Minimally invasive surgical device and control method thereof, and minimally invasive surgical system

Abstract

The present application discloses a minimally invasive surgical device. The minimally invasive surgical device includes a curved grid support and one or more surgical actuators. The curved grid support is configured to cover the surgical area of ​​the target object and carry the one or more surgical actuators, including a plurality of rigid grid lines, which cooperate with each other to form a plurality of grid areas. The surgical actuator is configured to perform minimally invasive surgery, including a movable support component, which is carried by the rigid grid line, and the surgical actuator moves in one or more grid areas of the curved grid support by the movement of the movable support component on the grid line.

Description

Technical Field

[0001] The present application relates to the field of medical equipment, and in particular to a minimally invasive surgical device and a control method thereof, as well as a minimally invasive surgical system. Background Art

[0002] With the development of science and technology, minimally invasive surgery (e.g., puncture sampling, ablation, particle implantation, etc.) is becoming a very important development direction in medicine. In the context of popularizing tumor screening, more early tumors will require percutaneous minimally invasive surgery for diagnosis and treatment. Because the tissues under the skin cannot be seen, precise positioning of lesions and organs through MRI, CT or other three-dimensional scanning equipment is urgently needed for this minimally invasive surgery.

[0003] At present, intelligent minimally invasive surgical devices such as surgical robots are used in the medical field. However, the current puncture robots guided by MRI and / or CT need to push the patient out of the scanner after scanning, and the doctor needs to manually adjust the needle displacement and insertion depth based on the doctor's experience, and then push it into the MRI and CT to confirm whether the needle is inserted correctly. After multiple needle insertions and scan confirmations, the doctor will perform sampling, ablation or particle implantation when the needle reaches the designated position.

[0004] In addition, the medical robotic arms used in conjunction with MR and / or CT are too long, have poor stability, and lack precision. Summary of the invention

[0005] The technical problem to be solved by the embodiments of the present application is that the minimally invasive surgical device cannot be directly positioned and navigated, the patient needs to be moved out of the scanner, the stability is poor, and the navigation accuracy is low.

[0006] In order to solve the above problems, the present application discloses a minimally invasive surgical device. The minimally invasive surgical device includes a curved grid support and one or more surgical actuators. The curved grid support is configured to cover the surgical area of ​​the target object and carry the one or more surgical actuators, including a plurality of rigid grid lines, and the plurality of rigid grid lines cooperate with each other to form a plurality of grid areas. The surgical actuator is configured to perform minimally invasive surgery, including a movable support component, the movable support component is carried by the rigid grid line, and the surgical actuator moves in one or more grid areas of the curved grid support by the movement of the movable support component on the grid line. The one or more surgical actuators can be 2 or more, 3 or more, 4 or more, 5 or more, 6 or more, 7 or more, 8 or more, 9 or more, or 10 or more surgical actuators.

[0007] On the other hand, the present application discloses a control method for a minimally invasive surgical device. The method includes acquiring a surgical area of ​​the target object and a medical scanning image of the minimally invasive surgical device as described above; based on the medical scanning image, determining at least one target surgical actuator for performing the minimally invasive surgery on the surgical area from the one or more surgical actuators; for each target surgical actuator, determining a motion control plan related to the target surgical actuator; and controlling the movement of the target surgical actuator based at least on the motion control plan. The one or more surgical actuators may be 2 or more, 3 or more, 4 or more, 5 or more, 6 or more, 7 or more, 8 or more, 9 or more, or 10 or more surgical actuators.

[0008] On the other hand, the present application provides a control device for a minimally invasive surgical device. The control device includes an acquisition module, a determination module, a planning module and a control module. The acquisition module is used to acquire the surgical area of ​​the target object and the medical scanning image of the minimally invasive surgical device as described above. The determination module is used to determine at least one target surgical actuator for performing the minimally invasive surgery on the surgical area from the one or more surgical actuators based on the medical scanning image; for each target surgical actuator, the planning module is used to determine a motion control plan related to the target surgical actuator; the control module is used to control the movement of the target surgical actuator based at least on the motion control plan. The one or more surgical actuators may be 2 or more, 3 or more, 4 or more, 5 or more, 6 or more, 7 or more, 8 or more, 9 or more, or 10 or more surgical actuators.

[0009] Another aspect of the present application provides a system, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program implements the steps of the above method when executed by the processor.

[0010] Another aspect of the present application provides a computer-readable storage medium, wherein a computer program is stored on the storage medium, and when the computer program is executed by a processor, the steps of the method described above are implemented.

[0011] On the other hand, the present application provides a minimally invasive surgery system. The minimally invasive surgery system includes the minimally invasive surgery device as described above and a processor. The processor can execute machine executable instructions and implement the following operations: determining at least one target surgical actuator of the minimally invasive surgery device; determining a motion control plan associated with each target surgical actuator; and controlling the target surgical actuator to move based on the motion control plan. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The present application will be further described in the form of exemplary embodiments, which will be described in detail by way of the accompanying drawings. These embodiments are not restrictive, and in these embodiments, the same number represents the same structure, wherein:

[0013] Figure 1A is an exemplary structural diagram of a minimally invasive surgical device according to some embodiments of the present application;

[0014] Figure 1B is a schematic diagram of the use of a minimally invasive surgical device according to some embodiments of the present application;

[0015] Figure 2A is another exemplary structural diagram of a minimally invasive surgical device according to some embodiments of the present application;

[0016] Figure 2B is another schematic diagram of the use of the minimally invasive surgical device according to some embodiments of the present application;

[0017] Figure 3A is another exemplary structural diagram of a minimally invasive surgical device according to some embodiments of the present application;

[0018] Figure 3B is another schematic diagram of the use of the minimally invasive surgical device according to some embodiments of the present application;

[0019] Figure 4 is an exemplary structural diagram of a surgical execution component according to some embodiments of the present application;

[0020] Figure 5A is a schematic diagram of the rotational movement of a surgical execution component according to some embodiments of the present application;

[0021] Figure 5B is another schematic diagram of rotational movement of a surgical execution component according to some embodiments of the present application;

[0022] Figure 6 is an exemplary flow chart of motion control of a minimally invasive surgical device according to some embodiments of the present application;

[0023] Figure 7 is an exemplary flow chart of determining a motion control plan according to some embodiments of the present application;

[0024] Figure 8 is an exemplary flow chart of controlling the movement of a minimally invasive surgical device according to some embodiments of the present application;

[0025] Fig. 9is an exemplary block diagram of a control system for minimally invasive surgery according to some embodiments of the present application;

[0026] Fig.10 is an exemplary block diagram of a processing device according to some embodiments of the present application. DETAILED DESCRIPTION

[0027] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0028] It should be noted that when a component is referred to as being "fixed to" or "mounted on" another component, it may be directly on the other component or there may be other components in the middle. When a component is considered to be "connected to" another component, it may be directly connected to the other component or there may be other components in the middle. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0029] In this application, the term "minimally invasive surgery" may refer to any surgery involving a percutaneous puncture step or any surgical step in the surgery. For example, in this application, "minimally invasive surgery" may include puncture biopsy, tumor ablation, particle implantation, intratumoral drug injection, brain electrode implantation, radiofrequency or laser ablation, and other surgeries or any steps in the surgery. When minimally invasive surgery includes puncture biopsy or any step of puncture biopsy, the surgical execution mechanism in this article may include a puncture needle; when minimally invasive surgery includes tumor ablation or any step of tumor ablation, the surgical execution mechanism may include an ablation needle; when minimally invasive surgery includes particle implantation or any step of particle implantation, the surgical execution mechanism may include a particle implantation gun for performing particle implantation surgery; when minimally invasive surgery includes intratumoral drug injection or any step of intratumoral drug injection, the surgical execution mechanism may include an injection needle; when minimally invasive surgery includes brain electrode implantation or any step of brain electrode implantation, the surgical execution mechanism may include an electrode guide wire and / or a cannula; when minimally invasive surgery includes radio frequency or laser destruction or any step of radio frequency or laser destruction, the surgical execution mechanism may include radio frequency or laser optical fiber, and / or a cannula. The intratumoral drug injection includes percutaneous injection of drugs into or around the tumor (or lesion) to achieve the purpose of delivering drugs to the tumor (or lesion) at a fixed point.

