Surgical instrument irrigation system, surgical instrument irrigation method, and readable storage medium

Abstract

The application provides a surgical instrument flushing system, a surgical instrument flushing method and a readable storage medium, and the surgical instrument flushing system comprises an image acquisition module, an image recognition module, a distance measurement module, a control module and a cutting flushing module; the image acquisition module is used for acquiring image information of a surgical instrument; the image recognition module is used for recognizing the image information acquired by the image acquisition module and identifying type information of the surgical instrument and type information of adhesion tissue; the distance measurement module is used for measuring distance information of the image acquisition module and the adhesion tissue; the control module obtains spatial coordinates of the adhesion tissue based on the distance information measured by the distance measurement module, and controls the cutting flushing module to perform flushing in a preset mode according to the type information of the surgical instrument and the type information of the adhesion tissue identified by the image recognition module and in combination with the spatial coordinates of the adhesion tissue.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a surgical instrument rinsing system, a surgical instrument rinsing method, and a readable storage medium. Background Technology

[0002] During use, some surgical instruments can cause tissue to char and adhere to them, reducing the instrument's energy output and thus affecting the speed and quality of the surgery. Other surgical instruments may only become contaminated with certain tissues. The location and nature of tissue contamination vary depending on the type of surgical instrument.

[0003] However, existing surgical instruments cannot be automatically cleaned, which poses a risk of infection to surgical personnel if contaminated instruments are used. Summary of the Invention

[0004] The purpose of this invention is to provide a surgical instrument rinsing system, a surgical instrument rinsing method, and a readable storage medium to solve the problem that existing surgical instruments cannot achieve automatic cleaning.

[0005] To solve the above-mentioned technical problems, the present invention provides a surgical instrument rinsing system, which includes: an image acquisition module, an image recognition module, a ranging module, a control module, and a cutting and rinsing module;

[0006] The image acquisition module is used to acquire image information of surgical instruments;

[0007] The image recognition module is used to identify the image information acquired by the image acquisition module, and to identify the type information of the surgical instrument and the type information of the adhesion tissue;

[0008] The ranging module is used to measure the distance information between the image acquisition module and the adhesion tissue;

[0009] The control module obtains the spatial coordinates of the adhesion tissue based on the distance information measured by the ranging module, and controls the cutting and rinsing module to perform rinsing according to a preset mode based on the type information of the surgical instrument and the type information of the adhesion tissue identified by the image recognition module, combined with the spatial coordinates of the adhesion tissue.

[0010] Optionally, the type information of the surgical instruments includes passive surgical instruments and active surgical instruments; the type information of the adhesion tissue includes charred and uncharred tissue.

[0011] When the type information of the surgical instrument includes a passive surgical instrument and the type information of the adhesion tissue includes uncharred, the preset mode is configured as a direct irrigation mode.

[0012] When the type information of the surgical instrument includes an active surgical instrument, or the type information of the adhesion tissue includes charring, the preset mode is configured as a cutting and rinsing mode.

[0013] Optionally, the cutting and rinsing module includes a water jet cutting unit;

[0014] When the preset mode is configured as a cutting and rinsing mode, the water jet cutting unit, in conjunction with the spatial coordinates of the adhesion tissue, performs jet cutting on the adhesion tissue according to a preset cutting target distance and a preset pressure, and then rinses it at a preset angle.

[0015] Optionally, the ranging module is also used to acquire axial distribution information of the adhesion tissue on the surgical instrument, and the control module controls the cutting and rinsing module to move relative to the surgical instrument at a preset axial step distance according to the axial distribution information.

[0016] Optionally, the ranging module is further used to obtain the circumferential thickness distribution information of the adhesion tissue on the surgical instrument. The circumferential thickness distribution information and the spatial coordinates of the corresponding part form an array. The jet pressure of the cutting and rinsing module and / or the axial step distance are configured according to the array.

[0017] Optionally, after the cutting and rinsing module performs rinsing according to a preset mode, the image recognition module is also used to identify and determine the cleanliness of each part of the surgical instrument.

[0018] The control module is configured to control the cutting and rinsing module to perform rinsing on the next part of the surgical instrument in a predetermined sequence after the image recognition module obtains the cleaning determination information of a certain part of the surgical instrument.

