Laser bone erosion monitoring and feedback equipment

Abstract

The invention provides a laser bone erosion monitoring feedback device. The equipment at least comprises a laser range finder, a laser, a beam combiner and a processor, an emitter of the laser range finder is located on a first light path, a laser is located on a second light path perpendicular to the first light path, and a beam combiner is arranged at the intersection point position of the first light path and the second light path. A receiver of the laser range finder is located on the third light path. In the specific implementation process, distance measuring laser and machining laser are fused into a target laser beam through a beam combiner, and then the target laser beam is emitted to the target point position of the bone wall of a target bone for bone etching operation; and meanwhile, the processor receives a reflected light signal of the ranging laser filtered by the narrow-band optical filter through a receiver of the laser range finder, monitors whether the target bone wall is penetrated or not according to the reflected light signal, and performs feedback control on the laser when monitoring that the target bone wall is penetrated. Whether the bone wall is penetrated or not can be accurately monitored, and damage to related tissue in a target bone is reduced.

Description

Technical Field

[0001] This specification belongs to the field of medical device technology, and in particular to laser bone ablation monitoring feedback equipment. Background Art

[0002] In some application scenarios, it is often necessary to use laser bone ablation equipment to perform related bone ablation operations such as drilling holes in bone walls.

[0003] However, it is often difficult for existing laser bone erosion equipment to accurately detect and identify whether the bone wall has been penetrated during the bone erosion operation, and it is also impossible to perform corresponding feedback control in a timely manner when the bone wall is penetrated. As a result, the bone erosion operation can easily cause damage to the related tissues inside the bone.

[0004] The existing equipment cannot effectively solve the above problems. Summary of the invention

[0005] This specification provides a laser bone erosion monitoring feedback device that can synchronously and accurately monitor whether the bone wall is penetrated during the bone erosion operation; and when it is detected that the target bone wall is penetrated, timely and adaptive feedback control is performed to effectively reduce the damage to the relevant tissues inside the target bone.

[0006] This specification provides a laser bone ablation monitoring feedback device, comprising at least: a laser rangefinder, a laser, a beam combiner, and a processor, wherein the processor is connected to the laser rangefinder and the laser, respectively;

[0007] The transmitter of the laser rangefinder is located in a first optical path, and the laser is located in a second optical path; the first optical path is perpendicular to the second optical path;

[0008] The beam combining mirror is arranged at the intersection of the first light path and the second light path, and the beam combining mirror and the first light path and the second light path respectively form a preset first angle;

[0009] The receiver of the laser rangefinder is located in a third optical path, and the third optical path and the first optical path form a preset second angle; and a narrow-band filter is also arranged at a position adjacent to the receiver;

[0010] The beam combiner is used to fuse the distance measuring laser emitted by the transmitter of the laser rangefinder and the processing laser emitted by the laser into a target laser beam, and to shoot the target laser beam to the target point position of the target bone wall to perform a bone erosion operation on the target point of the target bone wall;

[0011] The laser rangefinder receives, through a receiver, a reflected light signal formed after the ranging laser in the target laser beam is emitted to the target point of the target bone wall; and sends the reflected light signal to a processor; the narrowband filter is used to filter the interfering light signal in the reflected light signal;

[0012] The processor monitors whether the processing laser in the target laser beam penetrates the target bone wall according to the reflected light signal; generates a target control instruction when it is determined that the processing laser in the target laser beam penetrates the target bone wall; and sends the target control instruction to the laser to perform corresponding feedback control on the laser.

[0013] In one embodiment, a difference between a wavelength of the ranging laser and a wavelength of the processing laser is greater than a preset difference threshold.

[0014] In one embodiment, a focusing mirror is further provided at a position in the first optical path adjacent to the center of the beam combining mirror; wherein the focusing mirror is used to focus the processing laser in the target laser beam.

[0015] In one embodiment, the processor monitors whether the processing laser in the target laser beam penetrates the target bone wall according to the reflected light signal, including:

[0016] The processor detects whether the reflected light signal has a jump according to the reflected light signal; when the reflected light signal has a jump, it is determined that the processing laser in the target laser beam penetrates the target bone wall.

[0017] In one embodiment, the target control instruction includes: a stop emission instruction;

[0018] Correspondingly, the processor controls the laser to stop emitting the processing laser by sending the stop emission instruction to the laser, so as to stop the bone erosion operation and avoid damage to the relevant tissues in the bone wall of the target bone.

[0019] In one embodiment, the target control instruction further includes: a laser adjustment instruction; wherein the laser adjustment instruction carries a matching laser adjustment parameter;

[0020] Correspondingly, the processor controls the laser to adjust the emitted processing laser according to the laser adjustment parameters by sending the laser adjustment instruction to the laser, so as to perform a refined bone etching operation on the adjacent area of ​​the target point of the target bone wall through the adjusted processing laser; wherein the laser adjustment parameters include at least one of the following: output power, scanning frequency, and laser wavelength.

[0021] In one embodiment, after receiving the reflected light signal at the current time point, the processor is further used to combine the reflected light signal at the current time point and the reflected light signals at a preset number of historical time points before the current time point to obtain reflected light signal change data for a target time period; use a preset bone wall penetration prediction model to process the reflected light signal change data for the target time period to obtain a corresponding target prediction result; and predict, based on the target prediction result, whether the processing laser in the target laser beam will penetrate the target bone wall in an adjacent time period after the current time point.

[0022] In one embodiment, it further includes: a CT imaging device; wherein the CT imaging device is connected to the processor;

[0023] The CT imaging device is used to collect the current CT image of the target bone at every preset time period; and send the current CT image to the processor;

[0024] The processor is also used to determine the current bone erosion situation through image recognition according to the current CT image; and generate a control instruction for the next preset time period according to the current bone erosion situation;

[0025] The processor sends the control instruction of the next preset time period to the laser, so as to perform matching control on the laser in the next preset time period.

[0026] In one embodiment, the laser rangefinder is connected to a first drive structure, and the laser is connected to a second drive structure; wherein the first drive structure supports the movement of the laser rangefinder along the first optical path direction, and the second drive structure supports the movement of the laser along the second optical path direction.

