser ablation component.

[0042] In some embodiments, the control module may specifically include electronic devices that support data computing, storage and other functions, such as a processor, etc. Further, the control module may specifically include other hardware devices with higher data processing performance, such as computers, servers, industrial computers, etc.

[0043] The above-mentioned continuum robot can be specifically understood as a robot device that is different from a traditional rigid robot, is made of elastic material, can produce continuous deformation (the main curve has a continuous tangent vector), and has a high degree of freedom. Figure 2 shown.

[0044] See also Figure 2 As shown, the front end of the continuum robot is at least provided with a laser ablation component. Accordingly, the continuum robot can ablate and remove related tissues such as bone tissue in the bone marrow cavity through the laser ablation component.

[0045] Specifically, the continuum robot is also connected to a mechanical arm. The mechanical arm is electrically connected to the control module. Accordingly, the control module can transport the continuum robot to the initial position, i.e., the incision position of the target bone, through the mechanical arm; at the same time, the initial posture (e.g., initial curvature, etc.) of the continuum robot can also be adjusted through the mechanical arm to match the shape of the incision position, so as to better enter the bone marrow cavity of the target bone through the incision position.

[0046] Specifically, the continuum robot is also connected to a linear drive structure and a drive cable. The linear drive structure and the drive cable are respectively connected to the control module. Accordingly, the continuum robot supports both micro-motor drive based on the linear drive structure and drive based on the drive cable.

[0047] Specifically, the above-mentioned linear drive structure can be arranged on a robotic arm.

[0048] The linear drive structure may specifically include: a linear guide or a ball screw. Further, the linear drive structure is also connected to a stepper motor; wherein the stepper motor is electrically connected to the control module. Accordingly, the control module can control the linear drive structure to move the continuum robot along a straight line by controlling the stepper motor.

[0049] The linear slider is also called a linear rail, a slide rail, or a linear guide rail, and is specifically used to control the movement of a component in a specified direction. Specifically, the linear slider may include roller linear guides, cylindrical linear guides, ball linear guides, and other different types of structures.

[0050] The ball screw may specifically be a structure capable of converting rotary motion into linear motion, or converting linear motion into rotary motion.

[0051] The above-mentioned driving cable can be specifically understood as a driving rope that can provide two degrees of freedom, left and right, for the connected continuum robot. The continuum robot driven by the driving cable adopts lightweight and flexible ropes instead of rigid rods as the kinematic chain to achieve specific motion drive, which has the advantages of small motion inertia, large working space, low cost and easy reconstruction.

[0052] The linear guide rail and the driving cable are also electrically connected to the control module. Accordingly, the control module can control the continuum robot to move forward or backward and to move left or right based on a specific navigation path by using the linear guide rail and the driving cable in combination, so that the position (e.g., curvature, etc.) of the continuum robot matches the complex internal structure of the multiple curved channels of the medullary cavity; and thus the continuum robot can be controlled to move flexibly and accurately based on the navigation path in the medullary cavity.

[0053] In some embodiments, see Figure 3 As shown, the intramedullary laser ablation device further includes a CT (Computed Tomography) imaging device, wherein the CT imaging device can be electrically connected to the control module.

[0054] The CT imaging device can collect a CT image of the bone marrow cavity containing the target bone at a preset time interval (for example, at a 10-second interval); and send the CT image to the control module.

[0055] Accordingly, the control module can determine the current position of the continuum robot in the bone marrow cavity, the channel structure inside the bone marrow cavity, and the environmental information of the area adjacent to the channel inside the bone marrow cavity (for example, the bone tissue condition in the adjacent area, the bone marrow cavity curve condition in the adjacent area, etc.) at every preset time period based on the CT image of the current time period; and then can update the navigation path of the current continuum robot in the bone marrow cavity based on the current position, the channel structure inside the bone marrow cavity, and the environmental information of the area adjacent to the channel inside the bone marrow cavity, so that the movement of the continuum robot in the bone marrow cavity can be more accurately controlled based on the updated navigation path.

[0056] In specific implementation, after the control module transports the continuum robot to the incision position of the target bone through the robotic arm, and before the continuum robot is sent into the bone marrow cavity of the target bone through the incision position through the linear drive structure, the control module can first receive the first CT image containing the bone marrow cavity captured by the CT imaging device as the initial image.

[0057] The control module can first use the image recognition model to perform image recognition on the initial image, identify and mark the current channel structure inside the bone marrow cavity in the initial image, as well as the environmental information of the channel adjacent area inside the bone marrow cavity (for example, the bone tissue condition around the channel inside the bone marrow cavity, the curve condition, etc.), and the position parameters of the target position to be finally reached; then, based on the above image information and combined with the path planning algorithm, through path planning, automatically determine and generate a navigation path suitable for the continuum robot, starting from the incision position and ending at the target position as the initial navigation path.

[0058] Furthermore, the control module can first send the continuum robot through the incision position into the medullary cavity of the target bone through the linear drive structure according to the above-mentioned initial navigation path; at the same time, according to the above-mentioned initial navigation path, combined with specific work task requirements (for example, medullary expansion task requirements), determine the movement control rules and ablation control rules for the first preset time period.

