Flexible laser scalpel electromagnetic drive integrated system

Abstract

The application discloses a flexible laser scalpel electromagnetic drive control integrated system, which comprises a man-machine interaction module, a current control module, a variable excitation module, a laser scalpel head module and a detection module.The man-machine interaction module is used for generating a doctor's control instruction and delivering the control instruction to the current control module.The current control module is used for controlling the size and direction of excitation current input into the variable excitation module.The variable excitation module is used for generating a variable magnetic field according to the size and direction of excitation current.The laser scalpel head module is used for generating laser and steering laser beams under the action of the variable magnetic field.The detection module is used for detecting image information, superimposing variable magnetic field information and static magnetic field information excited by a permanent magnet to obtain magnetic field information, and delivering the detection image information and the magnetic field information to the computer module.The computer module is connected with the man-machine interaction module, the current control module and the detection module, and is used for visualizing, calculating an image positioning algorithm and calculating a permanent magnet position inverse algorithm according to the detection image information and the magnetic field information.

Description

Technical Field

[0001] This invention relates to the field of laser scalpel technology, specifically to a flexible laser scalpel electromagnetic drive and control integrated system. Background Technology

[0002] Laser microsurgery has been applied to various medical surgical procedures in recent years, such as transoral pharyngeal microsurgery, transurethral resection of the prostate, and refractive surgery. Minimal tissue trauma, shorter postoperative recovery time, and better recovery outcomes are the main advantages of laser microsurgery compared to traditional manual minimally invasive surgery.

[0003] Electromagnetically driven catheter-based interventional surgery involves fixing a magnet or ferromagnetic marker at the end of a microcatheter or guidewire. The spatial gradient of the magnetic field exerts force and torque on the magnet or ferromagnetic marker at the catheter tip, achieving guidance and control of the catheter tip. While existing electromagnetically driven interventional surgical robot technology allows for remote control of the robot, its reliance on radiation navigation technology introduces the adverse effects of long-term patient exposure to radiation. Furthermore, the large size of the external magnet, the inability to perform three-dimensional spatial positioning, the relatively long response time of the entire system, the slightly lower support strength at the catheter tip, and the slightly poor controllability of the generated external magnetic field are also current technical challenges for electromagnetically driven catheter-based interventional surgical robots. Currently, electromagnetically driven catheter-based interventional robots generally use feedforward control, resulting in low system stability and reliability. Addressing this issue has become a research hotspot in the field of electromagnetically driven catheter-based interventional robots. Summary of the Invention

[0004] This invention is made to solve the above-mentioned problems, and aims to provide a flexible laser scalpel electromagnetic drive and control integrated system that can efficiently complete tissue ablation tasks, has a compact structure, and can achieve accurate control through real-time error compensation.

[0005] This invention provides an integrated electromagnetic drive and control system for a flexible laser scalpel, characterized by the following features: a human-computer interaction module for generating control commands from the doctor and transmitting these commands to a current control module; a current control module for receiving the control commands and controlling the magnitude and direction of the excitation current supplied to a variable excitation module according to the control commands; a variable excitation module connected to the current control module for generating a variable magnetic field according to the magnitude and direction of the excitation current; a laser scalpel tip module connected to the variable excitation module for generating laser light and directing the laser beam under the influence of the variable magnetic field; a detection module for detecting image information and superimposing the variable magnetic field and the static magnetic field information excited by a permanent magnet to obtain magnetic field information, and transmitting the detected image information and magnetic field information to a computer module; and a computer module connected to the human-computer interaction module, the current control module, and the detection module for performing visualization, image positioning algorithm calculation, and permanent magnet position inverse kinematics algorithm calculation based on the detected image information and magnetic field information.

[0006] The flexible laser surgical scalpel electromagnetic drive and control integrated system provided by this invention may also have the following feature: the variable excitation module includes multiple excitation units, all fixed inside the outer shell, and the multiple excitation units are uniformly and symmetrically distributed around the permanent magnet. The variable excitation module establishes a uniformly distributed variable magnetic field in its central region.

[0007] The flexible laser scalpel electromagnetic drive and control integrated system provided by the present invention may also have the following feature: wherein the current control module controls the magnitude and direction of the current supplied to the variable excitation module, thereby controlling the magnitude and direction of the magnetic field generated by the variable excitation module.