[0027] This specification also provides a laser bone erosion monitoring feedback device, which at least includes: a laser rangefinder, a laser, a beam combiner, and a processor, wherein the processor is connected to the laser rangefinder and the laser respectively;

[0028] The transmitter and receiver of the laser rangefinder are located in a first optical path, and the laser is located in a second optical path; the first optical path is perpendicular to the second optical path;

[0029] The beam combining mirror is arranged at the intersection of the first light path and the second light path, and the beam combining mirror and the first light path and the second light path respectively form a preset first angle;

[0030] The beam combiner is used to fuse the distance measuring laser emitted by the transmitter of the laser rangefinder and the processing laser emitted by the laser into a target laser beam, and to shoot the target laser beam to the target point position of the target bone wall to perform a bone erosion operation on the target point of the target bone wall;

[0031] The laser rangefinder receives, through a receiver, a reflected light signal formed after the ranging laser in the target laser beam is emitted to the target point of the target bone wall; and sends the reflected light signal to a processor;

[0032] The processor monitors whether the processing laser in the target laser beam penetrates the target bone wall according to the reflected light signal; generates a target control instruction when it is determined that the processing laser in the target laser beam penetrates the target bone wall; and sends the target control instruction to the laser to perform corresponding feedback control on the laser.

[0033] The laser bone erosion monitoring feedback device provided in this specification at least includes: a laser rangefinder, a laser, a beam combiner, and a processor; wherein the transmitter of the laser rangefinder is located in a first optical path, the laser is located in a second optical path perpendicular to the first optical path, and a beam combiner is provided at the intersection of the first optical path and the second optical path; the receiver of the laser rangefinder is located in a third optical path, the third optical path does not overlap with the first optical path, and a narrow-band filter is also provided at a position adjacent to the receiver on the third optical path. When the above device is specifically implemented, the ranging laser and the processing laser can be first fused into a parallel and synchronous target laser beam through a beam combiner, and then the target laser beam is directed to the target point position of the target bone wall for bone erosion operation; at the same time, the processor receives the reflected light signal output after the interference light signal is filtered by the narrow-band filter through the receiver of the laser rangefinder, and monitors whether the processing laser in the target laser beam penetrates the target bone wall according to the reflected light signal, and when the penetration of the target bone wall is detected, the laser is timely feedback-controlled accordingly. Therefore, during the process of using the processing laser to perform bone etching on the target bone, it is possible to synchronously and accurately monitor whether the target bone wall has been penetrated; and when penetration of the target bone wall is detected, appropriate feedback control is performed in a timely manner to effectively reduce damage to the target bone and related tissues inside the target bone. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of this specification, the drawings required for use in the embodiments will be briefly introduced below. The drawings described below are only some embodiments recorded in this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0035] Figure 1 It is a schematic diagram of an embodiment of the structural composition of a laser bone ablation monitoring feedback device provided in an embodiment of this specification;

[0036] Figure 2 It is a schematic diagram of another embodiment of the structural composition of a laser bone ablation monitoring feedback device provided in an embodiment of this specification;

[0037] Figure 3 It is a schematic diagram of another embodiment of the structural composition of a laser bone ablation monitoring feedback device provided in an embodiment of this specification;

[0038] Figure 4 It is a schematic diagram of an embodiment of the structural composition of another laser bone ablation monitoring feedback device provided in an embodiment of this specification;

[0039] Figure 5 It is a schematic diagram of an embodiment of a control method flow when using a laser bone ablation monitoring feedback device provided by an embodiment of this specification in a scenario example;

[0040] Figure 6 is a schematic diagram of the structure of an electronic device provided by an embodiment of this specification;

[0041] Figure 7 It is a schematic diagram of an embodiment of the laser bone ablation monitoring feedback device provided by the embodiments of this specification, in a scenario example. DETAILED DESCRIPTION

[0042] In order to enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below in conjunction with the drawings in the embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this specification, not all of the embodiments. Based on the embodiments in this specification, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of this specification.

[0043] Considering that based on the existing laser bone etching equipment, when using the laser to emit processing laser to perform bone etching operation on the target bone, it is impossible to automatically monitor whether the bone wall has been penetrated; nor is it possible to timely perform appropriate feedback control of the laser when it is determined that the bone wall has been penetrated. As a result, during the bone etching operation, it is easy to cause damage to the related tissues inside the target bone.

[0044] In view of the root cause of the above problems, the present application considers that, based on the original laser bone erosion equipment, first, a laser rangefinder can be introduced; and the emitter of the laser rangefinder for emitting the ranging laser and the laser for emitting the processing laser are respectively arranged on the first optical path and the second optical path which are perpendicular to each other, and a beam combiner is arranged at the intersection of the first optical path and the second optical path, and the beam combiner is made to form a preset first angle with the first optical path and the second optical path respectively. In this way, when the equipment is working, the beam combiner and the relevant characteristics of the above optical path combination can be used to fully project the ranging laser and fully reflect the processing laser, so that the ranging laser and the processing laser are parallel to each other and combined into a target laser beam; and then the target laser beam is simultaneously irradiated to the target point position of the target bone wall in the form of a target laser beam, so that the bone erosion operation of the target point using the processing laser is relatively synchronized with the ranging operation of the target point using the ranging laser.

[0045] Next, the receiver of the laser rangefinder is arranged on a third optical path that does not overlap with the first optical path and is at a preset second angle, so as to effectively reduce the interference light signal on the optical path where the receiver is located; at the same time, a narrow-band filter is also arranged at a position adjacent to the receiver to specifically filter out other interference light signals on the third optical path except for the reflected light signal formed after the ranging laser irradiates the target point of the target bone wall, so that the reflected light signal with higher accuracy and smaller error can be collected by the receiver of the laser rangefinder.

[0046] Furthermore, the processor is connected to the laser rangefinder and the laser, respectively. Accordingly, the processor can accurately monitor and determine whether the processing laser in the target laser beam penetrates the target bone wall according to the reflected light signal collected and fed back by the receiver in real time; and when the penetration of the target bone wall is detected, the processor can timely generate and use the corresponding target control instructions to perform adaptive feedback control on the laser, thereby effectively reducing the damage caused by the processing laser to the relevant tissue inside the target bone.

[0047] Based on the above ideas, see Figure 1 As shown, the embodiment of this specification provides a laser bone erosion monitoring feedback device. The laser bone erosion monitoring feedback device at least includes: a laser rangefinder, a laser, a beam combiner, and a processor, wherein the processor is connected to the laser rangefinder and the laser respectively;

[0048] The transmitter of the laser rangefinder is located in a first optical path, and the laser is located in a second optical path; the first optical path is perpendicular to the second optical path;

[0049] The beam combining mirror is arranged at the intersection of the first light path and the second light path, and the beam combining mirror and the first light path and the second light path respectively form a preset first angle;

[0050] The receiver of the laser rangefinder is located in a third optical path, and the third optical path and the first optical path form a preset second angle; and a narrow-band filter is also arranged at a position adjacent to the receiver;

[0051] The beam combiner is used to fuse the distance measuring laser emitted by the transmitter of the laser rangefinder and the processing laser emitted by the laser into a target laser beam, and to shoot the target laser beam to the target point position of the target bone wall to perform a bone erosion operation on the target point of the target bone wall;

[0052] The laser rangefinder receives, through a receiver, a reflected light signal formed after the ranging laser in the target laser beam is emitted to the target point of the target bone wall; and sends the reflected light signal to a processor; the narrowband filter is used to filter the interfering light signal in the reflected light signal;

[0053] The processor monitors whether the processing laser in the target laser beam penetrates the target bone wall according to the reflected light signal; generates a target control instruction when it is determined that the processing laser in the target laser beam penetrates the target bone wall; and sends the target control instruction to the laser to perform corresponding feedback control on the laser.

