A minimally invasive instrument control system and method for surgical operating room

Abstract

The present invention relates to the technical field of minimally invasive instrument control, and in particular, to a minimally invasive instrument control system and method for surgical operating rooms. The system comprises a master hand operation module, an operation position monitoring module and a tactile feedback module. The present invention controls the contact between a tactile operating arm and a lesion through a tactile feedback module, obtains contact feedback, and sends the contact feedback to the master hand operation module, controls the vibration feedback of a vibration instrument built into the master hand operation module, and feeds back vibrations in real time to the hand through a hand joint encoder held by a doctor by referring to the vibration mode matched with the lesion area, determines the hardness of the lesion area currently contacted by the tactile operating arm, and cooperates with the intraoperative patient lesion image displayed in real time by a 3D image real-time display module to predict the state of the lesion operation point, provide tactile feedback for doctors performing remote surgery, further improve the accuracy of the surgery, and assist doctors in performing surgical operations.

Description

Technical Field

[0001] The present invention relates to the technical field of minimally invasive instrument control, and in particular to a minimally invasive instrument control system and method for a surgical operating room. Background Art

[0002] Robot-assisted minimally invasive surgery can reduce the trauma of patients and shorten the time of postoperative recovery, so it is favored by patients. The traditional minimally invasive instrument control system in surgical operating rooms controls instruments and equipment through computers to guide precision tools into the body for precise surgery and treatment. It usually consists of the following three parts:

[0003] First, the developer and audio-visual system: The developer uses a high-resolution camera to transmit the image of the surgical area to the monitor, and the audio-visual system provides audio support, allowing the surgeon to perceive the sound and clearly understand the operation of the surgical instruments.

[0004] Second, controllers and surgical instruments: Controllers and surgical instruments are the main tools for surgical operations. Doctors can use these controllers to remotely control surgical instruments.

[0005] Third, computer system: The computer is responsible for the movement of the controller and surgical instruments, ensuring their accuracy, smoothness and reliability. After the computer and other above-mentioned devices are connected to the network, the surgeon can use the navigation system to accurately locate the operation to ensure the correct surgical position.

[0006] However, during the remote control process of existing minimally invasive instruments in surgical operating rooms, doctors cannot directly obtain tactile feedback, which affects the doctors' judgment during the operation. Doctors are also unable to intuitively determine the deformation state caused by the contact between the surgical instrument and the lesion, which can easily lead to errors in the next step of the doctor's operation and affect subsequent surgical operations.

[0007] In order to address the above problems, a minimally invasive instrument control system and method for a surgical operating room is urgently needed. Summary of the invention

[0008] The object of the present invention is to provide a minimally invasive instrument control system and method for a surgical operating room to solve the problems raised in the above-mentioned background technology.

[0009] To achieve the above-mentioned object, one of the objects of the present invention is to provide a minimally invasive instrument control system for a surgical operating room, comprising a human-computer interaction platform, an operating arm control module, an operating position monitoring module and a tactile feedback module;

[0010] The human-computer interaction platform includes a master hand operation module, a program control module, a foot information acquisition module and a 3D image real-time display module;

[0011] The master hand operation module is used to read the operation content of the doctor's hand joint encoder and obtain the doctor's hand movement information. The foot pedal information acquisition module is used to read the doctor's foot movement and determine the master-slave disconnection state and the switching control state. The program control module formulates corresponding program control information according to the doctor's hand movement information and the doctor's foot movement, and remotely sends it to the operating arm for control. The 3D image real-time display module is used to display the patient's lesion image during surgery and the position status of each operating arm in real time;

[0012] The operating arm control module is used to receive program control information and the doctor's foot movements, determine the operating arm, and control the operating arm to execute the program control information and perform the surgical operation;

[0013] The tactile feedback module controls the contact between the tactile operating arm and the lesion, obtains contact feedback, and sends the contact feedback to the main hand operation module to control the vibration instrument built into the main hand operation module to feedback vibration;

[0014] The operation position monitoring module is used to monitor the deformation state of the patient's lesion area and the contact area between the tactile operation arm and the lesion during surgery, and cooperates with the tactile feedback module to convert the contact feedback into an image simulation deformation state, which serves as a reference for the main hand operation module to match the vibration amplitude and is fed back to the 3D image real-time display module.