[0008] The flexible laser surgical scalpel electromagnetic drive and control integrated system provided by this invention also has the following feature: When energized, the variable excitation module controls the movement of the permanent magnet by adjusting the magnitude and direction of the magnetic field it generates. The movement of the permanent magnet causes the flexible optical fiber to deflect, thereby achieving the purpose of controlling the deflection of the laser beam.

[0009] The flexible laser scalpel electromagnetic drive and control integrated system provided by the present invention may also have the following feature: the detection module includes a vision unit or a magnetic detection unit, which respectively realizes the visual feedback and magnetic feedback of the system.

[0010] The flexible laser scalpel electromagnetic drive and control integrated system provided by this invention may also have the following features: the vision unit consists of an illumination lamp for illumination and a camera for visualization. The specific implementation method of visual feedback is as follows: Step A, both the illumination lamp and the camera are fixed inside the housing, and the image of the surgical site is obtained through the illumination lamp and the camera and transmitted to the computer module; Step B, the correspondence between the coordinate system of the laser spot and the image coordinate system is obtained through camera calibration; Step C, the position of the laser spot in the image coordinate system is obtained through image algorithm, and the actual position of the laser spot is obtained according to the correspondence between the coordinate system of the laser spot and the image coordinate system; Step D, the computer module issues a new control command to the current control module based on the result of comparing the spot movement position obtained by inverse solution with the predetermined trajectory to achieve error compensation.

[0011] The integrated electromagnetic drive and control system for flexible laser surgical scalpels provided by this invention may also have the following features: the magnetic detection unit consists of a magnetic detection sensor array for detecting the position of a permanent magnet, and the specific implementation method of magnetic feedback is as follows: Step a, the marker permanent magnet is fixed on the flexible optical fiber, and the magnetic detection sensor array is fixed on the outer shell; Step b, a mapping relationship is established between the spatial magnetic field distribution excited by the marker permanent magnet and the position and attitude parameters of the marker permanent magnet; Step c, the magnetic flux density distribution at the location of the magnetic detection sensor array is measured based on the magnetic detection sensor array, and the magnetic field at the magnetic detection sensor array is composed of the variable magnetic field excited by the variable excitation module and the static magnetic field excited by the marker permanent magnet; Step d, the flexible optical fiber is regarded as a cantilever beam, and the position information of the permanent magnet fixed on the flexible optical fiber is combined with the position and attitude parameters of the permanent magnet movement to obtain the movement position of the free end of the flexible optical fiber; Step e, the computer module issues a new control command to the current control module based on the result of comparing the movement position of the free end of the flexible optical fiber obtained by inverse solution with the predetermined trajectory to achieve error compensation.

[0012] The flexible laser scalpel electromagnetic drive and control integrated system provided by this invention may also have the following features: The workflow of the flexible laser scalpel electromagnetic drive and control integrated system specifically includes the following steps: Step 1, preparation: The surrounding area of ​​the lesion tissue is visualized using a lighting lamp and camera, allowing the doctor to accurately obtain the area to be ablated through the image; Step 2, based on the image, the doctor converts the predetermined ablation trajectory into control commands through the human-computer interaction module and transmits them to the current control module; Step 3, the current control module converts the obtained control commands into corresponding currents and supplies the current to the variable excitation module; Step 4, the variable excitation module controls the movement of the permanent magnet by adjusting the magnitude and direction of the magnetic field it generates. Step 5: The laser beam is focused on the ablation area planned by the doctor after passing through the focusing collimator. Step 6: The detection module transmits the image information of the patient's surgical site acquired by the vision unit and the magnetic field information acquired by the magnetic detection unit to the computer module. The computer module obtains the position of the light spot movement according to the image positioning algorithm, solves the movement position of the free end of the flexible fiber according to the inverse kinematics algorithm of the permanent magnet, and compares the position information with the predetermined trajectory. The comparison result is used to give new control commands to the current control module, thereby realizing error compensation. Step 7: After the ablation is completed, the laser generator is turned off. Step 8: The laser scalpel is retracted and the relevant accessories are cleaned for subsequent use.

