A tumor auxiliary positioning device for breast-conserving surgery of breast cancer using a laparoscope

Abstract

The present invention provides a tumor auxiliary positioning device for endoscopic breast-conserving surgery for breast cancer, comprising: a platform with a base plate and a bracket; a control device storing a holographic projection video source containing medical image data of a patient's breast and a tumor; a holographic projection device for forming a holographic three-dimensional image of the breast and the tumor in mid-air above the base plate; a puncture device provided with a retractable shape memory alloy wire, which extends and retracts from the opening at the head of the puncture device under the control of the control device; a first manipulator for clamping the puncture device; and a second manipulator for shaping the shape memory alloy wire so that the shape memory alloy wire is consistent with the size and shape of the tumor in the holographic three-dimensional image. The present invention also provides a tumor auxiliary positioning method for endoscopic breast-conserving surgery for breast cancer, which can solve the technical problem that when performing endoscopic breast-conserving surgery for breast cancer, doctors perform remote operations under the endoscope and it is not easy to determine the boundary of the tumor.

Description

Technical Field

[0001] The present invention relates to the technical field of medical equipment, and particularly relates to a tumor auxiliary positioning device for breast-conserving surgery of breast cancer using a laparoscope. Background Art

[0002] For early breast cancer patients, when the volume of the tumor is relatively small, breast-conserving surgery can be performed, without removing the entire breast, but only removing the tumor and a small part of the glandular tissue around the tumor. This can not only achieve the treatment effect, but also ensure beauty, minimizing the impact on the body shape of breast cancer patients.

[0003] In traditional breast-conserving surgery, an incision is directly made on the breast surface above the location of the tumor to remove the tumor. This surgical method will leave a relatively obvious scar. To achieve a better aesthetic effect for the patient's breast, the current surgical method is to use a laparoscope to perform breast-conserving surgery through a concealed incision formed in the armpit.

[0004] However, when performing breast-conserving surgery under a laparoscope, unlike traditional breast-conserving surgery where the tumor can be felt by the doctor's hand after direct incision, and during the operation, the tumor is not directly visible to the doctor's naked eyes. Instead, the doctor operates remotely under the laparoscope, and it is not easy to determine the boundary of the tumor. Summary of the Invention

[0005] Aiming at the deficiencies of the existing technology, the present invention provides a tumor auxiliary positioning device for breast-conserving surgery of breast cancer using a laparoscope to solve the technical problem that when performing breast-conserving surgery of breast cancer under a laparoscope in the existing technology, the doctor operates remotely under the laparoscope and it is not easy to determine the boundary of the tumor.

[0006] The technical solution adopted by the present invention is as follows:

[0007] In a first aspect, a tumor auxiliary positioning device for breast-conserving surgery of breast cancer using a laparoscope is provided. In a first implementable manner, it includes:

[0008] A platform, which includes a bottom plate and a bracket connected to the bottom plate;

[0009] A control device, which stores a holographic projection video source, and the holographic projection video source contains medical image data of the patient's breast and tumor;

[0010] A holographic projection device, which receives the holographic projection video source, performs holographic projection on the patient's breast and tumor, and forms a holographic three-dimensional image of the breast and tumor in mid-air above the bottom plate;

[0011] A puncture device is electrically connected to a control device. A retractable shape memory alloy wire is provided in the puncture device. Under the control of the control device, the shape memory alloy wire extends out from and retracts into the opening at the head of the puncture device.

[0012] A first manipulator is provided on the bottom plate and is electrically connected to the control device. The first manipulator clamps the puncture device.

[0013] A second manipulator is provided on the bottom plate and is electrically connected to the control device. Under the control of the control device, the second manipulator plastically deforms the shape memory alloy wire extending from the puncture device so that the shape memory alloy wire is consistent with the size and shape of the tumor in the holographic stereoscopic image.

[0014] As can be seen from the technical solution of the first implementation manner, the beneficial technical effects of the present invention are as follows: The holographic stereoscopic image can intuitively show the position of the patient's tumor in the breast to the doctor. At the same time, the manipulator is used to plastically deform the shape memory alloy wire according to the spatial coordinates provided by the patient's medical image at a relatively high temperature to be consistent with the size and shape of the tumor, and straighten the shape memory alloy wire into a slender needle shape at a relatively low temperature. The doctor punctures the shape memory alloy wire into the patient's breast. The shape memory alloy wire returns to a semi-circular shape consistent with the size and shape of the tumor under the action of the human body temperature, which can clearly define the boundary of the tumor and assist the doctor in performing breast-conserving surgery for breast cancer under laparoscopy.