[0054] In some embodiments, the laser bone erosion monitoring feedback device can be specifically arranged on a multi-axis machine tool or a robotic arm, or on the execution end of a multi-degree-of-freedom robot. In specific implementation, the user can move the laser bone erosion monitoring feedback device to a specified position through a multi-axis machine tool or a robotic arm; and then start the laser bone erosion monitoring feedback device to perform a specific bone erosion operation on the target point of the target bone wall.

[0055] Specifically, the laser supports adjusting and emitting processing lasers of different wavelengths, and also supports adjusting the output power, scanning frequency and other related parameters of the emitted processing lasers. The processing laser is used to achieve bone erosion by ablating the bone wall.

[0056] The above laser rangefinder (or simply rangefinder) is referred to Figure 1 As shown, it at least includes a transmitter and a receiver. The transmitter is used to transmit a distance measuring laser, and the receiver is used to receive a reflected light signal formed when the distance measuring laser is irradiated onto a target. Accordingly, the laser rangefinder can calculate the distance between the laser rangefinder and the target based on the transmitted distance measuring laser and the received reflected light signal corresponding to the distance measuring laser. The above-mentioned distance measuring laser is used to measure and implement the distance measuring operation.

[0057] For further information, see Figure 1 As shown, in this embodiment, the transmitter and the receiver of the laser rangefinder used are not at the same position, and there is a certain distance between them.

[0058] The processor may specifically include an electronic device that supports data computing, storage, etc. In addition, the processor may specifically be replaced by other hardware devices with stronger data processing performance, such as computers, servers, industrial computers, etc.

[0059] For details, see Figure 1 As shown, the transmitter of the laser rangefinder can be arranged in the first optical path, the laser can be arranged in the second optical path, and the receiver of the laser rangefinder can be arranged in the third optical path.

[0060] Among them, the above-mentioned first optical path can specifically be a straight optical path for the ranging laser emitted by the transmitter of the laser rangefinder to reach the target point of the target bone wall. The above-mentioned second optical path is perpendicular to the first optical path. In addition, a beam combiner is provided at the intersection of the second optical path and the first optical path. The above-mentioned second optical path can specifically be a straight optical path for the processing laser emitted by the laser to reach the beam combiner. The above-mentioned third optical path can specifically be a straight optical path for the reflected light signal formed by the ranging laser emitted by the transmitter of the laser rangefinder after reaching the target point of the target bone wall to reach the receiver of the laser rangefinder. The above-mentioned target point can specifically be understood as the position point on the target bone wall to be eroded and ablated.

[0061] Wherein, the above-mentioned beam combining mirror is a total reflection lens. The center of the beam combining mirror can be specifically set at the intersection of the first optical path and the second optical path. In addition, the beam combining mirror is at a preset first angle with the first optical path, and at a preset first angle with the second optical path. The above-mentioned preset first angle can specifically be an angle of 45 degrees. The above-mentioned third optical path is at a preset second angle with the first optical path. The above-mentioned preset second angle can specifically be an angle that is not 0 degrees, that is, the third optical path does not overlap with the first optical path.

[0062] Based on the above-mentioned beam combining mirror, as well as the first optical path and the second optical path, on the one hand, the ranging laser emitted by the transmitter of the laser rangefinder will be fully projected by the beam combining mirror after reaching the beam combining mirror along the first optical path, and will continue to reach the target point along the first optical path through the beam combining mirror; the processing laser emitted by the laser will be fully reflected by the beam combining mirror after reaching the beam combining mirror along the second optical path, and will change to reach the target point along the first optical path through the beam combining mirror, thereby reducing the energy loss of the ranging laser and the processing laser during the transmission process while ensuring that the ranging laser and the processing laser smoothly reach the target point. On the other hand, through the effect of the above-mentioned beam combining mirror, the ranging laser and the processing laser can also be made parallel to each other to merge into a target laser beam with better synchronization, thereby ensuring that while the processing laser in the target laser beam is used to perform a bone erosion operation on the target point, the ranging laser in the target laser beam can also be used to synchronously detect the target point in real time, and the corresponding reflected light signal carrying information on the bone erosion of the target point can be obtained in a timely manner.

[0063] Furthermore, since the third optical path used to receive the reflected light signal in the laser bone erosion monitoring feedback device does not overlap with the first optical path, the reflected light signal can be prevented from being affected by the beam combiner when returning to the laser bone erosion monitoring feedback device according to the original first optical path, and the interference of the ranging laser and the processing laser on the reflected light signal on the first optical path is also reduced; in addition, since a narrow-band filter is arranged at a position adjacent to the receiver on the third optical path, the narrow-band filter can be used to effectively filter out interference light signals such as light signals generated by the reflection of the processing laser irradiating the target point, ambient light, and processing laser carried by the reflected light signal, so that the receiver of the laser rangefinder can receive a reflected light signal with higher accuracy and smaller error. Accordingly, the processor can more accurately monitor whether the processing laser in the target laser beam penetrates the target bone wall according to the above-mentioned high-precision reflected light signal. Among them, the above-mentioned narrow-band filter matches the reflected light signal and does not cause the loss of the reflected light signal.

[0064] In addition, the processor is also connected to the laser rangefinder and the laser, respectively. Accordingly, when the processor detects that the processing laser in the target laser beam penetrates the target bone wall according to the reflected light signal received by the receiver of the laser rangefinder, it can generate a matching target control instruction in time according to the specific situation and processing requirements; and send the target control instruction to the laser in time to carry out targeted feedback control on the laser, such as stopping the emission of the processing laser or adjusting the emitted processing laser, so as to effectively reduce or even avoid damage to the relevant tissues inside the target bone (for example, medullary cavity tissue, nerve tissue, etc.).

[0065] In some embodiments, a difference between a wavelength of the ranging laser and a wavelength of the processing laser is greater than a preset difference threshold.

[0066] Specifically, according to processing requirements, the preset difference value threshold may be a value in the following value range [50 nm, 100 nm].

[0067] In specific implementation, a laser with a suitable wavelength can be selected as the processing laser according to the specific situation and operation requirements. For example, a laser with a suitable wavelength can be selected as the processing laser according to the target bone erosion depth of the bone erosion operation to be performed, the bone characteristics of the target bone, and the subsequent operation requirements (for example, intramedullary nail installation, bone plate installation, etc.).