[0030] The term "plurality" may include two, three, four or more. For example, in the present application, "plurality of grid areas" may include two grid areas, three grid areas or more.

[0031] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The terms "and / or" or "and / or" used herein include any and all combinations of one or more related listed items.

[0032] Some preferred embodiments of the present application are described below with reference to the accompanying drawings. It should be noted that the following description is for illustrative purposes and is not intended to limit the scope of protection of the present application.

[0033] Figure 1A This is an exemplary structural diagram of a minimally invasive surgical device according to some embodiments of the present application. The minimally invasive surgical device can be a device for executing minimally invasive surgery guided by medical scanning equipment such as CT, MRI, PET, PET-CT, DAS, etc. Minimally invasive surgeries such as puncture biopsy, tumor ablation, particle implantation, brain electrode implantation, radio frequency or laser destruction can be implemented. The minimally invasive surgical device can be positioned to the corresponding external execution point of the surgical area, such as the puncture point on the surface of the target object required for the puncture surgery, and can be controlled to move to the surgical area or the periphery of the surgical area to perform minimally invasive surgery. As shown in FIG. 1 , the minimally invasive surgical device 100 may include a curved grid support 110 and a surgical actuator 120.

[0034] The curved grid support 110 can be installed on a scanning bed of a medical scanning device such as CT, MRI, PET, PET-CT, DAS, etc. Figure 1A The scanning bed 130 shown in FIG. The installation method may include snap-on installation, threaded installation, riveted installation, etc. Exemplarily, two or more installation points may be selected on the curved grid support 110, and a fixed connection with the scanning bed 130 is performed through the installation points. It is understood that the curved grid support 110 is detachably fixed on the scanning bed 130. When not in use, the curved grid support 110 can be removed from the scanning bed 130.

[0035] The curved grid support 110 can cover the surgical area of ​​the target object. When in use, the target object can be placed on the scanning bed 130. The curved grid support 110 will be placed above the target object. After fixation, the surgical area of ​​the target object can be within the range of the curved grid support 110. The target object can be a patient, animal, etc. or a part thereof that requires minimally invasive surgery. For example, the target object can be the part of the chest and lung where a patient needs to undergo lung puncture. The surgical area can be located inside the target object. For example, when the minimally invasive surgery is a lung puncture biopsy sampling, the surgical area is the biopsy sampling area of ​​the patient's lung organ, such as a suspected tumor area.

[0036] The shape of the curved grid support 110 may be adapted to the shape of the target object. Figures 1B to 3B . Figure 1B Schematic diagram of the use of minimally invasive surgical devices according to some embodiments of the present application. Figure 1B As shown, if the patient needs to undergo minimally invasive surgery on the chest and lungs, such as puncture biopsy sampling, the shape of the curved grid support 110 can have an appearance similar to a polygonal right prism. Figure 2A is another exemplary structural diagram of a minimally invasive surgical device according to some embodiments of the present application, Figure 2B FIG. 1 is another schematic diagram of the use of a minimally invasive surgical device according to some embodiments of the present application. Figure 2A as well as Figure 2B As shown, when the target object, such as a patient, needs to undergo minimally invasive brain surgery such as brain radiofrequency ablation, the shape of the curved grid support 110 may have an appearance similar to a head cover. Figure 3A is another exemplary structural diagram of a minimally invasive surgical device according to some embodiments of the present application, Figure 3B FIG. 1 is another schematic diagram of the use of a minimally invasive surgical device according to some embodiments of the present application. Figure 3A and Figure 3B As shown, when the target object, such as a patient, needs to undergo minimally invasive surgery on the prostate, such as a puncture biopsy, the shape of the curved grid support 110 can have an appearance similar to that of trousers.

[0037] The curved mesh support 110 may include a plurality of rigid mesh lines. For example, the rigid mesh line 112, the rigid mesh line 116, ... The plurality of rigid mesh lines may cooperate with each other to form a plurality of mesh regions. For example, some rigid mesh lines may constitute the outer contour skeleton of the curved mesh support 110, and other rigid mesh lines may be within the outer contour skeleton, dividing the region within the outer contour skeleton into a plurality of mesh regions. The rigid mesh lines define the boundaries of these mesh regions. Figure 1AThe curved grid support 110 shown in the figure may include 6 grid regions. The curved grid support 110 is shaped like a partial shape of a polygonal right prism, and the 6 grid regions may be side regions of the polygonal right prism, including G1, G2, G3, G4, G5 and G6.

[0038] The surgical actuator 120 can be used to perform minimally invasive surgery. For example, the surgical actuator 120 can include a puncture needle for performing a puncture surgery. For another example, the surgical actuator 120 can include an ablation needle for performing a radiofrequency ablation surgery. For another example, the surgical actuator 120 can include a particle implantation gun for performing a particle implantation surgery. The minimally invasive surgical device 100 may include one or more surgical actuators 120, and these surgical actuators 120 can each be controlled to perform different minimally invasive surgeries, or cooperate to perform the same minimally invasive surgery. It should be noted that only one surgical actuator 120 is shown in FIG. 1, but the number of surgical actuators 120 included in the minimally invasive surgical device 100 disclosed in this application is not limited thereto. The surgical actuator 120 can be 2 or more, 3 or more, 4 or more, 5 or more, 6 or more, 7 or more, 8 or more, 9 or more, or 10 or more surgical actuators.

[0039] The surgical actuator 120 can be carried by the curved grid support 110, including a movable support component. The movable support component can be carried by the rigid grid line of the curved grid support 110, and can move on the rigid grid line. For example, slide along the rigid grid line. The surgical actuator 120 can move on the curved grid support 110 by the movement of the movable support component. In one implementation of the present application, a guide rail is provided on the rigid grid line of the curved grid support 110, and a slider is provided on the movable support component of the surgical actuator 120. Through the coordinated movement of the guide rail and the slider, the surgical actuator 120 can move on the curved grid support 110 by sliding the slider of the movable support component on the guide rail on the rigid grid line.

[0040] refer to Figure 4 , Figure 4 FIG. 1 is an exemplary structural diagram of a surgical execution mechanism according to some embodiments of the present application. Figure 4As shown, the surgical actuator 120 may include a movable support component 122. The movable support component 122 may include a support unit 122-1 and a motion unit 122-2. In one implementation, the support unit 122-1 may be a crossbar, and other components of the surgical actuator 120 may be connected to the crossbar. The motion unit 122-2 may be a slider. The slider is fixedly connected below both ends of the crossbar and may cooperate with guide rails provided on two rigid grid lines. In this way, due to the sliding of the slider on the guide rail, the crossbar may be driven to slide, thereby driving the entire surgical actuator 120 to move on the rigid grid line. The motion may be a bidirectional linear motion. Through this motion, the surgical actuator 120 may move in a grid area containing the above-mentioned two rigid grid lines. For example, return to reference Figure 1A , the surgical actuator 120 can move within the grid area G3.