[0019] Optionally, the surgical instrument irrigation system further includes a base, a clamping module, and a motion module. The image acquisition module, the ranging module, and the cutting and irrigation module are disposed on the base. The clamping module and the motion module are used to drive the base to move, so as to adjust the position and angle of the image acquisition module, the ranging module, and the cutting and irrigation module relative to the surgical instrument.

[0020] Optionally, the surgical instrument rinsing system further includes a display module, which is used to display the type information of the surgical instrument and to display completion information when rinsing the current surgical instrument is completed.

[0021] To address the aforementioned technical problems, the present invention also provides a surgical instrument rinsing method, applied to the surgical instrument rinsing system described above; the surgical instrument rinsing method includes:

[0022] Acquire image information of surgical instruments;

[0023] The image information is identified, and the type of surgical instrument and the type of adhesion tissue are also identified.

[0024] The spatial coordinates of the adhesion tissue are obtained, and irrigation is performed according to a preset mode based on the type information of the surgical instrument and the type information of the adhesion tissue, combined with the spatial coordinates of the adhesion tissue.

[0025] To address the aforementioned technical problems, the present invention also provides a readable storage medium having a program stored thereon, which, when executed, implements the steps of the surgical instrument rinsing method as described above.

[0026] In summary, the surgical instrument rinsing system, surgical instrument rinsing method, and readable storage medium provided by this invention include: an image acquisition module, an image recognition module, a distance measuring module, a control module, and a cutting and rinsing module; the image acquisition module is used to acquire image information of the surgical instruments; the image recognition module is used to identify the image information acquired by the image acquisition module and to identify the type information of the surgical instruments and the type information of the adhesions; the distance measuring module is used to measure the distance information between the image acquisition module and the adhesions; the control module obtains the spatial coordinates of the adhesions based on the distance information measured by the distance measuring module, and controls the cutting and rinsing module to perform rinsing according to a preset mode based on the type information of the surgical instruments and the type information of the adhesions identified by the image recognition module, combined with the spatial coordinates of the adhesions.

[0027] With this configuration, based on the image information acquired by the image acquisition module, the image recognition module can identify the type of surgical instruments and the type of adhesions. Then, the control module controls the cutting and rinsing module to perform rinsing according to a preset mode based on the surgical instrument and adhesion type information identified by the image recognition module. This effectively targets different surgical instruments and different types of adhesions, significantly reducing the risk of instrument passivation and damage. Furthermore, the control module obtains the spatial coordinates of the adhesions based on the distance information measured by the ranging module, and controls the cutting and rinsing module to perform rinsing based on these coordinates, making the rinsing of surgical instruments more accurate, safer, and faster. Attached Figure Description

[0028] Those skilled in the art will understand that the accompanying drawings are provided to better understand the invention and do not constitute any limitation on the scope of the invention. Wherein:

[0029] Figure 1This is a schematic diagram of a surgical instrument irrigation system according to an embodiment of the present invention;

[0030] Figure 2 This is a schematic diagram of the surgical instruments and adhesions according to an embodiment of the present invention;

[0031] Figure 3 This is a schematic diagram of the image acquisition module and the image recognition module according to an embodiment of the present invention;

[0032] Figure 4 This is a schematic diagram of the cutting and rinsing module according to an embodiment of the present invention;

[0033] Figure 5 This is a schematic diagram of the ranging module according to an embodiment of the present invention;

[0034] Figure 6 This is a principle block diagram of the ranging module according to an embodiment of the present invention;

[0035] Figure 7 This is a schematic diagram of the ranging module of this invention acquiring axial distribution information and circumferential thickness distribution information;

[0036] Figure 8 This is a schematic diagram illustrating how the image recognition module of this invention segments and identifies various parts of a surgical instrument.

[0037] Figure 9 This is a schematic diagram of cleaning determination and deep cleaning according to an embodiment of the present invention;

[0038] Figure 10 This is an example diagram displayed by the display module in an embodiment of the present invention;

[0039] Figure 11 This is another exemplary diagram displayed by the display module in an embodiment of the present invention. Detailed Implementation

[0040] To make the objectives, advantages, and features of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the drawings are all in a very simplified form and are not drawn to scale, and are only used to facilitate and clarify the explanation of the embodiments of this invention. Furthermore, the structures shown in the drawings are often part of the actual structures. In particular, different figures may emphasize different aspects and may sometimes use different scales.