[0068] After the processing laser is determined, a laser having a wavelength difference with the processing laser greater than a preset difference threshold can be selected as a matching distance measuring laser. In this way, the interaction between the processing laser and the distance measuring laser can be effectively avoided to affect the subsequent bone erosion effect and / or distance measuring accuracy.

[0069] Furthermore, a matching narrowband filter can be selected according to the wavelength of the ranging laser, so that the above narrowband filter can be used to effectively filter out the interfering light signal while avoiding affecting the reflected light signal.

[0070] In some embodiments, a focusing mirror is further provided at a position in the first optical path adjacent to the center of the beam combining mirror; wherein the focusing mirror is used to focus the processing laser in the target laser beam. Figure 2 shown.

[0071] In a specific implementation, when the processing laser reaches the beam combining mirror, the processing laser is focused by the focusing mirror so that the processing laser can be relatively more concentrated and have higher energy.

[0072] In some embodiments, the processor monitors whether the processing laser in the target laser beam penetrates the target bone wall according to the reflected light signal. When implemented specifically, the following contents may be included:

[0073] The processor detects whether the reflected light signal has a jump according to the reflected light signal; when the reflected light signal has a jump, it is determined that the processing laser in the target laser beam penetrates the target bone wall.

[0074] Considering that when the processing laser in the target laser beam penetrates the target bone wall, the object irradiated by the ranging laser in the target laser beam will also change synchronously from the original bone wall to the relevant tissue inside the target bone, and accordingly, the reflected light signal received by the receiver of the ranging laser will also jump. Therefore, it is considered that whether the target bone wall is penetrated can be determined by monitoring whether the reflected light signal jumps.

[0075] Specifically, when the laser bone erosion monitoring feedback device is running, the processor will automatically record and save the reflected light signals received at each time point. After the processor receives the reflected light signal at the current time point sent by the laser rangefinder, it will compare the reflected light signal at the current time point with the reflected light signal at the most recent historical time point to obtain the corresponding difference value; then, by detecting whether the difference value is greater than the preset error tolerance value, it is determined whether the current reflected light signal has a jump. When it is determined that the difference value is greater than the preset error tolerance value, it is determined that the current reflected light signal has a jump; and then it can be determined that the processing laser in the current target laser beam has penetrated the target bone wall. On the contrary, when it is determined that the difference value is less than or equal to the preset error tolerance value, it is determined that the current reflected light signal has not jumped; and then it can be determined that the processing laser in the current target laser beam has not penetrated the target bone wall.

[0076] In some embodiments, the target control instruction may specifically include: a stop emission instruction;

[0077] Accordingly, the processor can specifically control the laser to stop emitting the processing laser by sending the stop emission instruction to the laser, so as to stop the bone erosion operation and avoid damage to the related tissues in the bone wall of the target bone.

[0078] Specifically, the laser receives and responds to the target control instruction and stops emitting the processing laser, thereby timely avoiding damage to the relevant tissues in the target bone wall.

[0079] In some embodiments, the target control instruction may further include: a laser adjustment instruction; wherein the laser adjustment instruction carries a matching laser adjustment parameter;

[0080] Accordingly, the processor can specifically send the laser adjustment instruction to the laser to control the laser to adjust the emitted processing laser according to the laser adjustment parameters, so as to perform a refined bone erosion operation on the adjacent area of ​​the target point of the target bone wall through the adjusted processing laser.

[0081] In some embodiments, the laser adjustment parameters may specifically include at least one of the following: output power, scanning frequency, laser wavelength, etc. Of course, it should be noted that the laser adjustment parameters listed above are only a schematic illustration. In specific implementation, according to specific circumstances and processing needs, the laser adjustment parameters may also include other types of parameters. This specification does not limit this.

[0082] Specifically, for example, when the processor determines, based on the reflected light signal, that the processing laser in the target laser beam penetrates the target bone wall, the processor can adjust the laser wavelength of the processing laser originally emitted by the laser to a wavelength (for example, a processing laser with a wavelength of 2 um) that causes less damage to internal tissues (for example, medullary cavity tissue, nerve tissue, etc.) according to a preset adjustment strategy; and / or reduce the output power of the processing laser; and / or increase the scanning frequency of the processing laser to obtain corresponding laser adjustment parameters; then generate a target control instruction carrying the above-mentioned laser adjustment parameters; and send the target control instruction to the laser.

[0083] The laser receives and responds to the target control instruction, and adjusts the emitted processing laser accordingly based on the above laser adjustment parameters; then based on the above adjusted processing laser, the bone erosion operation on the target bone is continued under the premise of reducing damage to the internal tissue of the target bone.

[0084] Based on the above embodiments, the processor may perform corresponding feedback control on the laser in different ways according to specific circumstances to meet the diverse operational requirements of users.

[0085] In some embodiments, after receiving the reflected light signal at the current time point, the processor can also be used to combine the reflected light signal at the current time point and the reflected light signals at a preset number of historical time points before the current time point to obtain the reflected light signal change data of the target time period; use a preset bone wall penetration prediction model to process the reflected light signal change data of the target time period to obtain a corresponding target prediction result; based on the target prediction result, predict whether the processing laser in the target laser beam will penetrate the target bone wall in an adjacent time period after the current time point.

[0086] Among them, the above-mentioned preset bone wall penetration model can be specifically understood as a pre-trained neural network model that can predict and output whether the target bone wall will be penetrated by the processing laser in the near future time period based on the input reflected light signal number data by analyzing and according to the changing characteristics of the current reflected light signal.

[0087] The preset number of historical time points before the current time point may specifically be the preset number of historical time points with the shortest time interval from the current time point.

[0088] In a specific implementation, the reflected light signal at the current time point and the reflected light signals at a preset number of historical time points before the current time point can be projected into a coordinate system with time as the horizontal axis and the reflected light signal as the vertical axis to obtain multiple data points; two adjacent data points are then connected to obtain an initial change curve; and the initial change curve is then curve fitted to obtain a fitting curve of the change curve as the reflected light signal change data of the target time period.

[0089] Next, by utilizing the preset bone wall penetration prediction model to process the reflected light signal change data of the above-mentioned target time period, it is possible to predict in advance whether the processing laser in the target laser beam will penetrate the target bone wall in an adjacent time period after the current time point (for example, the next time point after the current time point, or the time period between the current time point and a designated adjacent time point in the future).

[0090] Specifically, if it is predicted in advance based on the target prediction result that the processing laser in the target laser beam will penetrate the target bone wall in an adjacent time period after the current time point; the processor can generate a matching target control instruction according to a preset adjustment strategy, and send the target control instruction to the laser to control the laser in advance to prevent the processing laser emitted by the laser from penetrating the target bone wall; or, reduce the damage caused to the outside of the target bone and related tissues inside the target bone by the processing laser emitted by the laser at the moment of penetrating the target bone wall.