[0015] As a further improvement of the present technical solution, the tactile feedback module includes a force application point strength acquisition unit and a force point deformation amount monitoring unit. The force application point strength acquisition unit is used to obtain the force applied by the tactile operating arm in contact with the lesion, and the force point deformation amount monitoring unit is used to obtain the deformation state of the lesion after being subjected to the force.

[0016] As a further improvement of the technical solution, the tactile feedback module also includes a conventional feedback object simulation database, which is used to store the deformation states of different tissues after contact with the tactile operating arm and obtain feature points of the deformation area.

[0017] As a further improvement of the technical solution, the characteristic points of the deformation zone obtained in the conventional feedback object simulation database include the direct contact point sinking depth Dcp subsidence And the width of the edge of the depression area Wet sinkhold .

[0018] As a further improvement of the technical solution, the method for the force point deformation monitoring unit to obtain the deformation state of the lesion after the force is applied comprises the following steps:

[0019] Step 1: Use a micro-monitoring probe to obtain an image of the area before the tactile operating arm contacts the lesion, and locate the position of the contact point;

[0020] Step 2: Capture the direct contact point sinking depth Dcp after the tactile manipulator touches the lesion subsidence And the width of the edge of the depression area Wet sinkhole ;

[0021] Step 3: Compare the sinking depth Dcp of each direct contact point in the conventional feedback simulation database subsidence And the width of the edge of the depression area Wet sinkhole , get the error ratio Er ratio ;

[0022] Step 4: Define the error ratio threshold The deformation state meets the error ratio threshold The lesion area is marked as the reference lesion area.

[0023] As a further improvement of the technical solution, the stress point deformation monitoring unit obtains the deformation state of the lesion after the force is applied by using a threshold comparison algorithm, and the algorithm formula is as follows:

[0024] Dcp subsidence =Dcp edpoint -Dcp depth ;

[0025] Dcp edpoint =V0t1;

[0026] Dcp depth =V0t2;

[0027]

[0028] Among them, Dcp depth Dcp is the height from the micro-monitoring probe vertically emitting the monitoring light source to the lowest point of the tissue deformation zone. edpoint is the height from the micro-monitoring probe vertically emitting the monitoring light source to the edge point of the tissue deformation zone, V0 is the movement speed of the monitoring light source, t1 is the one-way time consumed by the micro-monitoring probe vertically emitting the monitoring light source to the lowest point of the tissue deformation zone, t2 is the one-way time consumed by the micro-monitoring probe vertically emitting the monitoring light source to the edge point of the tissue deformation zone, and α is the angle formed by the micro-monitoring probe from the edge point of the vertical tissue deformation zone to the relative edge point.

[0029] As a further improvement of the present technical solution, the main hand operation module includes a vibration level feedback unit and a vibration mode response unit. The vibration level feedback unit matches the corresponding vibration amplitude based on the deformation state of the lesion contact area, and the vibration mode response unit adapts to the doctor's usage status and selects the corresponding vibration mode.

[0030] The second object of the present invention is to provide a method for using a minimally invasive instrument control system in a surgical operating room, comprising the following method steps:

[0031] S1, the master hand operation module reads the operation content of the doctor's hand joint encoder to obtain the doctor's hand movement information;

[0032] S2, responding to the doctor's foot movements through the pedal information collection module, determining the operating arm that needs to be controlled, and the doctor remotely controls the started operating arm through the hand joint instrument to synchronously execute the program control information sent by the program control module;

[0033] S3, monitoring the deformation state of the patient's lesion area and the contact area between the tactile operating arm and the lesion through the operating position monitoring module, and feeding back to the 3D image real-time display module, and displaying the patient's lesion image and the position state of each operating arm in real time through the 3D image real-time display module;

[0034] S4, controlling the contact between the tactile operating arm and the lesion through the tactile feedback module, obtaining contact feedback, and sending the contact feedback to the main hand operation module;

[0035] S5. The vibration instrument built into the main hand operation module is used to respond to contact feedback and generate different vibration modes according to the contact feedback. The vibration mode is used to respond to the tactile feedback of the surgical instrument and the patient's lesion, and the intraoperative patient lesion image is displayed in real time in conjunction with the 3D image real-time display module.