[0015] Combined with the first implementation manner, in the second implementation manner, the holographic projection device is a 360-degree holographic projection device. The 360-degree holographic projection device includes an imaging plate and a projector.

[0016] Combined with the second implementation manner, in the third implementation manner, there are 4 imaging plates. The 4 imaging plates enclose the 4 side faces of a regular square pyramid. The vertex of the regular square pyramid faces downward and the bottom face faces upward, and it is arranged above the bottom plate; there are 4 projectors, which are respectively arranged on the bottom plate below the 4 side faces of the regular square pyramid.

[0017] Combined with the first implementation manner, in the fourth implementation manner, a clamping portion is provided in the middle of the puncture device.

[0018] A micro electric wire winding wheel is provided inside the puncture device. A shape memory alloy wire is wound around the micro electric wire winding wheel; the micro electric wire winding wheel is electrically connected to the control device; an opening is provided at the head of the puncture device. The shape memory alloy wire extends out from and retracts into the opening through the rotation of the micro electric winch.

[0019] A heater is further provided on the inner wall of the head of the puncture device. The heater is electrically connected to the control device and is used to heat the shape memory alloy wire under the control of the control device.

[0020] Combined with the fourth implementation manner, in the fifth implementation manner, the heater is a heating resistance wire, and the heating resistance wire is wound around the shape memory alloy wire.

[0021] Combined with the first implementation manner, in the sixth implementation manner, the puncture device is provided with a plurality of micro electric wire winding wheels each wound with a shape memory alloy wire. The micro electric wire winding wheels are arranged at equal intervals in a ring along the radial section of the puncture device, and each micro electric wire winding wheel is electrically connected to the control device;

[0022] The head of the puncture device is provided with a plurality of openings arranged at equal intervals in a ring along the radial section of the puncture device.

[0023] From the technical solution of the sixth implementation manner, the beneficial technical effects of the present invention are as follows: Using multiple shape memory alloy wires can shape multiple planes, and the combination of multiple planes can completely wrap the tumor in the holographic stereoscopic image, which can more accurately define the boundary of the tumor and enable the tumor to be completely resected.

[0024] Combined with the sixth implementation manner, in the seventh implementation manner, the number of the micro electric wire winding wheels, the shape memory alloy wires and the openings is all 6.

[0025] Combined with the first implementation manner, in the eighth implementation manner, the puncture device is further provided with a semiconductor refrigerating sheet, which is arranged at the inner wall position of the opening at the head of the puncture device, and the semiconductor refrigerating sheet is electrically connected to the control device; the shape memory alloy wire is in contact with the cold surface of the semiconductor refrigerating sheet.

[0026] From the technical solution of the eighth implementation manner, the beneficial technical effects of the present invention are as follows: It can keep the shape memory alloy wire at a relatively low temperature during the process of puncturing into the patient's breast, and will not gradually resume the semi-circular shape during the shaping process before the puncture ends, which will not affect the puncture of the shape memory alloy wire and avoid causing errors in defining the position of the tumor.

[0027] Combined with the eighth implementation manner, in the ninth implementation manner, the cold surface of the semiconductor refrigerating sheet is provided with a groove, and the shape memory alloy wire is in contact with the groove.

[0028] Combined with the first implementation manner, in the tenth implementation manner, the head of the puncture device is further provided with a vacuum suction cup. The vacuum suction cup is a hollow semi-ring and is arranged at the periphery of the end face where the head of the puncture device is located.

[0029] As can be seen from the technical solution of the tenth implementation manner, the beneficial technical effects of the present invention are as follows: The puncture device can be adsorbed and fixed on the surface of the breast through a vacuum suction cup, ensuring that the puncture device closely adheres to the breast and does not fall off during the entire surgical process, and the position hardly moves, reducing the manpower input of medical staff and avoiding the problem that the position of the puncture device may move due to fatigue after holding the puncture device by hand for a period of time.

[0030] In a second aspect, a tumor-assisted positioning method for endoscopic breast-conserving surgery for breast cancer is provided. In the eleventh implementation manner, the device provided by any one of the first to tenth implementation manners is used to assist in positioning the tumor, including:

[0031] According to the medical image data of the patient's breast and tumor, produce a holographic projection video source of the patient's breast and tumor;

[0032] According to the holographic projection video source, use a holographic projection device for projection to form a 360-degree holographic three-dimensional image of the breast and tumor in mid-air;

[0033] The first manipulator holds the puncture device, making the head opening of the puncture device directly above the tumor in the holographic three-dimensional image and making the puncture device perpendicular to the breast skin surface;