[0091] Before specific implementation, the above-mentioned preset bone wall penetration prediction model can also be trained in the following manner: obtain a large number of sample test records obtained using laser bone abrasion monitoring feedback equipment; obtain multiple sample reflected light signal change data as sample training data based on the sample test records; use the sample training data to train the initial prediction model to obtain a preset bone wall penetration prediction model that meets the requirements.

[0092] When it is predicted that the processing laser in the target laser beam will penetrate the target bone wall in the adjacent time period after the current time point, corresponding early warning prompt information can also be generated; and the early warning prompt information can be delivered to the user to provide the user with early warning prompts.

[0093] In some embodiments, see Figure 3 As shown, the laser bone ablation monitoring feedback device may further include: a CT (Computed Tomography) imaging device; wherein the CT imaging device may be specifically connected to a processor;

[0094] In a specific implementation, the CT imaging device is used to collect the current CT image for the target bone at every preset time period (for example, every 5 minutes); and send the current CT image to the processor;

[0095] The processor is also used to determine the current bone erosion situation through image recognition according to the current CT image; and generate a laser adjustment instruction for the next preset time period (for example, the next 5 minutes) according to the current bone erosion situation;

[0096] The processor sends the control instruction of the next preset time period to the laser, so as to perform matching control on the laser in the next preset time period.

[0097] During specific implementation, the processor can first use a preset image recognition model to perform image recognition on the current CT image to obtain a corresponding CT image recognition result; based on the CT image recognition result, the current bone erosion situation at the target point position of the target bone wall can be determined based on the macroscopic dimension; then, based on the current bone erosion situation, information such as the current bone erosion progress and the remaining bone wall thickness in the surrounding area of ​​the target point position can be analyzed, and then combined with a preset control instruction set, a preset control instruction that matches the current bone erosion situation can be determined as the control instruction for the next preset time period.

[0098] The preset control instruction set may include multiple preset control instructions, each preset control instruction corresponding to a bone erosion situation. The preset control instruction set may be obtained by learning and sorting a large number of bone erosion operation records in advance.

[0099] Furthermore, the processor may send the control instruction of the next preset time period to the laser. Accordingly, the laser may execute the control instruction in the next preset time period.

[0100] Specifically, for example, when the processor determines that the thickness of the bone wall to be ablated at the current target point is thicker and greater than the preset thickness reference value based on the CT image recognition result, it can query the preset control instruction set, determine the matching preset control instruction with a lower scanning frequency and a larger output power laser adjustment parameter as the control instruction for the next preset time period, and send the control instruction to the laser. Correspondingly, the laser will respond and, based on the above control instruction, emit the processing laser with a larger output power and a lower scanning frequency in the next preset time period based on the above laser adjustment parameters to improve the efficiency of the bone erosion operation at the target point.

[0101] For another example, when the processor determines that the thickness of the bone wall to be ablated at the current target point is thinner and less than the preset thickness reference value based on the CT image recognition result, it can query the preset control instruction set, determine the matching preset control instruction with a higher scanning frequency and a lower output power laser adjustment parameter as the control instruction for the next preset time period, and send the control instruction to the laser. Correspondingly, the laser will respond and, based on the above control instruction, emit the processing laser with a lower output power and a higher scanning frequency in the next preset time period based on the above laser adjustment parameters, so as to perform a relatively more precise bone erosion operation on the target point and reduce damage to the target bone and related tissues inside the target bone.

[0102] Based on the above embodiment, the processor can acquire and distinguish different situations based on the CT images at every preset time period, and accurately control the operation of the laser in the next preset time period, thereby avoiding or reducing damage to the target bone and / or related tissues inside the target bone in the next preset time period.

[0103] In some embodiments, see Figure 3 As shown, the laser bone erosion monitoring feedback device may further include a display. The display is connected to the processor. The processor may display the current CT image acquired, and / or the CT image recognition result obtained by image recognition, to the user through the display. Accordingly, the processor may receive the custom control instruction provided by the user based on the displayed CT image and / or the CT image recognition result; and then the custom control instruction provided by the user may be determined as the control instruction for the next preset time period.

[0104] In addition, the processor can also display the determined control instruction for the next preset time period to the user through the display. At the same time, the processor can also receive modification parameters provided by the user for the control instruction; and modify the control instruction according to the modification parameters, and use the modified control instruction as the control instruction for the next preset time period.

[0105] In some embodiments, when it is determined that the processing laser in the target laser beam penetrates the target bone wall, the processor can generate a stop emission instruction for the laser; and send the stop emission instruction to the laser to control the laser to stop emitting the processing laser. At the same time, the processor can also generate an image scanning instruction for the laser rangefinder; send the image scanning instruction to the laser rangefinder, control the transmitter of the laser rangefinder to use the ranging laser to perform laser scanning on multiple positions in the local area where the target point is located; and receive the reflected light signals corresponding to the multiple positions in the above-mentioned local area through the receiver of the laser rangefinder; and then reconstruct the image based on the reflected light signals corresponding to the multiple positions in the above-mentioned local area to obtain a more detailed local area image. Among them, the above-mentioned local area image can finely reflect the bone erosion of the bone wall at each position point in the local area where the target point is located, the remaining bone wall thickness and other detailed features based on the microscopic dimension.

[0106] Accordingly, the processor can determine whether the current bone erosion operation result meets the requirements based on the above-mentioned local area image; if it is determined that the current bone erosion operation result meets the requirements, the bone erosion operation can be ended with respect to the laser and the laser rangefinder. On the contrary, if it is determined that the current bone erosion operation result does not meet the requirements, for example, there is still a bone wall at a certain position point in the local area that has not been ablated, then the processor can generate a refined target control instruction in a targeted manner based on the above-mentioned local area image; and then send the target control instruction to the laser to control the laser to continue the refined bone erosion operation based on the target control instruction until the bone erosion result meets the requirements.

[0107] When it is determined that the bone erosion result meets the requirements, subsequent operations can be further performed, such as intramedullary nail installation or bone plate installation based on the target bone.

[0108] In some embodiments, the specific implementation is that the processor obtains the reflected light signal at the current time point while obtaining the current CT image at each preset time period; then splices the current CT image and the reflected light signal of the current time period to obtain the current joint feature information that combines both macroscopic dimensional information and microscopic dimensional information; and then the above-mentioned current joint feature information can be used to more accurately predict through model prediction whether the processing laser in the target laser beam will penetrate the target bone wall in the adjacent time period after the current time point.

[0109] In some embodiments, the laser rangefinder is connected to a first drive structure, and the laser is connected to a second drive structure; wherein the first drive structure supports the movement of the laser rangefinder along the first optical path direction, and the second drive structure supports the movement of the laser along the second optical path direction.