[0036] Compared with the prior art, the present invention has the following beneficial effects:

[0037] In the minimally invasive instrument control system and method for surgical operating rooms, the contact between the tactile operating arm and the lesion is controlled by a tactile feedback module to obtain contact feedback, and the contact feedback is sent to the main hand operation module to control the vibration of the vibration instrument built into the main hand operation module to feedback vibration. By referring to the vibration pattern matched with the lesion area, the vibration pattern is fed back to the hand in real time through the hand joint encoder held by the doctor to determine the hardness of the lesion area currently contacted by the tactile operating arm, and the intraoperative patient lesion image displayed in real time by the 3D image real-time display module is used to predict the state of the lesion surgical point, provide tactile feedback to the doctor performing remote surgery, further improve the accuracy of the surgery, and assist the doctor in performing the surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is the overall structural diagram of the present invention;

[0039] Figure 2 It is a lesion area monitoring simulation diagram of the present invention;

[0040] Figure 3 This is a numerical reference diagram of characteristic points of the deformation zone of the present invention.

[0041] The meaning of each number in the figure is:

[0042] 10. Master hand operation module; 110. Vibration level feedback unit; 120. Vibration mode response unit (120);

[0043] 20. Program control module;

[0044] 30. Pedal information collection module;

[0045] 40. 3D image real-time display module;

[0046] 50. Manipulator arm control module;

[0047] 60. Operation position monitoring module;

[0048] 70. Tactile feedback module; 710. Force point strength acquisition unit; 720. Force point deformation monitoring unit. DETAILED DESCRIPTION

[0049] The following will be combined with the accompanying drawings in the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0050] See also Figure 1 As shown, one of the purposes of the present invention is to provide a minimally invasive instrument control system for a surgical operating room, including a human-computer interaction platform, an operating arm control module 50, an operating position monitoring module 60, and a tactile feedback module 70;

[0051] The human-computer interaction platform includes a master hand operation module 10, a program control module 20, a foot information acquisition module 30 and a 3D image real-time display module 40;

[0052] The master hand operation module 10 is used to read the operation content of the doctor's hand joint encoder and obtain the doctor's hand movement information. The foot pedal information acquisition module 30 is used to read the doctor's foot movement and determine the master-slave disconnection state and the switching control state. The program control module 20 formulates corresponding program control information according to the doctor's hand movement information and the doctor's foot movement, and remotely sends it to the operating arm for control. The 3D image real-time display module 40 is used to display the patient's lesion image during surgery and the position status of each operating arm in real time;

[0053] The operating arm control module 50 is used to receive program control information and the doctor's foot movements, determine the operating arm, and control the operating arm to execute the program control information and perform the surgical operation;

[0054] The tactile feedback module 70 controls the contact between the tactile operating arm and the lesion, obtains contact feedback, and sends the contact feedback to the master hand operating module 10, and controls the vibration instrument built into the master hand operating module 10 to feedback vibration;

[0055] The operation position monitoring module 60 is used to monitor the deformation state of the patient's lesion area during surgery and the contact area between the tactile operation arm and the lesion, and cooperates with the tactile feedback module 70 to convert the contact feedback into an image simulation deformation state, which serves as a reference for the main hand operation module 10 to match the vibration amplitude, and is fed back to the 3D image real-time display module 40.