[0059] The above-mentioned movement control rules may specifically include a plurality of movement position coordinates arranged in sequence within a preset time period, and control parameters of the linear drive structure and control parameters of the drive cable corresponding to each movement position coordinate. The above-mentioned ablation control rules may specifically include ablation position coordinates that need to trigger laser ablation within a preset time period, and ablation parameters corresponding to the ablation position coordinates (for example, the position coordinates of the location of the bone tissue to be ablated, the direction angle of the bone tissue to be ablated relative to the ablation position, the amount of bone tissue to be ablated, etc.).

[0060] The above-mentioned task requirements can be flexibly determined according to specific circumstances (for example, the needs of subsequent further tasks). Specifically, for example, if it is further necessary to insert an intramedullary nail into the bone marrow cavity to complete the fixation of the target bone, then the above-mentioned task requirements can be determined according to the size and shape of the intramedullary nail to be inserted into the bone marrow cavity. Among them, the above-mentioned intramedullary nail can specifically be an orthopedic internal fixation device in medical equipment, which has an intramedullary nail rod in structure, a proximal locking screw hole is provided at the proximal end of the intramedullary nail rod, and a decompression plane is also provided on the surface of the intramedullary nail rod.

[0061] Furthermore, the control module may determine the control parameters of the laser ablation component corresponding to the coordinates of each ablation position in the first preset time period according to the ablation control rule.

[0062] The above control parameters may specifically include one or more of the following: output power of the laser ablation component, ablation duration, ablation direction parameters (eg, ablation angle), and the like.

[0063] Of course, it should be noted that the control parameters listed above are only a schematic illustration. In specific implementation, depending on the specific situation and processing requirements, the above control parameters may also include other types of control parameters such as laser pulse width, scanning speed, defocus amount, etc. of the laser ablation component.

[0064] Next, the control module may send the ablation position coordinates of the first preset time period and the control parameters of the laser ablation component to the continuum robot.

[0065] During specific implementation, the control module can control the continuum robot accordingly by combining the linear drive structure and the drive cable according to the movement control rules of the first preset time period, so that the posture of the continuum robot in the first preset time period is adapted to the internal structure of the bone marrow cavity passed through by the time period; at the same time, the continuum robot is controlled to move in sequence in a more reasonable manner to reach and pass through multiple moving position coordinates to complete the movement task of the first preset time period inside the bone marrow cavity.

[0066] When the control module specifically combines the linear drive structure and the drive cable to control the continuum robot accordingly, the control module can control the linear drive structure according to the control parameters of the linear drive structure, and drive the continuum robot to move in front of the next moving position coordinate in the bone marrow cavity through the linear drive structure; at the same time, the control module can also control the driving cable according to the passage of the driving cable to drive the continuum robot to swing to the left and right under a certain force, so that the continuum robot continuously adjusts its own posture while moving forward, so that the posture of the continuum robot always matches the internal structure of the bone marrow cavity, so that the continuum robot can move to the next moving position coordinate relatively more efficiently, and can also pass through special structures in the bone marrow cavity such as bends and corners relatively more smoothly, reducing the collision of the continuum robot with the internal structure of the bone marrow cavity during movement, and thus effectively reducing the damage to the inside of the bone marrow cavity caused by the movement process.

[0067] During the movement, the continuum robot will synchronously detect whether the current position reached belongs to the ablation position coordinates. When detecting that the ablation position corresponding to the current ablation position coordinates has been reached, the continuum robot can find and select the target bone tissue to be ablated corresponding to the ablation position coordinates by automatically adjusting the angle of the laser ablation component according to the control parameters of the laser ablation component such as the ablation direction parameters corresponding to the ablation position coordinates. Furthermore, the continuum robot can control the laser ablation component to perform targeted laser ablation treatment on the target bone tissue according to the control parameters of the laser ablation component such as the output power and ablation duration corresponding to the ablation position coordinates, so as to complete the laser ablation task corresponding to the ablation position coordinates. According to the above method, the continuum robot can complete each laser ablation task corresponding to each ablation position coordinate in sequence, thereby completing the laser ablation task of the first preset time period.

[0068] After completing the moving task and the laser ablation task of the first preset time period in the above manner, it is detected whether the target position has been reached.

[0069] When it is determined that the target position has not been reached yet, the control module can receive the CT image of the next preset time period (for example, the second preset time period) provided by the CT imaging device; and then update the navigation path based on the navigation path of the previous preset time period (for example, the initial navigation path of the first preset time period) according to the CT image of the next preset time period, to obtain an updated navigation path for the next preset time period.

[0070] The control module can then repeat the above method according to the updated navigation path, determine and complete the movement task and laser ablation task of the next preset time period (for example, the movement and laser ablation tasks of the second preset time period) according to the movement control rules and ablation control rules of the next preset time period.

[0071] In specific implementation, after completing the mobile tasks and laser ablation tasks of the previous preset time period, it is also possible to detect whether the mobile tasks and laser ablation tasks of the previous preset time period are all completed and whether there are any omissions. If it is detected that the mobile tasks and laser ablation tasks of the previous preset time period are not all completed and there are any omissions, the omissions that were not completed in the previous preset time period can be overtime processed until the mobile tasks and laser ablation tasks of the previous preset time period are all completed, and then the mobile tasks and laser ablation tasks of the next preset time period are triggered.

[0072] The above process is repeated until it is detected that the target position has been reached and the laser ablation task corresponding to the last ablation position has been completed, and it is determined that the movement task and laser ablation task for the medullary cavity of the target bone are completed, and the medullary cavity after medullary expansion that meets the requirements of the task is obtained.

