A painless rib taking system and method based on multi-layer separation and precise analgesia path

Abstract

The application discloses a painless rib taking system and method based on a multi-layer separation and precise analgesic path, and belongs to the technical field of computer-aided path planning. A skin layering collection module acquires skin multi-layer structure data of a target region, and a pain sensitivity analysis module extracts pain response parameters of each skin layer; a multi-layer separation trajectory generation module generates a separation trajectory passing through each skin layer according to the skin layering data, and a precise analgesic path planning module generates an analgesic path with layer-specific release depth intervals according to the pain response parameters; a path adjustment decision module detects spatial conflicts between the separation trajectory and the analgesic path, and selects to adjust the interlayer transition point coordinates of the separation trajectory or the depth intervals of the analgesic release sites, so that the adjusted separation trajectory maintains a safe distance from all analgesic release sites. Through the layering perception and collaborative adjustment mechanism, the spatial coordination of the separation trajectory and the analgesic path is realized, and a reliable path control basis is provided for painless operation.

Description

Technical Field

[0001] This invention discloses a painless rib removal system and method based on multi-layer separation and precise analgesia pathway, belonging to the field of computer-aided pathway planning technology. Background Technology

[0002] In the field of computer-aided medical procedures, especially in automated systems involving bone exposure and soft tissue separation, painless or low-pain operation path planning has always been a research hotspot. Rib harvesting requires sequentially traversing the epidermis, dermis, and subcutaneous tissue to finally reach the bone surface. Existing technologies include skin layer recognition methods based on medical image segmentation and pain-sensitive area labeling techniques based on neural distribution maps.

[0003] However, these technologies are typically applied independently in the preoperative planning stage, providing only static tissue structure information without dynamic linkage with subsequent operative pathway generation. Furthermore, existing pathway planning systems often consider only a single factor—either geometric constraints such as avoiding separation trajectories associated with important angiogenesis, or planning drug release locations based on analgesic requirements. The lack of a real-time spatial coordination mechanism between these two factors means that during actual execution, the separation tool may pass precisely through areas of high analgesic concentration release, causing mechanical washout of the analgesic or disruption of its diffusion path, thus reducing the local analgesic effect.

[0004] Existing technologies for addressing pain suppression in multi-layered skin structures suffer from the following significant shortcomings. First, most systems treat the skin as homogeneous tissue, failing to distinguish the significant differences in nerve ending density and pain transmission pathways across different skin layers. This results in a lack of layer specificity in analgesic strategies, either wasting analgesics in low-sensitivity layers or insufficient release in high-sensitivity layers. Second, existing path adjustment methods are typically offline and unidirectional. They involve first planning the separation path and then adding analgesic points according to fixed rules. When spatial conflicts arise, either the separation trajectory is forcibly moved, increasing the risk of tissue damage, or some analgesic points are abandoned, leaving the pain-sensitive area uncovered. Third, there is a lack of mechanisms to verify the consistency of the layer sequence between the separation trajectory and the analgesic path. For example, when the separation tool alters the order in which it penetrates different skin layers due to obstacle avoidance, the corresponding analgesic release timing fails to adjust synchronously, causing a misalignment between analgesic release and tool arrival time. Fourth, the existing system's human-computer interaction interface can only display the final path and cannot support operators to make fine manual corrections to the interlayer transition points or analgesia depth ranges. Furthermore, after correction, it cannot automatically trigger replanning and conflict detection, which reduces the system's adaptability and security. Summary of the Invention

[0005] To address the aforementioned technical issues, a system is needed that can collaboratively plan and dynamically adjust multi-layer skin separation trajectories and layered analgesia pathways. This system should be able to independently generate initial separation trajectories and analgesia pathways based on the geometric boundary information and pain sensitivity parameters of each skin layer. It should then identify mutual interference between the two pathways through a spatial conflict detection mechanism, and selectively adjust the transition point coordinates of the separation trajectory or the depth range of the analgesic release site according to the conflict type (intra-layer conflict or inter-layer conflict).

[0006] Furthermore, the system should also possess layer rearrangement and temporal synchronization functions to ensure that the moment the separation tool reaches a certain skin layer matches the duration of analgesic release in that layer. Through the above-described structured modular division and defined adjustment logic, an engineering-feasible path control scheme is provided for computer-aided painless rib removal without involving any description of diagnostic, treatment, or surgical procedures.

[0007] To achieve the above objectives, this application provides the following technical solution:

[0008] A painless rib removal system based on multi-layer separation and precise analgesia pathway includes:

[0009] The skin layer acquisition module acquires multi-layer skin structure data of the target area.

[0010] The pain sensitivity analysis module receives the multi-layer structure data of the skin and extracts the pain response parameters corresponding to each skin layer, including the distribution density of nerve endings and the characteristics of pain conduction pathways in each skin layer.

[0011] A multi-layer separation trajectory generation module is connected to the skin layer acquisition module and generates a separation trajectory passing through each skin layer based on the multi-layer skin structure data.

[0012] The precise analgesia pathway planning module is connected to the pain sensitivity analysis module and generates analgesia pathways based on the pain response parameters of each skin layer, including multiple analgesic release sites.

[0013] The path adjustment decision module is connected to the multi-layer separation trajectory generation module and the precise analgesia path planning module respectively. It detects the relative positional relationship between the separation trajectory and the analgesia path in three-dimensional space. When it detects that the separation trajectory passes within a preset safe distance of any analgesia release site, it adjusts the coordinates of the interlayer transition point of the separation trajectory or adjusts the release depth range of the corresponding analgesia release site in the analgesia path, so that the distance between the adjusted separation trajectory and all analgesia release sites is greater than the safe threshold.

[0014] The control signal output module is connected to the path adjustment decision module and generates a control command sequence based on the adjusted separation trajectory and the adjusted analgesia path. The control command sequence is used to drive external execution devices.

[0015] Furthermore, the skin layer acquisition module includes:

[0016] Optical coherence tomography data interface, used to receive raw tomographic signals output by external scanning equipment;

[0017] The interlayer boundary extraction unit is connected to the optical coherence tomography data interface and is used to identify the first boundary line between the epidermis and the dermis, the second boundary line between the dermis and the subcutaneous tissue, and the third boundary line between the subcutaneous tissue and the periosteum from the original tomographic signal.

[0018] The layered verification unit, connected to the interlayer boundary extraction unit, is used to compare the continuous curvature of the first boundary line, the second boundary line, and the third boundary line with a preset curvature threshold. When the continuous curvature of any boundary line exceeds the preset curvature threshold, the area where the boundary line is located is marked as a boundary anomaly area.

[0019] Furthermore, the pain sensitivity analysis module includes:

[0020] The nerve ending density mapping unit maps the regional coordinates of each skin layer in the multi-layer skin structure data to the nerve distribution map according to the preset skin layer nerve distribution map, so as to obtain the nerve ending density value of each sub-region in each skin layer.

[0021] The conduction pathway identification unit is used to extract the connection interfaces between skin layers from the multilayer skin structure data, and determine the hierarchical sequence of pain conduction pathways based on the connection interfaces.

[0022] The pain response parameter generation unit is connected to the nerve ending density mapping unit and the conduction pathway identification unit, respectively. It multiplies the nerve ending density value of each skin layer with the position weight of the skin layer in the hierarchical sequence to obtain the pain response parameters of the skin layer.

[0023] Furthermore, the multi-layer separation trajectory generation module includes:

[0024] The entry point selection unit receives the multi-layer skin structure data and, based on the curvature distribution of the outer surface of the epidermis in the multi-layer skin structure data, selects continuous regions on the outer surface with a curvature change rate lower than a first threshold as candidate entry areas, and then selects the point closest to the bone tissue surface from the candidate entry areas as the entry point of the separation trajectory.

[0025] The interlayer transition point generation unit, connected to the entry point selection unit, is used to calculate the intersection points with the first boundary line, the second boundary line, and the third boundary line in the multilayer skin structure data, starting from the entry point and extending inward along a direction perpendicular to the outer surface of the epidermis, and taking each intersection point as the first interlayer transition point, the second interlayer transition point, and the third interlayer transition point, respectively.

[0026] The bone tissue surface endpoint determination unit is used to continue extending in the same direction from the third interlayer transition point until it contacts the highest point of the bone tissue surface, and to take the highest point as the endpoint of the separation trajectory.

[0027] The trajectory segment fitting unit is connected to the entry point selection unit, the interlayer transition point generation unit, and the bone tissue surface endpoint determination unit, respectively. It is used to connect the entry point, the first interlayer transition point, the second interlayer transition point, the third interlayer transition point, and the endpoint in sequence to form an initial polyline, and to perform spline interpolation on each corner of the initial polyline to generate a continuous and differentiable spatial curve as the initial separation trajectory.

[0028] The safety offset calculation unit, connected to the trajectory segment fitting unit, is used to obtain the tangential direction of each point on the initial separation trajectory, and calculate the minimum distance between the point and each boundary line in the multi-layer skin structure data in a plane perpendicular to the tangential direction and parallel to the skin surface at each point. When the minimum distance is less than the second threshold, the point is marked as an offset point to be determined, and an offset vector is generated pointing in the direction of increasing minimum distance.

[0029] The trajectory correction unit, connected to the safety offset calculation unit, is used to move the offset point to be determined according to the corresponding offset vector and reconnect all points to generate a corrected separation trajectory. The corrected separation trajectory is the separation trajectory output by the multi-layer separation trajectory generation module.

[0030] Furthermore, the precise analgesia pathway planning module includes:

[0031] The analgesic release site generation unit assigns analgesic release sites to each skin layer according to the pain response parameters of each skin layer. The analgesic release sites corresponding to skin layers with larger pain response parameter values ​​are spatially closer to the central region of that skin layer.