[0041] In another implementation, the movable support component of the surgical actuator 120 may include a base, and a slider is disposed under the base, cooperating with a guide rail disposed on the rigid grid line. The sliding of the slider on the guide rail can drive the movement of the surgical actuator 120. Through this movement, the surgical actuator 120 can move from one rigid grid line to another rigid grid line, thereby moving on the entire curved grid support 110. The above movements of the surgical actuator 120 can all be achieved by an electric slide.

[0042] The surgical execution mechanism 120 may further include a linear motion component, a rotary motion component, and an execution component. The linear motion component is mounted on the movable support component, the rotary motion component is mounted on the linear motion component, and the execution component is mounted on the rotary motion component. Figure 4 , the linear motion component 124 can be arranged on the support unit 122-1. In one implementation, the support unit 122-1 can include a guide rail. The support unit 122-1 can include a guide rail carried by a base plate. The linear motion component 124 can include a slider. Through the coordinated movement between the guide rail and the slider, the linear motion component 124 can perform linear motion on the support unit 122-1. The above movement of the linear motion component 124 can also be achieved by an electric slide. It can be understood that the two linear motions of the surgical actuator 120 can be achieved by a two-dimensional slide.

[0043] In another implementation, the support unit 122-1 and the linear motion component 124 may be a combination similar to a sleeve rod and sleeve tube. The support unit 122-1 may be an inner sleeve rod, and the linear motion component 124 may be an outer sleeve tube. The sleeve tube slides on the sleeve rod to achieve linear motion of the motion component 124 on the support unit 122-1.

[0044] In another implementation, the linear motion component of the surgical actuator 120 may include a component composed of at least one guide rail and one slider. For example, the guide rail is disposed on the base of the movable support component, and other components of the surgical actuator 120 are mounted on the slider. The entire surgical actuator 120 moves by the linear motion of the slider of the linear motion component on the guide rail.

[0045] The rotary motion component 126 connects the linear motion component 124 and the actuator component 128, and can realize at least a first rotary motion and a second rotary motion. Figure 5A and Figure 5B , Figure 5A is a schematic diagram of the rotational movement of a surgical execution component according to some embodiments of the present application, Figure 5B This is another schematic diagram of the rotational movement of the surgical execution component according to some embodiments of the present application. Figure 5A A side view of the surgical actuator 120 is shown, and the connection between the rotary motion component 126 and the linear motion component 124 (eg Figure 5A For example, the rotary motion platform 126 may include a hollow rotary platform, which is connected to the linear motion component 124. The rotation of the hollow rotary platform can drive the rotary motion component 126 to rotate, and then drive the actuator 128 to rotate. Figure 5A As shown in FIG. 1 , the rotational motion component 126 can realize bidirectional circular motion like a ring A. Figure 5B Another side view of the surgical actuator 120 is shown, and the connection between the rotary motion component 126 and the actuator 128 (such as Figure 5B In the same or similar example, the rotating motion component 126 can be connected to the execution component 128 through a hollow rotating platform. The rotation of the hollow rotating platform drives the rotation of the execution component 128. Figure 5B As shown in , the rotating component 126 can realize bidirectional circular motion like a ring B. In one implementation, the rotating component 126 can be a double rotation joint similar to an articulated mechanical arm (or an articulated robot).

[0046] The execution component 128 may be a specific component for performing minimally invasive surgery. Taking puncture surgery as an example, the execution component 128 may include a needle insertion unit and a puncture needle. The needle insertion unit may realize the puncture (also referred to as advancement) and retraction of the puncture needle. The puncture needle may penetrate into the interior of the target object to reach the puncture area, such as a tumor area, and remove living tissue. The execution component 128 may also include instruments used in other minimally invasive surgeries, such as particle implantation guns, drug injection needles, and radiofrequency ablation needles.

[0047] The surgical actuator 120 may also include a servo motor. The servo motor may be used to drive the movable parts of the surgical actuator 120 to achieve the linear motion of the surgical actuator 120 on the rigid grid lines of the curved grid support 110, the linear motion of the linear motion parts on the supportable parts, the rotational motion of the rotational motion parts, and the movement of the actuator parts such as the advancement and retraction of the puncture needle. By controlling the servo motor, the motion control of the surgical actuator 120, such as position adjustment, posture change, etc., can be achieved.

[0048] The surgical actuator 120 may also include a servo motor and a joint module for driving the movable parts of the surgical actuator 120. The servo motor can realize the linear motion of the surgical actuator 120 on the rigid grid line of the curved grid support 110, the linear motion of the linear motion part on the supportable part, and the movement of the actuator part such as the advance and retreat of the puncture needle. The joint module can be used to drive the rotational motion of the rotary motion part of the surgical actuator 120. By controlling the servo motor and the joint module, the motion control of the surgical actuator 120, such as position adjustment, posture change, etc., can be realized.

[0049] In the present application, the minimally invasive surgical device 100 can follow the scanning bed 130 into the scanning hole of the medical scanning device. In order to avoid affecting the quality of the medical scanning image, the minimally invasive surgical device 100 can be made of medical scanning compatible materials. Exemplarily, the curved mesh support 110 and the surgical actuator 120 can be made of non-magnetic materials such as plastics, non-magnetic metals such as titanium alloys, etc. For example, when the minimally invasive surgical device 100 is applied to CT, the curved mesh support 110 and the surgical actuator 120 can be made of plastic, Kevlar, and metal that does not affect human body scanning. When the minimally invasive surgical device 100 is applied to MRI, the curved mesh support 110 and the surgical actuator 120 can be made of plastic and non-magnetic metal that meet MRI safety requirements. When applied to MRI, the servo motor included in the surgical actuator 120 can be an ultrasonic motor based on piezoelectric ceramics. In one embodiment, when applied to MRI, the servo motor and joint module included in the surgical actuator 120 can be an ultrasonic motor based on piezoelectric ceramics. At the same time, in order to make the minimally invasive surgical device 100 appear on the medical scan image so as to determine the position of each part, the materials of the curved mesh support 110 and the surgical actuator 120 may include nuclear magnetic imaging substances (such as cod liver oil particles or water droplets). The substance can be added to the preparation material, or added when the minimally invasive surgical device 100 is used. For example, the curved mesh support 110 and / or the actuator 128 of the surgical actuator 120 (for example, various types of needles such as puncture needles, radio frequency needle implantation guns, etc.) can be prepared using materials containing nuclear magnetic imaging substances. For another example, the curved mesh support 110 and / or the actuator 128 can be prepared from materials that do not contain nuclear magnetic imaging substances, and at the same time, gaps or small passages are retained inside the components along the outer shape during the preparation process. For example, a small passage leading to the outside can be left inside the rigid grid line of the curved mesh support 110. When in use, nuclear magnetic imaging substances can be added to the small passage, which can also make the curved mesh support 110 appear on the medical scan image. .

[0050] The minimally invasive surgical device 100 may have a control device. The control device may control the movement of the surgical actuator 120 on the curved grid support 120, the movement of the surgical actuator 120 itself including linear movement and rotational movement, and the movement of the actuator 128 of the surgical actuator 120. For example, the control device may control the movement and transfer of the surgical actuator 120 during the minimally invasive surgery, the adjustment of its own posture, etc. During the minimally invasive surgery, the minimally invasive surgical device 100 may be controlled with high accuracy through the control device in combination with the medical scan image.