[0034] Control the shape memory alloy wire to extend downward from the head opening of the puncture device until the shape memory alloy wire visually contacts and passes through the tumor in the holographic three-dimensional image;

[0035] Heat the shape memory alloy wire to make the shape memory alloy wire reach a high temperature state;

[0036] The second manipulator shapes the shape memory alloy wire in the high temperature state so that the shape memory alloy wire is consistent with the size and shape of the tumor;

[0037] Stop heating to make the shape memory alloy wire return to the low temperature state;

[0038] The second manipulator straightens the shape memory alloy wire in the low temperature state into a slender needle shape;

[0039] Puncture the shape memory alloy wire into the patient's breast, and end the puncture when the head opening of the puncture device is vertically placed on the patient's breast skin surface;

[0040] The shape memory alloy wire gradually rises to the high temperature state under the action of human body temperature, forming a semi-circular shape consistent with the size and shape of the tumor.

[0041] As can be seen from the technical solution of the eleventh implementation manner, the beneficial technical effects of the present invention are as follows: The boundary of the tumor can be clearly defined through the shape memory alloy wire, assisting doctors in performing endoscopic breast-conserving surgery for breast cancer. Description of the Drawings

[0042] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to actual scale.

[0043] Figure 1 Schematic diagram of the tumor auxiliary positioning device according to Embodiment 1 of the present invention;

[0044] Figure 2 Schematic diagram of the puncture device according to Embodiment 1 of the present invention;

[0045] Figure 3 Schematic diagram of the shape memory alloy wire passing through the tumor and after deformation according to Embodiment 1 of the present invention;

[0046] Figure 4 Schematic diagram of the head opening of the puncture device according to Embodiment 2 of the present invention;

[0047] Figure 5 Schematic diagram of the cold surface of the thermoelectric cooler in the puncture device according to Embodiment 3 of the present invention;

[0048] Figure 6 Schematic diagram of the vacuum chuck at the head of the puncture device according to Embodiment 4 of the present invention;

[0049] Reference numerals:

[0050] 11 - Holographic three - dimensional image of the breast, 12 - Holographic three - dimensional image of the tumor, 21 - Base plate, 22 - Bracket, 31 - Imaging plate, 32 - Projector, 4 - Puncture device, 41 - Shape memory alloy wire, 42 - Clamping part, 43 - Cable electrically connected to the control device, 44 - Micro - electric wire winding wheel, 45 - Hole, 46 - Heater, 47 - Thermoelectric cooler, 48 - Groove on the cold surface, 49 - Vacuum chuck, 5 - First manipulator, 6 - Second manipulator. Specific embodiments

[0051] The following will describe in detail the embodiments of the technical solutions of the present invention in conjunction with the drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention, so they are only examples and cannot be used to limit the protection scope of the present invention.

[0052] It should be noted that unless otherwise specified, the technical terms or scientific terms used in this application should have the ordinary meaning understood by those skilled in the art to which the present invention belongs.

[0053] Embodiment 1

[0054] This embodiment provides a tumor auxiliary positioning device for breast-conserving surgery using a laparoscope, including:

[0055] A platform, as Figure 1 shown. The platform includes a bottom plate 21 and a bracket 22 connected to the bottom plate. In a specific implementation manner, the bracket is fixedly connected to the bottom plate. The size, shape, and material of the bottom plate and the bracket are not limited. The material is preferably aluminum alloy to reduce the weight of the entire device. The length and width of the bottom plate are both 1 meter. There are 4 brackets, which are perpendicular to the bottom plate.

[0056] A control device is placed beside the bottom plate. The control device stores a holographic projection video source. The holographic projection video source contains medical image data of the patient's breast and tumor (such as CT, color Doppler ultrasound, etc.). The control device can use the holographic projection video source production software to pre-produce holographic projection video sources of the breasts and tumors of different patients according to the medical image data of each patient's breast and tumor. In a specific implementation manner, the control device is preferably a computer. When pre-producing the holographic projection video source, only the surface shape of the breast and the size, shape, and position of the tumor can be selected, without considering tissues such as glands, muscles, and blood vessels, to reduce the time for producing the video.

[0057] A holographic projection device receives the pre-produced holographic projection video source of the patient's breast and tumor in the control device, performs holographic projection on the patient's breast and tumor, and forms a holographic three-dimensional image of the breast 11 and the tumor 12 in the air above the bottom plate.