[0032] The depth interval mapping unit, connected to the analgesic release site generation unit, is used to determine the preset release depth interval of each analgesic release site as the depth range extending from the upper boundary of the skin layer downward to the lower boundary of the skin layer, and when there are multiple sub-regions in the same skin layer with nerve ending density values ​​higher than the third threshold, the release depth interval of the skin layer is expanded into multiple sub-intervals.

[0033] The site coordinate output unit is used to package the three-dimensional coordinates of all analgesic release sites and the release depth range corresponding to each site into an analgesic pathway data structure.

[0034] Furthermore, the path adjustment decision module includes:

[0035] The conflict detection unit calculates the Euclidean distance between each trajectory point on the separation trajectory and each analgesic release site in the analgesic path, and marks all trajectory point-analgesic release site pairs with Euclidean distances less than a safety threshold as conflict pairs.

[0036] The conflict type determination unit, connected to the conflict detection unit, classifies conflict pairs into intralayer conflicts and interlayer conflicts based on whether the skin layer where the trajectory point in each conflict pair is located is the same as the skin layer where the analgesic release site in the conflict pair is located.

[0037] The strategy selection unit is connected to the conflict type determination unit and is used to select and adjust the interlayer transition point coordinates of the separation trajectory when the conflict pair is an intralayer conflict, and to select and adjust the release depth range of the corresponding analgesic release site in the analgesic path when the conflict pair is an interlayer conflict.

[0038] The trajectory adjustment execution unit is used to move the trajectory point in the conflict pair along a direction perpendicular to the tangential direction of the trajectory point when the separation trajectory is selected to be adjusted, and to reconnect the preceding and following trajectory points. This operation is repeated until the Euclidean distance between the trajectory point and the corresponding analgesic release site is greater than the safety threshold.

[0039] The depth adjustment execution unit is used to shrink the release depth range of the analgesic release site in the conflict pair away from the trajectory point in the conflict pair when the analgesia path is selected to be adjusted.

[0040] Furthermore, the system also includes: a hierarchical analgesia synergistic reconfiguration module, which is connected to the path adjustment decision module and the control signal output module, respectively;

[0041] The hierarchical-analgesia synergistic reconstructive module includes:

[0042] The sequence rearrangement unit obtains the adjusted separation trajectory and the adjusted analgesic path output by the path adjustment decision module, extracts the coordinates of all interlayer transition points from the adjusted separation trajectory to generate a first-layer sequence list, and extracts the coordinates of all analgesic release sites from the adjusted analgesic path to generate a second-layer sequence list. It compares the order of occurrence within the same skin layer to generate a sequence adjustment signal.

[0043] The transition point displacement unit, connected to the layer rearrangement unit, is used to respond to the layer adjustment signal to shift the entire trajectory segment located in the skin layer with inconsistent sequence in the adjusted separation trajectory by a preset displacement in a direction away from the corresponding analgesic release site, and generate a secondary adjusted separation trajectory.

[0044] The timing synchronization unit extracts the trajectory length within each skin layer from the separation trajectory of the secondary adjustment, and the release duration of the analgesic release site within each skin layer from the adjusted analgesic path, calculates the first time required for the separation tool to pass through the layer and the second time required for the analgesic to be released, and generates a timing adjustment signal.

[0045] The release interval remapping unit, connected to the timing synchronization unit, is used to respond to the timing adjustment signal and move the release depth interval of the corresponding skin layer in the adjusted analgesia path to the superficial or deep direction according to a preset step size. After each movement, the time difference between the first time and the second time is recalculated to obtain the final adjusted analgesia path.

[0046] The path merging output unit is connected to the transition point displacement unit and the release interval remapping unit, respectively, and is used to merge the separation trajectory of the secondary adjustment and the analgesia path of the final adjustment into a collaborative path data packet and send it to the control signal output module.

[0047] Furthermore, the control signal output module includes:

[0048] A signal parsing unit is used to receive the cooperative path data packet and separate the separation trajectory coordinate sequence and the analgesia path site sequence from the cooperative path data packet;

[0049] The instruction encoding unit, connected to the signal parsing unit, is used to convert the separated trajectory coordinate sequence into a first driving instruction set, the first driving instruction set containing the three-dimensional coordinates of each trajectory point and the movement speed indication at that point;

[0050] The site encoding unit is used to convert the analgesic pathway site sequence into a second driving instruction set, the second driving instruction set including the three-dimensional coordinates, release depth range and release timing marker of each analgesic release site;

[0051] An interface adaptation unit, connected to the instruction encoding unit and the position encoding unit respectively, is used to encapsulate the first driving instruction set and the second driving instruction set into a control instruction sequence according to the communication protocol of the external execution device.

[0052] Furthermore, the system also includes:

[0053] A human-computer interaction module is connected to the control signal output module, and the human-computer interaction module includes:

[0054] The trajectory rendering unit is used to generate a three-dimensional trajectory graphic according to the first drive instruction set in the control instruction sequence, and to display the separated trajectory on the display interface in a first color and to display the position marker of each analgesic release site in a second color.

[0055] The parameter adjustment unit is used to receive adjustment instructions from external input. The adjustment instructions include coordinate correction values ​​for a specified interlayer transition point in the separation trajectory or depth range correction values ​​for a specified analgesic release site in the analgesic path.

[0056] The correction transmission unit, connected to the parameter adjustment unit, is used to send the coordinate correction value or depth range correction value to the path adjustment decision module, triggering the path adjustment decision module to re-execute the adjustment operation.

[0057] According to a second aspect of the present invention, the present invention claims protection for a painless rib removal method based on multi-layer separation and precise analgesia pathway, characterized in that it is applied to the aforementioned painless rib removal system based on multi-layer separation and precise analgesia pathway, and is used to execute the workflow of a skin layer acquisition module, a pain sensitivity analysis module, a multi-layer separation trajectory generation module, a precise analgesia pathway planning module, a pathway adjustment decision module, and a control signal output module.

[0058] This invention discloses a painless rib removal system and method based on multi-layer separation and precise analgesia pathways, belonging to the field of computer-aided path planning technology. A skin layer acquisition module obtains multi-layer skin structure data of the target area, and a pain sensitivity analysis module extracts pain response parameters for each skin layer. A multi-layer separation trajectory generation module generates a separation trajectory traversing each skin layer based on the skin layer data, and a precise analgesia pathway planning module generates an analgesia pathway with layer-specific release depth intervals based on the pain response parameters. A path adjustment decision module detects spatial conflicts between the separation trajectory and the analgesia pathway and selects to adjust the inter-layer transition point coordinates or the depth interval of the analgesia release sites on the separation trajectory, ensuring that the adjusted separation trajectory maintains a safe distance from all analgesia release sites. This invention achieves spatial coordination between the separation trajectory and the analgesia pathway through a layered perception and collaborative adjustment mechanism, providing a reliable path control basis for painless operation. Attached Figure Description

[0059] Figure 1 A structural block diagram of a painless rib removal system based on multi-layer separation and precise analgesia pathway, as claimed in an embodiment of the present invention;

[0060] Figure 2A second structural module diagram of a painless rib removal system based on multi-layer separation and precise analgesia pathway, as claimed in an embodiment of the present invention;

[0061] Figure 3 A third structural module diagram of a painless rib removal system based on multi-layer separation and precise analgesia pathway, as claimed in an embodiment of the present invention;

[0062] Figure 4 This is a flowchart illustrating the workflow of a painless rib removal method based on multi-layer separation and precise analgesia pathway, as claimed in an embodiment of the present invention. Detailed Implementation

[0063] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0064] The terms "first," "second," and "third" in this application are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first," "second," or "third" may explicitly or implicitly include at least one of those features. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified. All directional indications in the embodiments of this application, such as up, down, left, right, front, back, etc., are only used to explain the relative positional relationships and movements between components in a specific orientation as shown in the accompanying drawings. If the specific orientation changes, the directional indications will change accordingly. Furthermore, the terms "including" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices.

[0065] References to embodiments herein mean that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0066] According to a first embodiment of the present invention, the present invention claims protection for a painless rib removal system based on multi-layer separation and precise analgesia pathway, referring to... Figure 1 ,include:

[0067] The skin layer acquisition module acquires multi-layer skin structure data of the target area.

[0068] The pain sensitivity analysis module receives the multi-layer structure data of the skin and extracts the pain response parameters corresponding to each skin layer, including the distribution density of nerve endings and the characteristics of pain conduction pathways in each skin layer.

[0069] A multi-layer separation trajectory generation module is connected to the skin layer acquisition module and generates a separation trajectory passing through each skin layer based on the multi-layer skin structure data.

[0070] The precise analgesia pathway planning module is connected to the pain sensitivity analysis module and generates analgesia pathways based on the pain response parameters of each skin layer, including multiple analgesic release sites.

[0071] The path adjustment decision module is connected to the multi-layer separation trajectory generation module and the precise analgesia path planning module respectively. It detects the relative positional relationship between the separation trajectory and the analgesia path in three-dimensional space. When it detects that the separation trajectory passes within a preset safe distance of any analgesia release site, it adjusts the coordinates of the interlayer transition point of the separation trajectory or adjusts the release depth range of the corresponding analgesia release site in the analgesia path, so that the distance between the adjusted separation trajectory and all analgesia release sites is greater than the safe threshold.

[0072] The control signal output module is connected to the path adjustment decision module and generates a control command sequence based on the adjusted separation trajectory and the adjusted analgesia path. The control command sequence is used to drive external execution devices.