[0110] In a specific implementation, the first driving structure may include: a first linear guide and a first motor connected to each other. The second driving structure may include: a second linear guide and a second motor connected to each other. The processor is connected to the first motor and the second motor respectively.

[0111] The above laser bone erosion monitoring feedback device needs to be calibrated and debugged before operation. During the specific calibration and debugging, the processor can generate and send a corresponding second calibration instruction to the second motor. The second motor receives and responds to the second calibration instruction, and drives the laser to move a corresponding distance away from the beam combiner through the second linear guide rail to increase the relative distance between the laser and the beam combiner, and then based on the above increased distance, the laser and the relative position between the laser and the beam combiner can be calibrated and debugged relatively accurately.

[0112] In addition, the processor can also generate and send a corresponding first calibration instruction to the first motor according to the current distance between the laser bone erosion monitoring feedback device and the target bone. The first motor receives and responds to the first calibration instruction, flexibly drives the laser rangefinder to move on the first optical path through the first linear guide, and performs ranging tests at multiple different test positions on the first optical path to obtain ranging test results; then, according to the ranging test results at different test positions, the relative position between the laser rangefinder and the beam combiner is adjusted in a targeted manner, so that the subsequent use of the laser rangefinder for ranging is more sensitive and accurate.

[0113] Through the above method, the laser and laser rangefinder in the laser bone ablation monitoring feedback device can be calibrated and debugged in advance, so that the calibrated and debugged laser and laser rangefinder can be used to more accurately perform bone ablation and ranging operations.

[0114] As can be seen from the above, the laser bone erosion monitoring feedback device provided based on the embodiment of this specification at least includes: a laser rangefinder, a laser, a beam combiner, and a processor; wherein the transmitter of the laser rangefinder is located in the first optical path, the laser is located in the second optical path perpendicular to the first optical path, and a beam combiner is provided at the intersection of the first optical path and the second optical path; the receiver of the laser rangefinder is located in the third optical path, the third optical path does not overlap with the first optical path, and a narrow-band filter is also provided at the adjacent position of the receiver on the third optical path. When the above-mentioned device is specifically implemented, the ranging laser and the processing laser can be first fused into a parallel and synchronous target laser beam through a beam combiner, and then the target laser beam is directed to the target point position of the target bone wall for bone erosion operation; at the same time, the processor receives the reflected light signal output after filtering the interference light signal through the narrow-band filter through the receiver of the laser rangefinder, and monitors whether the processing laser in the target laser beam penetrates the target bone wall according to the reflected light signal, and when the penetration of the target bone wall is detected, the laser is timely feedback controlled accordingly. Therefore, during the process of using the processing laser to perform bone etching on the target bone, it is possible to synchronously and accurately monitor whether the target bone wall has been penetrated; and when penetration of the target bone wall is detected, appropriate feedback control is performed in a timely manner to effectively reduce damage to the target bone and related tissues inside the target bone.

[0115] See also Figure 4 As shown, this specification also provides another laser bone ablation monitoring feedback device, which may at least include: a laser rangefinder, a laser, a beam combiner, and a processor, wherein the processor is connected to the laser rangefinder and the laser respectively;

[0116] The transmitter and receiver of the laser rangefinder are located in a first optical path, and the laser is located in a second optical path; the first optical path is perpendicular to the second optical path;

[0117] The beam combining mirror is arranged at the intersection of the first light path and the second light path, and the beam combining mirror and the first light path and the second light path respectively form a preset first angle;

[0118] The beam combiner is used to fuse the distance measuring laser emitted by the transmitter of the laser rangefinder and the processing laser emitted by the laser into a target laser beam, and to shoot the target laser beam to the target point position of the target bone wall to perform a bone erosion operation on the target point of the target bone wall;

[0119] The laser rangefinder receives, through a receiver, a reflected light signal formed after the ranging laser in the target laser beam is emitted to the target point of the target bone wall; and sends the reflected light signal to a processor;

[0120] The processor monitors whether the processing laser in the target laser beam penetrates the target bone wall according to the reflected light signal; generates a target control instruction when it is determined that the processing laser in the target laser beam penetrates the target bone wall; and sends the target control instruction to the laser to perform corresponding feedback control on the laser.

[0121] In some embodiments, a narrowband filter is further provided at a position adjacent to the receiver on the first optical path; wherein the narrowband filter is used to filter out interference light signals in the reflected light signal.

[0122] In some embodiments, a focusing mirror is further provided at a position in the first optical path adjacent to the center of the beam combining mirror; wherein the focusing mirror is used to focus the processing laser in the target laser beam.

[0123] Based on the above-mentioned laser bone etching monitoring feedback device, while using the processing laser to perform bone etching on the target bone, the ranging laser can be used to synchronously monitor whether the target bone wall is penetrated. When the penetration of the target bone wall is detected, the laser can be promptly given corresponding feedback control to reduce damage to the target bone and related tissues inside the target bone.

[0124] See also Figure 5 As shown, this specification also provides a control method for the above-mentioned laser bone ablation monitoring feedback device, which may include the following steps during specific implementation:

[0125] S1: Determine a processing laser for performing a bone-eroding operation; and determine a matching distance-measuring laser according to the wavelength of the processing laser;

[0126] S2: Control the laser to emit the processing laser along the second optical path; at the same time, control the transmitter of the laser rangefinder to emit the ranging laser along the first optical path;

[0127] S3: using a beam combiner to perform total reflection processing and total projection processing on the processing laser and the ranging laser reaching the beam combiner, and merge them into a target laser beam; wherein the target laser beam includes the processing laser and the ranging laser that are parallel to each other;

[0128] S4: irradiating a target point of a target bone wall with the target laser beam, performing a bone etching operation on the target point with a processing laser, and synchronously monitoring the target point with a ranging laser;

[0129] S5: controlling the receiver of the laser rangefinder to receive a reflected light signal formed by the ranging laser irradiating a target point of the target bone wall and returned along the third optical path;

[0130] S6: monitoring whether the processing laser in the target laser beam penetrates the target bone wall according to the reflected light signal; and performing corresponding feedback control on the laser when it is determined that the processing laser in the target laser beam penetrates the target bone wall.

[0131] Based on the above embodiments, the laser bone erosion monitoring feedback device can be used to perform bone erosion operations on the target point of the target bone wall while synchronously monitoring whether the target bone wall is penetrated; and when the penetration of the target bone wall is detected, corresponding feedback control is performed in a timely manner to effectively reduce the damage to the target bone and related tissues inside the target bone.

[0132] The present specification also provides an electronic device, referring to Figure 6 As shown, the electronic device includes a network communication port 601, a processor 602 and a memory 603, and the above structures are connected through internal cables so that each structure can perform specific data interaction.

[0133] The network communication port 601 may be used to receive a startup instruction.