[0058] To achieve a better observation effect, in this embodiment, a 360-degree holographic projection device is selected for the holographic projection device. As Figure 1 shown, it includes an imaging plate 31 and a projector 32. The imaging plate is made of a transparent material and there are 4 pieces. The 4 imaging plates enclose the 4 sides of a regular square pyramid. The vertex of the regular square pyramid faces down and the bottom face faces up, and it is arranged above the bottom plate. In a specific implementation manner, the 4 corners of the bottom square of the regular square pyramid are respectively connected to the 4 brackets, and the regular square pyramid with the vertex facing down and the bottom face facing up is fixed above the bottom plate through the 4 brackets. The vertex of the regular square pyramid is located at the center of the bottom plate. The vertex can be close to the bottom plate or suspended in the air. The connection between the 4 corners and the 4 brackets can be achieved by any one of the existing technologies, such as bonding.

[0059] The material of the imaging plate is preferably glass or acrylic. On the bottom plates below the four side surfaces of the regular square pyramid, one projector is provided respectively, and there are a total of four projectors. The four projectors respectively receive the holographic projection video sources of the patient's breast and tumor, and project them onto the four side surfaces of the regular square pyramid surrounded by the four imaging plates, forming a 360-degree holographic three-dimensional image of the breast and tumor in the air above the bottom plate. In a specific embodiment, the nipple direction of the holographic three-dimensional image is upward, and it can basically simulate the shape of the breast when the patient lies flat on the operating table during the operation.

[0060] The puncture device 4 is electrically connected to the control device. The puncture device is provided with a retractable shape memory alloy wire 41, and the shape memory alloy wire extends out and retracts from the head opening of the puncture device under the control of the control device. In a specific embodiment, the shape memory alloy wire is a nickel-titanium alloy with a diameter of 1-2 mm. The nickel-titanium alloy wire has the advantages of low modulus and high elastic strain. The nickel-titanium alloy wire is shaped at a higher temperature (generally 32-37 °C), and then stretched into another shape at a lower temperature (generally 20-25 °C); when the external temperature changes and reaches the higher temperature (i.e., 32-37 °C), the nickel-titanium alloy wire will return to its original shaped shape.

[0061] Specifically, the puncture device 4 is as Figure 2 shown, and is preferably a cylinder. A clamping portion 42 is provided in the middle of the puncture device. The clamping portion is provided with concave and convex patterns to increase the friction for clamping. A cable 43 electrically connected to the control device is connected to the tail of the puncture device. A micro electric wire winding wheel 44 is provided inside the puncture device, and a shape memory alloy wire 41 is wound around the micro electric wire winding wheel; the micro electric wire winding wheel is electrically connected to the control device and can rotate under the control of the control device. An opening 45 is provided at one end of the head of the puncture device, and the shape memory alloy wire can extend out and retract through the rotation of the micro electric winch; the hole is preferably a round hole. A heater 46 is further provided on the inner wall of the head of the puncture device. The heater is electrically connected to the control device and is used to heat the shape memory alloy wire under the control of the control device. The heater is provided at the inner wall position of the head opening of the puncture device, which can relieve the heat dissipation during the heating process to the greatest extent, and keep the temperature of the shape memory alloy wire extending from the puncture device into the air to reach the higher temperature required for shaping. The heater can be a heating resistance wire, and the heating resistance wire is wound around the shape memory alloy wire.

[0062] The first manipulator 5, as Figure 1 shown, is provided on the bottom plate and is electrically connected to the control device. Specifically, the connection between the first manipulator and the bottom plate can be realized by any one of the existing technologies, such as bolt connection; and it is electrically connected to the control device by a signal line, such as a serial port. The first manipulator clamps the clamping portion of the puncture device and can move the puncture device within the space surrounded by the four imaging plates; asFigure 1 As shown, the opening of the head of the puncture device is positioned directly above the tumor in the holographic stereoscopic image, and the puncture device is perpendicular to the surface of the breast skin, so that the puncture device is in a relatively stable position in space, facilitating subsequent shaping of the shape memory alloy wire. The control device controls the first manipulator to grip and move the puncture device, and any implementation method in the prior art can be used for control.

[0063] The second manipulator 6, as Figure 1 shown, is arranged on the bottom plate and is electrically connected to the control device. Specifically, the connection between the first manipulator and the bottom plate can be implemented in any way in the prior art, such as bolt connection; and it is electrically connected to the control device by a signal line, such as a serial port. Under the control of the control device, the second manipulator can plastically process the shape memory alloy wire extending from the puncture device, so that the shape memory alloy wire is consistent with the size and shape of the tumor in the holographic stereoscopic image. The control device controls the action of the second manipulator in shaping the shape memory alloy wire, and any implementation method in the prior art can be used for control.