[0041] As used in this invention, the singular forms “a,” “an,” and “the” include plural objects; the term “or” is generally used to mean “and / or”; the term “a number” is generally used to mean “at least one”; and the term “at least two” is generally used to mean “two or more”. Furthermore, the terms “first,” “second,” and “third” are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as “first,” “second,” or “third” may explicitly or implicitly include one or at least two of that feature; “one end” and “the other end,” and “proximal end” and “distal end” generally refer to two corresponding parts, which include not only endpoints. Furthermore, the terms "installed," "connected," and "attached," as used in this invention, and the term "set" on one element from another, should be interpreted broadly. They generally only indicate a connection, coupling, cooperation, or transmission relationship between the two elements, which can be direct or indirect through an intermediate element. They should not be construed as indicating or implying a spatial relationship between the two elements, meaning one element can be located inside, outside, above, below, or to one side of another element, unless otherwise explicitly stated. Those skilled in the art can understand the specific meaning of these terms in this invention based on the specific circumstances. Additionally, directional terms such as above, below, up, down, upward, downward, left, and right are used relative to exemplary embodiments as shown in the figures, with upward or upper directions pointing towards the top of the corresponding figure, and downward or lower directions pointing towards the bottom of the corresponding figure.

[0042] The purpose of this invention is to provide a surgical instrument rinsing system, a surgical instrument rinsing method, and a readable storage medium to solve the problem that existing surgical instruments cannot achieve automatic cleaning. The following description refers to the accompanying drawings.

[0043] Please refer to Figure 1This invention provides a surgical instrument rinsing system, comprising: an image acquisition module 100, an image recognition module 200, a distance measuring module 300, a control module 400, and a cutting and rinsing module 500; the image acquisition module 200 is used to acquire image information of surgical instruments 910; the image recognition module 200 is used to identify the image information acquired by the image acquisition module 100, and to identify the type information of surgical instruments 910 and the type information of adhesion tissue 920; the distance measuring module 300 is used to measure the distance information between the image acquisition module 100 and the adhesion tissue 920; the control module 400 obtains the spatial coordinates of the adhesion tissue 920 based on the distance information measured by the distance measuring module 300, and controls the cutting and rinsing module 500 to perform rinsing according to a preset mode based on the type information of surgical instruments 910 and the type information of adhesion tissue 920 identified by the image recognition module 200, combined with the spatial coordinates of the adhesion tissue 920.

[0044] Please refer to Figure 2 Surgical instruments 910 can be divided into two categories: active surgical instruments and passive surgical instruments. Active surgical instruments, such as bipolar duckbill electrocoagulation forceps, bipolar arc electrocoagulation forceps, monopolar arc scissors, and monopolar hooks, can develop adhesions at their ends after stimulation procedures due to scab formation. Over time, these adhesions can become quite firm, forming adhesion tissue 920, which is difficult to remove completely. Passive surgical instruments also experience rapid tissue coagulation after surgery (especially in the presence of blood), forming adhesion tissue 920. These require timely rinsing to prevent the surgical instruments 910 from being oxidized and rusted by substances in the adhesion tissue 920 and the air.

[0045] Please refer to Figure 3 The image acquisition module 100 includes, for example, a depth camera 110, which can capture image information of the surgical instrument 910 and transmit it to the image recognition module 200. The image recognition module 200 can preprocess and segment the image information acquired by the image acquisition module 100, and then, based on a pre-trained feature recognition model, extract features from the image information to identify the type information of the surgical instrument 910. Specifically, the type information of the surgical instrument 910 includes passive and active surgical instruments. Furthermore, based on the pre-trained feature recognition model, the image recognition module 200 can also identify whether the adhesion tissue 920 adhering to the surgical instrument 910 is charred; that is, the type information of the adhesion tissue 920 includes charred and uncharred.

[0046] When the type information of the surgical instrument 910 includes a passive surgical instrument and the type information of the adhesion tissue 920 includes uncharred, the preset mode is configured as a direct irrigation mode; when the type information of the surgical instrument 910 includes an active surgical instrument or the type information of the adhesion tissue 920 includes charred, the preset mode is configured as a cutting and irrigation mode.