[0134] The processor 602 can be specifically used to respond to the start instruction, determine the processing laser used for the bone erosion operation; and determine the matching distance measuring laser according to the wavelength of the processing laser; control the laser to emit the processing laser along the second optical path; at the same time, control the transmitter of the laser rangefinder to emit the distance measuring laser along the first optical path; use the beam combiner to perform total reflection processing and total projection processing on the processing laser and the distance measuring laser reaching the beam combiner respectively, and merge them into a target laser beam; wherein the target laser beam contains the processing laser and the distance measuring laser parallel to each other; by using the target laser beam to irradiate the target point of the target bone wall, the processing laser is used to perform the bone erosion operation on the target point, and the distance measuring laser is used to synchronously monitor the target point; control the receiver of the laser rangefinder to receive the reflected light signal formed by the distance measuring laser irradiating the target point of the target bone wall and returned along the third optical path; monitor whether the processing laser in the target laser beam penetrates the target bone wall according to the reflected light signal; when it is determined that the processing laser in the target laser beam penetrates the target bone wall, the laser is feedback controlled accordingly.

[0135] The memory 603 may be specifically used to store corresponding instruction programs.

[0136] In this embodiment, the network communication port 601 can be a virtual port that is bound to different communication protocols so that different data can be sent or received. For example, the network communication port can be a port responsible for web data communication, a port responsible for FTP data communication, or a port responsible for email data communication. In addition, the network communication port can also be a physical communication interface or communication chip. For example, it can be a wireless mobile network communication chip, such as GSM, CDMA, etc.; it can also be a Wifi chip; it can also be a Bluetooth chip.

[0137] In this embodiment, the processor 602 may be implemented in any appropriate manner. For example, the processor may take the form of a microprocessor or processor and a computer-readable medium storing a computer-readable program code (such as software or firmware) executable by the (micro)processor, a logic gate, a switch, an application specific integrated circuit (ASIC), a programmable logic controller, and an embedded microcontroller, etc. This specification does not limit this.

[0138] In this embodiment, the memory 603 may include multiple levels. In a digital system, anything that can store binary data can be a memory; in an integrated circuit, a circuit with a storage function but no physical form is also called a memory, such as RAM, FIFO, etc.; in a system, a storage device with a physical form is also called a memory, such as a memory stick, TF card, etc.

[0139] The embodiments of the present specification also provide a computer-readable storage medium for automatically controlling a laser bone-erosion monitoring feedback device, wherein the computer-readable storage medium stores computer program instructions, and when the computer program instructions are executed, the following are achieved: determining a processing laser for performing a bone-erosion operation; and determining a matching distance-measuring laser according to the wavelength of the processing laser; controlling the laser to emit the processing laser along a second optical path; and at the same time, controlling the transmitter of the laser rangefinder to emit the distance-measuring laser along a first optical path; and using a beam combiner to perform total reflection processing and total projection processing on the processing laser and the distance-measuring laser reaching the beam combiner, respectively, to fuse them into a beam combiner. A target laser beam; wherein the target laser beam includes a processing laser and a ranging laser that are parallel to each other; by using the target laser beam to irradiate a target point of a target bone wall, a bone etching operation is performed on the target point using the processing laser, and the target point is synchronously monitored using the ranging laser; a receiver of a laser rangefinder is controlled to receive a reflected light signal formed by the ranging laser irradiating the target point of the target bone wall and returned along a third optical path; monitoring whether the processing laser in the target laser beam penetrates the target bone wall according to the reflected light signal; and when it is determined that the processing laser in the target laser beam penetrates the target bone wall, corresponding feedback control is performed on the laser.

[0140] In this embodiment, the storage medium includes, but is not limited to, a random access memory (RAM), a read-only memory (ROM), a cache, a hard disk (HDD), or a memory card. The memory may be used to store computer program instructions. The network communication unit may be an interface for network connection communication set in accordance with the standard specified by the communication protocol.

[0141] In this embodiment, the functions and effects specifically implemented by the program instructions stored in the computer-readable storage medium can be explained in comparison with other implementations and will not be described in detail here.

[0142] In a specific scenario example, the laser bone ablation monitoring feedback device provided in the embodiment of this specification can be used to implement specific real-time monitoring and automatic stop of laser bone ablation depth. Figure 7 As shown, execute the following contents.

[0143] Before specific implementation, the above-mentioned equipment can be deployed on the execution end of the multi-degree-of-freedom robot responsible for specific operations.

[0144] In specific implementation, the bone drilling laser (e.g., processing laser) and the ranging laser can be combined (to form a target laser beam) using a beam combining mirror of the device, and then the laser and the rangefinder (e.g., laser rangefinder) in the device can be combined to obtain an in-situ ranging system. The beam combining mirror is used to combine two beams of light into one beam.

[0145] After starting the task, the combined laser can be used to ablate the target area with the corresponding parameters. When the laser is in the process of bone ablation, the ranging value collected by the laser rangefinder (based on the reflected light signal) will increase with the ablation depth, and the real-time laser ablation depth can be measured. At the moment of bone wall penetration, the ranging laser will undergo a sudden change in the ranging signal because the monitoring target changes from bone to intracavitary material; when the rangefinder captures the sudden change signal, it is considered that bone wall penetration has occurred; and the laser bone drilling task is immediately stopped (to achieve feedback control).

[0146] Through the above scenario examples, it is verified that the laser bone ablation monitoring feedback device provided in this manual can indeed realize the automatic stop of the laser bone drilling task, avoiding laser damage to nerves and other tissues in the medullary cavity; at the same time, it can also realize real-time monitoring of the ablation depth during the operation, providing more comprehensive data as a reference for the operation task, so as to better realize related operations.

[0147] Although the present specification provides method operation steps as described in the embodiments or flow charts, more or less operation steps may be included based on conventional or non-creative means. The order of steps listed in the embodiments is only one way of executing the order of many steps, and does not represent a unique execution order. When the device or client product in practice is executed, it can be executed in sequence or in parallel according to the method shown in the embodiments or the drawings (for example, a parallel processor or a multi-threaded processing environment, or even a distributed data processing environment). The term "include", "include" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, product or device including a series of elements includes not only those elements, but also includes other elements that are not explicitly listed, or also includes elements inherent to such a process, method, product or device. In the absence of more restrictions, it is not excluded that there are other identical or equivalent elements in the process, method, product or device including the elements. The first, second, etc. words are used to represent the name, and do not represent any particular order.

[0148] Those skilled in the art also know that, in addition to implementing the controller in a purely computer-readable program code, the controller can be made to implement the same function in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, such a controller can be considered as a hardware component, and the devices for implementing various functions included therein can also be considered as structures within the hardware component. Or even, the devices for implementing various functions can be considered as both software modules for implementing the method and structures within the hardware component.