[0056] When used specifically, during the remote-controlled surgery, the main hand operation module 10 is first used to read the operation content of the doctor's operating hand joint encoder to obtain the doctor's hand movement information, and the foot pedal information acquisition module 30 responds to the doctor's foot movement to determine the operating arm that needs to be controlled. The doctor performs remote operation through the hand joint instrument to control the started operating arm to synchronously execute the program control information issued by the program control module 20. At the same time, during the surgery, the operation position monitoring module 60 is used to monitor the intraoperative patient lesion area and the deformation state of the tactile operating arm and the lesion contact area, and feedback is sent to the 3D image real-time display module 40. The 3D image real-time display module 40 displays the intraoperative patient lesion image and the position state of each operating arm in real time, so that the doctor can remotely observe the patient lesion condition and the movement of each operating arm;

[0057] In order to provide tactile feedback between the surgical instruments placed on the operating arm and the patient's lesions, and help the doctor further determine the surgical progress of the current lesion and the next operation process, it is necessary to control the contact between the tactile operating arm and the lesion through the tactile feedback module 70, obtain contact feedback, and send the contact feedback to the main hand operation module 10. The built-in vibration instrument of the main hand operation module 10 is used to respond to the contact feedback, and generate different vibration modes according to the contact feedback. The vibration mode is used to respond to the tactile feedback of the surgical instruments and the patient's lesions, and the intraoperative patient lesion image is displayed in real time by the 3D image real-time display module 40 to predict the status of the lesion surgical point, such as the hardness of the resected object, whether it contacts the patient's blood vessel position, and the hardness of the cutting area.

[0058] In addition, the tactile feedback module 70 includes a force application point strength acquisition unit 710 and a force point deformation amount monitoring unit 720. The force application point strength acquisition unit 710 is used to obtain the force applied by the tactile operating arm to contact the lesion, and the force point deformation amount monitoring unit 720 is used to obtain the deformation state of the lesion after the force is applied.

[0059] The tactile feedback module 70 further includes a conventional feedback object simulation database 730, which is used to store the deformation states of different tissues after contact with the tactile operating arm, and obtain the characteristic points of the deformation area;

[0060] The characteristic points of the deformation zone obtained in the conventional feedback simulation database 730 include the direct contact point sinking depth Dcp subsidence And the width of the edge of the depression area Wet sinkhole .

[0061] In specific use, after the tactile operating arm contacts different tissues, due to their different hardness, the corresponding deformation states will also be different. For example, the hardness of a normal internal organ is different from that of an internal organ with a tumor. Therefore, by identifying the deformation prediction feedback object generated by the contact of the tactile operating arm with the tactile operating arm, the force point strength acquisition unit 710 first obtains the force applied by the tactile operating arm contacting the lesion, and then obtains the deformation prediction feedback object generated by the contact of the tactile operating arm with the tactile operating arm. Figure 2 As shown, when the front end of the tactile operating arm contacts the contact tissue, the applied pressure will form a tissue deformation zone in the contact tissue, and the current force magnitude will be collected through the internal pressure sensor. Subsequently, the image information of the current tissue deformation zone will be monitored by the micro-monitoring probe, and synchronously fed back to the force point deformation amount monitoring unit 720 and the conventional feedback object simulation database 730. The conventional feedback object simulation database 730 collects deformation images of different contact tissues under the same force state in advance and stores them. After receiving the feedback image information in real time, it will be compared with the deformation image stored in the database to predict the type of the current contact tissue, which will serve as a reference for the next surgical operation of the remote operating doctor.

[0062] Furthermore, the method for the force point deformation monitoring unit 720 to obtain the deformation state of the lesion after the force is applied comprises the following steps:

[0063] Step 1: Use a micro-monitoring probe to obtain an image of the area before the tactile operating arm contacts the lesion, and locate the position of the contact point;

[0064] Step 2: Capture the direct contact point sinking depth Dcp after the tactile manipulator touches the lesion subsidence And the width of the edge of the depression area Wet sinkhole ;

[0065] Step 3: Compare the direct contact point sinking depths Dcp in the conventional feedback simulation database 730 subsidence And the width of the edge of the depression area Wet sinkhole , get the error ratio Er ratio ;