[0073] In this embodiment, after startup, the system first performs data acquisition operations via a skin layer acquisition module. The skin layer acquisition module is connected to an optical coherence tomography (OCT) scanner via a hardware communication interface. This scanner is pre-aligned with the target area—the skin surface on the side of the patient's chest where the ribs will be harvested. The skin layer acquisition module sends an acquisition trigger signal to the scanner, which returns a set of raw interference signals. The skin layer acquisition module internally performs the following steps: First, it receives the raw interference signals and converts them into a two-dimensional depth scan sequence; second, it filters out background noise from the sequence to obtain an enhanced tomographic signal; third, it detects abrupt changes in signal intensity from the tomographic signal, marking the depth corresponding to the first abrupt change point as the upper boundary of the epidermis, and marking subsequent inflection points where the signal intensity decreases and then increases as the boundaries between the epidermis and dermis, and between the dermis and subcutaneous tissue, respectively; fourth, it stores the three-dimensional coordinates of these boundary points as multilayer skin structure data, where each coordinate includes a depth value along the skin normal and the lateral position of the skin surface.

[0074] The pain sensitivity analysis module then receives the multi-layered skin structure data. Internally, this module first extracts the regional extent of each skin layer: the epidermal layer extends from the upper boundary of the epidermis to the epidermal-dermal boundary; the dermal layer extends from this boundary to the dermal-subcutaneous tissue boundary; and the subcutaneous tissue extends from this boundary to the periosteum. Next, the pain sensitivity analysis module reads a pre-stored skin layer neural distribution mapping table. This table, indexed by the skin's lateral coordinates and depth range, provides the nerve ending density value per cubic millimeter within each tiny cubic region. For each skin layer, the module divides the layer into multiple 1 mm × 1 mm × 0.5 mm voxels and queries the mapping table to obtain the density value of each voxel. Simultaneously, the module extracts the normal direction of each boundary surface from the multi-layered skin structure data and establishes a pain transmission pathway sequence from deep to superficial: free nerve endings in the subcutaneous tissue are stimulated first, and the signal ascends along unmyelinated C fibers to the dermis, where it merges into myelinated Aδ fibers and continues to ascend to the pain receptors in the epidermis. Based on this, the pain sensitivity analysis module generates a pain response parameter for each skin layer: first, it calculates the average nerve ending density of all voxels in that layer, then multiplies it by the layer weights of that layer in the transmission pathway (subcutaneous tissue weight is 1, dermis weight is 1.5, and epidermis weight is 2.0), and the product is the pain response parameter for that skin layer.

[0075] The multi-layer separation trajectory generation module acquires multi-layer skin structure data from the skin layer acquisition module and begins generating the separation trajectory. The module first determines the entry point: it traverses all grid vertices on the outer surface of the epidermis, calculates the Gaussian curvature at each vertex, and filters out flat regions with a Gaussian curvature less than 0.05. Within these flat regions, it calculates the vertical distance from each vertex to the underlying bone tissue surface and selects the vertex with the smallest distance as the entry point. Then, starting from the entry point, it draws a straight line along the skin normal direction inwards, calculating the intersection points of this line with each boundary surface. The first interlayer transition point is located at the epidermal-dermal boundary, the second interlayer transition point at the dermal-subcutaneous tissue boundary, and the third interlayer transition point at the subcutaneous tissue-periosteal boundary. It continues to extend in the same direction until the line intersects the bone tissue surface grid, taking the point with the largest z-coordinate depth as the endpoint. These points are connected sequentially to form a polyline. Then, three intermediate points are inserted between every two adjacent points, and a cubic spline function is used to fit a spatial curve passing through all points and with a continuous first derivative, serving as the initial separation trajectory. Finally, the module detects the distance between each point on the trajectory and each boundary surface: if a point is less than 0.3 mm from any side interface, then the point is moved outward by 0.1 mm in a direction perpendicular to the trajectory tangent and parallel to the skin surface. This movement is repeated until the safe distance is met, thus obtaining the final separation trajectory.

[0076] The precise analgesia pathway planning module receives pain response parameters and generates analgesia pathways for each skin layer. For the epidermis, the module divides its pain response parameter value by the sum of all layer parameter values ​​to obtain a ratio. Based on this ratio, it determines the number of analgesic release sites to be set within that layer: two sites are set if the ratio is greater than 0.4, otherwise one site is set. The three-dimensional coordinates of each analgesic release site are taken from the center coordinates of the voxel with the highest nerve ending density within that skin layer. Release depth intervals: For the epidermis, the interval starts 0.1 mm below the upper boundary of the epidermis and ends 0.1 mm above the epidermal-dermal boundary; for the dermis, the interval starts 0.2 mm below the epidermal-dermal boundary and ends 0.2 mm above the dermal-subcutaneous tissue boundary; for the subcutaneous tissue, the interval starts 0.3 mm below the dermal-subcutaneous tissue boundary and ends 0.5 mm above the periosteum. The release depth interval for each site is recorded as a start depth and an end depth.

[0077] The path adjustment decision module receives the separation trajectory and analgesia path described above. The module first discretizes the separation trajectory into a sampling point set P, spaced at 0.1 mm intervals. All release sites and their depth ranges within the analgesia path are converted into a set of point-interval pairs Q in space. For each sampling point p and each site q, the Euclidean distance d between the three-dimensional coordinates of p and q is calculated. If d is less than 2 mm, further judgment is made: if the skin layer where p is located is the same as the skin layer where q is located, it is marked as an intra-layer conflict; otherwise, it is marked as an inter-layer conflict. For intra-layer conflicts, the module adjusts the separation trajectory: it finds the two adjacent sampling points before and after the conflicting sampling point p, moves p along a direction perpendicular to the tangent vector of the trajectory at that point, with the magnitude of the movement vector being (the safety threshold of 2 mm minus the current distance) plus a margin of 0.2 mm, and the movement direction is away from the coordinates of q. After the movement, p is reconnected to its preceding and following points using a spline curve to obtain the adjusted separation trajectory. For inter-layer conflicts, the module adjusts the analgesia path: it shrinks the release depth range of the conflicting site in a direction away from the depth where p is located. Specifically, if the depth of p is less than the depth of q (i.e., p is shallower), the shallower end of the release depth interval of q is moved downwards to a position where the current p depth is increased by 0.5 mm; if the depth of p is greater than the depth of q, the end of the interval is moved upwards to a position where the current p depth is decreased by 0.5 mm. This results in the adjusted analgesic pathway after contraction.

[0078] The control signal output module receives the adjusted trajectory and path. The module sequentially arranges each discrete point on the separation trajectory and generates a drive command for each point. The command includes the x, y, and z coordinates of the point and the desired movement speed at that point, calculated by dividing the distance between preceding and following points by a fixed time step. Simultaneously, a release command is generated for each analgesic release site, including the site's x, y, and z coordinates, the upper and lower limits of the release depth range, and a trigger timestamp based on the estimated time the separation tool will reach the corresponding skin layer at that site. All commands are arranged chronologically and packaged into a binary data stream, which is then sent to the external execution device via a universal serial bus.

[0079] Furthermore, the skin layer acquisition module includes:

[0080] Optical coherence tomography data interface, used to receive raw tomographic signals output by external scanning equipment;

[0081] The interlayer boundary extraction unit is connected to the optical coherence tomography data interface and is used to identify the first boundary line between the epidermis and the dermis, the second boundary line between the dermis and the subcutaneous tissue, and the third boundary line between the subcutaneous tissue and the periosteum from the original tomographic signal.

[0082] The layered verification unit, connected to the interlayer boundary extraction unit, is used to compare the continuous curvature of the first boundary line, the second boundary line, and the third boundary line with a preset curvature threshold. When the continuous curvature of any boundary line exceeds the preset curvature threshold, the area where the boundary line is located is marked as a boundary anomaly area.

[0083] In this embodiment, the optical coherence tomography (OCT) data interface first performs an initialization operation: sending a handshake signal to the external OCT device, waiting for the device to return device information, confirming the device's operating wavelength, scanning depth range, and lateral resolution. After a successful handshake, the interface unit sends a scanning parameter configuration command, setting the scanning range to a rectangular area of ​​the target region with a side length of 30 mm and a scanning step size of 0.05 mm. The interface unit then initiates a batch acquisition mode, and the device returns multiple frames of raw tomographic signals, each frame containing a depth-direction light intensity sequence at a lateral position. The interface unit stores these raw signals in a temporary buffer according to their lateral coordinate index.

[0084] The interlayer boundary extraction unit reads the signal frame by frame from the buffer. For each frame, the unit performs the following steps: First, it calculates the first-order difference sequence of the signal and identifies the position with the largest difference value as a candidate point for the upper epidermal boundary. Second, it searches downwards from this candidate point to find the position where the signal intensity first drops below half of the peak value and then rises back above 60% of the peak value, marking this position as a candidate point for the epidermal-dermal boundary. Third, it continues searching downwards to find the inflection point where the signal intensity shows a similar pattern for the second time, marking this as a candidate point for the dermal-subcutaneous tissue boundary. Fourth, it continues downwards until the signal intensity tends to stabilize and no longer shows significant fluctuations, marking the starting point of this stable segment as a candidate point for the subcutaneous tissue-periosteal boundary. After completing the above operations for all frames, four point sets are obtained: the upper epidermal boundary point set, the first boundary line point set (epidermal-dermal), the second boundary line point set (dermal-subcutaneous tissue), and the third boundary line point set (subcutaneous tissue-periosteum). The boundary extraction unit sorts the points in each point set according to their horizontal coordinates, and then uses a moving average filter to smooth the depth values ​​of adjacent points, resulting in three continuous boundary lines and the outer surface contour of the epidermis.