[0051] The surgical actuator 120 of the minimally invasive surgical device 100 may also include an auxiliary component. The auxiliary component may be used to obtain environmental information related to the surgical actuator 120 during the execution of the minimally invasive surgery. The environmental information may include environmental information of the environment where the surgical actuator 120 and the target object intersect. The intersecting part may refer to the part of the surgical actuator 120 that enters the interior of the target object and / or the part of the surgical actuator 120 that contacts the surface of the target object. The environmental information of the environment may include the magnitude of the force received, the temperature degree, etc. As an example, if the surgical actuator 120 is a puncture mechanism, the auxiliary component may be a sensor such as a pressure sensor installed at the front end of the puncture needle. The pressure sensor can sense the pressure of the patient's tissue on the puncture needle during the puncture process. The environmental information can be fed back to the control device of the minimally invasive surgical device 100, and the control device can assist in controlling the minimally invasive surgical device 100 in combination with the environmental information.

[0052] The minimally invasive surgical device disclosed in the present application can automatically adjust its own state according to the puncture position, including but not limited to position, posture, etc. During the minimally invasive surgery, the surgical process can be monitored in real time by a medical scanning device, and the minimally invasive surgical device can be micro-controlled to improve the accuracy and safety of the surgery. The minimally invasive surgical device disclosed in the present application is further described below with the description of a flow chart.

[0053] Figure 6 is an exemplary flow chart of motion control of a minimally invasive surgical device according to some embodiments of the present application. In some embodiments, process 600 can be executed by a control system 900. For example, process 600 can be stored in a storage device (such as a built-in storage unit of the control system 900 or an external storage device) in the form of a program or instruction, and when the program or instruction is executed, process 600 can be implemented. In some embodiments, the control system 900 can control the minimally invasive surgical device 100 as described above to implement process 600. Figure 6 As shown, process 600 may include the following operations.

[0054] Step 610 , obtaining a medical scan image of the surgical area of ​​the target object and the minimally invasive surgical device. This step may be performed by the acquisition module 910 .

[0055] In some embodiments, the target object may be a patient, animal, etc. or a part thereof that needs to undergo minimally invasive surgery. For example, if a patient needs to undergo lung puncture, the target object may be the thoracic lung part of the patient. The target object may be the thoracic lung part that needs to undergo lung puncture. The surgical area may be located inside the target object. For example, when the minimally invasive surgery is a lung puncture biopsy, the surgical area is a biopsy sampling area of ​​the patient's lung organ, such as a suspected tumor area.

[0056] In some embodiments, the minimally invasive surgical device may be the minimally invasive surgical device described in the above section, including a curved mesh support and one or more surgical actuators. The curved mesh support carries the surgical actuator, and the surgical actuator can move on the curved mesh support. At the same time, the surgical actuator itself can also achieve linear motion and rotational motion to change the position and posture of each component. For the minimally invasive surgical device, please refer to other parts of this application, for example, Figure 1A-Figure 5B The surgical execution mechanisms may be 2 or more, 3 or more, 4 or more, 5 or more, 6 or more, 7 or more, 8 or more, 9 or more, or 10 or more surgical execution mechanisms.

[0057] In some embodiments, the medical scanning image may include CT images, MRI images, PET images, PET-CT images, DSA images, etc., which can be obtained by scanning the surgical area of ​​the target object and the minimally invasive surgical device with the medical scanning image. Exemplarily, after the target object, such as a patient, lies on the scanning bed, a curved grid support on which a surgical actuator is placed can be installed on the scanning bed. The installed curved grid support can cover the patient's area to be scanned, such as a surgical area where minimally invasive surgery is required. Subsequently, the scanning bed will carry the target object and the minimally invasive surgical device into the scanning area of ​​the scanning device. The scanning device is started to scan the target object and the minimally invasive surgical device to obtain scanning data, and the medical scanning image can be obtained after image reconstruction based on the scanning data. In some embodiments, the medical scanning image may be a 3D image.

[0058] In some embodiments, the acquisition module 910 may communicate with these medical scanning devices to acquire the medical scanning images.

[0059] Step 620 , based on the medical scan image, determine at least one target surgical execution mechanism corresponding to the surgical area from the one or more surgical execution mechanisms. This step may be performed by the determination module 920 .

[0060] In some embodiments, the determination module 920 can determine the position of the surgical area and the position of one or more surgical actuators based on the medical scan image. Exemplarily, the determination module 720 can first determine the surgical area and the development area corresponding to the one or more surgical actuators from the medical scan image based on the image segmentation algorithm. Subsequently, the determination module 920 can establish an image coordinate system based on the medical scan image, and determine the position of the surgical area and the development area of ​​the one or more surgical actuators based on the image coordinate system. Based on these positions, the determination module 920 can obtain the relative distance between the surgical area and each surgical actuator. The surgical actuator corresponding to the minimum relative distance can be the target surgical actuator. When the surgical area needs to perform more than one minimally invasive surgery simultaneously or sequentially, that is, when one or more surgical actuators need to be controlled to move to the surgical area, more than one surgical actuator can be selected as the target surgical actuator according to the size of the relative position. When there are more than one surgical area of ​​the target object that needs to undergo minimally invasive surgery simultaneously or sequentially, that is, when one or more surgical actuators need to be controlled to move to the one or more surgical areas respectively, the surgical actuators closest to each surgical area can be selected as the target surgical actuators. For another example, the determination module 920 can obtain the development area of ​​the curved grid support on the medical scan image, and determine the relative distance between each grid area on the curved grid support and the surgical area. The surgical actuator moving in the grid area with the closest relative distance can be used as the target surgical actuator.

[0061] Step 630 : For each target surgical actuator, determine a motion control plan associated with the target surgical actuator. This step may be performed by the planning module 930 .

[0062] In some embodiments, the motion control plan may include an initial motion posture and a planned motion path of the target surgical actuator, as well as a motion starting point.

[0063] It can be understood that the surgical area, such as a suspected tumor area, is located in the target object, such as the patient's body, such as the lungs. To perform minimally invasive surgery, such as puncture biopsy, the target surgical actuator needs to enter the target object, and then perform specific surgical operations such as tissue extraction after reaching the surgical area. When entering the patient's body, the target surgical actuator needs to avoid other organs, tissues and / or bones, so as to avoid other damage to the patient and avoid bone obstruction. The planning module 930 can determine an optimal path from the surgical area to the surface of the target object, such as the patient's body surface, and the optimal path refers to the optimal path after weighted evaluation of damage to healthy tissue. Moving along this path, the target surgical actuator can smoothly reach the surgical area from the surface of the target object. Then the path can be the planned motion path. The starting point of the path can be the motion starting point. The posture of the target surgical actuator starting to move along the planned motion path can be the initial motion posture. Keeping the initial motion posture for movement can ensure that the movement along the planned motion path is correct at the beginning.

[0064] For further description on determining the motion control plan, please refer to the present application Figure 7 part, I will not go into details here.

[0065] Step 640 , controlling the movement of the target surgical actuator based at least on the motion control plan. This step may be performed by the control module 940 .

[0066] In some embodiments, the control module 940 may first determine the current position of the target surgical actuator based on the medical scanning image. Subsequently, the control module 940 may control the target surgical actuator to move from the current position to the starting point of the motion defined in the motion control plan. The control module 940 may adjust the posture of the target surgical actuator to the initial posture defined in the motion control plan, and control the target surgical actuator to move along the planned motion path with the initial posture. During the movement of the target surgical mechanism, the target object and the minimally invasive surgical device are always in the scanning area of ​​the medical scanning device, and the operator does not move the target object. The control module 940 may adjust the motion state of the target surgical mechanism in real time according to the newly acquired medical scanning images of the target object and the minimally invasive surgical device to ensure that the target surgical actuator correctly enters the interior of the target object and reaches the surgical area or the periphery of the surgical area.