[0047] For passive surgical instruments and when the adhesions 920 are not charred, the cutting and rinsing module 500 can directly rinse them, which helps reduce the risk of passivation and damage to the surgical instruments 910. For active surgical instruments, or when the adhesions 920 are charred, the cutting and rinsing module 500 needs to cut and rinse the adhesions 920 to reliably remove them.

[0048] Please refer to Figure 4 The cutting and rinsing module 500 includes a water jet cutting unit 510. When the preset mode is configured as the cutting and rinsing mode, the water jet cutting unit 510, based on the spatial coordinates of the adhered tissue 920, performs jet cutting on the adhered tissue 920 according to a preset cutting target distance and a preset pressure, and then rinses it at a preset angle. In an alternative example, the cutting and rinsing module 500 also includes a water supply end 521, a pressurization unit 522, a water circuit connection unit 523, and a receiving unit 524. The water jet cutting unit 510 has a nozzle 511. The water supplied by the water supply end 521 is pressurized to a preset pressure by the pressurization unit 522, then transmitted to the water jet cutting unit 510 via the water circuit connection unit 523, and then sprayed out from the nozzle 511 of the water jet cutting unit 510. After cutting the adhered tissue 920 to be cut, it is collected by the receiving unit 524. Preferably, the nozzle 511 can be selected as a 0.1mm transition rounded corner jet nozzle. It should be noted that the cutting target distance here refers to the distance between the nozzle 511 of the water jet cutting unit 510 and the adhesion tissue 920 being cut, along the axis perpendicular to the surgical instrument 910. Preferably, the cutting target distance can be selected as 3mm to 6mm, and more preferably 6mm. The preset pressure refers to the working pressure of the water jet, which is preferably 3MPa to 7MPa. Optionally, the impact angle of the jet is 90°±5°, which refers to the angle between the centerline of the jet and the axis of the surgical instrument 910. Of course, the impact angle of the jet here is only an approximate angle, because the jet may deviate from the centerline or expand after being ejected from the nozzle 511. Therefore, it can actually be considered that the angle between the outlet axis of the nozzle 511 and the axis of the surgical instrument 910 is 90°±5°. The angle between the outlet axis of the nozzle 511 and the axis of the surgical instrument 910 can also be slightly angled from 90°, for example, within the range of ±5°, which also has a good cutting effect.

[0049] After the adhesion tissue 920 is cut, the cutting and rinsing module 500 rinses the adhesion tissue 920 at a preset angle. Optionally, the impact angle of the jet is 45°±5°. In some embodiments, the water jet cutting unit 510 can be used to perform rinsing. In this case, the nozzle 511 of the water jet cutting unit 510 can be tilted so that the angle between the axis of the nozzle 511 outlet and the axis of the surgical instrument 910 is 45°±5°, while simultaneously reducing the working pressure of the water jet to achieve rinsing. In other embodiments, an additional rinsing unit (not shown) independent of the water jet cutting unit 510 can be provided. The angle between the axis of the rinsing unit's nozzle outlet and the axis of the surgical instrument 910 is 45°±5°. In this case, the cutting and rinsing steps are performed using two different units. On the one hand, both the water jet cutting unit 510 and the rinsing unit can be fixed, and their angles do not need to be adjusted. On the other hand, water jet cutting and rinsing can be performed simultaneously. For example, the nozzle 511 of the water jet cutting unit 510 and the nozzle of the rinsing unit can be set at different circumferential positions of the surgical instrument 910. As the surgical instrument 910 rotates around its own axis or the cutting and rinsing module 500 rotates around the axis of the surgical instrument 910, the effect of water jet cutting and rinsing can be achieved simultaneously.

[0050] Optionally, at least one of the surgical instrument 910 and the cutting and rinsing module 500 can rotate circumferentially around the axis of the surgical instrument 910 to achieve circumferential cutting of the adhesion tissue 920. Further, at least one of the surgical instrument 910 and the cutting and rinsing module 500 can move along the axial direction of the surgical instrument 910. After completing one circumferential cut of the adhesion tissue 920, the surgical instrument 910 and the cutting and rinsing module 500 can move relative to each other a certain distance along the axial direction. The cutting and rinsing module 500 can perform circumferential cutting of the adhesion tissue 920 at different positions along the axial direction of the surgical instrument 910.