[0085] The layered verification unit receives these three boundary lines. The unit first calculates the curvature at each point on each boundary line: taking the point and two points before and after it, and fitting an arc with these points; the reciprocal of the arc radius is the curvature. Then, the unit compares the curvature of each point with a preset curvature threshold, which is set to 0.2 per millimeter. If the curvature of a point exceeds 0.2, the unit further checks whether the curvature of other points within a 1-millimeter radius before and after that point also exceeds 0.2. If the number of consecutive points exceeding the threshold is greater than 5, the continuous area is marked as a boundary anomaly. For each marked anomaly, the unit records its starting point coordinates, ending point coordinates, and the anomaly type: excessive curvature. In addition, the unit checks the average distance between adjacent boundary lines: calculating the vertical distance between the first and second boundary lines at all lateral positions; if the distance at a certain point is greater than 5 millimeters or less than 0.5 millimeters, that location is also marked as a boundary anomaly. The set of coordinates for all boundary anomalies is appended to the multilayer skin structure data and output along with the three boundary lines.

[0086] Furthermore, the pain sensitivity analysis module includes:

[0087] The nerve ending density mapping unit maps the regional coordinates of each skin layer in the multi-layer skin structure data to the nerve distribution map according to the preset skin layer nerve distribution map, so as to obtain the nerve ending density value of each sub-region in each skin layer.

[0088] The conduction pathway identification unit is used to extract the connection interfaces between skin layers from the multilayer skin structure data, and determine the hierarchical sequence of pain conduction pathways based on the connection interfaces.

[0089] The pain response parameter generation unit is connected to the nerve ending density mapping unit and the conduction pathway identification unit, respectively. It multiplies the nerve ending density value of each skin layer with the position weight of the skin layer in the hierarchical sequence to obtain the pain response parameters of the skin layer.

[0090] In this embodiment, the nerve ending density mapping unit first loads a pre-set skin layer nerve distribution atlas file. This file is a three-dimensional grid data with a grid spacing of 0.2 mm, and each grid node stores a nerve ending density value. This atlas is a standard atlas based on statistical analysis of a large population. The mapping unit receives multi-layer skin structure data output by the skin layer acquisition module, which includes the coordinate set of the three boundary lines of the target area. The mapping unit establishes a three-dimensional reference system consistent with the shape of the skin surface of the target area: the entry point is determined by subsequent modules, here we assume a reference point as the origin, the skin surface normal as the z-axis, the lateral scanning direction as the x-axis, and the direction perpendicular to the x-axis and z-axis as the y-axis. Then, the mapping unit registers the grid node coordinates in the standard atlas to the three-dimensional reference system of the target area through an affine transformation. The registration parameters include: scaling factors along the x and y directions determined according to the ratio of the actual lateral size of the target area to the standard size of the atlas, and a nonlinear stretching factor along the z-direction determined according to the ratio of the actual thickness of each skin layer in the target area to the standard thickness of the atlas. After registration, for each skin layer within the target region, the mapping unit divides the layer into 0.2 mm × 0.2 mm × 0.2 mm cubic voxels. The nerve ending density value at the center of each voxel is obtained by interpolation from the registered atlas. The interpolation method is trilinear interpolation: the density values ​​of the eight grid nodes surrounding the voxel center are taken and summed according to distance weighting. Finally, the mapping unit outputs a three-dimensional array, where each element corresponds to a voxel coordinate and its nerve ending density value.

[0091] The pathway identification unit extracts equations for each boundary surface from the multilayer skin structure data. The unit represents the epidermal-dermal boundary, dermal-subcutaneous tissue boundary, and subcutaneous tissue-periosteal boundary as three discrete triangular meshes. Then, starting from the periosteal surface, the unit traces upwards along the normal direction: for each triangular patch center point on the periosteal surface, a ray perpendicular to the tangent plane at that point and pointing towards the skin surface is drawn. The intersection point of this ray with the subcutaneous tissue-periosteal boundary is recorded, followed by the intersection points with the dermal-subcutaneous tissue boundary, and then with the epidermal-dermal boundary. The vertical order of these intersection points is recorded to obtain the layer sequence at that point. Since the skin layers are continuous and without pores, the layer sequence for all points is subcutaneous tissue → dermis → epidermis. The pathway identification unit outputs this fixed layer sequence.

[0092] The pain response parameter generation unit receives a three-dimensional density array output by the nerve ending density mapping unit and a hierarchical sequence output by the conduction pathway identification unit. The unit first groups the voxels in the three-dimensional density array according to the hierarchical sequence: all voxels located within the epidermis are grouped into the first group, voxels within the dermis into the second group, and voxels within the subcutaneous tissue into the third group. For each group, the unit calculates the arithmetic mean of the density values ​​of all voxels within that group, denoted as the average density D_i. Then, the unit assigns positional weights to each layer according to the hierarchical sequence: the epidermis has the highest weight because the pain signal is ultimately perceived here; the dermis has the middle weight; and the subcutaneous tissue has the lowest weight. Specifically, the weight coefficients are set as follows: epidermis W1 = 2.0, dermis W2 = 1.3, and subcutaneous tissue W3 = 0.8. The unit multiplies the average density D_i of each layer by the weight W_i of that layer to obtain the pain response parameter R_i = D_i × W_i for that layer. The three R_i values ​​form a vector that is output to the precise analgesia path planning module.

[0093] Furthermore, referring to Figure 2 The multi-layer separation trajectory generation module includes:

[0094] The entry point selection unit receives the multi-layer skin structure data and, based on the curvature distribution of the outer surface of the epidermis in the multi-layer skin structure data, selects continuous regions on the outer surface with a curvature change rate lower than a first threshold as candidate entry areas, and then selects the point closest to the bone tissue surface from the candidate entry areas as the entry point of the separation trajectory.

[0095] The interlayer transition point generation unit, connected to the entry point selection unit, is used to calculate the intersection points with the first boundary line, the second boundary line, and the third boundary line in the multilayer skin structure data, starting from the entry point and extending inward along a direction perpendicular to the outer surface of the epidermis, and taking each intersection point as the first interlayer transition point, the second interlayer transition point, and the third interlayer transition point, respectively.

[0096] The bone tissue surface endpoint determination unit is used to continue extending in the same direction from the third interlayer transition point until it contacts the highest point of the bone tissue surface, and to take the highest point as the endpoint of the separation trajectory.

[0097] The trajectory segment fitting unit is connected to the entry point selection unit, the interlayer transition point generation unit, and the bone tissue surface endpoint determination unit, respectively. It is used to connect the entry point, the first interlayer transition point, the second interlayer transition point, the third interlayer transition point, and the endpoint in sequence to form an initial polyline, and to perform spline interpolation on each corner of the initial polyline to generate a continuous and differentiable spatial curve as the initial separation trajectory.

[0098] The safety offset calculation unit, connected to the trajectory segment fitting unit, is used to obtain the tangential direction of each point on the initial separation trajectory, and calculate the minimum distance between the point and each boundary line in the multi-layer skin structure data in a plane perpendicular to the tangential direction and parallel to the skin surface at each point. When the minimum distance is less than the second threshold, the point is marked as an offset point to be determined, and an offset vector is generated pointing in the direction of increasing minimum distance.

[0099] The trajectory correction unit, connected to the safety offset calculation unit, is used to move the offset point to be determined according to the corresponding offset vector and reconnect all points to generate a corrected separation trajectory. The corrected separation trajectory is the separation trajectory output by the multi-layer separation trajectory generation module.

[0100] In this embodiment, the entry point selection unit receives multi-layer skin structure data, which includes a triangular mesh model of the outer surface of the epidermis. The unit first calculates the principal curvature of each vertex on the mesh: by fitting a quadratic surface to the vertex and its adjacent vertices, the first and second fundamental forms of the surface are solved to obtain the maximum and minimum principal curvatures. Then, the Gaussian curvature of each vertex is calculated as the product of the maximum and minimum principal curvatures and the mean curvature. The unit filters out vertices with an absolute Gaussian curvature less than 0.02 and an absolute mean curvature less than 0.1, these vertices being located in flat regions. Next, within these flat regions, the unit calculates the shortest Euclidean distance from each vertex to the bone tissue surface formed by the third boundary line of the mesh. The unit traverses all candidate vertices, finds the vertex with the smallest distance, and uses the three-dimensional coordinates of this vertex as the entry point for the separation trajectory. If multiple vertices have the same and smallest distance, the one with the smallest mean curvature is selected.

[0101] The interlayer transition point generation unit starts from the entry point. The unit first obtains the skin normal vector at the entry point, which is obtained by averaging the normals of the triangular facets of the outer surface mesh of the epidermis at that point. Starting from the entry point, the unit draws a ray along the direction of this normal vector into the body. The intersection of this ray with the first boundary line (epidermal-dermal boundary) is calculated: the first boundary line is a triangular mesh. The unit uses a ray-triangle intersection algorithm to test the ray with each triangle in turn, finding the triangle whose intersection point is closest to the entry point, and recording the coordinates of this intersection point as the first interlayer transition point. Then, the ray continues to extend in the same direction from the first interlayer transition point, intersecting with the second boundary line (dermal-subcutaneous tissue boundary) to obtain the second interlayer transition point. It then extends from the second interlayer transition point, intersecting with the third boundary line (subcutaneous tissue-periosteal boundary) to obtain the third interlayer transition point. If the ray does not intersect the boundary line at a certain step due to an incomplete boundary mesh, the unit uses the nearest point projection method: finding the point on the boundary line closest to the ray and using this point as the transition point.