[0064] The working principle of Embodiment 1 is described in detail below:

[0065] Before performing breast-conserving surgery for breast cancer on a patient under laparoscope, using the tumor auxiliary positioning device provided in this embodiment, medical image data of the patient's breast and tumor, such as CT, color Doppler ultrasound, etc., is input into the control device, that is, a computer, and using existing holographic projection video source production software, a holographic projection video source of the patient's breast and tumor is pre-produced according to CT and color Doppler ultrasound.

[0066] The holographic projection device is started to work through the computer. The 4 projectors 32 respectively receive the holographic projection video source of the patient's breast and tumor, and are respectively projected onto the 4 side surfaces of a regular square pyramid formed by 4 imaging plates 31, forming a 360-degree holographic stereoscopic image of the breast 11 and the tumor 12 in mid-air above the bottom plate 21. The holographic stereoscopic image allows the doctor to clearly observe the shape of the breast 11 and the position of the tumor 12 in the breast from various angles.

[0067] Under the control of the computer, the first manipulator 5 grips the puncture device 4 so that the opening of the head of the puncture device 4 is positioned directly above the tumor in the holographic stereoscopic image, and the puncture device is perpendicular to the surface of the breast 11 skin, simulating the relative position relationship between the puncture device and the breast during the surgical process; then the puncture device 4 is kept in a relatively stable position in space. The position where the puncture device should stay can be determined by reading the spatial coordinate position of the breast when making the holographic projection video source.

[0068] The computer controls the rotation of the micro electric wire winding wheel in the puncture device, so that the shape memory alloy wire 41 extends downward from the head opening of the puncture device 4 until the shape memory alloy wire 41 visually contacts and passes through the tumor 12 in the holographic stereoscopic image. The extending direction of the shape memory alloy wire 41 is downward, and the extending length can be determined by reading the spatial coordinate position of the tumor when making the holographic projection video source.

[0069] In the hospital, generally, the central air conditioner is used to control the ambient temperature to about 25 degrees Celsius. After the shape memory alloy wire passes through the tumor, the computer controls the heating resistance wire in the puncture device 4 to heat the shape memory alloy wire 41 to about 37 degrees Celsius.

[0070] The second manipulator 6, under the control of the computer, shapes the shape memory alloy wire 41 heated to about 37 degrees Celsius according to the spatial coordinate position of the tumor when making the holographic projection video source. The spatial coordinate position of the tumor can determine the bending direction and length of each section of the shape memory alloy wire when shaping, so that the shape memory alloy wire 41 is consistent with the size and shape of the tumor 12, being a semi-circular ring. The doctor can confirm whether the plastic effect of the second manipulator 6 on the shape memory alloy wire 41 is appropriate according to the holographic stereoscopic image; if it is not appropriate, it can be adjusted manually.

[0071] After the shaping is completed, the doctor controls the heating resistance wire in the puncture device 4 to stop heating on the computer. After a period of time, the temperature of the shape memory alloy wire 41 will become the same as the external 25 degrees Celsius. At this time, use the second manipulator 6 to straighten the shape memory alloy wire 41 into a slender needle shape.

[0072] The doctor removes the puncture device 4 from the first manipulator 5, and according to the position of the tumor in the holographic stereoscopic image and the position of the tumor felt by hand in reality, punctures the shape memory alloy wire into the patient's breast. When the head opening of the puncture device 4 is vertically placed on the surface of the patient's breast skin, it indicates that the shape memory alloy wire has passed through the entire tumor, and the puncture ends. The shape memory alloy wire stays in the human body and will gradually rise to 37 degrees Celsius under the action of the human body temperature, and then form a semi-circular ring consistent with the size and shape of the tumor to define the boundary of the tumor. Specifically, during the puncture, as Figure 3 shown, Figure 3 The left figure in the middle shows the situation where the shape memory alloy wire passes through the entire tumor from the central position of the tumor. After gradually rising to 37 degrees Celsius under the action of the human body temperature, the shape memory alloy wire passing through the tumor will start to bend from the central position of the tumor. The diameter of the shape memory alloy wire is thin and relatively sharp, and it can easily cut the cell tissue in the bending direction during the bending process and gradually become a semi-circular ring, as shown in the right figure in Figure 3 the middle.

[0073] When a doctor performs a breast-conserving surgery under a laparoscope, the boundary of the tumor can be visually observed based on the shape memory alloy wire in the breast. After the surgery is completed, the shape memory alloy wire of the puncture device is removed from the patient's body and retracted into the puncture device.