[0067] For other descriptions about the movement of the target surgical actuator, please refer to the present application Figure 8 part, I will not go into details here.

[0068] It should be noted that the above Figure 6The description of each step in the description is only for example and explanation, and does not limit the scope of application of this specification. For those skilled in the art, under the guidance of this specification, Figure 6 Various modifications and changes may be made to the various steps in the present invention. However, these modifications and changes are still within the scope of this specification.

[0069] Figure 7 is an exemplary flow chart of determining a motion control plan according to some embodiments of the present application. In some embodiments, process 700 can be executed by control system 900. For example, process 700 can be stored in a storage device (such as a built-in storage unit of control system 900 or an external storage device) in the form of a program or instruction, and the program or instruction can implement process 700 when executed. In some embodiments, process 700 can be executed by planning module 930. Figure 7 As shown, process 700 may include the following operations.

[0070] Step 710: Determine the target position of the surgical area based on the medical scan image.

[0071] In some embodiments, the planning module 930 can identify and segment the developing area of ​​the surgical area from the medical scan image. The planning module 930 can determine the developing area of ​​the surgical area using a target recognition algorithm and / or an image segmentation algorithm. Exemplary target recognition algorithms may include R-CNN, SPP-Net, FastR-CNN, FasterR-CNN, R-FCN, OverFeat, YOLO, SSD, DSSD, etc. Exemplary image segmentation algorithms may include threshold-based algorithms, clustering-based algorithms, region-based algorithms, graph-cut-based algorithms, active boundaries and level sets, neural network-based algorithms, etc. Exemplary threshold-based algorithms include but are not limited to direct thresholding, iterative thresholding, triangular thresholding, maximum inter-class variance method OTSU, Sauvola local binarization algorithm, etc. Exemplary clustering-based algorithms include but are not limited to MeanShift algorithm, K-Means algorithm, FuzzyC-mean algorithm, Medoidshift algorithm, Turbopixels algorithm, etc. Exemplary region-based algorithms include but are not limited to threshold segmentation method, region growing method, region merging method, region splitting and merging method, etc. Exemplary graph cut-based algorithms include, but are not limited to, Goldberg-Tarjan algorithm, Ford-Fulkerson algorithm, etc. Exemplary neural network-based algorithms may include, but are not limited to, CNNs, FCNs, U-Net, V-Net, CRNs, RNNs, etc.

[0072] In some embodiments, the planning module 930 can establish an image coordinate system based on the medical scan image and determine the position of the imaging area of ​​the surgical area in the image coordinate system. The position can be a set of a series of coordinate points or a central coordinate point determined based on these coordinate points. The planning module 930 can use the above-mentioned set of coordinate points or the central coordinate point as the target position of the surgical area.

[0073] In some embodiments, the target recognition algorithm and / or image segmentation algorithm may be pre-trained and stored, for example, in a built-in storage unit or an external storage device of the control system 900. The planning module 930 may communicate with these storage units or storage devices to call the target recognition algorithm and / or image segmentation algorithm.

[0074] Step 720: determine a target path from the target position to the surface of the target object.

[0075] In some embodiments, the planning module 930 may perform operations such as step 710 on other parts of the target object on the medical scan image. For example, assuming that the target object, such as the surgical area of ​​the patient, is a suspected lung tumor area of ​​the patient, the planning module 930 may simultaneously identify and segment the imaging areas of other tissues / organs in the medical scan image, including the body surface, trachea, heart, blood vessels, ribs, etc., after determining the target position of the suspected tumor area in step 710. Similarly or similarly, the planning module 930 may use the above-mentioned target recognition algorithm and / or image segmentation algorithm to achieve the above purpose.

[0076] In some embodiments, the planning module 930 may first process the medical scan image using a target recognition algorithm to determine the various parts in the image, and then use a target segmentation algorithm to segment the development area of ​​each part. In some embodiments, the planning module 930 may use the same algorithm to achieve the above two purposes, such as a neural network-based FCNs algorithm.

[0077] In some embodiments, after determining the development area of ​​each part of the target object, the planning module 930 can determine the connection line from the target position of the surgical area to the surface of the target object. For example, the planning module 930 can first obtain a plurality of connection lines starting from the target position of the surgical area and reaching the surface of the target object in an exhaustive manner. Then determine whether these connection lines are in contact with other parts of the target object, such as passing through these parts. The connection lines that do not contact these parts can be considered as candidate paths. The planning module 930 can select the one with the shortest distance from these candidate paths as the target path. The planning module 930 can also evaluate these candidate paths, for example, a weighted evaluation of the damage to healthy tissue after the target surgical actuator moves along the candidate path, and the candidate path with the least damage can be used as the target path. Based on the target path, the target surgical actuator can reach the surgical area from the surface of the target object by moving in a specific posture, and the damage to other parts inside the target object is minimized. For example, in lung puncture surgery, the puncture needle can enter the suspected tumor area from the body surface based on the target path without endangering other important organs inside the human body, and the forward path will not be blocked by the ribs, and the damage to muscles, skin, etc. is minimal. The target path can be specified as the planned motion path of the motion control plan. In addition, the planned motion path can also be limited to the posture of the target surgical actuator during the movement. This posture can ensure that the target surgical actuator moves smoothly along the planned motion path without deviation.

[0078] Step 730: determine a target intersection point between the target path and the surface of the target object.

[0079] In some embodiments, after determining the target path, the planning module 930 can directly determine the target intersection point between the target path and the surface of the target object. It can be understood that the target intersection point can be the starting point for the surgical actuator to start moving, and the target surgical actuator can enter the interior of the target object from the starting point and reach the surgical area along the planned motion path. The target intersection point can be designated as the motion starting point.

[0080] Step 740: Determine the initial motion posture of the target surgical actuator based on the target intersection point and the planned motion path.

[0081] In some embodiments, the initial motion posture may be the posture of the target surgical actuator when it starts to move. Taking puncture surgery as an example, the puncture mechanism performing the puncture surgery includes a needle insertion component and a puncture needle. The planned motion path defines the motion trajectory of the puncture needle. In order to ensure that the motion trajectory of the puncture needle matches the planned motion path, it is necessary to determine the posture of the puncture mechanism at the beginning of the puncture, such as the starting position of the puncture needle, the puncture angle of the puncture needle relative to the surface of the target object, etc. Puncture with this posture can ensure that the motion trajectory of the puncture needle is consistent with the planned motion path at the beginning. This posture can also be called the initial motion posture of the target surgical mechanism. The initial motion posture can also be defined using a series of coordinate points in the image coordinate system.

[0082] It should be noted that the above Figure 7 The description of each step in the embodiment is only for example and explanation, and does not limit the scope of application of this specification. For those skilled in the art, under the guidance of this specification, Figure 7 Various modifications and changes may be made to the various steps in the present invention. However, these modifications and changes are still within the scope of this specification.

[0083] Figure 8 is an exemplary flow chart of executing a motion control plan according to some embodiments of the present application. In some embodiments, process 800 can be executed by control system 900. For example, process 800 can be stored in a storage device (such as a built-in storage unit of control system 900 or an external storage device) in the form of a program or instruction, and the program or instruction can implement process 800 when executed. In some embodiments, process 800 can be executed by control module 940. Figure 8 As shown, process 800 may include the following operations.

[0084] Step 810: Determine the current position of the target surgical actuator based on the medical scan image.