[0066] Step 4: Define the error ratio threshold The deformation state meets the error ratio threshold The lesion area is marked as the reference lesion area;

[0067] The stress point deformation monitoring unit 720 obtains the deformation state of the lesion after the force is applied by using a threshold comparison algorithm, and the algorithm formula is as follows:

[0068] Dcp subsidence =Dcp edpoint -Dcp depth ;

[0069] Dcp edpoint =V0t1;

[0070] Dcp depth =V0t2;

[0071]

[0072] Dcpdepth is the height from the micro-monitoring probe vertically emitting the monitoring light source to the lowest point of the tissue deformation zone. edpoint is the height from the micro-monitoring probe vertically emitting the monitoring light source to the edge point of the tissue deformation zone, V0 is the movement speed of the monitoring light source, t1 is the one-way time consumed by the micro-monitoring probe vertically emitting the monitoring light source to the lowest point of the tissue deformation zone, t2 is the one-way time consumed by the micro-monitoring probe vertically emitting the monitoring light source to the edge point of the tissue deformation zone, and α is the angle formed by the micro-monitoring probe from the edge point of the vertical tissue deformation zone to the relative edge point.

[0073] When used specifically, in the process of judging the deformation state of the tissue deformation zone, such as Figure 2 As shown, first, the monitoring light source is vertically emitted by the micro-monitoring probe to the lowest point of the tissue deformation zone, and the speed of the monitoring light source is constant. The monitoring light source is re-received after reflection at the lowest point of the tissue deformation zone, and the time consumed from emitting the monitoring light source to re-receiving is obtained, that is, the one-way time t1 consumed by the micro-monitoring probe vertically emitting the monitoring light source to the lowest point of the tissue deformation zone is obtained. The height Dcp from the micro-monitoring probe vertically emitting the monitoring light source to the edge point of the tissue deformation zone can be obtained using the distance formula. edpoint Then, the height Dcp from the vertical emission of the monitoring light source from the micro-monitoring probe to the lowest point of the tissue deformation zone is obtained according to the above method. depth , calculate Dcp depth With Dcp edpoint The difference between them can be used to get the direct contact point sinking depth Dcp subsidence ;

[0074] The width of the edge of the depression zone Wet sinkhole During the measurement process, the micro-monitoring probe is firstly vertically radiated to the edge of the tissue deformation zone to obtain the height Dcp from the micro-monitoring probe vertically radiating the monitoring light source to the edge of the tissue deformation zone.edpoint , adjust the angle of the micro-monitoring probe so that it emits the monitoring light source to the position of the parallel point of the relative side of the edge point of the tissue deformation zone, and obtain the length of the micro-monitoring probe to the relative side position. At this time, the parallel point of the relative side, the edge point of the tissue deformation zone and the micro-monitoring probe form a right triangle. Use trigonometric functions to obtain the distance from the parallel point of the relative side to the edge point of the tissue deformation zone, which is the edge width of the sinking zone Wet sinkhole , obtain the edge width Wet of the sunken area of ​​the lesion to be tested sinkhole Depth of depression at direct contact point Dcp subsidence , combined with the conventional feedback simulation database 730, to perform data comparison, such as Figure 3 As shown, for example, the direct contact point sinking depth Dcp of the lesion area to be tested subsidence is d0, the three closest feedback objects are contrast feedback object d1, contrast feedback object d2 and contrast feedback object d3, and the corresponding error ratio Er ratio That is, (d0-d1) / d0, (d0-d2) / d0 and (d0-d3) / d0, the edge width of the sunken area of ​​the lesion to be tested is Wet sinkhole is w0, the corresponding error ratio Er ratio That is, (w0-w1) / w0, (w0-w2) / w0 and (w0-w3) / w0, which is consistent with the defined error ratio threshold Compare and obtain the closest error ratio threshold The contrast feedback is used as the reference lesion area, that is, the sinking depth Dcp of the direct contact point subsidence and the width of the edge of the sinking area Wet sinkhole The error ratio Er between two reference values ratio Are the closest.