[0013] The role and effect of invention

[0014] The flexible laser scalpel electromagnetic drive and control integrated system according to the present invention comprises: a human-machine interaction module for generating control commands from the doctor and transmitting the control commands to a current control module; a current control module for receiving control commands and controlling the magnitude and direction of the excitation current supplied to the variable excitation module according to the control commands; a variable excitation module connected to the current control module for generating a variable magnetic field according to the magnitude and direction of the excitation current; a laser scalpel head module connected to the variable excitation module for generating laser and directing the laser beam under the action of the variable magnetic field; a detection module for detecting image information and superimposing the variable magnetic field and the static magnetic field information excited by the permanent magnet to obtain magnetic field information, and transmitting the detected image information and magnetic field information to a computer module; and a computer module connected to the human-machine interaction module, the current control module, and the detection module for performing visualization, image positioning algorithm calculation, and permanent magnet position inverse algorithm calculation based on the detected image information and magnetic field information.

[0015] Therefore, the beneficial effects of this invention are: This invention uses a high-power-density laser as the energy transmission medium, enabling ablation of pathological areas that are difficult to reach with traditional surgery. The laser position control of this invention is intuitive, the drive mechanism is compactly designed, and optical lenses are used to focus the laser onto the tissue to be ablated, achieving non-contact tissue ablation. This invention scans the laser at the tip of the endoscope to achieve high-quality tissue ablation. This invention uses a detection module to transmit the laser spot position to a computer, which compares this position information with the ideal laser spot trajectory, performing real-time error correction to ultimately achieve accurate laser position control. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the operation of the electromagnetic drive and control integrated system for flexible laser surgical scalpel in Embodiment 1 of the present invention;

[0017] Figure 2 This is a schematic diagram of the integrated electromagnetic drive and control system for the flexible laser scalpel in Embodiment 1 of the present invention;

[0018] Figure 3 This is a schematic diagram of the overall structure of the flexible laser scalpel electromagnetic drive and control integrated system in Embodiment 1 of the present invention;

[0019] Figure 4 This is a schematic diagram of the integrated electromagnetic drive and control system for the flexible laser surgical scalpel in Embodiment 2 of the present invention; and

[0020] Figure 5 This is a schematic diagram of the excitation unit structure in Embodiment 3 of the present invention. Detailed Implementation

[0021] To make the technical means, creative features, objectives and effects of this invention easy to understand, the following embodiments, in conjunction with the accompanying drawings, provide a detailed description of the integrated electromagnetic drive and control system for flexible laser surgical scalpels of this invention.

[0022] Example 1

[0023] This embodiment provides a flexible laser scalpel electromagnetic drive and control integrated system 100.

[0024] Figure 1 This is a schematic diagram of the operation of the integrated electromagnetic drive and control system for the flexible laser scalpel in Embodiment 1 of the present invention.

[0025] Figure 2 This is a schematic diagram of the integrated electromagnetic drive and control system for the flexible laser scalpel in Embodiments 1 and 2 of the present invention.

[0026] Figure 3 This is a schematic diagram of the overall structure of the integrated electromagnetic drive and control system for the flexible laser scalpel in Embodiment 1 of the present invention.

[0027] like Figures 1-3 As shown, the flexible laser scalpel electromagnetic drive and control integrated system 100 of this embodiment includes a flexible human-computer interaction module 10, a current control module 20, a variable excitation module 30, a laser scalpel head module 40, a detection module 50, and a computer module 60.

[0028] The human-computer interaction module 10 is used to generate control commands for the doctor and transmit these commands to the current control module 20. In this embodiment, the human-computer interaction module 10 is a tablet computer 11.

[0029] The current control module 20 receives control commands and controls the magnitude and direction of the excitation current supplied to the variable excitation module 30 according to the control commands, thereby controlling the magnitude and direction of the magnetic field generated by the variable excitation module 30. In this embodiment, the current control module 20 is a microcontroller 21.

[0030] The variable excitation module 30 is connected to the current control module 20 and is used to establish a uniformly distributed variable magnetic field in its central region according to the magnitude and direction of the excitation current. The variable excitation module 30 includes an excitation unit 31, which consists of four coil fixing platforms 311 and four excitation coils 312. The inner diameter of the coil fixing platforms 311 is the same as that of the excitation coils 312, and they are used to fix the excitation coils 312. The four coil fixing platforms 311 are orthogonally fixed on the outer shell 44 and symmetrically distributed around the permanent magnet 42.