[0074] With the technical solution of this embodiment, the position of the patient's tumor in the breast can be visually presented to the doctor through a holographic stereoscopic image. At the same time, a robotic arm is used to shape the shape memory alloy wire at a relatively high temperature according to the spatial coordinates provided by the patient's medical image to match the size and shape of the tumor. At a relatively low temperature, the shape memory alloy wire is straightened into a slender needle shape. The doctor punctures the shape memory alloy wire into the patient's breast. The shape memory alloy wire returns to a semi-circular shape that matches the size and shape of the tumor under the action of the human body temperature, clearly defining the boundary of the tumor and assisting the doctor in performing a breast-conserving surgery for breast cancer under a laparoscope.

[0075] Embodiment 2

[0076] Viewed in space, a tumor is a three-dimensional human tissue with length, width, and height. The shape memory alloy wire in Embodiment 1 forms a semi-circular shape and cannot form a complete boundary line for the tumor. To solve the above technical problems, based on Embodiment 1, the following technical solution is adopted:

[0077] The puncture device is provided with a plurality of micro electric wire-winding wheels each wound with a shape memory alloy wire. The micro electric wire-winding wheels are arranged at equal intervals in a circular shape along the radial cross-section of the puncture device. Each micro electric wire-winding wheel is electrically connected to the control device;

[0078] The head of the puncture device is provided with a plurality of openings arranged at equal intervals in a circular shape along the radial cross-section of the puncture device.

[0079] In a specific implementation manner, there are 6 micro electric wire-winding wheels, 6 shape memory alloy wires, and 6 openings. As Figure 4 shown, it is the radial cross-section of the head of the puncture device.

[0080] The working principle of Embodiment 2 is described in detail below:

[0081] The computer controls the rotation of each micro electric wire-winding wheel respectively, so that the 6 shape memory alloy wires extend downward from the corresponding openings at the head of the puncture device. The 6 shape memory alloy wires enclose a cone-like shape in the air. The 6 shape memory alloy wires are the side lines of the cone, and the spacing between the 6 shape memory alloy wires is basically equal.

[0082] The second robotic arm shapes each shape memory alloy wire into a semi-circular shape. Each two oppositely arranged semi-circular shape memory alloy wires can form a plane, and 3 mutually perpendicular planes can completely enclose the tumor in the holographic stereoscopic image.

[0083] Using the technical solution of this embodiment, multiple memory alloy wires can be used to shape multiple planes, and when these multiple planes are combined together, they can completely wrap the tumor in the holographic stereoscopic image, enabling the boundary of the tumor to be defined more accurately so that the tumor can be completely excised.

[0084] Embodiment 3

[0085] In Embodiment 1 or Embodiment 2, when the memory alloy wire is punctured into the patient's breast, there is a time process. During this process, the memory alloy wire will gradually rise to 37 degrees under the action of the human body temperature. That is to say, the memory alloy wire may start to gradually recover to the semi-circular shape during shaping before it has completely passed through the tumor, which will affect the puncture of the memory alloy wire and may further cause errors in defining the location of the tumor. To solve the above technical problems, based on Embodiment 1 or Embodiment 2, the following technical solution is adopted:

[0086] The puncture device is also provided with a semiconductor refrigerating sheet, which is arranged at the inner wall position of the opening at the head of the puncture device. The semiconductor refrigerating sheet is electrically connected to the control device; the memory alloy wire is in contact with the cold surface of the semiconductor refrigerating sheet.

[0087] In a specific implementation manner, the semiconductor refrigerating sheet is arranged at the inner wall position of the opening at the head of the puncture device by means of bonding. As Figure 5 shown, the cold surface of the semiconductor refrigerating sheet 47 is provided with a groove 48, and the memory alloy wire 41 is in contact with the groove 48 and extends out and retracts from the opening along the groove 48.

[0088] The working principle of Embodiment 3 is described in detail below:

[0089] The semiconductor refrigerating sheet in the puncture device is refrigerated under the control of a computer. The memory alloy wire is in contact with the cold surface of the semiconductor refrigerating sheet, which will cool the memory alloy wire to the refrigerating temperature of the semiconductor refrigerating sheet.

[0090] After shaping is completed, the computer controls the heating resistance wire in the puncture device to stop heating and controls the semiconductor refrigerating sheet to start refrigerating, and the refrigerating temperature is set to 25 degrees Celsius. The temperature of the memory alloy wire in contact with the cold surface of the semiconductor refrigerating sheet will be maintained at 25 degrees Celsius. At this time, the second manipulator is used to straighten the memory alloy wire into a slender needle shape.