[0085] In some embodiments, the control module 940 may perform similar operations as step 710 in process 700, using an image target recognition algorithm and / or an image segmentation algorithm to identify and segment the developing area of ​​the target surgical actuator from the medical scan image. At the same time, the control module 940 may use the image coordinate system established in process 700 to determine the position of the developing area of ​​the target surgical actuator in the image coordinate system. Similarly or similarly, the position may be a set of a series of coordinate points, for example, the series of coordinate points may be coordinate points corresponding to key components of the target surgical actuator. Exemplarily, assuming that the target surgical actuator is a puncture mechanism, the set of coordinate points corresponding to the puncture needle or puncture needle tip of the target surgical actuator.

[0086] Step 820: Control the target surgical actuator to move from the current position to the movement starting point.

[0087] It is understandable that the current position of the target surgical actuator and the starting point of the movement are expressed using coordinates in the image coordinate system. In order to control the movement of the target surgical actuator in reality, the control module 940 can first perform coordinate conversion on the current position of the target surgical actuator and the starting point of the movement. For example, the control module 940 can convert the first coordinate expression of the current position of the target surgical actuator and the starting point of the movement in the image coordinate system into a second coordinate expression in the world coordinate system based on the conversion relationship between the image coordinate system and the world coordinate system. Subsequently, the control module 940 can move the target surgical actuator from the current position to the starting point of the movement based on the second coordinate expression of the current position of the target surgical actuator and the starting point of the movement.

[0088] Step 830: Adjust the current posture of the surgical actuator to the initial motion posture.

[0089] In some embodiments, the control module 940 can obtain a series of coordinates of the initial motion posture in the image coordinate system, and convert these coordinates into coordinates in the world coordinate system based on the above conversion relationship. These converted coordinates can be referred to as the third coordinate expression related to the initial motion posture. The control module 940 can control the surgical actuator to adjust the posture of the target surgical actuator based on the third coordinate expression, and adjust it from the current posture to the initial motion posture. The current posture can be the posture of the target surgical actuator when it reaches the starting point of the movement. Taking puncture surgery as an example, the posture adjustment of the puncture mechanism may include the position adjustment of the puncture needle, the adjustment of the puncture angle, etc. The control module 940 can adjust the position of the puncture needle to align with the puncture point when the puncture mechanism is at the starting point of the movement (for example, the puncture point), and adjust the angle of the puncture needle to meet the angle limited by the planned motion path. For example, the puncture needle is 45° with the patient's body surface.

[0090] In some embodiments, step 820 and step 830 may be performed in sequence. For example, the control module 940 may first control the target actuator to move, and then perform posture adjustment. In some embodiments, step 820 and step 830 may be performed simultaneously. For example, the control module 940 may simultaneously control the target actuator to move, and adjust the posture during the movement. In some embodiments, step 820 and step 830 may be performed in reverse order. For example, the control module 940 may first control the target surgical actuator to complete posture adjustment, and then move.

[0091] Step 840: Control the target surgery actuator to perform the minimally invasive surgery based on the planned motion path with the initial motion posture.

[0092] In some embodiments, when the target surgical actuator reaches the execution starting point and the posture is adjusted to the initial motion posture, the control module 940 can control the target surgical actuator to start moving based on the motion trajectory defined by the planned motion path, for example, controlling the puncture needle to move forward and pierce the interior of the target object.

[0093] During the movement of the target actuator, due to the influence of internal factors of the target object, even if the target surgical actuator moves according to the planned motion path, there will be a deviation in the motion trajectory. For example, during a human puncture operation, due to the influence of tissue pressure and elasticity, the puncture needle may be squeezed out of the motion trajectory defined by the planned motion path. Or due to the influence of tissue deformation, the surgical area, such as the suspected tumor area, is offset, and the puncture needle cannot reach the surgical area according to the original planned motion path. Therefore, the control system 900 (for example, the acquisition module 910) can also obtain in real time the real-time medical scanning image of the surgical area of ​​the target object and the target surgical actuator during the movement of the target surgical actuator. The real-time medical scanning image can also be obtained by the medical scanning device after scanning the surgical area of ​​the target object and the minimally invasive surgical device. The control system 900 (for example, the planning module 930) can adjust the motion control plan based on the real-time medical scanning image. Similarly or similarly, the control system 900 (e.g., the planning module 930) can determine the developing area of ​​the surgical area in the real-time medical scan image and the developing area of ​​the target surgical actuator based on the use of a target recognition algorithm and / or an image segmentation algorithm. The target recognition algorithm and / or image segmentation algorithm used are as described above. Afterwards, the control system 900 (e.g., the planning module 930) can determine the developing area of ​​the surgical area and the position of the developing area of ​​the target surgical actuator in the image coordinate system. The position line between the two can be determined as a new motion path. The control system 900 (e.g., the planning module 930) can adjust the motion control plan based on the new motion path. For example, the control system 900 (e.g., the planning module 930) can determine the new motion path as a new planned motion path, and confirm the new posture that the target surgical actuator needs to be adjusted to, so that it can move along the new planned motion path during the subsequent motion process. After completing the adjustment of the planned motion path, the control system 900 (e.g., the control module 940) can continue to control the movement of the target surgical actuator based on the adjusted motion control plan.

[0094] In some embodiments, the real-time medical scan image can also be displayed. The control system 900 can also include a display module ( Fig. 9 The display module may include a display screen, and may display the real-time medical scan image on the display screen after receiving the real-time medical scan image.

[0095] It should be noted that the above Figure 8 The description of each step in the embodiment is only for example and explanation, and does not limit the scope of application of this specification. For those skilled in the art, under the guidance of this specification, Figure 8 Various modifications and changes may be made to the various steps in the present invention. However, these modifications and changes are still within the scope of this specification.

[0096] Fig. 9 1 is an exemplary block diagram of a control system for a minimally invasive surgical device according to some embodiments of this specification. The control system can achieve high-precision control of the movement of the minimally invasive surgical device. Fig. 9 As shown, the control system 900 may include an acquisition module 910 , a determination module 920 , a planning module 930 , and a control module 940 .

[0097] The acquisition module 910 can acquire data. The acquisition module 910 can acquire a medical scan image of a surgical area of ​​a target object and a minimally invasive surgical device. The target object can be a patient, an animal, etc., or a part thereof, who needs to perform minimally invasive surgery. The minimally invasive surgical device can be, for example, Figure 1A-Figure 5B The minimally invasive surgical device shown. The medical scanning image may include a CT image, an MRI image, a PET image, a PET-CT image, a DSA image, etc., which can be obtained by scanning the surgical area of ​​the target object and the minimally invasive surgical device with the medical scanning image. The acquisition module 910 can communicate with these medical scanning devices to acquire the medical scanning image.

[0098] The determination module 920 may determine at least one target surgical execution mechanism for performing the minimally invasive surgery on the surgical area from the one or more surgical execution mechanisms based on the medical scan image. The determination module 920 may determine the position of the surgical area and the positions of the one or more surgical execution mechanisms based on the medical scan image, respectively. And based on these positions, determine at least one target surgical execution mechanism.

[0099] The planning module 930 can determine a motion control plan related to the target surgical actuator. The motion control plan can include the initial motion posture of the target surgical actuator, the planned motion path, and the motion starting point. The planning module 930 can determine the target position of the surgical area based on the medical scan image. And determine the target path from the target position to the surface of the target object. The target path can be designated as the planned motion path. After determining the target path, the planning module 930 can directly determine the target intersection of the target path and the surface of the target object. The target intersection can be designated as the motion starting point. The planning module 930 can determine the initial motion posture of the target surgical actuator based on the target intersection and the planned motion path.