[0051] Please continue to refer to this. Figure 1 In an alternative example, the surgical instrument irrigation system further includes a base 600, a clamping module 610, and a motion module 620. An image acquisition module 100, a ranging module 300, and a cutting and irrigation module 500 are mounted on the base 600. The clamping module 610 and the motion module 620 drive the base 600 to adjust the position and angle of the image acquisition module 100, the ranging module 300, and the cutting and irrigation module 500 relative to the surgical instrument 910. This configuration allows for adjustment of the position and angle of the cutting and irrigation module 500 to achieve cutting of the adhered tissue 920 at different circumferential and axial positions.

[0052] Please refer to Figure 5 and Figure 6The ranging module 300 is an ultrasonic ranging module. It sends local oscillator signals to the surgical instrument 910 and the adhesion tissue 920, and receives the echo signals reflected back by the surgical instrument 910 and the adhesion tissue 920. It measures the beat frequency of the echo signal and the local oscillator signal to obtain the frequency difference between the two. Then, through analog-to-digital conversion and digital signal processing, the distance to the target can be calculated using the frequency difference. Thus, the distance between the surgical instrument 910 and the adhesion tissue 920 and the ranging module 300 can be measured. Based on the coordinates of the ranging module 300 itself on the base 600, the spatial coordinates of the surgical instrument 910 and the adhesion tissue 920 can be determined.

[0053] Please refer to Figure 7 The ranging module 300 is also used to acquire axial distribution information of the adhesion tissue 920 on the surgical instrument 910. Based on this axial distribution information, the control module controls the cutting and rinsing module 500 to move relative to the surgical instrument 910 at a preset axial step distance, thereby achieving cutting of the adhesion tissue 920 at different axial positions. Optionally, at least one of the surgical instrument 910 and the ranging module 300 can move along the axial direction of the surgical instrument 910. The control module controls the cutting and rinsing module 500 to move relative to the surgical instrument 910 at a preset axial step distance. This can be achieved by driving the cutting and rinsing module 500, driving the surgical instrument 910, or simultaneously driving both the cutting and rinsing module 500 and the surgical instrument 910; this embodiment is not limited to this. Thus, the ranging module 300 can measure different axial height positions of the adhesion tissue 920, thereby obtaining the axial distribution information of the adhesion tissue 920 on the surgical instrument 910. Based on this axial distribution information, the control module can reasonably allocate the axial step distance of the cutting and rinsing module 500 relative to the surgical instrument 910.

[0054] Please continue to refer to this. Figure 7 The ranging module 300 is also used to acquire the circumferential thickness distribution information of the adhesion tissue 920 on the surgical instrument 910. The circumferential thickness distribution information and the spatial coordinates of the corresponding part form an array. The jet pressure and / or axial step distance of the cutting and rinsing module 500 are configured according to the array.

[0055] At least one of the surgical instrument 910 and the ranging module 300 can rotate circumferentially around the axis of the surgical instrument 910, enabling the ranging module 300 to perform circumferential detection of the adhesion tissue 920, thereby obtaining circumferential thickness distribution information of the adhesion tissue 920 on the surgical instrument 910. The circumferential thickness distribution information refers to the radial thickness of the adhesion tissue 920 along the surgical instrument 910 at various circumferential angular positions. Optionally, the ranging module 300 can first measure the portion of the surgical instrument 910 without adhesion tissue 920 to obtain a circumferential reference value, and then, after measuring the distance to the adhesion tissue 920, the ranging module 300 can obtain the thickness of the adhesion tissue 920.

[0056] exist Figure 7 In the illustrated example, the axis of the surgical instrument 910 is arranged along the z-axis. The ranging module 300 can obtain the (x, y) coordinates of the adhesion tissue 920 at a certain angle position under a certain z-coordinate, and obtain the thickness h of the adhesion tissue 920 at this time. The thickness h is then bound to the spatial coordinates to obtain the array [x, y, z, h]. The cutting and rinsing module 500 can adaptively configure different jet pressures and / or axial step distances according to the array [x, y, z, h].