[0102] The element for determining the endpoint of the bone tissue surface extends a ray in the same direction from the transition point between the third and fourth layers. The element loads a 3D reconstructed mesh of the bone tissue surface. Since there may be multiple intersections between the ray and the bone tissue surface due to its unevenness, the element selects the intersection closest to the transition point along the ray direction and uses that intersection as the endpoint of the separation trajectory. If the ray has no intersection with the bone surface, the element finds the point on the bone surface closest to the transition point between the third and fourth layers as the endpoint.

[0103] The trajectory segmentation fitting unit receives five points: an entry point, three interlayer transition points, and an endpoint. The unit stores these points sequentially in a point column. Then, three intermediate points are inserted between every two adjacent points: the positions of the inserted points are obtained through linear interpolation, specifically by taking the coordinates at the 1 / 4, 1 / 2, and 3 / 4 positions between the two points. This results in a point column containing 17 points: 5 original points + 12 interpolated points. The unit fits these 17 points using a cubic B-spline curve: the spline curve is set to order 3, the node vectors are uniformly parameterized, control points are obtained by solving a system of linear equations, and then a smooth spline curve passing through all given points is generated as the initial separation trajectory.

[0104] The safety offset calculation unit discretizes the initial separation trajectory into sampling points every 0.1 arc lengths. For each sampling point, the unit calculates the tangent vector at that point using the first derivative of the spline curve. Then, the unit constructs a plane centered at the sampling point and with the tangent vector as its normal—a plane perpendicular to the tangent. Within this plane, the unit calculates the minimum distance from the sampling point to each boundary line in the multilayer skin structure data: the boundary lines are discretized into a point cloud, the Euclidean distance from the sampling point to each boundary point is calculated, and the minimum value is taken. If this minimum value is less than 0.3 mm, the unit marks the sampling point as an offset point to be determined and generates an offset vector: this vector lies within the plane, its direction is from the sampling point to the opposite direction of the line connecting the nearest boundary point, and its magnitude is equal to 0.3 mm minus the current minimum distance plus a safety margin of 0.05 mm.

[0105] The trajectory correction unit collects the offset vectors of all points to be offset. The unit moves each offset point according to its offset vector, while the positions of non-offset points remain unchanged. After this movement, a new set of points is obtained. The unit then fits this new set of points again using a cubic B-spline curve to generate the corrected separation trajectory. The unit outputs this corrected separation trajectory.

[0106] Furthermore, the precise analgesia pathway planning module includes:

[0107] The analgesic release site generation unit assigns analgesic release sites to each skin layer according to the pain response parameters of each skin layer. The analgesic release sites corresponding to skin layers with larger pain response parameter values ​​are spatially closer to the central region of that skin layer.

[0108] The depth interval mapping unit, connected to the analgesic release site generation unit, is used to determine the preset release depth interval of each analgesic release site as the depth range extending from the upper boundary of the skin layer downward to the lower boundary of the skin layer, and when there are multiple sub-regions in the same skin layer with nerve ending density values ​​higher than the third threshold, the release depth interval of the skin layer is expanded into multiple sub-intervals.

[0109] The site coordinate output unit is used to package the three-dimensional coordinates of all analgesic release sites and the release depth range corresponding to each site into an analgesic pathway data structure.

[0110] In this embodiment, the analgesic release site generation unit receives pain response parameter values ​​from three skin layers from the pain sensitivity analysis module, denoted as R_epi (epidermal layer), R_der (dermal layer), and R_sub (subcutaneous tissue). The unit first calculates the number of analgesic release sites required in each skin layer. A base number of at least one site per layer is set, and then increments are made based on the ratio of the pain response parameter of that layer to the maximum parameter value among the three layers: if R_epi is the maximum value, two sites are set in the epidermal layer; if R_epi is greater than 80% of the maximum value but not the maximum value, two sites are also set; otherwise, one site is set. The same rule applies to the dermis and subcutaneous tissue. After determining the number, the unit generates the corresponding number of analgesic release sites for each skin layer. For a layer with only one site, the site coordinates are taken as the center coordinates of the voxel with the highest nerve ending density within that layer. For a layer with two sites, the unit divides the layer into two equal-area regions, horizontally parallel to the skin surface. Within each region, the voxel with the highest nerve ending density is identified, and the center coordinates of these two voxels are used as the coordinates of the two analgesic release sites. The three-dimensional coordinates of all sites are recorded in a list.

[0111] The depth interval mapping unit determines the release depth interval for each analgesic release site. First, it obtains the upper and lower boundary depths of the skin layer to which the site belongs. Upper boundary depth: For the epidermis, the upper boundary is the outer surface of the epidermis; for the dermis, the upper boundary is the epidermal-dermal boundary; for the subcutaneous tissue, the upper boundary is the dermal-subcutaneous tissue boundary. Lower boundary depth: For the epidermis, the lower boundary is the epidermal-dermal boundary; for the dermis, the lower boundary is the dermal-subcutaneous tissue boundary; for the subcutaneous tissue, the lower boundary is the subcutaneous tissue-periosteal boundary. The unit initially sets the preset release depth interval to 0.1 mm medial to the upper boundary and 0.1 mm medial to the lower boundary. Then, the unit checks whether there are sub-regions within the skin layer with nerve ending density values ​​higher than a third threshold. The third threshold is preset to 50 per cubic millimeter. The unit traverses all voxels within the layer; if voxels with a density value greater than 50 exist, these high-density voxels are clustered into multiple connected regions; adjacent voxels with a distance of less than 0.3 mm are grouped into the same region. For each connected region, the unit extracts its depth range to form a sub-interval. The unit replaces the release depth range of the skin layer with the union of these sub-intervals. For example, if there are two high-density sub-regions in the epidermis, one with a depth range of 0.2-0.4 mm and the other with a depth range of 0.6-0.8 mm, then the release depth range becomes {[0.2,0.4], [0.6,0.8]}. The unit stores a list of depth intervals for each analgesic release site.

[0112] The site coordinate output unit organizes information on all analgesic release sites into a data structure. This data structure contains an array of site records, each record including: site number, three-dimensional coordinates (x, y, z), name of the corresponding skin layer, and a list of depth intervals, each with a start and end depth. The unit packages this array into a binary data block and adds a header containing the total number of sites and the site count for each skin layer. This data block is output as the analgesia pathway data structure to the pathway adjustment decision module.

[0113] Furthermore, the path adjustment decision module includes:

[0114] The conflict detection unit calculates the Euclidean distance between each trajectory point on the separation trajectory and each analgesic release site in the analgesic path, and marks all trajectory point-analgesic release site pairs with Euclidean distances less than a safety threshold as conflict pairs.

[0115] The conflict type determination unit, connected to the conflict detection unit, classifies conflict pairs into intralayer conflicts and interlayer conflicts based on whether the skin layer where the trajectory point in each conflict pair is located is the same as the skin layer where the analgesic release site in the conflict pair is located.

[0116] The strategy selection unit is connected to the conflict type determination unit and is used to select and adjust the interlayer transition point coordinates of the separation trajectory when the conflict pair is an intralayer conflict, and to select and adjust the release depth range of the corresponding analgesic release site in the analgesic path when the conflict pair is an interlayer conflict.

[0117] The trajectory adjustment execution unit is used to move the trajectory point in the conflict pair along a direction perpendicular to the tangential direction of the trajectory point when the separation trajectory is selected to be adjusted, and to reconnect the preceding and following trajectory points. This operation is repeated until the Euclidean distance between the trajectory point and the corresponding analgesic release site is greater than the safety threshold.

[0118] The depth adjustment execution unit is used to shrink the release depth range of the analgesic release site in the conflict pair away from the trajectory point in the conflict pair when the analgesia path is selected to be adjusted.

[0119] In this embodiment, the conflict detection unit first obtains a spatial curve of the separation trajectory from the multi-layer separation trajectory generation module, and obtains a set of sites and their depth intervals of the analgesia path from the precise analgesia path planning module. The unit discretizes the separation trajectory into sampling points using an equal arc length parameterization method, with a sampling interval of 0.1 mm, resulting in a point set P = {p1, p2, ..., pn}. Each point contains coordinates (x, y, z) and a corresponding skin layer identifier, determined by comparing the depth of the point with the boundary line depth. The unit represents each site qj in the analgesia path as a spatial sphere, with the center of the sphere at the coordinates of qj and a radius equal to a safety threshold set to 1.5 mm. Simultaneously, each site qj is also associated with a depth interval set Ij. The unit iterates through all sampling points pi and all sites qj, calculating the Euclidean distance d(pi, qj) between the coordinates of pi and the center coordinates of qj. If d(pi,qj) is less than 1.5 mm, further check whether the depth of pi is within any depth interval of qj: Compare the depth value of pi (i.e., the z-coordinate) minus the skin surface reference depth with the start and end depths of each interval in the interval list. If it falls within any interval, mark the (pi,qj) pair as a conflict pair and record the location of the conflict. If the depth of pi is not within any interval but the distance is less than the safety threshold, it is also marked as a conflict pair, but the type determination will be different.

[0120] The conflict type determination unit receives each conflict pair. The unit obtains the skin layer identifier L(pi) of pi and the skin layer identifier L(qj) of qj. If L(pi) and L(qj) are identical, for example, both being epidermal layers, the conflict pair is determined to be an intralayer conflict. If L(pi) and L(qj) are different, it is determined to be an interlayer conflict. Furthermore, if the depth of pi does not fall within the depth range of qj but is very close, the unit also determines it to be an interlayer conflict, because this means the separation trajectory passes near an analgesic release site but not within its release depth range.