[0075] Furthermore, the master hand operation module 10 includes a vibration level feedback unit 110 and a vibration mode response unit 120. The vibration level feedback unit 110 matches the corresponding vibration amplitude in combination with the deformation state of the lesion contact area, and the vibration mode response unit 120 adapts to the doctor's use state and selects the corresponding vibration mode. In specific use, in order to adapt to the deformation state of different lesion contact areas, timely respond to the tactile sensation of the tactile operating arm contacting the current lesion area, and provide a reference basis for the doctor to perform the next surgical operation, firstly, the vibration level feedback unit 110 matches the deformation state of the lesion contact area and matches the corresponding vibration amplitude. The vibration instrument of the present invention uses motor vibration to perform vibration feedback on the doctor's operating hand joint encoder, that is, responds to the tactile sensation of the corresponding lesion area through the vibration amplitude. The change in vibration amplitude represents that the tactile operating arm contacts different tissues. When the hardness of the contacted tissue changes, the corresponding deformation amount will be different under the same pressure conditions. At this time, the edge width Wet of the sinking area of ​​the lesion area obtained by the micro-monitoring probesinkhole Depth of depression at direct contact point Dcp subsidence , combined with the conventional feedback object simulation database 730, data comparison is performed to obtain reference lesion areas, and each reference lesion area corresponds to a vibration mode. The doctor uses the vibration mode to feedback the state of the hand to determine the state of the lesion area to be operated by the operating arm in the next step. In order to meet the usage habits of different doctors, the vibration mode response unit 120 can be used to adapt to the doctor's usage status in advance and select the corresponding vibration mode. For example, different doctors have different sensitivities to vibration. Therefore, during the operation, the doctor needs to adapt to the vibration mode that suits him or her in advance.

[0076] The second object of the present invention is to provide a method for using a minimally invasive instrument control system in a surgical operating room, comprising the following method steps:

[0077] S1, the master hand operation module 10 reads the operation content of the doctor's hand joint encoder to obtain the doctor's hand movement information;

[0078] S2, the foot pedal information collection module 30 responds to the doctor's foot movements and determines the operating arm that needs to be controlled. The doctor remotely controls the started operating arm through the hand joint instrument to synchronously execute the program control information sent by the program control module 20;

[0079] S3, monitoring the deformation state of the patient's lesion area and the contact area between the tactile operating arm and the lesion through the operating position monitoring module 60, and feeding back to the 3D image real-time display module 40, and displaying the patient's lesion image and the position state of each operating arm in real time through the 3D image real-time display module 40;

[0080] S4, controlling the contact between the tactile operating arm and the lesion through the tactile feedback module 70, obtaining contact feedback, and sending the contact feedback to the main hand operation module 10;

[0081] S5. The vibration instrument built into the master hand operation module 10 is used to respond to contact feedback and generate different vibration modes according to the contact feedback. The vibration mode is used to respond to the tactile feedback of the surgical instrument and the patient's lesion, and cooperates with the 3D image real-time display module 40 to display the intraoperative patient lesion image in real time.