[0031] The laser scalpel tip module 40 is connected to the variable excitation module 30 to generate laser light and steer the laser beam 46 under the influence of a variable magnetic field. The laser scalpel tip module 40 includes a flexible optical fiber 41, a permanent magnet 42, a laser generator 43, a housing 44, a focusing collimating lens 45, and a laser beam 46.

[0032] When powered on, the variable excitation module 30 controls the movement of the permanent magnet 42 by adjusting the magnitude and direction of the magnetic field it generates. The movement of the permanent magnet 42 causes the flexible optical fiber 41 to deflect, thereby controlling the laser beam deflection. The specific implementation process is as follows:

[0033] The microcontroller 21 can control the magnitude and direction of the magnetic field generated by the excitation coil 312 by controlling the magnitude and direction of the current flowing through it. When the current I flows through the four symmetrically distributed electromagnetic coils 312, a magnetic field with a magnetic flux density of B can be generated. Under the action of this magnetic field, the permanent magnet 42 will be subjected to force and torque. The magnetic force F on the permanent magnet 42 at the magnetic dipole moment M of the excitation coil 312 is equal to the gradient of the magnetic potential energy at that point, as shown in formula (1). The magnetic torque T is equal to the cross product of the magnetic dipole moment M and the magnetic flux density B, as shown in formula (2).

[0034]

[0035] T = M × B (2)

[0036] When four symmetrically distributed excitation coils 312 are energized, a uniformly distributed magnetic field is established in their central region. Since the magnetic field variation is small, the effect of the magnetic force F on the permanent magnet 42 can be ignored, and only the effect of the magnetic torque T is considered. The permanent magnet 42 is fixed to the flexible optical fiber 41, and the non-free end of the flexible optical fiber 41 is fixedly installed on the bottom surface of the cylindrical shell 44, thus forming a cantilever beam structure. Under the assumptions of the cantilever beam mechanical model, a beam with length L, elastic modulus E, and moment of inertia I... m The relationship between the cross-sectional rotation angle α of the flexible optical fiber and the magnitude of the magnetic torque T it experiences:

[0037]

[0038] As can be seen from formula (3), the cross-sectional rotation angle α of the cantilever fiber is linearly related to the magnetic torque T. Therefore, by controlling the magnitude and direction of the magnetic torque acting on the permanent magnet 42, the deflection angle and direction of the flexible fiber 41 can be controlled.

[0039] The laser generated by the laser generator 43 is transmitted through the flexible optical fiber 41. Since the laser beam transmitted through the flexible optical fiber 41 is divergent, a focusing collimating lens 45 needs to be added to the front of the free end of the flexible optical fiber 41. The focusing collimating lens 45 consists of two convex lenses. The convex lens closer to the free end of the fiber is placed at a distance from the focal length of the free end of the fiber, and the lens closer to the area to be ablated is placed at a distance from the focal length of the area to be ablated. The laser beam is focused by the focusing collimating lens 45, forming a small-diameter laser spot with ablation capability in the area to be ablated.

[0040] The detection module 50 is used to detect image information and superimpose the information of the variable magnetic field and the static magnetic field excited by the permanent magnet 42 to obtain magnetic field information, and then transmits the detected image information and magnetic field information to the computer module 60. In this embodiment, the detection module 50 is a vision unit 51, which is used to realize the visual feedback of the system.

[0041] The visual unit 51 consists of a lighting lamp 511 for illumination and a camera 512 for visualization. The specific implementation method of visual feedback is as follows:

[0042] Step A: Fix both the illumination lamp 511 and the camera 512 inside the housing, obtain images of the surgical site through the illumination lamp and the camera, and transmit them to the computer module.

[0043] Step B involves obtaining the correspondence between the coordinate system of the laser spot and the image coordinate system through camera 512 calibration.

[0044] Step C: Obtain the position of the laser spot in the image coordinate system through an image algorithm, and then obtain the actual position of the laser spot based on the correspondence between the coordinate system of the laser spot and the image coordinate system.

[0045] In step D, the computer module 60 issues a new control command to the current control module 20 based on the comparison between the spot movement position obtained from the inverse solution and the predetermined trajectory, thereby achieving error compensation.