[0121] The adjustment strategy selection unit chooses the adjustment target based on the conflict type. For intra-layer conflicts, the unit selects to adjust the separation trajectory. For inter-layer conflicts, the unit selects to adjust the analgesia path. The unit also considers the severity of the conflict: if the same pair (pi, qj) has conflicts at multiple consecutive sampling points, it is only processed once to avoid repeated adjustments.

[0122] The trajectory adjustment execution unit first locates the conflict sampling point pi for intra-layer conflicts. The unit obtains the previous sampling point p_{i-1} and the next sampling point p_{i+1} of pi. It calculates the tangent vector t_i at pi = (p_{i+1} - p_{i-1}) / |p_{i+1} - p_{i-1}|. Then, it calculates the vector v = qj - pi from pi to the center of sphere qj. The offset direction d_dir is perpendicular to t_i and has the smallest angle with v in the plane spanned by v and t_i. The offset distance step = safety threshold 1.5 mm - d(pi,qj) + 0.1 mm. The new point p_i' = pi + d_dir × step. After the movement, p_i' replaces the original pi, and then cubic spline interpolation is performed again on p_{i-1}, p_i', p_{i+1}, and the two points before and after them to generate the locally adjusted trajectory segment. The unit repeatedly checks whether there is still a conflict in the trajectory segment. If there is, it continues to move, repeating up to 5 times.

[0123] The depth adjustment execution unit locates the conflict site qj and the conflict sampling point pi for interlayer conflicts. The unit obtains the depth value z_pi of pi, with the skin surface as the reference zero. It obtains a list of depth intervals Ij for qj and finds the interval closest to the depth of pi. If the depth of pi is less than the starting depth of the interval (i.e., pi is shallower), the unit modifies the starting depth of the interval to z_pi + 0.5 mm. If the depth of pi is greater than the ending depth of the interval (i.e., pi is deeper), the unit modifies the ending depth of the interval to z_pi - 0.5 mm. After modification, it checks whether the new interval is valid; the starting depth must be less than the ending depth. If invalid, the interval is removed from the list. The unit outputs a list of adjusted depth intervals.

[0124] Furthermore, the system also includes: a hierarchical analgesia synergistic reconfiguration module, which is connected to the path adjustment decision module and the control signal output module, respectively;

[0125] Reference Figure 3 The layered analgesia synergistic reconstructive module includes:

[0126] The sequence rearrangement unit obtains the adjusted separation trajectory and the adjusted analgesic path output by the path adjustment decision module, extracts the coordinates of all interlayer transition points from the adjusted separation trajectory to generate a first-layer sequence list, and extracts the coordinates of all analgesic release sites from the adjusted analgesic path to generate a second-layer sequence list. It compares the order of occurrence within the same skin layer to generate a sequence adjustment signal.

[0127] The transition point displacement unit, connected to the layer rearrangement unit, is used to respond to the layer adjustment signal to shift the entire trajectory segment located in the skin layer with inconsistent sequence in the adjusted separation trajectory by a preset displacement in a direction away from the corresponding analgesic release site, and generate a secondary adjusted separation trajectory.

[0128] The timing synchronization unit extracts the trajectory length within each skin layer from the separation trajectory of the secondary adjustment, and the release duration of the analgesic release site within each skin layer from the adjusted analgesic path, calculates the first time required for the separation tool to pass through the layer and the second time required for the analgesic to be released, and generates a timing adjustment signal.

[0129] The release interval remapping unit, connected to the timing synchronization unit, is used to respond to the timing adjustment signal and move the release depth interval of the corresponding skin layer in the adjusted analgesia path to the superficial or deep direction according to a preset step size. After each movement, the time difference between the first time and the second time is recalculated to obtain the final adjusted analgesia path.

[0130] The path merging output unit is connected to the transition point displacement unit and the release interval remapping unit, respectively, and is used to merge the separation trajectory of the secondary adjustment and the analgesia path of the final adjustment into a collaborative path data packet and send it to the control signal output module.

[0131] In this embodiment, the layer rearrangement unit receives the adjusted separation trajectory and the adjusted analgesic path. The unit extracts all interlayer transition points from the separation trajectory: the intersections of the trajectory with the epidermal-dermal boundary, the dermal-subcutaneous tissue boundary, and the subcutaneous tissue-periosteal boundary. These intersections are sorted according to the trajectory's direction of travel from the entry point to the endpoint, resulting in a first-layer sequence list, for example: [epidermal-dermal intersection, dermal-subcutaneous intersection, subcutaneous-periosteal intersection]. Simultaneously, all analgesic release sites are extracted from the analgesic path and sorted from shallow to deep according to the depth of the skin layer to which each site belongs, resulting in a second-layer sequence list, for example: [epidermal site, dermal site, subcutaneous tissue site]. The unit compares the order of occurrence of the same skin layer in the two lists one by one. For example, the epidermal-dermal intersection in the first-layer sequence list corresponds to the interface between the epidermis and dermis, while the epidermal site in the second-layer sequence list should precede all dermal sites. If the dermal-subcutaneous junction appears before the epidermal-dermal junction in the first sequence table (i.e., the order is reversed), a sequence adjustment signal is generated. This signal contains the names of the skin layers with inconsistent order and the indices of the inconsistent locations.

[0132] The transition point displacement unit responds to the layer sequence adjustment signal. It's assumed that the signal indicating a dermal site appears before an epidermal site in the separation trajectory is practically impossible and is merely an example. However, a more common scenario is that previous adjustments to the separation trajectory alter the depth of a transition point between layers, causing spatial order disruption between the transition point and its corresponding analgesic release site. The unit locates the trajectory segment within the skin layer with the inconsistent sequence, i.e., the trajectory fragment between the entry point and exit point of that layer. The unit calculates the average distance vector from all points on this trajectory fragment to the corresponding analgesic release site within that layer. Then, the entire trajectory fragment is translated along the direction of this average distance vector by a preset displacement of 0.3 mm. After translation, the ends of the trajectory fragment will break from adjacent trajectory segments. The unit reconnects the break points using spline interpolation: taking three sampling points before and after the break point, a smooth transition curve is fitted using a cubic polynomial, replacing the original connection part. Finally, a second-adjusted separation trajectory is generated.

[0133] The timing synchronization unit extracts the trajectory length within each skin layer from the secondary adjusted separation trajectory. For the epidermis, the trajectory length is the curve length from the entry point to the first interlayer transition point. For the dermis, it is the curve length from the first interlayer transition point to the second interlayer transition point. For the subcutaneous tissue, it is the curve length from the second interlayer transition point to the endpoint. The unit sets a fixed separation tool movement speed, e.g., 2 mm / s, and calculates the first time T_traverse_i required for the separation tool to traverse each skin layer = trajectory length / speed. Simultaneously, it extracts the release duration of the analgesic release site within each skin layer from the adjusted analgesia path. This duration is determined by the parameters of the analgesic release device, e.g., 0.5 seconds per site. The unit compares the first time with the second time within each skin layer and calculates the absolute value of the time difference. If the time difference is greater than 0.2 seconds, a timing adjustment signal is generated, indicating whether the time difference is positive (separation is too fast, analgesia is too slow) or negative.

[0134] The release interval remapping unit responds to the timing adjustment signal. If the signal indicates that the first time interval is greater than the second time interval, and the time required for the separation tool to traverse the layer is longer than the analgesic release time, the unit needs to move the depth interval of the analgesic release site towards a deeper layer, so that the analgesic begins to be released at an earlier stage to synchronize with the separation tool. The unit increases the start and end depths of all intervals in the depth interval list by 0.05 mm in a preset step size of 0.05 mm, i.e., moves them towards a deeper layer. After moving, the time difference between the first and second times is recalculated. If it still exceeds the threshold, the unit continues to move, increasing by 0.05 mm each time, up to a maximum of 20 moves. If the signal indicates that the first time interval is less than the second time interval, the depth interval is moved towards a shallower layer, and the start and end depths are decreased by 0.05 mm. The process stops when the absolute value of the time difference is less than or equal to 0.2 seconds, resulting in the final adjusted analgesic path.

[0135] The path merging output unit merges the secondary adjusted separation trajectory and the final adjusted analgesic path. The merging method is as follows: a collaborative path data packet is created, containing a header field identifying the version number and data type; then, the total number of sampling points on the separation trajectory, the coordinates of each sampling point, and the tangent vector are written sequentially; next, the total number of analgesic sites, the coordinates of each site, a list of depth intervals, and a time offset determined by the timing synchronization process are written. The data packet is encapsulated in binary format and a checksum is added. This data packet is then sent to the control signal output module.

[0136] Furthermore, the control signal output module includes:

[0137] A signal parsing unit is used to receive the cooperative path data packet and separate the separation trajectory coordinate sequence and the analgesia path site sequence from the cooperative path data packet;

[0138] The instruction encoding unit, connected to the signal parsing unit, is used to convert the separated trajectory coordinate sequence into a first driving instruction set, the first driving instruction set containing the three-dimensional coordinates of each trajectory point and the movement speed indication at that point;

[0139] The site encoding unit is used to convert the analgesic pathway site sequence into a second driving instruction set, the second driving instruction set including the three-dimensional coordinates, release depth range and release timing marker of each analgesic release site;

[0140] An interface adaptation unit, connected to the instruction encoding unit and the position encoding unit respectively, is used to encapsulate the first driving instruction set and the second driving instruction set into a control instruction sequence according to the communication protocol of the external execution device.