[0082] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and descriptions are only preferred examples of the present invention and are not intended to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A minimally invasive instrument control system for a surgical operating room, characterized in that: It comprises a human-machine interaction platform, an operating arm control module (50), an operating position monitoring module (60) and a tactile feedback module (70); The human-computer interaction platform comprises a master hand operation module (10), a program control module (20), a foot pedal information collection module (30) and a 3D image real-time display module (40); The master hand operation module (10) comprises a vibration level feedback unit (110) and a vibration mode response unit (120), wherein the vibration level feedback unit (110) matches the corresponding vibration amplitude in combination with the deformation state of the lesion contact area, and the vibration mode response unit (120) selects the corresponding vibration mode in accordance with the doctor's use state; The tactile feedback module (70) controls the contact between the tactile operating arm and the lesion, obtains contact feedback, and sends the contact feedback to the master hand operating module (10), thereby controlling the vibration instrument built into the master hand operating module (10) to feedback vibration; The tactile feedback module (70) comprises a force application point strength acquisition unit (710) and a force receiving point deformation amount monitoring unit (720), wherein the force application point strength acquisition unit (710) is used to acquire the force applied by the tactile operating arm in contact with the lesion, and the force receiving point deformation amount monitoring unit (720) is used to acquire the deformation state of the lesion after being subjected to the force; The stress point deformation monitoring unit (720) obtains the deformation state of the lesion after the force is applied by using a threshold comparison algorithm, and the algorithm formula is as follows: Dcp subsidence =Dcp edpoint -Dcp depth ; Dcp edpoint =V0t1; Dcp depth =V0t2; Among them, Dcp subsidence Wet is the depth of the direct contact point after the tactile manipulation arm touches the lesion. sinkhole Dcp is the width of the edge of the sunken area after the tactile manipulator touches the lesion. depth Dcp is the height from the micro-monitoring probe vertically emitting the monitoring light source to the lowest point of the tissue deformation zone. edpoint is the height from the micro-monitoring probe vertically emitting the monitoring light source to the edge point of the tissue deformation zone, V0 is the moving speed of the monitoring light source, t1 is the one-way time consumed by the micro-monitoring probe vertically emitting the monitoring light source to the lowest point of the tissue deformation zone, t2 is the one-way time consumed by the micro-monitoring probe vertically emitting the monitoring light source to the edge point of the tissue deformation zone, and α is the angle formed by the micro-monitoring probe from the edge point of the vertical tissue deformation zone to the relative edge point; The operation position monitoring module (60) is used to monitor the deformation state of the patient's lesion area and the contact area between the tactile operation arm and the lesion during surgery, and cooperates with the tactile feedback module (70) to convert the contact feedback into an image simulation deformation state, which serves as a reference for the main hand operation module (10) to match the vibration amplitude, and is fed back to the 3D image real-time display module (40).

2. The minimally invasive instrument control system for surgical operating rooms according to claim 1, characterized in that: The master hand operation module (10) is used to read the operation content of the doctor's operating hand joint encoder and obtain the doctor's hand movement information. The foot pedal information acquisition module (30) is used to read the doctor's foot movement and determine the master-slave disconnection state and the switching control state. The program control module (20) formulates corresponding program control information according to the doctor's hand movement information and the doctor's foot movement, and remotely sends it to the operating arm for control. The 3D image real-time display module (40) is used to display the intraoperative patient lesion image and the position status of each operating arm in real time. The operating arm control module (50) is used to receive the program control information and the doctor's foot movement, determine the operating operating arm, and control the operating operating arm to execute the program control information and perform the surgical operation.

3. The minimally invasive instrument control system for surgical operating rooms according to claim 1, characterized in that: The tactile feedback module (70) further comprises a conventional feedback object simulation database (730), wherein the conventional feedback object simulation database (730) is used to store the deformation states of different tissues after contact with the tactile operating arm, and to obtain characteristic points of the deformation zone.

4. The minimally invasive instrument control system for surgical operating rooms according to claim 3, characterized in that: The characteristic points of the deformation zone obtained in the conventional feedback object simulation database (730) include the direct contact point sinking depth Dcp subsidence And the width of the edge of the depression area Wet sinkhole .

5. The minimally invasive instrument control system for surgical operating rooms according to claim 4, characterized in that: The method for the force point deformation monitoring unit (720) to obtain the deformation state of the lesion after being subjected to the force comprises the following steps: Step 1: Use a micro-monitoring probe to obtain an image of the area before the tactile operating arm contacts the lesion, and locate the position of the contact point; Step 2: Capture the direct contact point sinking depth Dcp after the tactile manipulator touches the lesion subsidence And the width of the edge of the depression area Wet sinkhole ; Step 3: Compare the direct contact point sinking depths Dcp in the conventional feedback simulation database (730) subsidence And the width of the edge of the depression area Wet sinkhole , get the error ratio Er ratio ; Step 4: Define the error ratio threshold The deformation state meets the error ratio threshold The lesion area is marked as the reference lesion area.

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