[0046] The computer module 60 is connected to the human-computer interaction module 10, the current control module 20, and the detection module 50, and is used to perform visualization, image positioning algorithm calculation, and permanent magnet position inverse algorithm calculation based on the detected image information and magnetic field information. In this embodiment, the computer module 60 is a computer 61.

[0047] The workflow of the flexible laser surgical scalpel electromagnetic drive and control integrated system 100 in this embodiment specifically includes the following steps:

[0048] Step S1, preparation: using a light and camera to visualize the area surrounding the lesion at 70 sites, the doctor can accurately determine the area to be ablated based on the image seen.

[0049] In step S2, based on the image, the doctor converts the predetermined ablation trajectory into control instructions via the tablet computer 11 and transmits them to the microcontroller 21.

[0050] In step S3, the microcontroller 21 converts the obtained control command into a corresponding current and passes the current into the excitation coil 312.

[0051] Step S4: The movement of the permanent magnet 42 is controlled by adjusting the magnitude and direction of the magnetic field generated by the excitation coil 312. The movement of the permanent magnet 42 causes the flexible optical fiber 41 to deflect, thereby achieving the purpose of controlling the deflection of the laser beam.

[0052] In step S5, the laser beam 46 is focused on the area to be ablated by the doctor after passing through the focusing collimator 45.

[0053] Step S6: First, a global coordinate system is established based on the spatial geometric orthogonal centers of the four excitation coils 312. Simultaneously, local coordinate systems are established based on the tablet computer 11 and the permanent magnet 42, respectively. The position of the laser spot formed after passing through the focusing collimating lens 45 is described in the local coordinate system based on the permanent magnet 42. The transformation relationship between the two local coordinate systems can be obtained through camera 512 calibration. Then, the position of the laser spot in the local coordinate system based on the permanent magnet 42 is obtained according to the image positioning algorithm. Based on the transformation relationship between the two local coordinate systems, the position of the laser spot in the local coordinate system based on the tablet computer 11 can be obtained. Finally, the computer 61 sends new control commands to the microcontroller 21 based on the result of comparing the inversely solved spot motion position with the predetermined trajectory to achieve error compensation.

[0054] Step S7: After ablation is completed, turn off the laser generator 43.

[0055] Step S8: Retract the laser scalpel and clean the related accessories for future use.

[0056] Example 2

[0057] This embodiment provides a flexible laser scalpel electromagnetic drive and control integrated system 200.

[0058] Figure 4 This is a schematic diagram of the integrated electromagnetic drive and control system for a flexible laser scalpel in Embodiment 2 of the present invention.

[0059] like Figure 4 As shown, the structure and workflow of the flexible laser scalpel electromagnetic drive and control integrated system 200 in this embodiment are basically the same as those in Embodiment 1. The difference is that the detection module 50' in this embodiment is a magnetic detection unit 52, which is used to realize the magnetic feedback of the system. The magnetic detection unit 52 in this embodiment includes two magnetic sensors 521.

[0060] In this embodiment, the specific implementation method of magnetic feedback is as follows:

[0061] Step a: Mark the permanent magnet 42 and fix it on the flexible optical fiber 41, and fix the two magnetic sensors 521 on the outer shell 6.

[0062] Step b: Establish the mapping relationship between the spatial magnetic field distribution excited by the marked permanent magnet 42 and the position and attitude parameters of the marked permanent magnet 42.

[0063] Step c involves measuring the magnetic flux density distribution at the location of the magnetic detection sensor array. The magnetic field at the magnetic detection sensor array is composed of a variable magnetic field excited by the variable excitation module 30 and a static magnetic field excited by the marker permanent magnet 42. The computer 61 subtracts the magnetic flux density generated by the excitation coil 312 from the magnetic flux density formed by this superposition to obtain the magnetic flux density excited by the permanent magnet 11.

[0064] The marked permanent magnet 42 is modeled using a magnetic dipole model. Equation (4) describes the relationship between the spatial magnetic field distribution excited by the marked permanent magnet 42 and the spatial position of the marked permanent magnet:

[0065]

[0066] Where M = mm(A·m) 2 ) represents the magnetic dipole moment, m(A·m) is the intensity of the magnetic dipole moment, and m(m) is a unit vector characterizing the direction of the magnetic dipole moment; μ0(N / A) 2 ) represents the vacuum permeability; r is the vector from the magnetic dipole to the measurement point, and r(m) is the distance between the two points.