[0149] This specification may be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, classes, etc. that perform specific tasks or implement specific abstract data types. This specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules may be located in local and remote computer-readable storage media including storage devices.

[0150] Through the description of the above embodiments, it can be known that those skilled in the art can clearly understand that the present specification can be implemented by means of software plus a necessary general hardware platform. Based on such an understanding, the technical solution of the present specification can essentially be embodied in the form of a software product, which can be stored in a storage medium such as ROM / RAM, a disk, an optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, a mobile terminal, a server, or a network device, etc.) to execute the methods described in each embodiment of the present specification or some parts of the embodiments.

[0151] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. This specification can be used in many general or special computer system environments or configurations. For example: personal computers, server computers, handheld devices or portable devices, tablet devices, multi-processor systems, microprocessor-based systems, set-top boxes, programmable electronic devices, network PCs, minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, etc.

[0152] Although the present specification is described through embodiments, those skilled in the art will appreciate that there are many modifications and changes to the present specification without departing from the spirit of the present specification, and it is intended that the appended claims include these modifications and changes without departing from the spirit of the present specification.

Claims

1. A laser bone ablation monitoring feedback device, characterized in that: At least comprising: a laser rangefinder, a laser, a beam combiner, and a processor, wherein the processor is connected to the laser rangefinder and the laser respectively; The transmitter of the laser rangefinder is located in a first optical path, and the laser is located in a second optical path; the first optical path is perpendicular to the second optical path; The beam combining mirror is arranged at the intersection of the first light path and the second light path, and the beam combining mirror and the first light path and the second light path respectively form a preset first angle; The receiver of the laser rangefinder is located in a third optical path, and the third optical path and the first optical path form a preset second angle; and a narrow-band filter is also arranged at a position adjacent to the receiver; The beam combiner is used to fuse the distance measuring laser emitted by the transmitter of the laser rangefinder and the processing laser emitted by the laser into a target laser beam, and to shoot the target laser beam to the target point position of the target bone wall to perform a bone erosion operation on the target point of the target bone wall; The laser rangefinder receives, through a receiver, a reflected light signal formed after the ranging laser in the target laser beam is emitted to the target point of the target bone wall; and sends the reflected light signal to a processor; the narrowband filter is used to filter the interfering light signal in the reflected light signal; The processor monitors whether the processing laser in the target laser beam penetrates the target bone wall according to the reflected light signal; generates a target control instruction when it is determined that the processing laser in the target laser beam penetrates the target bone wall; and sends the target control instruction to the laser to perform corresponding feedback control on the laser.

2. The laser bone ablation monitoring feedback device according to claim 1, characterized in that: A difference between a wavelength of the ranging laser and a wavelength of the processing laser is greater than a preset difference threshold.

3. The laser bone ablation monitoring feedback device according to claim 1, characterized in that: A focusing mirror is also provided at a position in the first optical path adjacent to the center of the beam combining mirror; wherein the focusing mirror is used to focus the processing laser in the target laser beam.

4. The laser bone ablation monitoring feedback device according to claim 1, characterized in that: The processor monitors whether the processing laser in the target laser beam penetrates the target bone wall according to the reflected light signal, including: The processor detects whether the reflected light signal has a jump according to the reflected light signal; when the reflected light signal has a jump, it is determined that the processing laser in the target laser beam penetrates the target bone wall.

5. The laser bone ablation monitoring feedback device according to claim 4, characterized in that: The target control instructions include: stop firing instructions; Correspondingly, the processor controls the laser to stop emitting the processing laser by sending the stop emission instruction to the laser, so as to stop the bone erosion operation and avoid damage to the relevant tissues in the bone wall of the target bone.

6. The laser bone ablation monitoring feedback device according to claim 4, characterized in that: The target control instruction also includes: a laser adjustment instruction; wherein the laser adjustment instruction carries a matching laser adjustment parameter; Correspondingly, the processor controls the laser to adjust the emitted processing laser according to the laser adjustment parameters by sending the laser adjustment instruction to the laser, so as to perform a refined bone etching operation on the adjacent area of ​​the target point of the target bone wall through the adjusted processing laser; wherein the laser adjustment parameters include at least one of the following: output power, scanning frequency, and laser wavelength.

7. The laser bone ablation monitoring feedback device according to claim 4, characterized in that: After receiving the reflected light signal at the current time point, the processor is further used to combine the reflected light signal at the current time point and the reflected light signals at a preset number of historical time points before the current time point to obtain reflected light signal change data for a target time period; use a preset bone wall penetration prediction model to process the reflected light signal change data for the target time period to obtain a corresponding target prediction result; and predict, based on the target prediction result, whether the processing laser in the target laser beam will penetrate the target bone wall in an adjacent time period after the current time point.

8. The laser bone ablation monitoring feedback device according to claim 1, characterized in that: Also includes: CT imaging equipment; wherein the CT imaging equipment is connected to the processor; The CT imaging device is used to collect the current CT image of the target bone at every preset time period; and send the current CT image to the processor; The processor is also used to determine the current bone erosion situation through image recognition according to the current CT image; and generate a control instruction for the next preset time period according to the current bone erosion situation; The processor sends the control instruction of the next preset time period to the laser, so as to perform matching control on the laser in the next preset time period.

9. The laser bone ablation monitoring feedback device according to claim 1, characterized in that: The laser rangefinder is connected to a first driving structure, and the laser is connected to a second driving structure; wherein the first driving structure supports the movement of the laser rangefinder along a first optical path direction, and the second driving structure supports the movement of the laser along a second optical path direction.

10. A laser bone ablation monitoring feedback device, characterized in that: At least comprising: a laser rangefinder, a laser, a beam combiner, and a processor, wherein the processor is connected to the laser rangefinder and the laser respectively; The transmitter and receiver of the laser rangefinder are located in a first optical path, and the laser is located in a second optical path; the first optical path is perpendicular to the second optical path; The beam combining mirror is arranged at the intersection of the first light path and the second light path, and the beam combining mirror and the first light path and the second light path respectively form a preset first angle; The beam combiner is used to fuse the distance measuring laser emitted by the transmitter of the laser rangefinder and the processing laser emitted by the laser into a target laser beam, and to shoot the target laser beam to the target point position of the target bone wall to perform a bone erosion operation on the target point of the target bone wall; The laser rangefinder receives, through a receiver, a reflected light signal formed after the ranging laser in the target laser beam is emitted to the target point of the target bone wall; and sends the reflected light signal to a processor; The processor monitors whether the processing laser in the target laser beam penetrates the target bone wall according to the reflected light signal; generates a target control instruction when it is determined that the processing laser in the target laser beam penetrates the target bone wall; and sends the target control instruction to the laser to perform corresponding feedback control on the laser.

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