[0073] Furthermore, the control module can control the continuum robot to gradually withdraw from the bone marrow cavity by combining the linear drive structure and the drive cable according to the latest navigation path.

[0074] After the control module controls the continuum robot to withdraw from the medullary cavity by combining the linear drive structure and the drive cable, the medullary cavity after the medullary expansion can be further processed according to the needs of subsequent further tasks. For example, a corresponding intramedullary nail is inserted into the medullary cavity after the medullary expansion to complete the fixation of the target bone.

[0075] In some embodiments, see Figure 2 As shown, a laser ablation component is arranged inside the top of the continuum robot. The laser ablation component includes at least a laser fiber, a collimator, a beam expander, and a micro-galvanometer group arranged in sequence. The laser fiber can be connected to a laser to provide the laser required for the laser ablation component.

[0076] When the continuum robot performs laser ablation on the target bone tissue through the laser ablation component, the laser can be emitted from the laser optical fiber, collimated by the collimator, and then expanded by the beam expander; the expanded laser reaches the micro-galvanometer group, which can first modulate the spatial direction of the expanded laser according to certain directional parameters, and then focus the laser to converge into a light spot with higher energy, and finally shoot it to the corresponding target bone tissue to ablate the target bone tissue.

[0077] In some embodiments, a protective mirror may be provided on the outside of the micro-galvanometer group, which can protect the micro-galvanometer group on the one hand, and prevent the micro-galvanometer from being contaminated during use on the other hand.

[0078] In some embodiments, the micro-galvanometer group may specifically include a scene, an X-lens, an intermediate lens, a Y-lens, and a piezoelectric driver that are arranged in sequence.

[0079] In a specific implementation, the beam-expanded laser can be sequentially modulated in the spatial direction by the Y lens, the middle lens, and the X lens, and then focused by the field lens before being directed toward the target bone tissue to be ablated.

[0080] It should be noted that, based on the above-mentioned micro-galvanometer group, an intermediate lens is introduced and arranged between the X lens and the Y lens, which can effectively reduce the space occupied by the micro-galvanometer group when performing spatial direction modulation processing. Based on the above-mentioned structure, only a relatively small space is needed to complete the spatial direction modulation processing. As a result, the overall structure of the micro-galvanometer group arranged on the continuum robot can be relatively smaller and more compact, and more suitable for use inside a complex bone marrow cavity; at the same time, the continuum robot equipped with the above-mentioned micro-galvanometer group can also be relatively more flexible when moving inside the bone marrow cavity, and the micro-galvanometer group can be adjusted and controlled more finely to obtain a larger feasible domain.

[0081] In some embodiments, the linear drive structure may specifically include: a linear guide rail or a ball screw structure, etc.

[0082] In some embodiments, see Figure 4 As shown, a fiber optic probe may be arranged at the top of the continuum robot; wherein the fiber optic probe may be used to collect spectral signals for the target bone tissue when the target bone tissue is subjected to corresponding laser ablation treatment through a laser ablation component.

[0083] In specific implementation, when the continuum robot performs laser ablation on the target bone tissue through the laser ablation component, it will trigger the optical fiber probe to collect the spectral signal fed back by the target bone tissue during the laser ablation of the target bone tissue. The spectral signal can be used to reflect whether there is thermal damage in the medullary cavity area where the target bone tissue is located.

[0084] In some embodiments, see Figure 4 As shown, the intramedullary laser ablation device may further include a spectrometer; wherein the spectrometer is connected to the optical fiber probe; correspondingly, the optical fiber probe will send the collected spectral signal to the spectrometer in real time or periodically.

[0085] The spectrometer can specifically perform damage risk detection by processing the spectral signal of the target bone tissue according to a preset damage detection algorithm to generate a corresponding damage risk detection result; and send the damage risk detection result to the control module; wherein the damage risk detection result is used to indicate whether there is a risk of damage in the medullary cavity area where the target bone tissue is located.

[0086] When the control module determines that there is a risk of injury according to the injury risk detection result, it can adjust the control parameters of the laser ablation component according to the preset damage suppression strategy, and send the adjusted control parameters to the continuum robot. The preset damage suppression strategy can be obtained by learning and sorting out the historical injury records of a large number of intramedullary bone tissue ablations in advance.

[0087] Accordingly, the above-mentioned continuum robot can adjust the operation of the ablation laser component according to the adjusted control parameters to reduce the damage caused by laser ablation to the medullary cavity area where the target bone tissue is located.

[0088] Based on the above embodiments, the intramedullary laser ablation device can timely collect data through the fiber optic probe and the spectrometer and perform damage risk detection based on the spectral signals during laser ablation; when the risk of damage is detected, the control module can timely make targeted adjustments to the operation of the laser ablation component through the continuum robot according to the preset damage suppression strategy, thereby better realizing damage suppression feedback and effectively reducing the damage caused by laser ablation to the bone marrow cavity area where the target bone tissue is located.