[0067] The magnetic flux density B of the permanent magnet at sensor position i i The expression is:

[0068]

[0069] Where, r i Let p be the vector distance from the permanent magnet to sensor i, x be the vector distance from the spatial geometric orthogonal center of the four excitation coils 31 to the position of the permanent magnet, and p be the vector distance from the permanent magnet to the sensor i. i The vector distance from the spatial geometric orthogonal center of the four excitation coils 31 to the position of sensor i is given.

[0070]

[0071] Substituting equation (6) into equation (5), we get

[0072]

[0073] In this embodiment, two triaxial magnetoresistive sensors are selected. The above equation set (7) contains 6 equations and 6 unknown parameters. It belongs to a statically indeterminate nonlinear equation set, which is difficult to solve directly. Therefore, a nonlinear numerical optimization method is adopted. First, the target error function is constructed. According to formula (4), the theoretical magnetic induction intensities B1 and B2 of the permanent magnet at the two sensors can be obtained. At the same time, the actual magnetic induction intensities B1' and B2' measured by the sensors are obtained. By subtracting the measured values ​​from the theoretical values, the target error function is obtained as follows:

[0074]

[0075] Where j represents the coordinate axes (x, y, z), B ij 'and B ij Let represent the measured and theoretical values ​​of the magnetic flux density of sensor i on the j-th axis, respectively.

[0076]

[0077] Where x = (a, b, c, m, n, p), it belongs to a nonlinear least squares problem. The Levenberg-Marquardt algorithm is a fundamental method for solving nonlinear least squares problems and has been proven to have high positioning accuracy in previous studies. Therefore, this invention selects this algorithm to solve the nonlinear equation system (7) and constructs a position recognition model for the permanent magnet.

[0078] Step d: Treat the flexible optical fiber 41 as a cantilever beam, and combine the position information of the permanent magnet 42 fixed to the flexible optical fiber 41, the motion position of the free end of the flexible optical fiber is obtained through the position and attitude parameters of the permanent magnet 42.

[0079] In step e, the computer module 60 issues a new control command to the microcontroller 21 based on the result of comparing the free end motion position of the flexible optical fiber 41 obtained by inverse kinematics with the predetermined trajectory, thereby achieving error compensation.

[0080] The workflow of the flexible laser scalpel electromagnetic drive and control integrated system 200 in this embodiment is similar to that in embodiment 1, except that a magnetic sensor 521 is used as the detection module 50' in step S6.

[0081] Example 3

[0082] This embodiment provides a flexible laser scalpel electromagnetic drive and control integrated system 300.

[0083] Figure 5 This is a schematic diagram of the excitation unit structure in Embodiment 3 of the present invention.

[0084] The structure and workflow of the flexible laser scalpel electromagnetic drive and control integrated system 300 in this embodiment are basically the same as those in Embodiment 1, such as... Figure 5 As shown, the difference is that the excitation unit 31 in this embodiment is composed of eight coil fixing platforms 311 and eight excitation coils 312. Compared with four excitation coils generating the same magnetic field strength, this embodiment requires less current.

[0085] Eight excitation coils 312 are symmetrically and evenly fixed on a coil mounting platform 311. The coil mounting platform 311 consists of eight cylinders with the same inner diameter as the excitation coils 312. By controlling the magnitude and direction of the current flowing through the excitation coils 312, the deflection magnitude and direction of the permanent magnet 42 can be controlled, thereby achieving control over the deflection angle and direction of the flexible optical fiber 41. If the same magnitude of current is applied to the eight excitation coils as to the four excitation coils, the system working space of the eight-excitation coil design scheme is larger.

[0086] Example 4

[0087] This embodiment provides a flexible laser scalpel electromagnetic drive and control integrated system 400.

[0088] The structure and workflow of the flexible laser scalpel electromagnetic drive and control integrated system 400 in this embodiment are basically the same as those in Embodiment 1. The difference is that the human-computer interaction module 10 in this embodiment does not use a tablet computer for operation, but is controlled by a joystick device.