[0091] The doctor removes the puncture device from the first robotic arm and inserts the shape memory alloy wire into the patient's breast. Due to the continuous cooling of the semiconductor refrigeration chip, the temperature of the shape memory alloy wire remains at 25 degrees Celsius throughout the puncture process and does not return to the semi-circular shape during shaping. When the opening of the head of the puncture device is vertically placed on the surface of the patient's breast skin, it indicates that the shape memory alloy wire has passed through the entire tumor and the puncture is completed. At this time, the doctor controls the semiconductor refrigeration chip to stop working on the computer. The shape memory alloy wire gradually rises to 37 degrees Celsius under the action of the human body temperature and returns to the semi-circular shape during shaping.

[0092] Using the technical solution of this embodiment, the shape memory alloy wire can maintain a relatively low temperature during the process of puncturing into the patient's breast and will not gradually return to the semi-circular shape during shaping before the puncture is completed, which will not affect the puncture of the shape memory alloy wire and avoid errors in defining the location of the tumor.

[0093] Embodiment 4

[0094] During the whole process of performing breast-conserving surgery under laparoscope, it is necessary to keep the puncture device close to the breast without falling off and its position basically unchanged after the shape memory alloy wire is inserted into the patient's breast. Otherwise, it may drive the position of the shape memory alloy wire that has entered the breast, resulting in a position deviation in defining the boundary of the tumor. In the technical solutions of Embodiments 1, 2, and 3, if the doctor holds the puncture device by hand and ensures that the puncture device is close to the breast without falling off and its position is basically unchanged during the whole process of the operation, an additional medical staff is required; and after holding the puncture device by hand for a period of time, people will also get tired, which may cause the position of the puncture device to move.

[0095] To solve the above technical problems, on the basis of Embodiment 1, Embodiment 2, or Embodiment 3, as Figure 6 shown, the following technical solution is adopted:

[0096] The head of the puncture device is also provided with a vacuum suction cup 49. The vacuum suction cup 49 is a hollow semi-ring and is arranged on the periphery of the end face where the head of the puncture device is located.

[0097] In a specific implementation manner, the material of the vacuum suction cup 49 is silicone rubber, and the vacuum can be pumped by rotating the knob or pressing.

[0098] The working principle of Embodiment 4 is described in detail below:

[0099] After the shape memory alloy wire forms a semi-circular shape in the breast that is consistent with the size and shape of the tumor, the doctor presses the vacuum suction cup tightly against the skin of the breast and evacuates the air by rotating the knob, enabling the puncture device to be adsorbed on the surface of the breast. Also, since the puncture device is oriented with its head downward and perpendicular to the breast skin for puncture, under the action of gravity, the puncture device can be well-fixed on the surface of the breast and, as long as it is not impacted by a large external force, can maintain this state consistently until the end of the operation.

[0100] Using the technical solution of this embodiment, the puncture device can be adsorbed and fixed on the surface of the breast through the vacuum suction cup, ensuring that the puncture device remains tightly attached to the breast without falling off and its position remains basically unchanged throughout the operation, reducing the manpower input of medical staff and also avoiding the problem that the position of the puncture device may shift due to fatigue after being held by hand for a period of time.

[0101] Embodiment 5

[0102] This embodiment provides a tumor-assisted positioning method for endoscopic breast-conserving surgery for breast cancer, using any one of the tumor-assisted positioning devices for endoscopic breast-conserving surgery provided in Embodiments 1-4 to assist in positioning the tumor, including the following:

[0103] S1. According to the medical imaging data of the patient's breast and tumor, produce a holographic projection video source of the patient's breast and tumor;

[0104] S2. Use a holographic projection device to project according to the holographic projection video source to form a 360-degree holographic three-dimensional image of the breast and tumor in mid-air;

[0105] S3. The first manipulator clamps the puncture device so that the opening of the head of the puncture device is directly above the tumor in the holographic three-dimensional image and the puncture device is perpendicular to the surface of the breast skin;

[0106] S4. Control the shape memory alloy wire to extend downward from the opening of the head in the puncture device until the shape memory alloy wire visually contacts and passes through the tumor in the holographic three-dimensional image;

[0107] S5. Heat the shape memory alloy wire to make the shape memory alloy wire reach a high temperature state; in a specific implementation, heat it to about 37 degrees Celsius;

[0108] S6. The second manipulator shapes the shape memory alloy wire in the high-temperature state so that the shape memory alloy wire is consistent with the size and shape of the tumor;

[0109] S7. Stop heating to make the shape memory alloy wire return to the low-temperature state; in a specific implementation, the low-temperature state is about 25 degrees Celsius;

[0110] S8. The second manipulator straightens the shape memory alloy wire in a low-temperature state into a slender needle shape;

[0111] S9. Pierce the shape memory alloy wire into the patient's breast, and end the piercing when the opening of the head of the piercing device is vertically placed on the skin surface of the patient's breast;

[0112] S10. The shape memory alloy wire gradually rises to a high-temperature state under the action of human body temperature, forming a semi-circular shape consistent with the size and shape of the tumor.