[0089] In some embodiments, the spectrometer can specifically extract red light spectrum signals and green light spectrum signals from the spectrum signals of the target bone tissue according to a preset damage detection algorithm; perform integration operations on the red light spectrum signals and the green light spectrum signals to obtain the red light spectrum signal integration results and the green light spectrum signal integration results; calculate the ratio between the red light spectrum signal integration results and the green light spectrum signal integration results, and detect whether the ratio is greater than a preset risk ratio threshold; if it is determined that the ratio is greater than the preset risk ratio threshold, generate a damage risk detection result about the existence of damage risk. On the contrary, if it is determined that the ratio is less than or equal to the preset risk ratio threshold, generate a damage risk detection result about the absence of damage risk.

[0090] Based on the above embodiment, the spectrometer can accurately detect and determine whether there is a real risk of damage in the medullary cavity area where the current target bone tissue is located according to a preset damage detection algorithm and the collected spectral signals.

[0091] In some embodiments, when it is determined that there is a risk of injury based on the injury risk detection results, the control module can specifically lower the output power of the laser ablation component according to a preset damage suppression strategy, and / or adjust the direction parameters of the micro-galvanometer group in the laser ablation component.

[0092] In a specific implementation, the control module may also adjust other control parameters such as scanning parameters of the laser ablation component, ablation duration, etc. according to a preset damage suppression strategy, so as to more effectively adjust the laser ablation component to reduce damage.

[0093] Furthermore, when it is determined that there is a risk of damage based on the damage risk detection result, the control module can also control the continuum robot to evacuate the current position coordinates by combining the linear drive structure and the drive cable according to a preset damage suppression strategy to reduce damage.

[0094] Accordingly, the continuum robot can adjust and control the laser ablation component in time according to the adjusted control parameters sent by the control module, for example, lowering the output power of the laser ablation component; and / or adjusting the direction parameters of the micro-galvanometer group so that the laser emitted by the micro-galvanometer group deviates from the medullary cavity area where the current target bone tissue is located; and / or increasing the scanning speed of the laser ablation component; and / or lowering the ablation time of the laser ablation component, etc., thereby effectively reducing or even eliminating the risk of damage to the medullary cavity area where the target bone tissue is located.

[0095] In some embodiments, a cooler may also be arranged at the top of the continuum robot. In specific implementation, when it is determined that there is an injury risk according to the injury risk detection result, the control module may also generate and send a corresponding cooling instruction to the continuum robot according to a preset injury suppression strategy, trigger the continuum robot to respond to the cooling instruction, and start the cooler to cool the medullary cavity area where the target bone tissue is located (for example, control the cooler to spray water to cool the medullary cavity area where the target bone tissue is located, etc.), so as to reduce the local temperature and reduce the damage caused by the ablation process.

[0096] In some embodiments, the intramedullary laser ablation device may further include a CT imaging device; the CT imaging device collects a CT image of the bone marrow cavity containing the target bone at a preset time interval;

[0097] The control module updates the navigation path of the continuum robot in the bone marrow cavity according to the CT image of the current time period at intervals of a preset time period.

[0098] During specific implementation, the control module can obtain the CT image of the current time period through the CT imaging device, and at the same time, it can also obtain the spectral signal of the current time period through the optical fiber probe; then, the CT image and the spectral signal of the current time period can be used together to more comprehensively analyze and determine the current position of the continuum robot in the bone marrow cavity, the current channel structure inside the bone marrow cavity, and the environmental information of the current channel adjacent area inside the bone marrow cavity; then, based on the above data information, the navigation path of the continuum robot in the bone marrow cavity can be updated more accurately.

[0099] In some embodiments, when the control module is implemented, the amount of target bone tissue to be ablated in the current time period can be determined based on the CT image of the current time period and the size parameters of the target intramedullary nail; the control parameters of the laser ablation component for the current time period can be generated based on the amount of target bone tissue to be ablated in the current time period; and the control parameters can be sent to the continuum robot. This allows the continuum robot to more effectively control the laser ablation component to accurately ablate and remove the target bone tissue while avoiding damage to the bone marrow cavity area where the target bone tissue is located.

[0100] In some embodiments, the intramedullary laser ablation device may further include a display. The display may be connected to a CT imaging device and a control module. In specific implementation, the display may timely display to the user the CT image of the current time period acquired by the CT imaging module. Furthermore, the display may also display to the user the updated navigation path of the continuum robot in the marrow cavity generated by the control module based on the CT image of the electrical concept time period.

[0101] In addition, the display can also display a command interaction interface to the user while displaying the CT image and the navigation path to the user. The user can set and input adjustment instructions for the current navigation path based on the command interaction interface. Correspondingly, the control module can receive the adjustment instructions input by the user through the command interaction interface, and adjust the navigation path accordingly based on the adjustment instructions to obtain a navigation path that meets the user's personalized requirements.

[0102] In some embodiments, the intramedullary laser ablation device may further include an MRI (Magnetic Resonance Imaging) imaging device. Accordingly, the MRI imaging device collects MRI images of the bone marrow cavity containing the target bone at preset time intervals;

[0103] The control module updates the navigation path of the continuum robot in the bone marrow cavity at intervals of a preset time period according to the MRI image of the current time period.

[0104] Furthermore, the control module can also simultaneously acquire the CT image and MRI image of the current time period at every preset time period, and use the MRI image and CT image of the current time period in combination to more accurately perform automatic navigation inside the bone marrow cavity, and update a navigation path with relatively higher accuracy.