[0141] In this embodiment, the signal parsing unit receives a collaborative path data packet from the hierarchical-analgesia collaborative reconstruction module. The unit first verifies the checksum of the data packet to ensure data integrity. Then, it parses the header fields to obtain the total number of separation trajectory sampling points N and the total number of analgesia sites M. The unit reads N sampling point records from the data packet, each record containing coordinates (x, y, z) and a tangent vector (tx, ty, tz), and stores these records in an array called the separation trajectory coordinate sequence. Next, the unit reads M site records, each record containing coordinates (x, y, z), a depth interval list (each interval has a start depth and an end depth), and a time offset, and stores these records in another array called the analgesia path site sequence.

[0142] The instruction encoding unit processes the sequence of coordinates of the separated trajectory. The unit iterates through the array of sampling points, starting from the first point and ending at the (N-1)th point. For the i-th point, the distance from that point to the (i+1)-th point is calculated as d_i = sqrt((x_{i+1}-x_i)^2 + (y_{i+1}-y_i)^2 + (z_{i+1}-z_i)^2. A fixed time interval Δt = 0.01 seconds is set, then the speed indicator at the i-th point is v_i = d_i / Δt. The unit generates a first drive instruction for each sampling point. The instruction format is: opcode 0x01, followed by 4 bytes of floating-point x-coordinate, 4 bytes of y-coordinate, 4 bytes of z-coordinate, and 4 bytes of speed indicator. For the last sampling point, the speed indicator is set to 0. All first drive instructions are arranged in the order of the sampling points, forming an instruction sequence.

[0143] The site encoding unit processes the analgesia pathway site sequence. For each site, the unit generates a second driving instruction. The instruction format is: opcode 0x02, followed by 4 bytes of the site's x-coordinate, 4 bytes of its y-coordinate, and 4 bytes of its z-coordinate, then 4 bytes of the number of intervals (K1 bytes) in the depth interval list for that site, followed by 4 bytes of the start depth and 4 bytes of the end depth for each interval, and finally 4 bytes of the release timing marker. The release timing marker is calculated by adding the time offset of the site to the estimated time to reach the corresponding skin layer based on the separation trajectory, resulting in an absolute timestamp with the system startup time as 0. The unit arranges all second driving instructions in ascending order of their timestamps.

[0144] The interface adaptation unit obtains the first and second drive instruction sets mentioned above. The unit queries the communication protocol of the external execution device, which is a multi-degree-of-freedom robotic arm and micro-needle array composite device. Its communication protocol stipulates that each instruction must begin with 0xAA and 0x55 as the start byte and end with 0x0D as the end byte, with an instruction length not exceeding 256 bytes. The unit iterates through each instruction in the first drive instruction set, adding the start byte 0xAA and 0x55 before it and the end byte 0x0D after it, and calculates the instruction length, filling it into the second byte position of the instruction. The same operation is performed for the second drive instruction set. Then, the unit sequentially concatenates all the encapsulated instructions into a continuous byte stream, waiting for the device to return an acknowledgment byte 0xCC after each instruction is sent, and only sending the next instruction after receiving the acknowledgment. This byte stream is the final control instruction sequence, output through the RS485 interface.

[0145] Furthermore, the system also includes:

[0146] A human-computer interaction module is connected to the control signal output module, and the human-computer interaction module includes:

[0147] The trajectory rendering unit is used to generate a three-dimensional trajectory graphic according to the first drive instruction set in the control instruction sequence, and to display the separated trajectory on the display interface in a first color and to display the position marker of each analgesic release site in a second color.

[0148] The parameter adjustment unit is used to receive adjustment instructions from external input. The adjustment instructions include coordinate correction values ​​for a specified interlayer transition point in the separation trajectory or depth range correction values ​​for a specified analgesic release site in the analgesic path.

[0149] The correction transmission unit, connected to the parameter adjustment unit, is used to send the coordinate correction value or depth range correction value to the path adjustment decision module, triggering the path adjustment decision module to re-execute the adjustment operation.

[0150] In this embodiment, the trajectory rendering unit obtains a sequence of control commands from the control signal output module. The unit parses the command sequence, extracts all first drive commands with opcode 0x01, and reads the three-dimensional coordinates of each sampling point. The unit connects these coordinate points sequentially into a polyline, and renders the polyline on the 3D display interface with a first color, such as red, and a line width of 2 pixels. Simultaneously, the unit extracts all second drive commands with opcode 0x02, and reads the three-dimensional coordinates and depth range of each analgesic release site. For each site, the unit draws a spherical marker at the site coordinates, with a radius of 1 mm and a second color, such as blue. Furthermore, based on the depth range information, the unit draws a cylinder or semi-transparent area extending downwards from the skin surface at each site, representing the range of release depth. The display interface also provides a view control function, allowing the operator to rotate and zoom the 3D view.

[0151] The parameter adjustment unit listens for external input devices such as mouse and keyboard. When the operator clicks on a trajectory point in the 3D view, the unit highlights the point and pops up an adjustment panel displaying the point's current coordinates and information about the skin layer it occupies. The operator can input new coordinate values, such as increasing the x-coordinate by 0.2 mm, or adjust the coordinates by dragging a slider. The unit verifies the validity of the input: the new coordinates must be below the skin surface and not above the bone surface, and cannot be less than 1 mm away from any analgesic release site. If the input is invalid, the unit refuses to modify it and displays an error message. For analgesic release sites, after the operator clicks on a site marker, the adjustment panel displays a list of depth intervals for that site. The operator can modify the start or end depth of each interval, but the modification range cannot exceed the physical boundary of the skin layer. The parameter adjustment unit encapsulates the operator's input correction value into an adjustment instruction, containing the type of the object being corrected (trajectory point or site), the object index, and the corrected coordinate or depth interval value.

[0152] The correction and transmission unit receives adjustment instructions from the parameter adjustment unit. If the instruction targets a transition point between layers in the separation trajectory, the unit sends the corrected coordinates of that transition point to the path adjustment decision module, triggering the path adjustment decision module to re-execute the conflict detection and adjustment operations. Specifically, the correction and transmission unit calls the trajectory adjustment execution unit of the path adjustment decision module, passing in the corrected coordinates, so that the unit readjusts the position of the transition point and its adjacent points, and regenerates the entire separation trajectory. If the instruction targets the depth range of a certain analgesic release site in the analgesia pathway, the unit sends the corrected depth range value to the path adjustment decision module, triggering the depth adjustment execution unit to recalculate the conflict between that site and other trajectory points, which may trigger a chain of adjustments. The correction and transmission unit is also responsible for feeding back the corrected results to the trajectory rendering unit to update the display interface. The entire interaction process does not involve any diagnostic or treatment decisions, only providing the ability to manually adjust path parameters.

[0153] According to a second embodiment of the present invention, the present invention claims protection for a painless rib removal method based on multi-layer separation and precise analgesia pathway, applied to the aforementioned painless rib removal system based on multi-layer separation and precise analgesia pathway, with reference to... Figure 4 The specific execution includes:

[0154] Acquire multi-layer skin structure data of the target area;

[0155] The system receives the multi-layer skin structure data and extracts the pain response parameters corresponding to each skin layer, including the distribution density of nerve endings and the characteristics of pain conduction pathways in each skin layer.

[0156] Based on the aforementioned multi-layered skin structure data, a separation trajectory is generated that passes through each skin layer;

[0157] Analgesia pathways are generated based on pain response parameters of each skin layer, including multiple analgesic release sites;

[0158] The relative positional relationship between the separation trajectory and the analgesic path in three-dimensional space is detected. When the separation trajectory is detected to pass within a preset safe distance of any analgesic release site, the coordinates of the interlayer transition point of the separation trajectory or the release depth range of the corresponding analgesic release site in the analgesic path is adjusted so that the distance between the adjusted separation trajectory and all analgesic release sites is greater than the safe threshold.

[0159] A control command sequence is generated based on the adjusted separation trajectory and the adjusted analgesia path, and the control command sequence is used to drive an external execution device.

[0160] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, or indirect coupling or communication connection between apparatuses or units, and may be electrical, mechanical, or other forms.

[0161] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated units described above can be implemented in hardware or as software functional units. The above are merely embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made based on the description and drawings of this application, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

[0162] The specific embodiments of the invention have been described in detail above, but they are only examples, and this application is not limited to the specific embodiments described above. For those skilled in the art, any equivalent modifications or substitutions to the invention are also within the scope of this application. Therefore, all equivalent changes, modifications, and improvements made without departing from the spirit and principles of this application should be covered within the scope of this application.

Claims

1. A painless rib removal system based on multi-layer separation and precise analgesia pathway, characterized in that, include: The skin layer acquisition module acquires multi-layer skin structure data of the target area. The pain sensitivity analysis module receives the multi-layer structure data of the skin and extracts the pain response parameters corresponding to each skin layer, including the distribution density of nerve endings and the characteristics of pain conduction pathways in each skin layer. A multi-layer separation trajectory generation module is connected to the skin layer acquisition module and generates a separation trajectory passing through each skin layer based on the multi-layer skin structure data. The precise analgesia pathway planning module is connected to the pain sensitivity analysis module and generates analgesia pathways based on the pain response parameters of each skin layer, including multiple analgesic release sites. The path adjustment decision module is connected to the multi-layer separation trajectory generation module and the precise analgesia path planning module respectively. It detects the relative positional relationship between the separation trajectory and the analgesia path in three-dimensional space. When it detects that the separation trajectory passes within a preset safe distance of any analgesia release site, it adjusts the coordinates of the interlayer transition point of the separation trajectory or adjusts the release depth range of the corresponding analgesia release site in the analgesia path, so that the distance between the adjusted separation trajectory and all analgesia release sites is greater than the safe threshold. The control signal output module is connected to the path adjustment decision module and generates a control command sequence based on the adjusted separation trajectory and the adjusted analgesia path. The control command sequence is used to drive external execution devices.