[0089] The telescopic device is connected to the microcontroller 21. The doctor uses the vision unit 51 to obtain an image of the lesion tissue to be ablated and uses the telescopic device to plan the ablation trajectory of the laser. During the movement of the laser spot, the system uses the image information data obtained through the vision unit 51 and combines it with a visual positioning algorithm to obtain the real-time position of the spot. The real-time position of the spot is compared with the spot movement trajectory planned by the remote control device, and error compensation is performed based on the comparison result.

[0090] Example 5

[0091] This embodiment provides a flexible laser scalpel electromagnetic drive and control integrated system 500.

[0092] The structure and workflow of the flexible laser scalpel electromagnetic drive and control integrated system 500 in this embodiment are basically the same as those in Embodiment 1. The difference is that the variable excitation module 30 in this embodiment is composed of an electromagnet unit.

[0093] The permanent magnet 42 is fixed to the optical fiber 41, and four excitation coils 312 are orthogonally distributed inside the outer casing 44. Unlike Embodiment 1, an iron core is added between the excitation coils 312. The core is mainly made of soft magnetic materials, and the excitation coils 312 are wound around the iron core to form an electromagnet. Its working principle is exactly the same as in Embodiment 1, but compared to a single excitation coil, the electromagnet can generate a stronger magnetic field with the same input current, and the magnetic torque on the permanent magnet 42 is also greater. Therefore, the current required to bend the optical fiber to the same degree is smaller, reducing the heat generated by the system.

[0094] The role and effect of the embodiments

[0095] The flexible laser scalpel electromagnetic drive and control integrated system according to the above embodiments includes: a human-machine interaction module for generating control commands from the doctor and transmitting them to a current control module; a current control module for receiving control commands and controlling the magnitude and direction of the excitation current supplied to the variable excitation module according to the control commands; a variable excitation module connected to the current control module for generating a variable magnetic field according to the magnitude and direction of the excitation current; a laser scalpel head module connected to the variable excitation module for generating laser light and directing the laser beam under the action of the variable magnetic field; a detection module for detecting image information and superimposing the variable magnetic field and the static magnetic field information excited by the permanent magnet to obtain magnetic field information, and transmitting the detected image information and magnetic field information to a computer module; and a computer module connected to the human-machine interaction module, the current control module, and the detection module for performing visualization, image positioning algorithm calculation, and permanent magnet position inverse algorithm calculation based on the detected image information and magnetic field information.

[0096] Therefore, the beneficial effects of the above embodiments are as follows: The above embodiments use high-power-density lasers as the energy transmission medium, enabling ablation of pathological areas that are difficult to reach with traditional surgery. The laser position control method of the above embodiments is intuitive, the drive mechanism is compactly designed, and optical lenses are used to focus the laser onto the tissue to be ablated, achieving non-contact tissue ablation. The above embodiments scan the laser at the tip of the endoscope to achieve high-quality tissue ablation. The above embodiments use a detection module to transmit the laser spot position to the computer, which compares this position information with the ideal laser spot trajectory, performs real-time error correction, and ultimately achieves accurate control of the laser position.

[0097] The above embodiments are preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention.