[0057] Please refer to Figure 8 and Figure 9 Optionally, after the cutting and rinsing module 500 performs rinsing according to a preset mode, the image recognition module 200 is also used to identify and determine the cleanliness of each part of the surgical instrument 910; the control module 400 is configured to control the cutting and rinsing module 500 to perform rinsing on the next part of the surgical instrument 910 in a predetermined order after the image recognition module 200 obtains the cleanliness determination information of a certain part of the surgical instrument 910.

[0058] The image recognition module 200 decomposes the information in the real-time images of the surgical instrument 910 based on the pre-trained feature recognition model. It identifies whether there are instrument rods, instrument ends, drive wires, pins, bases, wires, or adhesion tissue 920 in the images within a single time step. Based on this information, it determines whether each part of the surgical instrument 910 has been thoroughly cleaned after the cutting and rinsing module 500 performs rinsing according to a preset mode. If clean, it obtains the cleanliness assessment information for that part. The surgical instrument 910 may include a guide wire wheel, a pitch axis, and an opening / closing axis. Furthermore, the predetermined sequence can be, for example, from the instrument surface, guide wire wheel, pitch axis to opening / closing axis. First, the surface of the surgical instrument 910 is assessed for cleanliness. If the surface is clean, a deeper rinse is performed, preferably in the order of guide wire wheel, pitch axis, and opening / closing axis. The rinsing process is completed after all parts of the surgical instrument 910 have been thoroughly cleaned.

[0059] Please refer to Figure 10 and Figure 11 The surgical instrument rinsing system also includes a display module, which displays information about the type of surgical instrument 910, and can further display information about the category of surgical instrument 910 (e.g., Figure 10 As shown), the display module is also used to display completion information (such as...) when the current surgical instrument 910 has been rinsed. Figure 11 (As shown). The demonstration interface displayed by the display module is as follows. Figure 10 and Figure 11 As shown.

[0060] Based on the surgical instrument rinsing system described above, embodiments of the present invention also provide a surgical instrument rinsing method, comprising:

[0061] Acquire image information from surgical instrument 910;

[0062] The image information is identified, and the type information of the surgical instrument 910 and the type information of the adhesion tissue 920 are also identified.

[0063] The spatial coordinates of the adhesion tissue 920 are obtained, and based on the type information of the surgical instrument 910 and the type information of the adhesion tissue 920, and combined with the spatial coordinates of the adhesion tissue 920, irrigation is performed according to a preset mode.

[0064] The specific implementation principle of this surgical instrument rinsing method can be found in the foregoing description of the surgical instrument rinsing system. Furthermore, this surgical instrument rinsing method can also achieve various optional and preferred functions as described in the aforementioned surgical instrument rinsing system, which will not be repeated here.

[0065] This invention also provides a readable storage medium storing a program that, when executed, implements the steps of the surgical instrument rinsing method described above. This readable storage medium can be configured independently or integrated into the surgical instrument rinsing system, for example, integrated into the control module 400; this invention is not limited in this respect.

[0066] In summary, the surgical instrument rinsing system, surgical instrument rinsing method, and readable storage medium provided by this invention include: an image acquisition module, an image recognition module, a ranging module, a control module, and a cutting and rinsing module. The image acquisition module is used to acquire image information of the surgical instruments; the image recognition module is used to recognize the image information acquired by the image acquisition module and identify the type information of the surgical instruments and the type information of the adhesions; the ranging module is used to measure the distance information between the image acquisition module and the adhesions; the control module obtains the spatial coordinates of the adhesions based on the distance information measured by the ranging module, and controls the cutting and rinsing module to perform rinsing according to a preset mode based on the type information of the surgical instruments and the type information of the adhesions identified by the image recognition module, combined with the spatial coordinates of the adhesions. With this configuration, based on the image information acquired by the image acquisition module, the image recognition module can identify the type information of the surgical instruments and the type information of the adhesions. Furthermore, the control module, based on the surgical instrument type information and adhesion tissue type information identified by the image recognition module, controls the cutting and rinsing module to perform rinsing according to a preset mode. This effectively targets different surgical instruments and different types of adhesion tissues for targeted rinsing, significantly reducing the risk of instrument passivation and damage. Moreover, the control module obtains the spatial coordinates of the adhesion tissue based on the distance information measured by the ranging module, and controls the cutting and rinsing module to perform rinsing based on these coordinates, making the rinsing of surgical instruments more accurate, safer, and faster.