[0100] The control module 940 may control the movement of the target surgical actuator based at least on the motion control plan. The control module 940 may determine the current position of the target surgical actuator based on the medical scan image, and control the target surgical actuator to move from the current position to the motion starting point. Subsequently, the control module 940 may adjust the current posture of the surgical actuator to the initial motion posture, and control the target surgical actuator to start moving based on the planned motion path with the initial motion posture.

[0101] In some embodiments, the acquisition module 910 can also acquire in real time the real-time medical scan images of the surgical area of ​​the target object and the target surgical actuator during the execution of the minimally invasive surgery. The planning module 930 can adjust the motion control plan based on the real-time medical scan image. The control module 940 can continue to control the movement of the target surgical actuator based on the adjusted motion control plan.

[0102] For other descriptions of the above modules, please refer to other parts of this application, for example, Figure 1A-Figure 8 .

[0103] It should be understood that Fig. 9The system and its modules shown can be implemented in various ways. For example, in some embodiments, the system and its modules can be implemented by hardware, software or a combination of software and hardware. Among them, the hardware part can be implemented using dedicated logic; the software part can be stored in a memory and executed by an appropriate instruction execution system, such as a microprocessor or a dedicated design hardware. Those skilled in the art will understand that the above methods and systems can be implemented using computer executable instructions and / or included in a processor control code, such as a carrier medium such as a disk, CD or DVD-ROM, a programmable memory such as a read-only memory (firmware), or a data carrier such as an optical or electronic signal carrier. Such code is provided on the system and its modules of this specification. Not only can the hardware circuits such as ultra-large-scale integrated circuits or gate arrays, semiconductors such as logic chips, transistors, or programmable hardware devices such as field programmable gate arrays, programmable logic devices, etc. be implemented, it can also be implemented with software such as executed by various types of processors, and it can also be implemented by a combination of the above hardware circuits and software (for example, firmware).

[0104] It should be noted that the above description of the modules is only for convenience of description and does not limit this specification to the scope of the embodiments. It is understandable that for those skilled in the art, after understanding the principle of the system, it is possible to arbitrarily combine the modules or form a subsystem connected to other modules without deviating from this principle. For example, the modules may share a storage module, or each module may have its own storage module. Such variations are all within the scope of protection of this specification.

[0105] Fig.10 1000 is an exemplary block diagram of a processing device according to some embodiments of the present application. The processing device 1000 may include any components used to implement the system described in the embodiments of the present application. For example, the processing device 1000 may be implemented by hardware, software program, firmware, or a combination thereof. For example, the processing device 1000 may implement the control system 900. For convenience, only one processing device is drawn in the figure, but the computing functions described in the embodiments of the present application may be implemented in a distributed manner by a group of similar platforms to disperse the processing load of the system.

[0106] In some embodiments, the processing device 1000 may include a processor 1010, a memory 1020, an input / output component 1030, and a communication port 1040. In some embodiments, the processor (e.g., CPU) 1010 may execute program instructions in the form of one or more processors. In some embodiments, the memory 1020 includes different forms of program memory and data memory, such as a hard disk, a read-only memory (ROM), a random access memory (RAM), etc., for storing various data files processed and / or transmitted by a computer. In some embodiments, the input / output component 1030 may be used to support input / output between the processing device 1000 and other components. In some embodiments, the communication port 1040 may be connected to a network for data communication. An exemplary processing device may include program instructions executed by the processor 1010 stored in a read-only memory (ROM), a random access memory (RAM), and / or other types of non-temporary storage media. The methods and / or processes of the embodiments of this specification may be implemented in the form of program instructions. The processing device 1000 may also receive the programs and data disclosed in this application through network communication.

[0107] For ease of understanding, Fig.10 Only one processor is drawn as an example. However, it should be noted that the processing device 1000 in the embodiment of this specification may include multiple processors, so the operations and / or methods implemented by one processor described in the embodiment of this specification may also be implemented jointly or independently by multiple processors. For example, if in this specification, the processor of the processing device 1000 executes steps 1 and 2, it should be understood that steps 1 and 2 may also be executed jointly or independently by two different processors of the processing device 1000 (for example, the first processor executes step 1, the second processor executes step 2, or the first and second processors execute steps 1 and 2 jointly).

[0108] The present application also discloses a minimally invasive surgery system. The minimally invasive surgery system may include the minimally invasive surgery device and processor as described above. The minimally invasive surgery device may be an execution device for minimally invasive surgery guided by medical scanning equipment such as CT, MRI, PET, PET-CT, DAS, etc., and may implement minimally invasive surgeries such as puncture biopsy, tumor ablation, particle implantation, brain electrode implantation, radio frequency or laser destruction. It includes a curved grid support and one or more surgical execution mechanisms. The curved grid support carries the surgical execution mechanism, and the surgical execution mechanism can move on the curved grid support. At the same time, the surgical execution mechanism itself can also realize linear motion and rotational motion, which is used to change the position and posture of each component. The minimally invasive surgery device can enter the scanning area of ​​the medical scanning device together with the target object following the scanning bed, and it will not affect the imaging quality of the medical image of the scanned object. When in use, the target object, such as a patient, lies on the scanning bed, and the curved grid support of the minimally invasive surgery device will be fixed on the scanning bed and cover the surgical area of ​​the target object.

[0109] The processor can control the minimally invasive surgical device. When the processing actuator can execute instructions, at least one target surgical actuator for performing minimally invasive surgery in the minimally invasive surgical device can be determined. The target surgical actuator can be a surgical actuator on the curved grid support that is closest to the surgical area of ​​the target object. The processor can determine the relative position between the surgical area of ​​the target object and each surgical actuator based on the medical scan image to determine the target surgical actuator.

[0110] The processor may also determine a motion control plan associated with each target surgical actuator. The motion control plan may include a surgical motion starting point, an initial motion posture of the target surgical actuator, and a planned motion path. The processor may determine the position of the surgical region of the target object based on the medical scan image, and determine the best path from the surface of the target object to the surgical region as the planned motion path. The intersection of the closest path and the surface of the target object will be used as the motion starting point. The posture that can ensure that the target surgical actuator starts to move along the planned motion path will be used as the initial motion posture of the target surgical actuator.

[0111] The processor may control the target surgical actuator to move based on the motion control plan. The processor may control the target surgical actuator to move to a position corresponding to a motion starting point, adjust the posture of the target surgical actuator at the motion starting point to an initial posture, and start moving along the planned motion path to start the motion.

[0112] The processor can also acquire medical scan images of the target object and the target surgical actuator during the operation in real time, and adjust the motion posture of the target actuator in real time based on the new medical scan images to ensure that the target actuator moves correctly and safely according to the established requirements.

[0113] The description of the control process of the minimally invasive surgical device and the processor can be compared with the present application Figure 1A-Figure 9 The descriptions are the same or similar.

[0114] The basic concepts have been described herein. It is obvious to those skilled in the art that the above detailed disclosure is merely an example and does not constitute a limitation of this specification. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements and amendments to this specification. Such modifications, improvements and amendments are suggested in this specification, so such modifications, improvements and amendments still fall within the spirit and scope of the exemplary embodiments of this specification.

[0115] At the same time, this specification uses specific words to describe the embodiments of this specification. For example, "one embodiment", "an embodiment", and / or "some embodiments" refer to a certain feature, structure or characteristic related to at least one embodiment of this specification. Therefore, it should be emphasized and noted that "one embodiment" or "an embodiment" or "an alternative embodiment" mentioned twice or more in different positions in this specification does not necessarily refer to the same embodiment. In addition, certain features, structures or characteristics in one or more embodiments of this specification can be appropriately combined.