Claims

1. A flexible laser surgical scalpel electromagnetic drive and control integrated system, characterized in that, include: The human-computer interaction module is used to generate control commands from the doctor and transmit the control commands to the current control module; A current control module is used to receive the control command and control the magnitude and direction of the excitation current supplied to the variable excitation module according to the control command. A variable excitation module, connected to the current control module, is used to generate a variable magnetic field according to the magnitude and direction of the excitation current; The laser scalpel tip module is connected to the variable excitation module and is used to generate laser light and steer the laser beam under the action of the variable magnetic field. The detection module is used to detect image information and superimpose the information of the variable magnetic field and the static magnetic field excited by the permanent magnet to obtain magnetic field information, and then transmit the detected image information and the magnetic field information to the computer module. The detection module includes a vision unit or a magnetic detection unit, which respectively realizes the visual feedback and magnetic feedback of the system. The visual unit consists of a lighting lamp for illumination and a camera for visualization. The specific implementation method of the visual feedback is as follows: Step A: Fix both the lighting lamp and the camera inside the housing, obtain images of the surgical site through the lighting lamp and the camera, and transmit them to the computer module; Step B: Obtain the correspondence between the coordinate system where the laser spot is located and the image coordinate system through the camera calibration; Step C: Obtain the position of the laser spot in the image coordinate system through an image algorithm, and then obtain the actual position of the laser spot according to the correspondence between the coordinate system of the laser spot and the image coordinate system; Step D: Based on the comparison between the spot movement position obtained from the inverse solution and the predetermined trajectory, the computer module issues a new control command to the current control module to achieve error compensation. The magnetic detection unit consists of a magnetic sensor array for detecting the position of the permanent magnet, and the specific implementation method of the magnetic feedback is as follows: Step a, the permanent magnet is marked and fixed on the flexible optical fiber, and the magnetic detection sensor array is fixed on the outer shell; Step b: Establish the mapping relationship between the spatial magnetic field distribution excited by the marked permanent magnet and the position and attitude parameters of the marked permanent magnet; Step c: Measure the magnetic flux density distribution at the location of the magnetic detection sensor array. The magnetic field at the magnetic detection sensor array is composed of a variable magnetic field excited by the variable excitation module and a static magnetic field excited by the marker permanent magnet. Step d: Treat the flexible optical fiber as a cantilever beam, and combine the position information of the permanent magnet fixed to the flexible optical fiber to obtain the motion position of the free end of the flexible optical fiber through the position and attitude parameters of the permanent magnet's movement. Step e: Based on the comparison between the free end position of the flexible optical fiber obtained from the inverse kinematics and the predetermined trajectory, the computer module issues a new control command to the current control module to achieve error compensation. The computer module, connected to the human-computer interaction module, the current control module, and the detection module, is used to perform visualization, image positioning algorithm calculation, and permanent magnet position inverse algorithm calculation based on the detected image information and the magnetic field information.

2. The integrated electromagnetic drive and control system for flexible laser surgical scalpels according to claim 1, characterized in that: in, The variable excitation module includes multiple excitation units, all fixed inside the housing, and the multiple excitation units are evenly and symmetrically distributed around the permanent magnet. The variable excitation module establishes a uniformly distributed variable magnetic field in its central region.

3. The integrated electromagnetic drive and control system for flexible laser surgical scalpels according to claim 1, characterized in that: in, The current control module controls the magnitude and direction of the magnetic field generated by the variable excitation module by controlling the magnitude and direction of the current supplied to the variable excitation module.

4. The integrated electromagnetic drive and control system for flexible laser surgical scalpels according to claim 1, characterized in that: in, When powered on, the variable excitation module controls the movement of the permanent magnet by adjusting the magnitude and direction of the magnetic field it generates. The movement of the permanent magnet causes the flexible optical fiber to deflect, thereby achieving the purpose of controlling the deflection of the laser beam.

5. The integrated electromagnetic drive and control system for flexible laser surgical scalpels according to claim 1, Its features are: The workflow of the integrated electromagnetic drive and control system for flexible laser surgical scalpels includes the following steps: Step 1, preparation: The area surrounding the lesion is visualized using a light and camera, allowing the doctor to accurately determine the area to be ablated based on the image seen. Step 2: Based on the image, the doctor converts the predetermined ablation trajectory into control commands through the human-computer interaction module and transmits them to the current control module; Step 3: The current control module converts the obtained control command into a corresponding current and supplies the current to the variable excitation module; Step 4: The variable excitation module controls the movement of the permanent magnet by adjusting the magnitude and direction of the magnetic field it generates. The movement of the permanent magnet causes the flexible optical fiber to deflect, thereby achieving the purpose of controlling the laser beam deflection. Step 5: The laser beam is focused on the area to be ablated by the doctor after passing through the focusing collimating lens; Step 6: The detection module transmits the image information of the patient's surgical site acquired by the vision unit and the magnetic field information acquired by the magnetic detection unit to the computer module. The computer module obtains the position of the light spot movement according to the image positioning algorithm, solves the movement position of the free end of the flexible optical fiber according to the permanent magnet position inverse algorithm, and compares the position information with the predetermined trajectory. The comparison result is used to give the current control module a new control command, thereby realizing error compensation. Step 7: After ablation is complete, turn off the laser generator; Step 8: Retrieve the laser scalpel and clean the related accessories for future use.

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