[0067] It should be noted that the above embodiments can be combined with each other. The above description is only a description of preferred embodiments of the present invention and is not intended to limit the scope of the present invention in any way. Any changes or modifications made by those skilled in the art based on the above disclosure shall fall within the protection scope of the present invention.

Claims

1. A surgical instrument irrigation system, characterized by, The system comprises an image acquisition module, an image recognition module, a distance measurement module, a control module, and a cutting and flushing module. The image acquisition module is configured to acquire image information of a surgical instrument. The image recognition module is configured to recognize the image information acquired by the image acquisition module, and identify type information of the surgical instrument and type information of adhesion tissue. The distance measurement module is configured to measure distance information between the image acquisition module and the adhesion tissue. The control module obtains spatial coordinates of the adhesion tissue based on the distance information measured by the distance measurement module, and controls the cutting and flushing module to perform flushing in a preset mode according to the type information of the surgical instrument and the type information of the adhesion tissue identified by the image recognition module, and the spatial coordinates of the adhesion tissue. The type information of the surgical instrument includes passive surgical instruments and active surgical instruments, and the type information of the adhesion tissue includes coking and uncoking.

2. The surgical instrument irrigation system of claim 1, wherein, When the type information of the surgical instrument includes passive surgical instruments and the type information of the adhesion tissue includes uncoking, the preset mode is configured as a direct flushing mode. When the type information of the surgical instrument includes active surgical instruments or the type information of the adhesion tissue includes coking, the preset mode is configured as a cutting and flushing mode. The cutting and flushing module comprises a water jet cutting unit.

3. The surgical instrument irrigation system of claim 2, wherein, When the preset mode is configured as a cutting and flushing mode, the water jet cutting unit performs jet cutting on the adhesion tissue according to a preset cutting target distance and a preset pressure based on the spatial coordinates of the adhesion tissue, and then performs flushing at a preset angle. The distance measurement module is further configured to obtain axial distribution information of the adhesion tissue on the surgical instrument, and the control module controls the cutting and flushing module to move relative to the surgical instrument at a preset axial step distance according to the axial distribution information.

4. The surgical instrument irrigation system of claim 1, wherein, The distance measurement module is further configured to obtain circumferential thickness distribution information of the adhesion tissue on the surgical instrument, and the jet pressure of the cutting and flushing module and / or the axial step distance are configured according to an array formed by the circumferential thickness distribution information and the spatial coordinates of the corresponding parts.

5. The surgical instrument irrigation system of claim 4, wherein, After the cutting and flushing module performs flushing in the preset mode, the image recognition module is further configured to identify each part of the surgical instrument and determine whether it is clean.

6. The surgical instrument irrigation system of claim 1, wherein, The control module is configured to control the cutting and flushing module to perform flushing on the next part of the surgical instrument in a predetermined order after the image recognition module obtains cleaning determination information of a certain part of the surgical instrument. The surgical instrument flushing system further comprises a base, a clamping module, and a movement module, and the image acquisition module, the distance measurement module, and the cutting and flushing module are arranged on the base. The clamping module and the movement module are configured to drive the base to move, so as to adjust the position and angle of the image acquisition module, the distance measurement module, and the cutting and flushing module relative to the surgical instrument.

7. The surgical instrument irrigation system of claim 1, wherein, ​ 8. The surgical instrument irrigation system of claim 1, wherein, The surgical instrument flushing system further comprises a display module configured to display type information of the surgical instrument and to display completion information when flushing of the current surgical instrument is completed.

9. A surgical instrument rinsing method applied to the surgical instrument rinsing system according to any one of claims 1 to 8, characterized by, The method comprises: acquiring image information of a surgical instrument; identifying the image information and identifying type information of the surgical instrument and type information of adhesion tissue; acquiring spatial coordinates of the adhesion tissue and performing flushing according to a preset mode based on the type information of the surgical instrument and the type information of the adhesion tissue and the spatial coordinates of the adhesion tissue.

10. A readable storage medium, having stored thereon a program, characterized in that, The program is executed to implement the steps of the surgical instrument flushing method according to claim 9.

Images