[0105] In specific implementation, the control module can also update a relatively more accurate navigation path based on the CT images, MRI images and spectral signals of the current time period, and then generate relatively more sophisticated and better movement control rules and ablation control rules based on the above navigation path.

[0106] In some embodiments, considering that bone is mainly composed of hydroxyapatite (HA), the absorption spectrum of this substance is at the optical frequency of 3282 cm -1 There is a strong absorption peak nearby, so a laser with a wavelength of about 3.05 μm can be selected as the laser used by the laser ablation component, thereby obtaining a higher ablation processing efficiency.

[0107] Furthermore, in combination with currently commercialized lasers on the market, a continuous / pulsed laser with a wavelength of 2.94 μm or 1.064 μm can be selected and connected to the laser optical fiber to provide a laser source for the laser ablation component.

[0108] In some cases where the precision requirements are relatively low, infrared lasers can also be used as the lasers used in laser ablation components.

[0109] In addition, for some special application scenarios, infrared MOPA (Master Oscillator Power-Amplifier) ​​fiber pulse laser can also be used as the laser used in the laser ablation component, so that the pulse width of the laser can be flexibly adjusted to meet diverse usage requirements.

[0110] In some embodiments, a smoke sensor and a smoke remover may also be arranged at the top of the continuum robot. The smoke sensor is connected to the smoke remover. In specific implementation, the smoke sensor is used to start and detect whether smoke generated by laser ablation appears in the vicinity of the current position of the continuum robot when the target bone tissue is subjected to corresponding laser ablation treatment through the laser ablation component, and further monitor whether the smoke concentration is greater than a preset concentration threshold when smoke is detected. When the smoke sensor detects that the smoke concentration is greater than the preset concentration threshold, it generates and sends a smoke removal instruction to the smoke remover. The smoke remover receives and responds to the smoke removal instruction, automatically removes the smoke in the bone marrow cavity, and prevents the smoke from interfering with the navigation, movement, and laser ablation of the continuum robot.

[0111] As can be seen from the above, the intramedullary laser ablation device provided in the embodiment of the present specification at least includes: a control module and a continuum robot; wherein, at least a laser ablation component is arranged at the top of the continuum robot; a robotic arm, a linear drive structure and a drive cable are connected between the continuum robot and the control module; the control module is used to transport the continuum robot to the incision position of the target bone through the robotic arm; the control module is used to transport the continuum robot through the incision position into the bone marrow cavity of the target bone through the linear drive structure; the control module is also used to control the posture of the continuum robot to adapt to the internal structure of the bone marrow cavity by combining the linear drive structure and the drive cable, and control the continuum robot to move in the bone marrow cavity based on the navigation path; when the continuum robot moves to the corresponding position in the bone marrow cavity based on the navigation path, it determines the target bone tissue to be ablated at the position; and performs corresponding laser ablation treatment on the target bone tissue through the laser ablation component. Based on the above-mentioned intramedullary laser ablation equipment, by arranging a laser ablation component at the top of a continuum robot with a higher degree of freedom, and using a linear drive structure and a drive cable in combination to jointly drive the continuum robot, the continuum robot can be better matched with the complex internal structure of the bone marrow cavity, and then the navigation and movement of the continuum robot in the bone marrow cavity can be more accurately controlled. The laser ablation component arranged at the top of the continuum robot can accurately ablate and remove the target bone tissue to be ablated in the bone marrow cavity, thereby reducing damage and obtaining a better ablation treatment effect.

[0112] See also Figure 5 As shown, this specification also provides a method for controlling an intramedullary laser ablation device based on an intramedullary laser ablation device, wherein the method may include the following contents when implemented specifically:

[0113] S1: Determine the incision position coordinates of the target bone, as well as the shape characteristics and size parameters of the incision;

[0114] S2: The continuum robot is transported to the target bone incision position by the robotic arm according to the incision position coordinates; and the initial posture of the continuum robot is adjusted according to the shape characteristics and size parameters of the incision to match the incision;

[0115] S3: sending the continuum robot into the medullary cavity of the target bone through the incision position by means of a linear drive structure;

[0116] S4: acquiring a CT image of the bone marrow cavity of the target bone; and determining a navigation path of the continuum robot in the bone marrow cavity according to the CT image;

[0117] S5: generating movement control rules for the linear drive structure and the drive cable, and ablation control rules for the continuum robot according to the navigation path;

[0118] S6: According to the movement control rules, the position and posture of the continuum robot are controlled to adapt to the internal structure of the bone marrow cavity by combining the linear drive structure and the drive cable, and the continuum robot is controlled to move in the bone marrow cavity based on the navigation path; at the same time, during the movement process, when the continuum robot moves to the corresponding position in the bone marrow cavity according to the ablation control rules, the laser ablation component is used to perform corresponding laser ablation treatment on the target bone tissue at that position.

[0119] Therefore, the intramedullary laser ablation device can be used to more efficiently and safely achieve the movement task and laser ablation task inside the medullary cavity of the target bone.

[0120] In some embodiments, during specific implementation, the intramedullary laser ablation device can be used to expand the marrow in the bone marrow cavity of the target bone in the above manner, the intramedullary laser ablation device can be used to perform targeted removal of osteolytic lesion tissue in the bone marrow cavity of the target bone, and the intramedullary laser ablation device can be used to remove other intramedullary bone tissue in the bone marrow cavity of the target bone.