2. The system according to claim 1, characterized in that, The skin layer acquisition module includes: Optical coherence tomography data interface, used to receive raw tomographic signals output by external scanning equipment; The interlayer boundary extraction unit is connected to the optical coherence tomography data interface and is used to identify the first boundary line between the epidermis and the dermis, the second boundary line between the dermis and the subcutaneous tissue, and the third boundary line between the subcutaneous tissue and the periosteum from the original tomographic signal. The layered verification unit, connected to the interlayer boundary extraction unit, is used to compare the continuous curvature of the first boundary line, the second boundary line, and the third boundary line with a preset curvature threshold. When the continuous curvature of any boundary line exceeds the preset curvature threshold, the area where the boundary line is located is marked as a boundary anomaly area.

3. The system according to claim 1, characterized in that, The pain sensitivity analysis module includes: The nerve ending density mapping unit maps the regional coordinates of each skin layer in the multi-layer skin structure data to the nerve distribution map according to the preset skin layer nerve distribution map, so as to obtain the nerve ending density value of each sub-region in each skin layer. The conduction pathway identification unit is used to extract the connection interfaces between skin layers from the multilayer skin structure data, and determine the hierarchical sequence of pain conduction pathways based on the connection interfaces. The pain response parameter generation unit is connected to the nerve ending density mapping unit and the conduction pathway identification unit, respectively. It multiplies the nerve ending density value of each skin layer with the position weight of the skin layer in the hierarchical sequence to obtain the pain response parameters of the skin layer.

4. The system according to claim 1, characterized in that, The multi-layer separation trajectory generation module includes: The entry point selection unit receives the multi-layer skin structure data and, based on the curvature distribution of the outer surface of the epidermis in the multi-layer skin structure data, selects continuous regions on the outer surface with a curvature change rate lower than a first threshold as candidate entry areas, and then selects the point closest to the bone tissue surface from the candidate entry areas as the entry point of the separation trajectory. The interlayer transition point generation unit, connected to the entry point selection unit, is used to calculate the intersection points with the first boundary line, the second boundary line, and the third boundary line in the multilayer skin structure data, starting from the entry point and extending inward along a direction perpendicular to the outer surface of the epidermis, and taking each intersection point as the first interlayer transition point, the second interlayer transition point, and the third interlayer transition point, respectively. The bone tissue surface endpoint determination unit is used to continue extending in the same direction from the third interlayer transition point until it contacts the highest point of the bone tissue surface, and to take the highest point as the endpoint of the separation trajectory. The trajectory segment fitting unit is connected to the entry point selection unit, the interlayer transition point generation unit, and the bone tissue surface endpoint determination unit, respectively. It is used to connect the entry point, the first interlayer transition point, the second interlayer transition point, the third interlayer transition point, and the endpoint in sequence to form an initial polyline, and to perform spline interpolation on each corner of the initial polyline to generate a continuous and differentiable spatial curve as the initial separation trajectory. The safety offset calculation unit, connected to the trajectory segment fitting unit, is used to obtain the tangential direction of each point on the initial separation trajectory, and calculate the minimum distance between the point and each boundary line in the multi-layer skin structure data in a plane perpendicular to the tangential direction and parallel to the skin surface at each point. When the minimum distance is less than the second threshold, the point is marked as an offset point to be determined, and an offset vector is generated pointing in the direction of increasing minimum distance. The trajectory correction unit, connected to the safety offset calculation unit, is used to move the offset point to be determined according to the corresponding offset vector and reconnect all points to generate a corrected separation trajectory. The corrected separation trajectory is the separation trajectory output by the multi-layer separation trajectory generation module.

5. The system according to claim 1, characterized in that, The precise analgesia pathway planning module includes: The analgesic release site generation unit assigns analgesic release sites to each skin layer according to the pain response parameters of each skin layer. The analgesic release sites corresponding to skin layers with larger pain response parameter values ​​are spatially closer to the central region of that skin layer. The depth interval mapping unit, connected to the analgesic release site generation unit, is used to determine the preset release depth interval of each analgesic release site as the depth range extending from the upper boundary of the skin layer downward to the lower boundary of the skin layer, and when there are multiple sub-regions in the same skin layer with nerve ending density values ​​higher than the third threshold, the release depth interval of the skin layer is expanded into multiple sub-intervals. The site coordinate output unit is used to package the three-dimensional coordinates of all analgesic release sites and the release depth range corresponding to each site into an analgesic pathway data structure.

6. The system according to claim 1, characterized in that, The path adjustment decision module includes: The conflict detection unit calculates the Euclidean distance between each trajectory point on the separation trajectory and each analgesic release site in the analgesic path, and marks all trajectory point-analgesic release site pairs with Euclidean distances less than a safety threshold as conflict pairs. The conflict type determination unit, connected to the conflict detection unit, classifies conflict pairs into intralayer conflicts and interlayer conflicts based on whether the skin layer where the trajectory point in each conflict pair is located is the same as the skin layer where the analgesic release site in the conflict pair is located. The strategy selection unit is connected to the conflict type determination unit and is used to select and adjust the interlayer transition point coordinates of the separation trajectory when the conflict pair is an intralayer conflict, and to select and adjust the release depth range of the corresponding analgesic release site in the analgesic path when the conflict pair is an interlayer conflict. The trajectory adjustment execution unit is used to move the trajectory point in the conflict pair along a direction perpendicular to the tangential direction of the trajectory point when the separation trajectory is selected to be adjusted, and to reconnect the preceding and following trajectory points. This operation is repeated until the Euclidean distance between the trajectory point and the corresponding analgesic release site is greater than the safety threshold. The depth adjustment execution unit is used to shrink the release depth range of the analgesic release site in the conflict pair away from the trajectory point in the conflict pair when the analgesia path is selected to be adjusted.

7. The system according to claim 1, characterized in that, Also includes: The stratified analgesia synergistic reconfiguration module is connected to the path adjustment decision module and the control signal output module, respectively. The hierarchical-analgesia synergistic reconstructive module includes: The sequence rearrangement unit obtains the adjusted separation trajectory and the adjusted analgesic path output by the path adjustment decision module, extracts the coordinates of all interlayer transition points from the adjusted separation trajectory to generate a first-layer sequence list, and extracts the coordinates of all analgesic release sites from the adjusted analgesic path to generate a second-layer sequence list. It compares the order of occurrence within the same skin layer to generate a sequence adjustment signal. The transition point displacement unit, connected to the layer rearrangement unit, is used to respond to the layer adjustment signal to shift the entire trajectory segment located in the skin layer with inconsistent sequence in the adjusted separation trajectory by a preset displacement in a direction away from the corresponding analgesic release site, and generate a secondary adjusted separation trajectory. The timing synchronization unit extracts the trajectory length within each skin layer from the separation trajectory of the secondary adjustment, and the release duration of the analgesic release site within each skin layer from the adjusted analgesic path, calculates the first time required for the separation tool to pass through the layer and the second time required for the analgesic to be released, and generates a timing adjustment signal. The release interval remapping unit, connected to the timing synchronization unit, is used to respond to the timing adjustment signal and move the release depth interval of the corresponding skin layer in the adjusted analgesia path to the superficial or deep direction according to a preset step size. After each movement, the time difference between the first time and the second time is recalculated to obtain the final adjusted analgesia path. The path merging output unit is connected to the transition point displacement unit and the release interval remapping unit, respectively, and is used to merge the separation trajectory of the secondary adjustment and the analgesia path of the final adjustment into a collaborative path data packet and send it to the control signal output module.

8. The system according to claim 7, characterized in that, The control signal output module includes: A signal parsing unit is used to receive the cooperative path data packet and separate the separation trajectory coordinate sequence and the analgesia path site sequence from the cooperative path data packet; The instruction encoding unit, connected to the signal parsing unit, is used to convert the separated trajectory coordinate sequence into a first driving instruction set, the first driving instruction set containing the three-dimensional coordinates of each trajectory point and the movement speed indication at that point; The site encoding unit is used to convert the analgesic pathway site sequence into a second driving instruction set, the second driving instruction set including the three-dimensional coordinates, release depth range and release timing marker of each analgesic release site; An interface adaptation unit, connected to the instruction encoding unit and the position encoding unit respectively, is used to encapsulate the first driving instruction set and the second driving instruction set into a control instruction sequence according to the communication protocol of the external execution device.

9. The system according to claim 8, characterized in that, Also includes: A human-computer interaction module is connected to the control signal output module, and the human-computer interaction module includes: The trajectory rendering unit is used to generate a three-dimensional trajectory graphic according to the first drive instruction set in the control instruction sequence, and to display the separated trajectory on the display interface in a first color and to display the position marker of each analgesic release site in a second color. The parameter adjustment unit is used to receive adjustment instructions from external input. The adjustment instructions include coordinate correction values ​​for a specified interlayer transition point in the separation trajectory or depth range correction values ​​for a specified analgesic release site in the analgesic path. The correction transmission unit, connected to the parameter adjustment unit, is used to send the coordinate correction value or depth range correction value to the path adjustment decision module, triggering the path adjustment decision module to re-execute the adjustment operation.

10. A painless rib removal method based on multi-layer separation and precise analgesia pathway, characterized in that, The system is applied to a painless rib removal system based on multi-layer separation and precise analgesia pathway as described in any one of claims 1-9, and is used to execute the workflow of the skin layer acquisition module, pain sensitivity analysis module, multi-layer separation trajectory generation module, precise analgesia pathway planning module, pathway adjustment decision module and control signal output module.

Images