[0113] Using the technical solution of this embodiment, the boundary of the tumor can be clearly defined through the shape memory alloy wire, assisting the doctor in performing breast-conserving surgery for breast cancer under laparoscopy.

[0114] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the various embodiments of the present invention, and they should all be covered by the scope of the claims and the description of the present invention.

Claims

1. A tumor-assisted positioning device for breast-conserving surgery using a laparoscope, characterized in that, Comprising: A platform, the platform includes a bottom plate and a bracket connected to the bottom plate; A control device, storing a holographic projection video source, the holographic projection video source containing medical image data of a patient's breast and tumor; A holographic projection device, receiving the holographic projection video source, performing holographic projection on the patient's breast and tumor, forming a holographic three-dimensional image of the breast and tumor in mid-air above the bottom plate; A puncture device, electrically connected to the control device, at least one retractable shape memory alloy wire is provided in the puncture device, a micro electric wire winding wheel is provided inside the puncture device, and the shape memory alloy wire is wound around the micro electric wire winding wheel; the micro electric wire winding wheel is electrically connected to the control device; an opening is provided at the head of the puncture device; the shape memory alloy wire, under the control of the control device, extends out and retracts from the opening at the head of the puncture device through the rotation of the micro electric winch; a heater is further provided on the inner wall of the head of the puncture device, and the heater is electrically connected to the control device for heating the shape memory alloy wire under the control of the control device; A first manipulator, arranged on the bottom plate, electrically connected to the control device, the first manipulator clamping the puncture device; A second manipulator, arranged on the bottom plate, electrically connected to the control device, the second manipulator plastically deforming the shape memory alloy wire extending from the puncture device under the control of the control device so that the shape memory alloy wire is consistent with the size and shape of the tumor in the holographic three-dimensional image.

2. The tumor-assisted positioning device for breast-conserving surgery of breast cancer using a laparoscope according to claim 1, characterized in that, The holographic projection device is a 360-degree holographic projection device, and the 360-degree holographic projection device includes an imaging plate and a projector.

3. The tumor-assisted positioning device for breast-conserving surgery of breast cancer using a laparoscope according to claim 2, wherein There are 4 imaging plates, and the 4 imaging plates enclose the 4 side faces of a regular square pyramid, with the vertex of the regular square pyramid facing down and the bottom facing up, arranged above the bottom plate; there are 4 projectors, respectively arranged on the bottom plate below the 4 side faces of the regular square pyramid.

4. The tumor auxiliary positioning device for breast-conserving surgery of breast cancer by laparoscope according to claim 1, characterized in that, The heater is a heating resistance wire, and the heating resistance wire is wound around the shape memory alloy wire.

5. The tumor-assisted positioning device for breast-conserving surgery of breast cancer using a laparoscope according to claim 1, wherein A plurality of micro electric wire winding wheels each wound with a shape memory alloy wire are provided in the puncture device, and the micro electric wire winding wheels are arranged at equal intervals in a ring along the radial cross-section of the puncture device, and each micro electric wire winding wheel is electrically connected to the control device respectively; The head of the puncture device is provided with a plurality of openings arranged at equal intervals in a ring along the radial cross-section of the puncture device.

6. The tumor auxiliary positioning device for breast-conserving surgery of breast cancer using a laparoscope according to claim 5, wherein, The number of the micro electric wire winding wheels, the shape memory alloy wires and the openings is 6 each.

7. The tumor auxiliary positioning device for breast-conserving surgery of breast cancer using a laparoscope according to claim 1, characterized in that, A semiconductor refrigerating sheet is further provided in the puncture device, arranged on the inner wall at the opening of the head of the puncture device, and the semiconductor refrigerating sheet is electrically connected to the control device; the shape memory alloy wire is in contact with the cold surface of the semiconductor refrigerating sheet.

8. The tumor-assisted positioning device for breast-conserving surgery of breast cancer using a laparoscope according to claim 7, characterized in that, The cold surface of the semiconductor refrigerating sheet is provided with a groove, and the shape memory alloy wire is in contact with the groove.

9. The tumor auxiliary positioning device for breast-conserving surgery of breast cancer by laparoscope according to claim 1, characterized in that, The head of the puncture device is further provided with a vacuum chuck, the vacuum chuck is a hollow semi-ring, arranged on the periphery of the end face where the head of the puncture device is located.

Images