[0121] The present specification also provides an electronic device, referring to Figure 6 As shown, the electronic device may at least include a network communication port 601, a processor 602 and a memory 603, and the above structures are connected through internal cables so that each structure can perform specific data interaction.

[0122] The network communication port 601 may be specifically used to receive a start-up instruction initiated by a user.

[0123] The processor 602 can be specifically used to respond to the start instruction, determine the incision position coordinates of the target bone, and the shape characteristics and size parameters of the incision; transport the continuum robot to the incision position of the target bone through the robotic arm according to the incision position coordinates; and adjust the initial posture of the continuum robot according to the shape characteristics and size parameters of the incision to match the incision; transport the continuum robot through the incision position into the bone marrow cavity of the target bone through the linear drive structure; collect CT images of the bone marrow cavity of the target bone; and determine the navigation path of the continuum robot in the bone marrow cavity according to the CT image; generate movement control rules for the linear drive structure and the drive cable according to the navigation path, and ablation control rules for the continuum robot; control the posture of the continuum robot to adapt to the internal structure of the bone marrow cavity by combining the linear drive structure and the drive cable according to the movement control rules, and control the continuum robot to move in the bone marrow cavity based on the navigation path; at the same time, during the movement process, when the continuum robot moves to the corresponding position in the bone marrow cavity according to the ablation control rules, the laser ablation component is used to perform corresponding laser ablation treatment on the target bone tissue at that position.

[0124] The memory 603 may be specifically used to store corresponding instruction programs.

[0125] In this embodiment, the network communication port 601 can be a virtual port that is bound to different communication protocols so that different data can be sent or received. For example, the network communication port can be a port responsible for web data communication, a port responsible for FTP data communication, or a port responsible for email data communication. In addition, the network communication port can also be a physical communication interface or communication chip. For example, it can be a wireless mobile network communication chip, such as GSM, CDMA, etc.; it can also be a Wifi chip; it can also be a Bluetooth chip.

[0126] In this embodiment, the processor 602 may be implemented in any appropriate manner. For example, the processor may take the form of a microprocessor or processor and a computer-readable medium storing a computer-readable program code (such as software or firmware) executable by the (micro)processor, a logic gate, a switch, an application specific integrated circuit (ASIC), a programmable logic controller, and an embedded microcontroller, etc. This specification does not limit this.

[0127] In this embodiment, the memory 603 may include multiple levels. In a digital system, anything that can store binary data can be a memory; in an integrated circuit, a circuit with a storage function but no physical form is also called a memory, such as RAM, FIFO, etc.; in a system, a storage device with a physical form is also called a memory, such as a memory stick, TF card, etc.

[0128] The embodiment of the present specification also provides a computer-readable storage medium based on the above-mentioned laser ablation device control method, wherein the computer-readable storage medium stores computer program instructions, and when the computer program instructions are executed, the following steps are implemented: determining the incision position coordinates of the target bone, as well as the shape characteristics and size parameters of the incision; transporting the continuum robot to the incision position of the target bone according to the incision position coordinates by a robotic arm; and adjusting the initial posture of the continuum robot according to the shape characteristics and size parameters of the incision to match the incision; transporting the continuum robot into the bone marrow cavity of the target bone through the incision position through a linear drive structure; collecting bone tissue of the target bone. A CT image of the medullary cavity; and based on the CT image, a navigation path of the continuum robot in the medullary cavity is determined; based on the navigation path, movement control rules for the linear drive structure and the drive cable, as well as ablation control rules for the continuum robot are generated; according to the movement control rules, the position and posture of the continuum robot are controlled to match the internal structure of the medullary cavity by combining the linear drive structure and the drive cable, and the continuum robot is controlled to move in the medullary cavity based on the navigation path; at the same time, during the movement process, when the continuum robot moves to a corresponding position in the medullary cavity according to the ablation control rules, the target bone tissue at that position is subjected to corresponding laser ablation treatment by using the laser ablation component.

[0129] In this embodiment, the storage medium includes, but is not limited to, a random access memory (RAM), a read-only memory (ROM), a cache, a hard disk (HDD), or a memory card. The memory may be used to store computer program instructions. The network communication unit may be an interface for network connection communication set in accordance with the standard specified by the communication protocol.

[0130] In this embodiment, the functions and effects specifically implemented by the program instructions stored in the computer-readable storage medium can be explained in comparison with other implementations and will not be described in detail here.

[0131] In a specific scenario example, the technical concept provided in this specification can be applied to construct an intramedullary laser bone erosion device (a specific intramedullary laser ablation equipment) to perform tasks in an intramedullary bone erosion scenario.

[0132] For details, see Figure 7 10-Intramedullary laser bone ablation device at least comprises: 5-continuum (for example, continuum robot), wherein 1-micro vibrating mirror group, 2-collimator, 3-fiber laser and 4-fiber probe are also arranged inside 5-continuum.

[0133] The continuum body can be driven by a driving cable, a micro motor, etc. The continuum body can be made of metal, alloy, polymer, etc. When manufacturing the continuum body, the rigidity of the continuum robot can be customized by cutting grooves on the surface.