[0116] In addition, it will be understood by those skilled in the art that various aspects of this specification may be illustrated and described by a number of patentable categories or situations, including any new and useful process, machine, product or combination of substances, or any new and useful improvements thereto. Accordingly, various aspects of this specification may be performed entirely by hardware, entirely by software (including firmware, resident software, microcode, etc.), or by a combination of hardware and software. The above hardware or software may be referred to as "data blocks", "modules", "engines", "units", "components" or "systems". In addition, various aspects of this specification may be represented as a computer product located in one or more computer-readable media, which includes computer-readable program code.

[0117] A computer storage medium may include a propagated data signal containing computer program code, such as in baseband or as part of a carrier wave. The propagated signal may be in a variety of forms, including electromagnetic, optical, etc., or a suitable combination. A computer storage medium may be any computer-readable medium other than a computer-readable storage medium, which can be connected to a command control system, device or equipment to communicate, propagate or transmit the program for use. The program code on the computer storage medium may be transmitted via any suitable medium, including radio, cable, fiber optic cable, RF, or similar media, or any combination of the above media.

[0118] The computer program code required for the operation of each part of this specification can be written in any one or more programming languages, including object-oriented programming languages ​​such as Java, Scala, Smalltalk, Eiffel, JADE, Emerald, C++, C#, VB.NET, Python, etc., conventional procedural programming languages ​​such as C language, Visual Basic, Fortran 2003, Perl, COBOL 2002, PHP, ABAP, dynamic programming languages ​​such as Python, Ruby and Groovy, or other programming languages. The program code can be run entirely on the user's computer, or run on the user's computer as an independent software package, or run partially on the user's computer and partially on a remote computer, or run entirely on a remote computer or server. In the latter case, the remote computer can be connected to the user's computer through any network form, such as a local area network (LAN) or a wide area network (WAN), or connected to an external computer (e.g., via the Internet), or in a cloud computing environment, or used as a service such as software as a service (SaaS).

[0119] In addition, unless explicitly stated in the claims, the order of the processing elements and sequences described in this specification, the use of alphanumeric characters, or the use of other names are not intended to limit the order of the processes and methods of this specification. Although the above disclosure discusses some invention embodiments that are currently considered useful through various examples, it should be understood that such details are only for illustrative purposes, and the attached claims are not limited to the disclosed embodiments. On the contrary, the claims are intended to cover all modifications and equivalent combinations that are consistent with the essence and scope of the embodiments of this specification. For example, although the system components described above can be implemented by hardware devices, they can also be implemented only by software solutions, such as installing the described system on an existing server or mobile device.

[0120] Similarly, it should be noted that in order to simplify the description disclosed in this specification and thus help understand one or more embodiments of the invention, in the above description of the embodiments of this specification, multiple features are sometimes combined into one embodiment, figure or description thereof. However, this disclosure method does not mean that the features required by the subject matter of this specification are more than the features mentioned in the claims. In fact, the features of the embodiments are less than all the features of the single embodiment disclosed above.

[0121] In some embodiments, numbers describing the number of components and attributes are used. It should be understood that such numbers used in the description of the embodiments are modified by the modifiers "about", "approximately" or "substantially" in some examples. Unless otherwise specified, "about", "approximately" or "substantially" indicate that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximate values, which may change according to the required features of individual embodiments. In some embodiments, the numerical parameters should take into account the specified significant digits and adopt the general method of retaining digits. Although the numerical domains and parameters used to confirm the breadth of their range in some embodiments of this specification are approximate values, in specific embodiments, the setting of such numerical values ​​is as accurate as possible within the feasible range.

[0122] Each patent, patent application, patent application publication, and other materials, such as articles, books, specifications, publications, documents, etc., cited in this specification are hereby incorporated by reference in their entirety. Except for application history documents that are inconsistent with or conflicting with the contents of this specification, documents that limit the broadest scope of the claims of this specification (currently or later attached to this specification) are also excluded. It should be noted that if the descriptions, definitions, and / or use of terms in the materials attached to this specification are inconsistent or conflicting with the contents described in this specification, the descriptions, definitions, and / or use of terms in this specification shall prevail.

[0123] Finally, it should be understood that the embodiments described in this specification are only used to illustrate the principles of the embodiments of this specification. Other variations may also fall within the scope of this specification. Therefore, as an example and not a limitation, alternative configurations of the embodiments of this specification may be considered consistent with the teachings of this specification. Accordingly, the embodiments of this specification are not limited to the embodiments explicitly introduced and described in this specification.

Claims

1. A minimally invasive surgical device, characterized in that: The minimally invasive surgical device comprises: curved mesh bracket, and; One or more surgical performing institutions; The curved grid support is configured to cover the surgical area of ​​the target object and carry the one or more surgical execution mechanisms, and includes a plurality of rigid grid lines, and the plurality of rigid grid lines cooperate with each other to form a plurality of grid areas; The surgical execution mechanism is configured to perform minimally invasive surgery, and includes a movable support component, the movable support component is carried by the rigid grid line, and the surgical execution mechanism moves in one or more grid areas of the curved grid support by the movement of the movable support component on the grid line; The curved grid support is detachably fixed on the scanning bed; The rigid grid line is provided with a guide rail, the movable support component at least includes a slider, and the surgical execution mechanism moves in one or more grid areas of the curved grid support by sliding the slider of the movable support component on the guide rail of the grid line; The surgical execution mechanism also includes a linear motion component, a rotary motion component and an execution component; The linear motion component is mounted on the movable support component, the rotary motion component is mounted on the linear motion component, and the actuator component is mounted on the rotary motion component; Among them, the linear motion component is configured to drive the rotational motion component and the actuator component to perform bidirectional linear motion, and the rotational motion component is configured to drive the actuator component to perform at least a first rotational motion and a second rotational motion, and the rotation directions of the first rotational motion and the second rotational motion are inconsistent.

2. The minimally invasive surgical device according to claim 1, characterized in that: The surgical area is located inside the target object, and the shape of the curved grid support is adapted to the outer shape of the target object.

3. The minimally invasive surgical device according to claim 1, characterized in that: The surgical implementation mechanism further includes a servo motor configured to drive the movable support component, the linear motion component, and the rotational motion component.

4. The minimally invasive surgical device according to claim 1, characterized in that: The surgical execution mechanism also includes a servo motor and a joint module. The servo motor is configured to drive the movable support component, the linear motion component and the execution component, and the joint module is configured to drive the rotational motion component.

5. The minimally invasive surgical device according to claim 1, characterized in that: The surgical execution mechanism further includes an auxiliary component, and the auxiliary component is configured to obtain environmental information related to the surgical execution mechanism during the execution of the minimally invasive surgery.

6. The minimally invasive surgical device according to any one of claims 1 to 5, wherein the minimally invasive surgical device is made of a medical scanning compatible material.

7. A method for controlling a minimally invasive surgical device, characterized in that: The method comprises: Acquire a surgical area of ​​the target object and a medical scanning image of the minimally invasive surgical device according to any one of claims 1 to 6; Based on the medical scan image, determining at least one target surgical execution mechanism corresponding to the surgical area from the one or more surgical execution mechanisms; For each target surgical actuator, determining a motion control plan associated with the target surgical actuator; The target surgical actuator movement is controlled based at least on the motion control plan.

8. A minimally invasive surgical system, characterized in that: include: The minimally invasive surgical device according to any one of claims 1 to 6; as well as A processor controlling the minimally invasive surgical device executes machine executable instructions to implement the following operations: determining at least one target surgical actuator of the minimally invasive surgical device; Determine the motor control plan associated with each target surgical actuator; The target surgical actuator is controlled to move based on the motion control plan.

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