[0134] The interior of the above-mentioned 5-continuum can be specifically equipped with 1-micro-galvanometer group, 2-collimator, 3-fiber laser and 4-fiber probe. Among them, 1-micro-galvanometer group further includes field lens, X lens, intermediate lens, Y lens, and piezoelectric driver. When the micro-galvanometer group is implemented, the laser can be transmitted from 3-fiber to 2-collimator for collimation, and then incident on the micro-galvanometer group for spatial direction modulation, and finally focused by the field lens in the micro-galvanometer group to the target bone tissue area for bone tissue ablation and removal.

[0135] The specific installation relationship can be: 1-micro galvanometer group-2-collimator-3-fiber laser. The above structure and 4-fiber probe are installed together inside 5-continuum. 4-Fiber probe is specifically used to collect the spectral signal generated when the laser interacts with bone tissue during the ablation process.

[0136] The intramedullary laser bone erosion device further includes a mechanical positioning module, wherein the mechanical positioning module specifically includes: 6-linear guide rails, 7-mechanical arms. Among them, 7-mechanical arms are mainly responsible for positioning 5-continuum at the entrance of intramedullary intervention (for example, the incision position of the target bone) in a correct posture; 6-linear guide rails are mainly responsible for gradually delivering the continuum into the marrow.

[0137] The intramedullary laser bone erosion device further includes 8-control module. The 8-control module includes but is not limited to control hardware such as a PC, an industrial computer, etc. The 8-control module is respectively connected to 5-continuum, 6-linear guide rail, and 7-mechanical arm.

[0138] The intramedullary laser bone ablation device also includes a navigation module. The navigation module can be composed of a 9-CT device (for example, a CT imaging device) and a 4-fiber probe. The 9-CT device is used to locate the intramedullary plane and provide navigation for the operation moving path; the 4-fiber probe is embedded in the continuum and is used to collect the spectral signal generated by laser ablation, so as to extract the degree of damage in the bone tissue ablation zone based on the spectral signal analysis, feedback control the laser parameters and spatial position, and suppress the occurrence of damage. The above-mentioned 8-control module is connected to the 9-CT device.

[0139] It should be noted that the intramedullary movement path may be complex and curved, and the continuum in the device can actively adapt to the complex intramedullary path. The above continuum can be installed on a linear guide rail, which can be installed on a robotic arm, and each module is uniformly controlled by a control module.

[0140] The intramedullary laser bone erosion device can be used to perform intramedullary bone erosion operations, which may include: an initialization phase, an ablation phase, and a completion phase. Figure 8 As shown, the initialization stage includes S100-initial position positioning of the intramedullary laser bone erosion actuator, S200-starting the mobile path navigation, and S-300 starting the damage suppression feedback; then entering the ablation stage, including S400-starting the laser according to the specified ablation parameters, S500-selected bone tissue laser ablation, S600-path navigation and damage suppression feedback, S700 mechanical movement and continuum movement linkage, if the intramedullary bone erosion task has not been completed, repeat steps S500 to S700 until entering the completion stage S800-completing the intramedullary bone erosion task.

[0141] For specific implementation, see Fig. 9 As shown. First, the robot arm is equipped with a continuum fiber laser intramedullary bone erosion actuator to locate the bone cutting entrance, and the linear guide is used for step-by-step intervention; the laser is started for selective ablation, and the laser is transmitted to the inside of the continuum by the optical fiber, and after being collimated by the collimator, it is input into the galvanometer group to modulate the spatial direction, and then the field mirror is focused on the target bone tissue area to perform scanning and bone tissue removal actions; the ablation process is provided by CT images to provide path navigation, and the fiber optic probe collects damage suppression signals; the feedback information is combined to control the continuum and the linear guide linkage to realize the ablation process and damage suppression; finally, the intramedullary bone tissue ablation task is completed, such as marrow expansion tasks, osteolytic lesion tissue removal, and other intramedullary bone tissue ablation and removal tasks.

[0142] Through the above scenario examples, it is verified that the intramedullary laser ablation device provided by this specification can combine laser technology with a continuum (as an actuator) to obtain a more efficient and economical intramedullary bone tissue removal device, and use optical fiber to transmit high-power continuous / pulsed lasers, and couple into a micro-galvanometer group installed at the end of the continuum robot to achieve a large range and high-speed scanning of the laser focus point, and realize the laser osteotomy and bone erosion functions; at the same time, combined with the arc motion control of the end of the first-level continuum, a larger range of feasible areas is achieved, which greatly improves the efficiency and effect of intramedullary bone tissue removal; in addition, based on the ablation method adopted by the above equipment, laser ablation does not require multiple tools, there is no cutting wear, and there is no cutting force and ablation vibration, so high-precision ablation can be achieved. Therefore, it can better solve the problems of small feasible domain, mechanical damage, vibration, low bone tissue removal accuracy, and high cost in the existing related technologies.

[0143] Although the present specification provides method operation steps as described in the embodiments or flow charts, more or less operation steps may be included based on conventional or non-creative means. The order of steps listed in the embodiments is only one way of executing the order of many steps, and does not represent a unique execution order. When the device or client product in practice is executed, it can be executed in sequence or in parallel according to the method shown in the embodiments or the drawings (for example, a parallel processor or a multi-threaded processing environment, or even a distributed data processing environment). The term "include", "include" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, product or device including a series of elements includes not only those elements, but also includes other elements that are not explicitly listed, or also includes elements inherent to such a process, method, product or device. In the absence of more restrictions, it is not excluded that there are other identical or equivalent elements in the process, method, product or device including the elements. The first, second, etc. words are used to represent the name, and do not represent any particular order.

[0144] Those skilled in the art also know that, in addition to implementing the controller in a purely computer-readable program code, the controller can be made to implement the same function in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, such a controller can be considered as a hardware component, and the devices for implementing various functions included therein can also be considered as structures within the hardware component. Or even, the devices for implementing various functions can be considered as both software modules for implementing the method and structures within the hardware component.

[0145] This specification may be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, classes, etc. that perform specific tasks or implement specific abstract data types. This specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules may be located in local and remote computer-readable storage media including storage devices.

[0146] Through the description of the above embodiments, it can be known that those skilled in the art can clearly understand that the present specification can be implemented by means of software plus a necessary general hardware platform. Based on such an understanding, the technical solution of the present specification can essentially be embodied in the form of a software product, which can be stored in a storage medium such as ROM / RAM, a disk, an optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, a mobile terminal, a server, or a network device, etc.) to execute the methods described in each embodiment of the present specification or some parts of the embodiments.

[0147] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. This specification can be used in many general or special computer system environments or configurations. For example: personal computers, server computers, handheld devices or portable devices, tablet devices, multi-processor systems, microprocessor-based systems, set-top boxes, programmable electronic devices, network PCs, minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, etc.

[0148] Although the present specification is described through embodiments, those skilled in the art will appreciate that there are many modifications and changes to the present specification without departing from the spirit of the present specification, and it is intended that the appended claims include these modifications and changes without departing from the spirit of the present specification.

Claims

1. An intramedullary laser ablation device, characterized in that: At least: A control module and a continuum robot; wherein at least a laser ablation component is arranged at the top of the continuum robot; a mechanical arm, a linear drive structure and a drive cable are connected between the continuum robot and the control module; The control module is used to transport the continuum robot to the incision position of the target bone through a robotic arm; The control module is used to send the continuum robot into the medullary cavity of the target bone through the incision position through the linear drive structure; The control module is also used to control the posture of the continuum robot to adapt to the internal structure of the medullary cavity by combining the linear drive structure and the drive cable, and control the continuum robot to move in the medullary cavity based on the navigation path; When the continuum robot moves to a corresponding position in the bone marrow cavity based on the navigation path, the continuum robot determines the target bone tissue to be ablated at the position; And the target bone tissue is subjected to corresponding laser ablation treatment through a laser ablation component.

2. The intramedullary laser ablation device according to claim 1, characterized in that: The laser ablation component at least comprises a laser optical fiber, a collimator, a beam expander and a micro-galvanometer group which are arranged in sequence.

3. The intramedullary laser ablation device according to claim 2, characterized in that: The micro-galvanometer group comprises a field lens, an X lens, an intermediate lens, a Y lens and a piezoelectric driver which are arranged in sequence.

4. The intramedullary laser ablation device according to claim 1, characterized in that: The linear drive structure includes: a linear guide rail or a ball screw.

5. The intramedullary laser ablation device according to claim 1, characterized in that: A fiber optic probe is also arranged at the top of the continuum robot, wherein the fiber optic probe is used to collect spectral signals for the target bone tissue when the target bone tissue is subjected to corresponding laser ablation treatment through a laser ablation component.

6. The intramedullary laser ablation device according to claim 5, characterized in that: Also includes a spectrometer; wherein the spectrometer is connected to the optical fiber probe; The spectrometer performs damage risk detection by processing the spectral signal of the target bone tissue according to a preset damage detection algorithm, generates a corresponding damage risk detection result; and sends the damage risk detection result to the control module; When the control module determines that there is a risk of damage according to the damage risk detection result, the control module adjusts the control parameters of the laser ablation component accordingly according to a preset damage suppression strategy; and sends the adjusted control parameters to the continuum robot.

7. The intramedullary laser ablation device according to claim 6, characterized in that: The spectrometer specifically extracts a red light spectrum signal and a green light spectrum signal from the spectrum signal of the target bone tissue according to a preset damage detection algorithm; performs integration operations on the red light spectrum signal and the green light spectrum signal to obtain an integration result of the red light spectrum signal and an integration result of the green light spectrum signal; Calculating the ratio between the integral result of the red light spectrum signal and the integral result of the green light spectrum signal, and detecting whether the ratio is greater than a preset risk ratio threshold; When it is determined that the ratio is greater than a preset risk ratio threshold, an injury risk detection result indicating the existence of an injury risk is generated.

8. The intramedullary laser ablation device according to claim 6, characterized in that: The control module specifically lowers the output power of the laser ablation component according to a preset damage suppression strategy, and / or adjusts the direction parameters of the micro-galvanometer group in the laser ablation component.

9. The intramedullary laser ablation device according to claim 1, characterized in that: Also included is a CT imaging device; the CT imaging device collects CT images of the bone marrow cavity containing the target bone at preset time intervals; The control module updates the navigation path of the continuum robot in the bone marrow cavity according to the CT image of the current time period at intervals of a preset time period.

10. The intramedullary laser ablation device according to claim 9, characterized in that: The control module also determines the amount of target bone tissue to be ablated in the current time period based on the CT image of the current time period and the size parameters of the target intramedullary nail; generates control parameters for the laser ablation component for the current time period based on the amount of target bone tissue to be ablated in the current time period; and sends the control parameters to the continuum robot.

Images